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Title:
DRIVING CHARACTERISTIC DETERMINATION APPARATUS AND DRIVING CHARACTERISTIC DETERMINATION METHOD
Document Type and Number:
WIPO Patent Application WO/2015/029743
Kind Code:
A1
Abstract:
A driving characteristic determination apparatus includes: a target detection unit (20; 22) that detects an object around a host vehicle; a characteristic value calculation unit (32) that calculates, when a reaction of a driver of the host vehicle during traveling with respect to the detected object is detected after the object is detected by the target detection unit, a largest value or a maximum value of indexes relating to a traveling state of the host vehicle between a time when the reaction is detected and a time when end of the reaction is detected or an operation opposite to the reaction is detected, as a driving characteristic value; an accumulation unit that accumulates the characteristic value calculated by the characteristic value calculation unit for storage; and a characteristic determination unit that determines a driving characteristic of the driver of the host vehicle based on an average value and a deviation of the driving characteristic values accumulated in the accumulation unit, in which the index is a value obtained by dividing a jerk of the host vehicle by a deceleration.

Inventors:
NGUYEN VAN QUY HUNG (JP)
KISHI HIROSHI (JP)
Application Number:
PCT/JP2014/070959
Publication Date:
March 05, 2015
Filing Date:
August 01, 2014
Export Citation:
Click for automatic bibliography generation   Help
Assignee:
TOYOTA MOTOR CO LTD (JP)
International Classes:
B60W40/09
Domestic Patent References:
WO2011133091A12011-10-27
WO2011101713A12011-08-25
Foreign References:
EP2161641A12010-03-10
US20050159853A12005-07-21
Attorney, Agent or Firm:
HASEGAWA, Yoshiki et al. (Marunouchi MY PLAZA 9th fl. 1-1, Marunouchi 2-chome, Chiyoda-k, Tokyo 05, JP)
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Claims:
CLAIMS

1. A driving characteristic determination apparatus comprising:

an object detection unit that detects an object around a host vehicle;

a characteristic value calculation unit that calculates, when a reaction of a driver of the host vehicle during traveling with respect to the detected object is detected after the object is detected by the object detection unit, a largest value or a maximum value of indexes relating to a traveling state of the host vehicle between a time when the reaction is detected and a time when end of the reaction is detected or an operation opposite to the reaction is detected, as a driving characteristic value;

an accumulation unit that accumulates the characteristic value calculated by the characteristic value calculation unit for storage; and a characteristic determination unit that determines a driving characteristic of the driver of the host vehicle based on an average value and a deviation of the driving characteristic values accumulated in the accumulation unit,

wherein the index is a value obtained by dividing a jerk of the host vehicle by a deceleration.

2. The driving characteristic determination apparatus according to claim 1 , further comprising:

a fellow passenger determination unit that determines a security level of a fellow passenger of the host vehicle based on the driving characteristic determined by the characteristic determination unit.

3. The driving characteristic determination apparatus according to claim 1 or 2,

wherein the characteristic determination unit determines the driving characteristic relating to a method of changing a traveling speed of the host vehicle according to sizes of the average and the deviation of the driving characteristic values accumulated in the accumulation unit.

4. A driving characteristic determination method comprising:

an object detection step of detecting an object around a host vehicle;

a characteristic value calculation step of calculating, when a reaction of a driver of the host vehicle during traveling with respect to the detected object is detected after the object is detected in the object detection step, a largest value or a maximum value of indexes relating to a traveling state of the host vehicle between a time when the reaction is detected and a time when end of the reaction is detected or an operation opposite to the reaction is detected, as a driving characteristic value;

an accumulation step of accumulating the characteristic values calculated in the characteristic value calculation step for storage; and a characteristic determination step of determining a driving characteristic of the driver of the host vehicle based on an average value and a deviation of the driving characteristic values accumulated in the accumulation step,

wherein the index is a value obtained by dividing a jerk of the host vehicle by a deceleration.

Description:
DESCRIPTION

Title of Invention

DRIVING CHARACTERISTIC DETERMINATION APPARATUS AND DRIVING CHARACTERISTIC DETERMINATION METHOD

Technical Field

[0001] The present invention relates to a driving characteristic determination apparatus and a driving characteristic determination method.

Background Art

[0002] In the related art, an apparatus that detects a feeling of anxiety of a driver during driving of a vehicle is known. For example, Patent Literature 1 discloses an apparatus that determines whether the driver of a vehicle has a feeling of anxiety based on a vehicle behavior from the start of a braking operation to the stop of the vehicle.

