JP2004145725A - Driving support system for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enhance the safety in a driving support system for vehicle by which a collision alarm (Step SB12) is issued for a driver when vehicular collision possibility to an obstacle in front of a vehicle is higher than a specified level. <P>SOLUTION: The detection of driver's inattentive driving lowly corrects the specified level (Step SB8). In addition, even in the detection of no driver's inattentive driving, the specified level is lowly corrected (Step SB6) the same as at the time of not detecting the driver's inattentive driving, when the presence of a state having high possibility of the driver's inattentive driving is determined. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention detects an obstacle in front of a vehicle and calculates the possibility of collision of the vehicle with the detected obstacle. When the calculated possibility of collision is greater than a predetermined level, the vehicle Belongs to a technical field related to a vehicle driving assistance system that issues a collision warning to a driver.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, an obstacle existing in front of a vehicle is detected by an obstacle detecting means such as a laser radar or a millimeter-wave radar, and the collision of the vehicle with the obstacle is determined based on a distance between the obstacle and a relative speed. 2. Description of the Related Art A vehicle driving support system that calculates a possibility and issues a collision warning to a driver when the calculated collision probability is greater than a predetermined level is well known.
[0003]
In such a vehicle driving support system, in order to perform a collision warning at a more accurate timing, a driver's inattentive action is detected, and when this inattentive action is detected, a collision alert is issued as compared to when it is not detected. There is one that outputs the signal earlier (decreases the predetermined level) (for example, see Patent Document 1).
[0004]
[Patent Document 1]
JP-A-7-257301
[0005]
[Problems to be solved by the invention]
With the configuration in which the collision warning is output earlier when the driver's inattentiveness is detected, as in the related art, it is possible to prevent a delay in response to the driver's inattentiveness when the collision alert is issued, Safety can be improved. However, even if the driver is actually looking aside, detection of the looking aside may be delayed, and there is room for improvement from the viewpoint of further improving safety.
[0006]
The present invention has been made in view of such a point, and a purpose of the present invention is to further advance a configuration in which a collision warning is output earlier when an inattentiveness of a driver is detected as described above. And to improve safety.
[0007]
[Means for Solving the Problems]
In order to achieve the above object, according to the present invention, even when the driver's inattentiveness is not detected, the driver's inattentiveness is detected when it is determined that the driver is likely to take inattentiveness. As before, a collision warning is output earlier.
[0008]
Specifically, according to the first aspect of the present invention, an obstacle in front of the vehicle is detected, and the possibility of collision of the vehicle with respect to the detected obstacle is calculated. When it is larger than the vehicle driving support system, the vehicle driver assists the driver of the vehicle.
[0009]
Then, an inattentiveness detecting means for detecting the inattentiveness of the driver, a correcting means for correcting the predetermined level to be small when the inattentiveness of the driver is detected by the inattentiveness detecting means, and an inattentiveness of the driver detected by the attentiveness detection means When the driver is not looking at the driver, the driver is unaware of the driver's inattentiveness. If the driver is not likely to look aside, the predetermined level is corrected to be smaller when the driver is not likely to look aside.
[0010]
With the above configuration, when the possibility of collision of the vehicle with respect to an obstacle ahead of the vehicle is greater than a predetermined level, a collision warning is issued to the driver. When the driver's inattentiveness is detected by the driver's inattentiveness detection means, the predetermined level is corrected to a small value, and even when the driver's inattentiveness is not detected, the driver takes an inattentiveness by the inattentiveness determination means. When it is determined that there is a high possibility, the predetermined level is corrected to be small as in the case where the driver's inattentiveness is detected (the correction amount may be the same as when the driver's inattentiveness is detected). , May be different). As a result, when there is a high possibility that the driver looks aside, the predetermined level is corrected to a small level prior to the detection of the inattentiveness by the inattentiveness detection means, and the collision warning is given early (the distance between the vehicle and the obstacle is reduced). (At a larger stage), so there is no problem if detection of inattentiveness is delayed. Therefore, safety can be further improved as compared with the conventional configuration in which the predetermined level is corrected to be small only when inattentiveness is detected. On the other hand, when the inattentiveness is not detected and the possibility of inattentiveness is not high, it is possible to prevent the driver from being bothered by frequent collision warnings.