Citation List

Patent Literature

[0003]

[Patent Literature 1] Japanese Unexamined Patent Application Publication No. 2006-172012

[Patent Literature 2] Japanese Unexamined Patent

Application Publication No. 2006-335277

Summary of Invention

Technical Problem

[00041, The apparatus disclosed in Patent Literature 1 determines only the presence or absence of the feeling of anxiety of the driver of the vehicle based on the vehicle behavior from the start of the braking operation to the stop of the vehicle. The apparatus cannot determine the presence or absence of the feeling of anxiety if the vehicle is not stopped, and does not consider determination of a driving characteristic of the driver during traveling before the vehicle is stopped. Thus, the apparatus disclosed in Patent Literature 1 cannot determine the driving characteristic of the driver during traveling before the vehicle is stopped.

[0005] Accordingly, the invention provides a driving characteristic determination apparatus and a driving characteristic determination method capable of determining a driving characteristic of a driver even though a vehicle is not stopped.

Solution to Problem

[0006] According to an aspect of the invention, there is provided a driving characteristic determination apparatus including: an object detection unit that detects an object around a host vehicle; a characteristic value calculation unit that calculates, when a reaction of a driver of the host vehicle during traveling with respect to the detected object is detected after the object is detected by the object detection unit, a largest value or a maximum value of indexes relating to a traveling state of the host vehicle between a time when the reaction is detected and a time when end of the reaction is detected or an operation opposite to the reaction is detected, as a driving characteristic value; an accumulation unit that accumulates the characteristic value calculated by the characteristic value calculation unit for storage; and a characteristic determination unit that determines a driving characteristic of the driver of the host vehicle based on an average value and a deviation of the driving characteristic values accumulated in the accumulation unit, in which the index is a value obtained by dividing a jerk of the host vehicle by a deceleration. The reaction refers to an accelerator pedal OFF operation (operation of stepping the foot off from the accelerator pedal), a brake pedal ON operation (operation of stepping on the brake pedal with the foot), a steering start, or the like, for example. Further, the end of the reaction or the operation opposite to the reaction refers to an accelerator pedal ON operation (operation of stepping on the accelerator pedal with the foot), a brake pedal OFF operation (operation of stepping the foot off from the brake pedal), a steering return, or the like, for example.

[0007] According to this driving characteristic determination apparatus, when the reaction of the driver of the host vehicle during traveling with respect to the detected object is detected after the object is detected, it is possible to calculate the above-mentioned driving characteristic values, and to determine the driving characteristic of the driver of the host vehicle based on the average value and the deviation of the driving characteristic values. According to this driving characteristic determination apparatus, even though the vehicle is not stopped, due to the use of the statistical values of the average value and the deviation of the above-mentioned driving characteristic values obtained when the reaction of the driver of the host vehicle with respect to the detected object is detected at the location during traveling before the vehicle is stopped, it is possible to determine the driving characteristic relating to the driving skill of the driver of the host vehicle with high accuracy even during traveling. Further, according to this driving characteristic determination apparatus, it is possible to increase the opportunity to obtain the statistical values of the average value and the deviation of the driving characteristic values, and consequently, it is possible to enhance the evaluation accuracy of the driving characteristic.

[0008] Further, the driving characteristic determination apparatus according to the aspect of the invention may further include a fellow passenger determination unit that determines a security level of a fellow passenger of the host vehicle based on the driving characteristic determined by the characteristic determination unit.

[0009] In this case, it is possible to determine the security level of the fellow passenger of the host vehicle based on the driving characteristic determined by the characteristic determination unit. Thus, when a fellow passenger other than the driver is present, even if the driver is confident that the fellow passenger feels secure, it is possible to objectively estimate the security level that the fellow passenger actually feels with high probability from the driving characteristic of the driver determined by the objective statistical values.

[0010] In addition, in the driving characteristic determination apparatus according to the aspect of the invention, the characteristic determination unit may determine the driving characteristic relating to a method of changing a traveling speed of the host vehicle according to sizes of the average and the deviation of the driving characteristic values accumulated in the accumulation unit.

[0011] In this case, it is possible to determine the driving characteristic relating to the method of changing the traveling speed of the host vehicle according to the sizes of the average and the deviation of the driving characteristic values accumulated in the accumulation unit.