[0011]
According to a second aspect of the present invention, in the first aspect of the present invention, the inattentive possibility determining means detects that the driver is likely to look aside when detecting that the driver has performed a course change instruction operation. It is assumed to be configured to make the determination.
[0012]
That is, the driver performs the course change instruction operation when making a right or left turn or when changing lanes. In order to confirm the safety of the turning direction and the direction to change, the driver is likely to look aside. . Therefore, it is possible to easily and accurately determine whether or not the driver is likely to look aside.
[0013]
According to a third aspect of the present invention, in the first aspect of the present invention, the inattentive possibility determining means may determine that the driver is inattentive when detecting that the vehicle is traveling at a point where the driver checks the meter. Is determined to be in a high situation.
[0014]
That is, for example, at a point just before a curve or at a point where the speed limit is changed, there is a high possibility that the driver looks aside to check the speedometer or the like. Therefore, it is possible to easily and accurately determine whether or not the driver is likely to look aside.
[0015]
According to a fourth aspect of the present invention, in the first aspect of the present invention, the inattentive possibility determination means determines that the driver is likely to look aside when detecting that the interior light of the vehicle is being turned on. It is assumed to be configured to make the determination.
[0016]
That is, when the interior light is on, there is a high possibility that the driver looks around the interior of the room by searching for something and the like, and there is a high possibility that the driver looks aside. Therefore, it is possible to easily and accurately determine whether or not the driver is likely to look aside.
[0017]
According to a fifth aspect of the present invention, in the first aspect of the present invention, the inattentive possibility determining means detects a situation in which the driver is likely to look aside when detecting that the vehicle is traveling at the inattentive accident occurrence point. It is assumed that it is configured to determine that there is.
[0018]
In other words, there is a very high possibility of inattentiveness at a spot where the inattentive accident frequently occurs. Therefore, it is possible to easily and accurately determine whether or not the driver is likely to look aside.
[0019]
According to a sixth aspect of the present invention, in the first aspect of the present invention, the inattentive possibility determining means notifies the driver that an indoor device provided in the vehicle cautions the driver to look at the guidance information on the display. It is assumed that, when it is detected, the driver is determined to be in a situation where there is a high possibility that the driver looks aside.
[0020]
That is, for example, when the navigation device outputs a notification sound that calls attention to the driver just before an intersection to be turned on the route guidance path, the driver is likely to see the guidance information on the display and is likely to look aside. It is in. Therefore, it is possible to easily and accurately determine whether or not the driver is likely to look aside.
[0021]
According to a seventh aspect of the present invention, in the first aspect of the present invention, the inattentive possibility determination means may determine that the driver is inattentive when detecting that the driver has operated an indoor device provided inside the vehicle. Is determined to be in a high situation.
[0022]
That is, when a driver operates a switch of an indoor device such as a navigation device or an audio device, the driver is likely to look aside. Therefore, it is possible to easily and accurately determine whether or not the driver is likely to look aside.
[0023]
In the invention according to claim 8, in any one of the inventions according to any one of claims 1 to 7, after the inattentive possibility determining means determines that the driver is likely to look aside, the driver looks at the driver by the inattentiveness detecting means. Monitoring means for monitoring whether an inattentiveness is detected; and past monitoring results by the monitoring means when the driver is likely to look aside by the inattentiveness determining means. Thus, under the circumstances, the inattentive tendency determining means for determining whether the driver has a tendency to look aside and the inattentive possibility determining means determine that the driver is likely to look aside. In some cases, when the inattentive tendency determination means determines that the driver has no tendency to look aside, the supplementary means for prohibiting the correction means from correcting the predetermined level to a small level. Assume that a prohibition means.
[0024]
With this, when the driver's inattentiveness determination means determines that the driver is likely to look aside, the driver's inattentiveness determination means determines that the driver is based on the past monitoring result by the monitoring means. It is determined whether or not the driver tends to look aside under the circumstances, and when it is determined that the driver does not tend to look aside, the correction of the predetermined level is prohibited. Therefore, even in a situation where the driver is likely to look aside, if the driver does not look aside in that situation, the predetermined level is not corrected to a small value, and as a result, the driver who does not look aside On the other hand, it is possible to prevent troublesomeness from being caused by frequent collision warnings.