[0012] According to another aspect of the invention, there is provided a driving characteristic determination method including: an object detection step of detecting an object around a host vehicle; a characteristic value calculation step of calculating, when a reaction of a driver of the host vehicle during traveling with respect to the detected object is detected after the object is detected in the object detection step, a largest value or a maximum value of indexes relating to a traveling state of the host vehicle between a time when the reaction is detected and a time when end of the reaction is detected or an operation opposite to the reaction is detected, as a driving characteristic value; an accumulation step of accumulating the characteristic values calculated in the characteristic value calculation step for storage; and a characteristic determination step of determining a driving characteristic of the driver of the host vehicle based on an average value and a deviation of the driving characteristic values accumulated in the accumulation step, in which the index is a value obtained by dividing a jerk of the host vehicle by a deceleration. The reaction refers to an accelerator pedal OFF operation (operation of stepping the foot off from the accelerator pedal), a brake pedal ON operation (operation of stepping on the brake pedal with the foot), a steering start, or the like, for example. Further, the end of the reaction or the operation opposite to the reaction refers to an accelerator pedal ON operation (operation of stepping on the accelerator pedal with the foot), a brake pedal OFF operation (operation of stepping the foot off from the brake pedal), a steering return, or the like, for example. [0013] According to this driving characteristic determination method, when the reaction of the driver of the host vehicle during traveling with respect to the detected object is detected after the object is detected, it is possible to calculate the above-mentioned driving characteristic values, and to determine the driving characteristic of the driver of the host vehicle based on the average value and the deviation of the driving characteristic values. According to this driving characteristic determination method, even though the vehicle is not stopped, due to the use of the statistical values of the average value and the deviation of the above-mentioned driving characteristic values obtained when the reaction of the driver of the host vehicle with respect to the detected object is detected at the location during traveling before the vehicle is stopped, it is possible to determine the driving characteristic relating to the driving skill of the driver of the host vehicle with high accuracy even during traveling. Further, according to this driving characteristic determination method, it is possible to increase the opportunity to obtain the statistical values of the average value and the deviation of the driving characteristic values, and consequently, it is possible to enhance the evaluation accuracy of the driving characteristic.

Advantageous Effects of Invention

[0014] According to either aspect of the invention, it is possible to provide a driving characteristic determination apparatus and a driving characteristic determination method capable of determining a driving characteristic of a driver even though a vehicle is not stopped.

Brief Description of Drawings

[0015] FIG. 1 is a block diagram illustrating a functional configuration of a driving charaGteristic determination apparatus according to a first embodiment of the invention.

FIG. 2 is a diagram illustrating a method for obtaining a driving characteristic value τ, performed by the driving characteristic determination apparatus in FIG. 1.

FIG. 3 is a diagram illustrating a driving characteristic determined by an average value Avg and a deviation σ of the driving characteristic values τ.

FIG. 4 is a flowchart illustrating an operation performed by the driving characteristic determination apparatus in FIG. 1.

FIG. 5 is a flowchart illustrating an operation performed by a driving characteristic determination apparatus according to another embodiment.

FIG. 6 is a flowchart illustrating an operation performed by a driving characteristic determination apparatus according to still another embodiment.

FIG. 7 is a diagram illustrating effects due to usage of a driving characteristic determination apparatus.

FIG. 8 is a diagram illustrating a correspondence relation between a driving profile of an actual driver and driving skill estimated using a driving characteristic determination apparatus.

Description of Embodiments

[0016] Hereinafter, preferable embodiments of the invention will be described in detail with reference to the accompanying drawings. In the following description, the same reference numerals are given to the same or equivalent components, and a repetitive description will not be made.

[0017] FIG 1 is a block diagram illustrating a functional configuration of a driving characteristic determination apparatus according to a first embodiment of the invention. The driving characteristic determination apparatus is mounted on a host vehicle, for example, and determines a characteristic (driving tendency) relating to driving skill of a driver, based on a statistic value of driving characteristic values relating to a traveling state of the host vehicle when a target (object) around the host vehicle is detected. As shown in FIG. 1, the driving characteristic determination apparatus 1 includes a traveling state detection unit 10, a target detection unit 12, a driving operation detection unit 14, a driving support ECU 30 and an output unit 40.

[0018] The traveling state detection unit 10 detects information relating to the traveling state of the host vehicle. In the first embodiment, the traveling state detection unit 10 includes a vehicle speed sensor 16 and an acceleration sensor 18. The vehicle speed sensor 16 is a sensor that detects the speed of the host vehicle. The acceleration sensor 18 is a sensor that detects the acceleration (deceleration, or acceleration and deceleration) and the jerk of the host vehicle. The time differentiation of the speed is the acceleration, and the time differentiation of the acceleration is the jerk. When the acceleration during speed reduction is represented as -a (a is a positive number), the deceleration becomes a. The acceleration sensor 18 may be a sensor capable of detecting the jerk by calculating the jerk from the acceleration (deceleration) of the host vehicle, or may be a sensor capable of directly detecting the jerk of the host vehicle. The traveling state detection unit 10 outputs host vehicle traveling information including the speed and the acceleration of the host vehicle detected using the various sensors to the driving support ECU 30.