[0025]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a main part of an instrument panel 1 of a vehicle C (vehicle: see FIG. 2) to which a vehicle driving assistance system according to an embodiment of the present invention is applied. A display 2 on which various information is displayed is provided at an upper position in the center. A meter unit 4 is provided on the driver's seat side of the display 2 in the instrument panel 1. The meter unit 4 includes a speedometer, a fuel gauge, a water temperature gauge, an odometer, a trip meter, and a selector indicator light. An indicator light such as a turn signal indicator light, and various warning lights such as an alternate warning light and an oil pressure warning light are provided.
[0026]
Further, an audio device, an air conditioner, and a later-described navigation device 40 (see FIGS. 2 and 3) are provided in the interior of the vehicle C in a lower portion of the instrument panel 1 at a substantially central portion in the vehicle width direction. A switch unit 5 in which various switches of the indoor equipment (indoor equipment operation switches 44 (see FIG. 3)) are disposed is formed.
[0027]
In FIG. 1, reference numeral 6 denotes a steering wheel, and reference numeral 30 denotes a speaker (the two speakers 30 are provided at the front and rear in the vehicle interior, two on each side).
[0028]
On the column cover of the steering wheel 6, an infrared light emitting lamp 61 for emitting infrared light to the head and face of the driver of the vehicle C, and an infrared light emitted from the infrared light emitting lamp 61 A driver imaging camera 62 that captures light reflected by the head and face is provided. Note that an infrared transmitting filter is provided in the light emitting section of the infrared light emitting lamp 61 and the light receiving section of the driver imaging camera 62.
[0029]
In FIG. 2, reference numeral 11 denotes a front obstacle detection sensor 11 as an obstacle detection means such as a laser radar or a millimeter wave radar for detecting an obstacle existing in front of the vehicle C. Thus, the distance between the vehicle C and the detected obstacle and the relative speed between the vehicle C and the obstacle can be known.
[0030]
Reference numeral 12 denotes information on road conditions ahead of the traveling path of the vehicle C (including information on accidents and traffic congestion, and information indicating that there is a curve ahead, transmitted from an information providing device (information center or the like) outside the vehicle C). , Speed limit information, information on spots where inattentive accidents frequently occur, etc.), and the communication unit 12 obtains various types of information outside the vehicle C.
[0031]
Reference numeral 27 denotes a current location sensor that receives a GPS signal transmitted from a GPS satellite and detects the current position of the vehicle C. Reference numeral 28 denotes a map memory that stores road map information. Based on the current position of the vehicle C detected by the above and the road map information stored in the map memory 28, a navigation device 40 for performing route guidance to a destination and the like is configured. The route guidance route by the navigation device 40 is displayed on the display 2 together with the road map stored in the map memory 28.
[0032]
In FIG. 2, reference numeral 20 denotes a control unit for performing control as described later.
[0033]
In FIG. 3, reference numeral 43 denotes a turn signal switch operated by the driver when changing the course (turning right or left or changing lanes), and reference numeral 44 denotes an interior for turning on / off an interior light provided on a ceiling or the like in the interior of the vehicle. A light switch 45 is an indoor device operation switch provided in the switch unit 5 of the instrument panel 1.
[0034]
The control unit 20 includes the front obstacle detection sensor 11, the communication unit 12, the current location sensor 27 and the map memory 28 of the navigation device 40, the turn signal switch 43, the interior light switch 44, and the indoor device operation switch. The control unit 20 controls the driving of the display 2 and the speaker 30 based on these input signals.
[0035]
As shown in FIG. 4, the driver monitor unit 63 performs general binarization processing and feature point extraction processing in the image processing unit 63a based on the video signal output from the driver imaging camera 62. Based on the extracted image of the head face of the driver of the vehicle C, the gaze point detection unit 63b detects the head face direction, the gaze direction, and the pupil diameter of the driver based on the extracted image of the head face, The gaze point of the driver (the center point of the visual field range) is detected from the gaze direction, and the gaze direction axis detection unit 63c draws a line connecting the detected gaze point of the driver and the center of both the left and right eyes of the driver. When the inattentiveness detection unit 63d detects the driver's inattentive motion based on the driver's visual axis, and determines the driver's inattentive motion. , And outputs to the control unit 20 detecting an act of looking aside signal.
[0036]
The detection processing operation of the driver's inattentiveness in the driver monitor unit 63 is specifically performed as shown in FIG. That is, in the first step SA1, infrared light is projected on the head face of the driver by the infrared projection lamp 61, and an analog video signal of the head face captured by the driver imaging camera 62 is transmitted to the image processing unit 63a. The image signal is captured and subjected to a general binarization process to convert the image signal into digital multi-valued image data for each pixel.
[0037]
In the next step SA2, a face image portion of the driver is extracted from the multi-valued image data using a general image processing method, and a plurality of feature points (for example, the inner and outer corners of the eye, Nostrils) are detected.
[0038]
In the next step SA3, from the image data of the face image portion extracted in step SA2, the position of the reflection point and the position of the pupil generated on the cornea of the driver's eyeball by projecting infrared light are generally calculated. Using a simple image processing technique.
[0039]
In the next step SA4, the gazing point detector 63b detects the maximum value of the number of pixels in the horizontal direction of the image data corresponding to the position of the pupil detected in step SA3 as the pupil diameter. Here, attention is paid to the horizontal direction because, when attention is paid to the vertical direction, an accurate pupil diameter cannot be detected due to blinking.
[0040]
In the next step SA5, the inclination of the driver's head face in a predetermined three-dimensional coordinate space is calculated based on the position of the feature point detected in step SA2, whereby the driver's head face is turned. Measure the direction in which you are (head-to-head direction).
[0041]
In the next step SA6, the direction of the driver's line of sight (gaze direction) is detected based on the corneal reflection point detected in step SA3 and the head and face direction detected in step SA5.
[0042]
In the next step SA7, the gaze direction detected in step SA6 and predetermined positions inside and outside of the vehicle C stored in advance (predetermined positions set at a plurality of positions on the windshield, mounting positions of the rearview mirror, mounting of the left and right door mirrors). The gaze point of the driver is detected based on the position, the arrangement position of the display 2, the arrangement position of the speedometer of the meter unit 4, and the like.
[0043]
In the next step SA8, the line-of-sight axis detection unit 63c obtains, as the axis in the driver's line-of-sight direction, a line connecting the gazing point of the driver detected in step SA7 and the center of the driver's left and right eyes.
[0044]
In the next step SA9, the inattentiveness detection unit 63d determines that the axis of the driver's line of sight determined in step SA8 is at a predetermined angle (the curve of the road) from the center of the driver's left and right eyes and extends in the forward horizontal direction. (It may be changed in consideration of the situation or the like.) It is determined whether or not it exists within the predetermined angle, and if it does not exist within the predetermined angle, it is determined that inattentiveness has been detected, and an inattentiveness detection signal is output to the control unit 20. To return.
[0045]
When the front obstacle detection sensor 11 detects an obstacle, the control unit 20 calculates the possibility of collision of the vehicle C with the detected obstacle, and the calculated possibility of collision is lower than a predetermined level. When the size is large, a collision warning is issued to the driver of the vehicle C by the display 2 and the speaker 30 (a collision warning may be performed by an electronic buzzer or the like instead of the speaker 30). Note that the possibility of collision is determined by dividing a distance L between the vehicle C and the obstacle by a relative speed V between the vehicle C and the obstacle (t (= L / V)). The larger the value of t, the larger the value.)
[0046]
When the inattentiveness detection signal is input from the driver monitor unit 63, the control unit 20 corrects the predetermined level to a small value. In addition, even when the inattentiveness detection signal is not input, it is determined whether or not the driver is in a situation where there is a high possibility of inattentiveness. The predetermined level is corrected smaller. That is, when an inattentiveness detection signal is input, and when it is determined that the driver is likely to take an inattentive look even when the inattentiveness detection signal is not input, the inattentiveness detection signal is not input and the driver may take an inattentive look. Is higher than when the vehicle is not in a high situation (a collision warning is issued at a stage where the distance L between the vehicle C and the obstacle is larger).