[0019] The target detection unit 12 detects a target around the host vehicle. Here, the target refers to a moving object that may be an obstacle such as a vehicle or a pedestrian that exists around the host vehicle. The target may be a stationary object. In the first embodiment, the target detection unit 12 includes a radar 20 and a vehicle exterior camera 22. The radar 20 is a measuring device that measures the distance to the object. For example, the radar 20 transmits electromagnetic waves while scanning the electromagnetic waves on a horizontal surface, receives reflected waves that are reflected and returned from the object, and obtains information about the presence or absence of the object, the direction of the target as seen from the vehicle, the distance between the vehicle and the object, the relative speed of the target to the vehicle, and the like, from a frequency change in the received signal. The vehicle exterior camera 22 is a multi-eye camera, for example, and images front and rear sides and right and left sides of the host vehicle at a predetermined frequency, to obtain the information about the presence or absence of the target, the direction of the target as seen from the vehicle, the relative distance between the vehicle and the target, the relative speed of the target to the vehicle, and the like. The target detection unit 12 outputs target information including the direction of the target, the relative speed and the relative distance between the host vehicle and other vehicles, detected using the various sensors, to the driving support ECU 30. The target detection unit 12 functions as an object detection unit disclosed in claims.

[0020] The driving operation detection unit 14 detects a driving operation of a driver. In the first embodiment, the driving operation detection unit 14 includes a brake pedal sensor 24, an accelerator pedal sensor 26 and a steering sensor 28. The brake pedal sensor 24 is a sensor that detects a stepping-on timing and pressure applied to a brake pedal. The accelerator pedal sensor 26 is a sensor that detects a stepping-on timing and pressure applied to an accelerator pedal. The steering sensor 28 is a sensor that detects steering start timing and a steering turn amount. The driving operation detection unit 14 outputs driving operation information including the content of the driving operation of the user of the host vehicle to the driving support ECU 30.

[0021] The driving support ECU 30 is a computer that includes a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), and the like, and is an electronic device that determines whether to execute driving support control of the host vehicle. The driving support ECU 30 includes a characteristic value calculation unit 32, the characteristic value storing unit 34, a characteristic determination unit 36 and a fellow passenger determination unit 38.

[0022] The characteristic value calculation unit 32 calculates a quantified driving characteristic value τ, based on the host vehicle traveling information output from the traveling state detection unit 10 and the target information output from the target detection unit 12. The driving characteristic value τ represents an index relating to the traveling state of the host vehicle. The driving characteristic value τ refers to the largest value or the maximum value, at each time set in advance, among values obtained by dividing the jerk (time differentiation value of the deceleration) of the host vehicle by the deceleration (time differentiation value of the speed) of the host vehicle. After the target around the host vehicle is detected, when a reaction of the driver with respect to the detected object in the host vehicle during traveling is detected, the characteristic value calculation unit 32 calculates the largest value or the maximum value of the indexes relating to the traveling states of the host vehicle from the time when the reaction is detected to the time when end of the reaction is detected or an operation opposite to the reaction is detected, as the driving characteristic value τ. The reaction refers to an accelerator pedal OFF operation (operation of stepping the foot off from the accelerator pedal), a brake pedal ON operation (operation of stepping on the brake pedal with the foot), a steering start, or the like, for example. Further, the end of the reaction or the operation opposite to the reaction refers to an accelerator pedal ON operation (operation of stepping on the accelerator pedal with the foot), a brake pedal OFF operation (operation of stepping the foot off from the brake pedal), a steering return, or the like, for example. The indexes relating to the traveling states of the host vehicle will be described in detail later.

[0023] As the reaction of the driver with respect to the detected object, for example, stepping on the brake pedal, stepping off the accelerator pedal, or steering for avoiding collision with the target (detected object) may be used. When the reaction of the driver is stepping on the brake pedal, for example, the end of the reaction or the operation opposite to the reaction is stepping off the brake pedal, for example. Further, when the reaction of the driver is stepping off the accelerator pedal, for example, the end of the reaction or the operation opposite to the reaction is stepping on the accelerator pedal, for example. Further, when the reaction of the driver is a right steering for avoiding collision with the target, for example, the end of the reaction or the operation opposite to the reaction is a left steering, for example. Further, when the reaction of the driver is the left steering for preventing collision with the target, for example, the end of the reaction or the operation opposite to the reaction is the right steering, for example. The above-mentioned indexes relating to the traveling states of the host vehicle are values obtained by dividing the jerk (time differentiation value of the deceleration) of the host vehicle by the deceleration (time differentiation value of the speed) of the host vehicle. The characteristic value calculation unit 32 may obtain the index per unit time. Further, the characteristic value calculation unit 32 stores the calculated driving characteristic value τ in the characteristic value storing unit 34. The characteristic value calculation unit 32 functions as a characteristic value calculation unit disclosed in claims.