[0047]
The determination in the control unit 20 as to whether or not the driver is likely to look aside is performed as follows. That is, when the turn signal switch 43 detects that the driver has performed a course change instruction operation, the interior light switch 44 detects that the interior light is being turned on, When the vehicle C has detected that the driver has checked the meter (especially the speedometer) (for example, before the curve or the speed limit changes), the communication unit 12 and the navigation device 40 detect that the vehicle has operated the indoor device. When the communication unit 12 and the navigation device 40 detect that the vehicle C is traveling at the inattentive accident occurrence location, and by the navigation device 40, The navigation device 40 warns the driver to look at the guidance information on the display 2. When it is detected that the notification is performed (e.g., output of a notification sound before an intersection to be turned on the route guidance route), the driver is likely to look aside when at least one of the detections is detected. It is determined that there is a situation.
[0048]
After determining that the driver is likely to look aside, the control unit 20 monitors whether or not the inattentive detection signal is input from the driver monitor unit 63 within a predetermined time (about several seconds). In addition, this monitoring result is reflected in the control when it is determined that the driver is likely to look aside by the same detection as this time from the next time. In other words, when it is determined that the driver is likely to take an inattentive act, it is determined whether or not the driver tends to take an inattentive act under the circumstances based on past monitoring results. If it is determined that there is, the predetermined level is corrected to be small, while if it is determined that the driver does not tend to look aside, the correction of the predetermined level is prohibited. For example, when it is determined that the driver is likely to take an inattentive accident by detecting that the driver is traveling at the inattentive accident frequent occurrence point, it is detected that the driver is traveling at the inattentive accident frequent occurrence point in the past. By later monitoring, it is determined whether or not the driver tends to look aside (for example, the number of times that the driver looks aside is equal to or more than a predetermined ratio with respect to the total number of times that the driver has detected that the driver is traveling at a spot where accidents frequently occur. At this time, it is determined that the driver tends to look aside), and when it is determined that the driver does not tend to look aside, the predetermined level of correction is not performed.
[0049]
The processing operation of the control unit 20 will be described with reference to the flowchart of FIG. 6. In the first step SB1, it is determined whether an inattentiveness detection signal has been input from the driver monitor unit 63, and this determination is YES. In some cases, the process proceeds to step SB8, while when the determination is NO, the process proceeds to step SB2 to determine whether the driver is likely to look aside.
[0050]
If the determination in step SB2 is NO, the process proceeds to step SB3, where the predetermined level is set to a first value, and the process proceeds to the next step SB7. On the other hand, if the determination in step SB2 is YES, the process proceeds to step SB4, where it is monitored whether or not an inattentiveness detection signal is input within a predetermined period of time. Whether the inattentive flag (the previously set one (see step SB7)) corresponding to the one detected as the ground for determining that the situation is highly likely to be performed (detection of a course change instruction operation, etc.) is 1 Is determined. In addition, the inattentive flag detects the course change instruction operation, detects whether the interior light is on, detects the operation of indoor equipment, detects that the vehicle is traveling at the point where the meter is checked, and travels at the inattentive accident occurrence location. There are prepared ones corresponding to each of the detection of presence and the detection of alert notification.
[0051]
When the determination in step SB5 is NO, the process proceeds to step SB3, while when the determination is YES, the process proceeds to step SB6 to set the predetermined level to a second value smaller than the first value. The process proceeds to the next step SB7.
[0052]
In step SB7, it is determined whether or not the driver tends to look aside, based on the monitoring result (including the present time and the past). When the flag (the inattentive flag corresponding to the one detected as the ground for determining that the driver is likely to look aside at step SB2) is set to 1, and when it is determined that the driver does not tend to look aside, The inattentive flag is set to 0, and the process proceeds to Step SB8.
[0053]
In step SB8, the predetermined level is set to a third value smaller than the first value. The third value is preferably smaller than the second value. That is, the second value is an intermediate value between the first value and the third value. Note that the third value may be the same as the second value, or may be larger than the second value.
[0054]
In the next step SB9, an obstacle detection process is executed by the front obstacle detection sensor 11, and in the next step SB10, when an obstacle is detected by the obstacle detection process, the vehicle C for the detected obstacle is detected. Is calculated, and in a next step SB11, it is determined whether or not the probability of collision calculated in the step SB10 is larger than the predetermined level.
[0055]
If the determination in step SB11 is YES, the process proceeds to step SB12, in which a collision warning is output from the display 2 and the speaker 30, and then returns. On the other hand, if the determination in step SB11 is NO, the process proceeds to step SB13 to execute a navigation process (display of the current position of the vehicle C, display of route guidance, provision of guidance information, etc.), and thereafter returns.
[0056]
When the control unit 20 determines that the inattentiveness detection signal from the driver monitor unit 63 is not input to the control unit 20 and the driver is not in a situation where there is a high possibility that the driver is inattentive, the predetermined level is set to the first level. Set to a value of 1. Then, the collision probability of the vehicle C with respect to the obstacle detected by the front obstacle detection sensor 11 is calculated, and when the calculated collision probability is larger than a predetermined level (first value), the driver is notified. Thus, a collision warning is issued by the display 2 and the speaker 30.
[0057]
On the other hand, when an inattentiveness detection signal is input to control unit 20 (when inattentiveness of the driver is detected), the predetermined level is set to the third value. That is, the predetermined level is corrected to be small. As a result, a collision warning is issued earlier than when it is determined that the driver is not likely to look aside, without receiving the inattentive detection signal (the distance between the vehicle C and the obstacle is reduced). A collision warning is issued at a larger stage). As a result, it is possible to prevent a delay in responding to the driver's inattentive action when a collision warning is issued, thereby improving safety.
[0058]
In addition, when the inattentiveness detection signal is not input to the control unit 20, it is determined that the driver is likely to take inattentiveness, for example, by detecting that the driver has performed a course change instruction operation. , The predetermined level is set to the second value. That is, also at this time, the predetermined level is corrected to be small as in the case where the inattentiveness detection signal is input (in this embodiment, the correction amount is smaller than when the inattentiveness of the driver is detected). As a result, when there is a high possibility that the driver looks aside, the predetermined level is corrected to a small value prior to the input of the inattentiveness detection signal, and the collision warning is output earlier. There is no.
[0059]
Further, after it is determined that the driver is likely to look aside, it is monitored whether or not the inattentive detection signal is input, and it is determined that the driver is likely to look aside. When it is determined that the driver has a tendency to look aside in this situation based on past monitoring results, the predetermined level is set to the second value, while the driver tends to look aside. When it is determined that there is no such value, the predetermined level is not set to the second value, but is set to the first value. As a result, even in a situation where the driver is likely to look aside, if the driver does not look aside in that situation, the predetermined level is not corrected to a small value, and as a result, the driver who does not look aside On the other hand, it is possible to prevent troublesomeness from being caused by frequent collision warnings.
[0060]
In the above embodiment, the driver monitor unit 63 constitutes an inattentiveness detecting means for detecting an inattentiveness of the driver, and the control unit 20 has a correction means for correcting the predetermined level to be small, and a situation in which the possibility of inattentiveness is high. An inattentive possibility determining means for determining whether or not an inattentiveness is determined; a monitoring means for monitoring whether or not an inattentiveness of the driver is detected after it is determined that there is a high possibility of inattentiveness; This means that the inattentive tendency judging means for judging whether or not there is a tendency to perform, and a correction prohibiting means for prohibiting the correcting means from correcting the predetermined level to a small level.
[0061]
Therefore, in the above embodiment, even when the driver's inattentiveness is not detected, when it is determined that the driver is likely to take inattentiveness, the possibility of collision for performing a collision warning is determined. Since the predetermined level as the reference level is corrected to be small, the conventional level of correcting the predetermined level only when an inattentive detection is detected while preventing the driver from being troubled that a collision warning is frequently performed. Safety can be further improved as compared with the configuration.
[0062]
【The invention's effect】
As described above, according to the present invention, in a vehicle driving support system that issues a collision warning to a driver when the possibility of collision of the vehicle with respect to an obstacle ahead of the vehicle is greater than a predetermined level, When the inattentive is detected, the predetermined level is corrected to be small, and even when the inattentiveness of the driver is not detected, when it is determined that there is a high possibility that the driver is inattentive, As described above, when the inattentiveness of the driver is detected, the above-described predetermined level is corrected to be small, so that the safety is further improved as compared with a configuration in which the predetermined level is corrected to be small only when the inattentiveness is detected. Can be achieved.