[0024] A method for obtaining the driving characteristic value τ will be described in detail with reference to FIG. 2. For ease of description, in FIG. 2, the traveling direction of the host vehicle is represented as an X-axis direction, and a width direction of the host vehicle orthogonal to the X-axis direction is represented as a Y-axis direction. FIG 2 shows a situation where a host vehicle C travels on a road at a speed V in the X-axis direction, and a pedestrian P moves outward the road in the Y-axis direction (direction approaching the host vehicle C). Hereinafter, it is assumed that the acceleration (that is, deceleration) of the host vehicle C in the -X direction at time t is A(t)/(m/s 2 ), and the jerk at time t is J(t)(m/s ). In the first embodiment, the characteristic value calculation unit 32 calculates the driving characteristic value τ by the following Expression (1). Namely, the driving characteristic value τ is the largest value or the maximum value among values obtained by dividing the jerk J(t) (time differentiation value of the deceleration) of the host vehicle at point in time of unit time ΔΤ by the deceleration A(t)

(time differentiation value of the speed) of the host vehicle.

[Expression 1]

x=max{x(t)}=max{J(t)/A(t)} ... (1)

[0025] The driving characteristic value τ may be generalized as shown in the following Expression (2). Here, R represents a characteristic amount relating to a behavior of the driver of the host vehicle during traveling, such as a deceleration, and AR represents the amount of change of R.

[Expression 2]

T=AR/R ...(2)

[0026] A first example of R and AR will be described with reference to a case where avoidance of collision with the target based on a braking operation of the driver is performed. In this case, R and AR may be expressed as shown in the following Expression (3). Here, Ax represents a deceleration of the host vehicle in the traveling direction x at that time, and a represents a design parameter (weighting coefficient). Further, V represents a speed of the host vehicle at that time, and J represents a jerk of the host vehicle at that time.

[Expression 3]

R=Ax+aV, AR=dR/dt=J+aAx ... (3)

[0027] A second example of R and AR will be described with reference to a case where avoidance of collision with the target based on a steering operation of the driver is performed. In this case, R and AR may be expressed as shown in the following Expression (4). Here, β represents a design parameter (weighting coefficient).

[Expression 4]

R=(rotational acceleration)+ x(rotational angular speed)

AR=(differentiation of rotational acceleration)+ x(rotational acceleration) . - .(4)

[0028] A third example of R and AR will be described with reference to a case where avoidance of collision with the target based on a simultaneous operation of braking and steering of the driver is performed. In this case, R and AR may be expressed as shown in the following Expression (5). Here, xs represents an index (during avoidance based on the steering) obtained based on the above-mentioned Expression (4), tb represents an index (during avoidance based on the braking) obtained based on the above-mentioned Expression (3), and K represents a design parameter (weighting coefficient).

[Expression 5]

x=TS+KxTb ...(5)

[0029] The characteristic value storing unit 34 accumulates the driving characteristic values τ calculated by the characteristic value calculation unit 32 in a database for storage. The driving characteristic determination apparatus 1 may be set to an initial learning mode where the driving characteristic values τ are additionally stored. In such a case, the characteristic value storing unit 34 accumulates the driving characteristic values τ calculated by the characteristic value calculation unit 32 in the database for storage. The characteristic value storing unit 34 functions as an accumulation unit disclosed in claims.

[0030] The characteristic determination unit 36 calculates an average value Avg and a deviation (so-called variation) σ of the driving characteristic values τ accumulated in the characteristic value storing unit 34, and determines the driving characteristic relating to the driving skill of the driver of the host vehicle, based on the sizes of the average value Avg and the deviation σ. In the first embodiment, the characteristic determination unit 36 selects any one of the four driving characteristics R S s, RSB, ¾S and RBB > based on the sizes of the average value Avg and the deviation σ, as shown in FIG. 3. Namely, the characteristic determination unit 36 selects the driving characteristic R S s if the deviation σ of τ is smaller than a m and the average value Avg is smaller than A m , selects the driving characteristic R SB if the deviation σ of τ is smaller than a m and the average value Avg is A m or greater, selects the driving characteristic R B s if the deviation σ of τ is a m or greater and the average value Avg is smaller than A m , and selects the driving characteristic R BB if the deviation σ of τ is a m or greater and the average value Avg is A m or greater.

[0031] Here, if the deviation σ is smaller than o m , since the variation of the driving characteristic values τ is relatively small, it is determined that a driving characteristic of high driving skill is present, and if the deviation σ of the driving characteristic values τ is a m or greater, since the variation is relatively large, it is determined that a driving characteristic of low driving skill is present. Further, if the average value Avg is smaller than A m , since the deceleration A(t) is relatively large, it is determined that a driving characteristic of performing driving with a gentle speed change is present, and if the average value Avg is A m or greater, since the jerk J(t) is relatively large, it is determined that a driving characteristic of performing driving with an active speed change is present.

[0032] Briefly, it is determined that the driving characteristic Rss is a driving characteristic of performing the driving with gentle speed change (changing the traveling speed) of the host vehicle by high driving skill, and it is determined that the driving characteristic R S B is a driving characteristic of performing the driving with active speed change by high driving skill. Further, it is determined that the driving characteristic RB S is a driving characteristic of performing the driving with gentle speed change by low driving skill, and it is determined that the driving characteristic R B B is a driving characteristic of performing the driving with active speed change by low driving skill. The characteristic determination unit 36 functions as a characteristic determination unit disclosed in claims.

[0033] The fellow passenger determination unit 38 determines the security level of the fellow passenger of the host vehicle based on the driving characteristic determined by the characteristic determination unit 36. In the first embodiment, the fellow passenger determination unit 38 determines that the security level (evaluation points) of the fellow passenger of the host vehicle is relatively high with respect to the driving characteristic R S s that is the driving characteristic of performing the driving with gentle speed change by high driving skill. On the other hand, the fellow passenger determination unit 38 determines that the security level of the fellow passenger of the host vehicle is relatively low with respect to the driving characteristic R B B that is the driving characteristic of performing the driving with active speed change by low driving skill. The fellow passenger determination unit 38 outputs a control signal indicating the determination results of the driving characteristic of the driver and the security level to the output unit 40.

[0034] In the first embodiment, the fellow passenger determination unit 38 may quantify and determine the security level of the fellow passenger of the host vehicle. The security level Y of the fellow passenger of the host vehicle may be quantified by the following Expression (6), for example. Ka, Kb, Kc and Kd represent design parameters, σ represents a deviation of τ, Av represents an average value of the vehicle speeds of the host vehicle immediately after the behavior for collision avoidance (end of the reaction) (for example, an average value in a predetermined number of previous reaction operations), and Avg represents the average value of τ.

Y=-Kaxa+KbxAv+Kcx(a/Avg)+Kd ...(6)

[0035] (σ/Avg) in the above-mentioned Expression (6) is a portion that is highly related to the security level of the fellow passenger defined by the relationship between the average value Avg of τ and the deviation σ. Further, it is considered that Av in the above-mentioned Expression (6) is greatly related to a condition (atmosphere) of driving before the behavior for collision avoidance. The fellow passenger determination unit 38 functions as a fellow passenger determination unit disclosed in claims.

[0036] The output unit 40 is a device that executes driving support based on the output from the driving support ECU 30. In the first embodiment, the output unit 40 includes a notification device 42. The notification device 42 is a display or a light emitting device that is a human machine interface (HMI) configured to be visible only by the driver and not to be visible by the fellow passenger, a sound output device with an earphone configured to be audible by the driver and not to be audible by the fellow passenger, a personal digital assistant capable of performing wireless communication owned by the driver, or the like, and outputs an alarm display based on the control signal output from the driving support ECU 30 to notify the driver of the security level (evaluation points) of the fellow passenger. The notification device 42 may display the quantified security level of the fellow passenger while displaying the determined driving characteristic of the driver using the graph in FIG. 3.

[0037] Next, an operation of the driving characteristic determination apparatus 1 according to the first embodiment and a driving characteristic determination method according to the first embodiment will be described with reference to FIG 4. FIG. 4 is a flowchart illustrating the operation of the driving characteristic determination apparatus 1 according to the first embodiment. Respective processes shown in FIG. 4 are started as the presence of the target (target mark) around the host vehicle 1 is detected by the driving characteristic determination apparatus 1, and are repeatedly executed at predetermined intervals.

[0038] As shown in FIG. 4, the driving support ECU 30 of the driving characteristic determination apparatus 1 first obtains the host vehicle traveling information, the target information and the driving operation information as the traveling data from the traveling state detection unit 10, the target detection unit 12, and the driving operation detection unit 14 (object detection step), and determines whether the host vehicle is present at a target location at the current point in time (step S01). The target location refers to a situation where the approach of the target (target mark) around the host vehicle is detected. When it is determined that the host vehicle is not present at the target location at the current point in time, the series of processes is terminated. On the other hand, when it is determined that the host vehicle is present at the target location at the current point in time, the procedure proceeds to step S03 to be described below.