[Brief description of the drawings]
FIG. 1 is a front view showing a main part of an instrument panel of a vehicle to which a vehicle driving support system according to an embodiment of the present invention is applied.
FIG. 2 is a perspective view showing positions of components of the vehicle driving support system in a vehicle.
FIG. 3 is a block diagram illustrating a configuration of a vehicle driving support system.
FIG. 4 is a block diagram illustrating a configuration of a driver monitor unit.
FIG. 5 is a flowchart showing a driver's inattentiveness detection processing operation in the driver monitor unit.
FIG. 6 is a flowchart illustrating a processing operation of the control unit.
[Explanation of symbols]
C vehicle
2 Display
11 Forward obstacle sensor
20 control unit (correction means) (inattentive possibility determination means) (monitoring means)
(Inattentive tendency judgment means) (Correction prohibition means)
30 speakers
40 Navigation equipment (indoor equipment)
43 Turn signal switch
44 Interior Light Switch
45 Indoor equipment operation switch
63 Driver Monitor Unit (Inattentive Detector)

Claims (8)

Detecting an obstacle in front of the vehicle, calculating the possibility of collision of the vehicle with the detected obstacle, and colliding with the driver of the vehicle when the calculated possibility of collision is greater than a predetermined level. A driving assistance system for a vehicle that issues an alarm,
An inattentiveness detecting means for detecting an inattentiveness of the driver;
Correcting means for correcting the predetermined level to be small when the driver's inattentiveness is detected by the inattentiveness detecting means;
When the driver's inattentiveness is not detected by the inattentiveness detecting means, the driver includes an inattentiveness possibility determining means for determining whether or not the driver is in a situation where there is a high possibility of inattentiveness,
When the driver's inattentiveness detection means does not detect the driver's inattentiveness, the correction means sets the predetermined level when the inattentiveness possibility determining means determines that the driver is likely to take inattentiveness. A driving assistance system for a vehicle, wherein the driving assistance system is configured to make small corrections. The vehicle driving support system according to claim 1,
A vehicle characterized in that the inattentive possibility determination means is configured to determine that the driver is likely to look aside when detecting that the driver has performed a course change instruction operation. Driving support system. The vehicle driving support system according to claim 1,
The inattentive possibility determining means is configured to determine that the driver is likely to look aside when detecting that the vehicle is traveling at a point where the driver checks the meter. A driving assistance system for a vehicle, comprising: The vehicle driving support system according to claim 1,
The vehicle is characterized in that the inattentive possibility determining means is configured to determine that the driver is likely to look aside when detecting that the interior light of the vehicle is on. Driving support system. The vehicle driving support system according to claim 1,
The inattentive possibility determining means is configured to determine that the driver is likely to look aside when detecting that the vehicle is traveling at the inattentive accident occurrence point. Driving support system for vehicles. The vehicle driving support system according to claim 1,
The inattentive possibility determination means is highly likely to cause the driver to look aside when detecting that an indoor device provided in the vehicle cabin has informed the driver to look at the guidance information on the display. A driving assistance system for a vehicle, characterized in that it is configured to determine that the vehicle is in a situation. The vehicle driving support system according to claim 1,
The inattentive possibility determination means is configured to determine that the driver is likely to look aside when detecting that the driver has operated an indoor device provided in the vehicle interior. A driving assistance system for a vehicle, comprising: In the vehicle driving support system according to any one of claims 1 to 7,
Monitoring means for monitoring whether or not the driver's inattentiveness is detected by the inattentiveness detecting means, after the inattentiveness possibility determining means determines that the driver is likely to take an inattentive state;
When it is determined by the above-mentioned inattentiveness possibility determining means that the driver is likely to look aside, whether the driver has a tendency to look aside under the circumstances, based on past monitoring results by the monitoring means. An inattentive tendency determining means for determining whether or not
When the inattentive possibility determining means determines that the driver is likely to look aside, and when the inattentive tendency determining means determines that the driver does not tend to look aside, the correcting means A driving assistance system for a vehicle, comprising: a correction prohibition unit that prohibits the correction of the predetermined level to a small value.

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