[0039] In step S03, the driving support ECU 30 determines whether the host vehicle is present in an τ analysis section at the current point in time (step S03, characteristic value calculation step). The τ analysis section refers to, when the reaction of the driver with respect to the detected object in the host vehicle during traveling is detected(for example, accelerator OFF operation, brake ON operation, and steering start), a period from the time when the reaction (for example, accelerator OFF operation, brake ON operation, and steering start) is detected to the time when the end of the reaction is detected or the operation opposite to the reaction (for example, accelerator ON operation, brake OFF operation, and steering return) is detected. When it is determined that the host vehicle is not present in the τ analysis section at the current point in time, the series of processes is terminated. On the other hand, when it is determined that the host vehicle is present in the τ analysis section at the current point in time, the procedure proceeds to step S05 to be described below.

[0040] In step S05, the characteristic value calculation unit 32 calculates the driving characteristic values τ based on the host vehicle traveling information output from the traveling state detection unit 10 and the target information output from the target detection unit 12 (characteristic value calculation step). Then, the characteristic value storing unit 34 accumulates the driving characteristic values τ calculated by the characteristic value calculation unit 32 for storage (step S07, accumulation step). Then, the characteristic determination unit 36 calculates the average value Avg and the deviation (so-called variation) σ of the driving characteristic values τ accumulated in the characteristic value storing unit 34 (step S09, characteristic determination step). Then, the characteristic determination unit 36 determines the driving characteristic relating to the driving skill of the driver of the host vehicle, based on the sizes of the average value Avg and the deviation σ (step S09, characteristic determination step).

[0041] Next, an operation of a driving characteristic determination apparatus according to a second embodiment different from the first embodiment and a driving characteristic determination method according to the second embodiment will be described with reference to FIG. 5. The configuration of the driving characteristic determination apparatus according to the second embodiment is the same as the configuration of the driving characteristic determination apparatus 1 according to the first embodiment. FIG. 5 is a flowchart illustrating the operation of the driving characteristic determination apparatus according to the second embodiment. Respective processes shown in FIG 5 are started as the presence of the target (target mark) around the host vehicle is detected by the driving characteristic determination apparatus, and are repeatedly executed at predetermined intervals.

[0042] As shown in FIG. 5, since steps Sl l, S13, S15, and S17 are the same as steps S01, S03, S05 and S07 in FIG. 4, the description will not be repeated. In step SI 7, if the characteristic value storing unit 34 accumulates the driving characteristic values τ calculated by the characteristic value calculation unit 32 for storage in the database, the characteristic determination unit 36 calculates the average value Avg and the deviation (so-called variation) σ of the driving characteristic values τ accumulated in the characteristic value storing unit 34 (characteristic determination step).

[0043] Then, the characteristic determination unit 36 determines the driving characteristic relating to the driving skill of the driver of the host vehicle, based on the sizes of the average value Avg and the deviation σ. Then, the output unit 40 displays which one of the four driving characteristics shown in FIG 3 the determined driving characteristic corresponds to in a display that is the human machine interface (HMI) configured to be visible only by the driver and not to be visible by the fellow passenger, for example (step SI 9, characteristic determination step). Thus, the driver can recognize that the relationship between the driving characteristic relating to the driving skill of the driver and the security feeling of the fellow passenger has been quantified.

[0044] Next, an operation of a driving characteristic determination apparatus according to a third embodiment different from the above-described second embodiment and a driving characteristic determination method according to the third embodiment will be described with reference to FIG. 6. The configuration of the driving characteristic determination apparatus according to the third embodiment is the same as the configuration of the driving characteristic determination apparatus 1 according to the first embodiment. FIG. 6 is a flowchart illustrating the operation of the driving characteristic determination apparatus according to the third embodiment. Respective processes shown in FIG. 6 are started as the presence of the target (target mark) around the host vehicle is detected by the driving characteristic determination apparatus, and are repeatedly executed at predetermined intervals.

[0045] Since steps S21, S23, S25, and S27 shown in FIG. 6 are the same as steps S01, S03, S05, and S07 in FIG. 4, description will not be repeated. In step S27, if the characteristic value storing unit 34 accumulates the driving characteristic values τ calculated by the characteristic value calculation unit 32 for storage in the database, the characteristic determination unit 36 obtains the vehicle speed of the host vehicle immediately after the behavior for collision avoidance (step

S29, characteristic determination step). [0046] Further, the characteristic determination unit 36 calculates the average value Avg and the deviation (so-called variation) σ of the driving characteristic values τ accumulated in the characteristic value storing unit 34, and quantifies the security level Y of the fellow passenger of the host vehicle using the obtained vehicle speed by using the Expression (6) (step S31, characteristic determination step).

[0047] Further, the characteristic determination unit 36 determines the driving characteristic relating to the driving skill of the driver of the host vehicle based on the sizes of the average value Avg and the deviation σ. Further, the output unit 40 displays the driving characteristic and the calculated security level Y of the fellow passenger in the display that is the human machine interface (HMI) configured to be recognized only by the driver and not to be recognized by the fellow passenger, for example (step S31). Thus, the driver can recognize that the relationship between the driving characteristic relating to the driving skill of the driver and the security feeling of the fellow passenger has been quantified.

[0048] Next, an effect of the driving characteristic determination apparatus 1 according to the first embodiment will be described with reference to FIGS. 7 and 8. FIG. 7 is a diagram illustrating a situation where a driver of a host vehicle C drives the host vehicle C for traveling without recognizing the presence of a target P, in which time to collision (TTC) that is time necessary for collision of the host vehicle C and the target P is represented on the transverse axis. FIG 8 is a diagram illustrating a correspondence relation between a driving profile of an actual driver and driving skill estimated using the driving characteristic determination apparatus.

[0049] As shown in FIG 7, according to the driving characteristic determination apparatus 1, it is possible to calculate one or plural driving characteristic values τ based on a stimulation sensing characteristic when a collision avoidance reaction (at a timing when

TTC becomes tl) of the driver of the host vehicle C during traveling is detected after the target P is detected, and to determine the driving characteristic of the driver of the host vehicle C based on the average value Avg and the deviation σ of the driving characteristic values τ. Thus, even though the vehicle is not stopped, due to the use of the statistical values of the average value Avg and the deviation σ of the driving characteristic values τ obtained when the reaction of the driver of the host vehicle C with respect to the detected object at the location during traveling before the vehicle is stopped, it is possible to estimate the driving characteristic (driving tendency including the active driving degree and the driving ability) relating to the driving skill of the driver of the host vehicle with high accuracy. Further, it is possible to increase the opportunity to obtain the statistical values of the average value Avg and the deviation σ of the driving characteristic values τ, and thus, it is possible to enhance the evaluation quality of the driving characteristic.

[0050] As shown in FIG. 8, when plural drivers having had a driver's license for 18 years or longer got in a vehicle mounted with the driving characteristic determination apparatus 1, it was determined during traveling that "a subjective driving skill determination result of a fellow passenger" was "high", and the determination of the driving skill that is greatly related to driving history could be performed with high accuracy even during traveling. Further, when plural drivers having had a driver's license for a period shorter than 18 years drove the vehicle with the driving characteristic determination apparatus 1, it was determined during traveling that "the driving skill" was "intermediate", and the determination of the driving skill that is highly related to driving history could be performed with high accuracy even during traveling.

[0051] Further, according to the driving characteristic determination apparatus 1, it is possible to determine the security level of the fellow passenger of the host vehicle based on the determined driving characteristic. Thus, when a fellow passenger other than the driver is present, even though the driver is confident that the fellow passenger feels secure, it is possible to objectively estimate the security level that the fellow passenger actually feels with high probability from the driving characteristic of the driver determined by the objective statistical values.

[0052] Further, according to the driving characteristic determination apparatus 1, according to the sizes of the average value Avg and the deviation σ of the accumulated driving characteristic values τ, it is possible to determine the driving characteristic relating to the method of changing the traveling speed of the host vehicle.

[0053] Further, according to the driving characteristic determination apparatus 1, by using the average value Av of the vehicle speeds of the host vehicle immediately after a predetermined number of previous behaviors for avoiding collision, in addition to statistic σ and Avg relating to the driving characteristic values τ, it is possible to estimate the security level Y of the fellow passenger with respect to the driving of the host vehicle by the driver.

[0054] Hereinbefore, the respective embodiments of the invention have been described, but the invention is not limited to the above-described embodiments, and various modifications may be made.

Industrial Applicability

[0055] According to the invention, it is possible to provide a driving characteristic determination apparatus and a driving characteristic determination method capable of determining a driving characteristic of a driver without stopping a vehicle.

Reference Signs List

[0056]

1 DRIVING CHARACTERISTIC DETERMINATION

APPARATUS

10 TRAVELING STATE DETECTION UNIT

12 TARGET DETECTION UNIT

14 DRIVING OPERATION DETECTION UNIT

16 VEHICLE SPEED SENSOR

18 ACCELERATION SENSOR

20 RADAR

22 VEHICLE EXTERIOR CAMERA

24 BRAKE PEDAL SENSOR

26 ACCELERATOR PEDAL SENSOR

28 STEERING SENSOR

30 DRIVING SUPPORT ECU

32 CHARACTERISTIC VALUE CALCULATION UNIT 34 CHARACTERISTIC VALUE STORING UNIT

36 CHARACTERISTIC DETERMINATION UNIT

38 FELLOW PASSANGER DETERMINATION UNIT

40 OUTPUT UNIT

42 NOTIFICATION DEVICE

C HOST VEHICLE

P PEDESTRIAN




 
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