Driving model generation device, driving model generation method, driving evaluation device, driving evaluation method, and driving support system

• US 10,229,229 B2
• Filed: 01/15/2013
• Issued: 03/12/2019
• Est. Priority Date: 01/20/2012
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: Matsumura, Takeshi
• Primary Examiner(s): Fernandez Rivas, Omar F
• Assistant Examiner(s): Brock, Robert S
• Application Number:
  US14/372,333
• Publication Number:
  US 20150006132A1
• Time in Patent Office: 2,247 Days
• CPC Class Codes: B60K 28/02 responsive to conditions relating to the driver
• CPC Class Codes: B60W 2050/0018 Method for the design of a control system
• CPC Class Codes: B60W 2050/0029 Mathematical model of the driver
• CPC Class Codes: B60W 2540/043 Identity of occupants
• CPC Class Codes: B60W 2556/10 Historical data
• CPC Class Codes: B60W 40/09 Driving style or behaviour
• CPC Class Codes: G06F 30/20 Design optimisation, verification or simulation optimisation, verification or simulation of circuit designs G06F30/30
• CPC Class Codes: G08G 1/0112 from the vehicle, e.g. floating car data [FCD]
• CPC Class Codes: G08G 1/0129 for creating historical data or processing based on historical data
• CPC Class Codes: G08G 1/0145 for active traffic flow control
• CPC Class Codes: G08G 1/095 Traffic lights
• CPC Class Codes: G08G 1/096716 where the received information does not generate an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096741 where the source of the transmitted information selects which information to transmit to each vehicle
• CPC Class Codes: G08G 1/096775 where the origin of the information is a central station
• CPC Class Codes: G08G 1/096791 where the origin of the information is another vehicle

Abstract

A driving model generation device is provided that enables driving evaluation according to a traveling situation of a vehicle. A vehicle is provided with a vehicle state detector, which detects a vehicle state quantity that changes according to a driving operation by a driver. A model generator generates a driving model, which is a reference related to a specific driving operation, based on the vehicle state quantity at the time the driver starts the specific driving operation and the vehicle state quantity at the time the specific driving operation is finished. A driving evaluator evaluates the driving skill of the driver by comparing the driving operation of the driver presented by a detection result of the vehicle state detector to the driving model generated by the model generator.

Claims

1. A driving model generation device configured to generate a driving model on the basis of a driving operation of a vehicle by a driver and to interface with a driving support system that supports driving operation of the vehicle by the driver, the driving model generation device comprising:

a state quantity detector sensor configured to detect a vehicle state quantity that changes according to the driving operation by the driver; and

a model generator circuit configured to, on the basis of the vehicle state quantity when the driver starts a specific driving operation and the vehicle state quantity when the driver ends the specific driving operation, generate the driving model to be used as a reference related to the specific driving operation, wherein

the vehicle state quantity includes a movement distance or a movement time of the vehicle from the start of the specific driving operation to the end thereof and an amount of change in vehicle behavior from the start of the driving operation to the end thereof,

the model generator circuit is configured to generate a simple model that shows changes over time in vehicle behavior from the start of the specific driving operation to the end thereof,

the driving model generation device further includes a gradual change processor circuit configured to carry out gradual change processing, which is processing for decreasing a degree of change in vehicle behavior per unit time or per unit distance shown by the previously generated simple model to generate the driving model by incorporating a time constant into the simple model,

the gradual change processor circuit is configured to carry out, as the gradual change processing, processing for decreasing the degree of change in vehicle behavior in a zone of a specific percentage that includes a change in the vehicle behavior in an entire zone where the specific driving operation has been performed,

the gradual change processor circuit is configured to modify the degree of change in vehicle behavior of the simple model according to whether the entire zone is long or short,

the gradual change processor circuit is configured to change the simple model in a manner in which the vehicle behavior will change over a longer zone when the entire zone is long and change the simple model in a manner in which the vehicle behavior will change over a shorter zone when the entire zone is short,

the gradual change processor circuit is configured to change the simple model to the driving model such that the amount of change in vehicle behavior from the start of the specific driving operation to the end thereof is increased on a basis of a constant rate of change, then the amount of change is kept constant, and then the amount of change is decreased on the basis of the constant rate of change,

the specific driving operation is one slowing down operation, one speeding up operation, or one braking operation,

the start of the specific driving operation corresponds to a beginning of the entire zone,

the end of the specific driving operation corresponds to an end of the entire zone,

the driving support system comprises a driving support circuit configured to guide driving operation of the vehicle by an evaluation-target driver into a driving operation in compliance with the driving model using a vehicle driving system mounted on the vehicle providing vehicle control guidance, and

the driving support system supports the driving operation of the vehicle based on a comparison of the driving model generated by the model generator circuit and the vehicle state quantity detected by the state quantity detector sensor.

2. The driving model generation device according to claim 1, wherein

the gradual change processor circuit is configured to carry out at least one of the following processing as the gradual change processing:

b) processing for decreasing the degree of change in vehicle behavior in a specific zone that includes at least one of the start point and the end point of the zone, in the entire zone where specific driving operation has been performed;

c) processing for decreasing the degree of change in vehicle behavior in a zone where a vehicle has traveled during lapse of a predetermined period of time after the vehicle has gone through the start point of the zone, in the entire zone where specific driving operation has been performed; and

d) processing for decreasing the degree of change in vehicle behavior in a zone where a vehicle has traveled during a predetermined period of time until the vehicle arrives at the end point of the zone, in the entire zone where specific driving operation has been performed.

3. The driving model generation device according to claim 1, wherein

the gradual change processor circuit is configured to modify a decreasing rate of the degree of change in the vehicle behavior according to a driving pattern of a driver to whom the driving model is to be presented.

4. The driving model generation device according to claim 1, wherein

the state quantity detector sensor is configured to obtain information that shows state quantities of a plurality of vehicles on the basis of driving operations by a plurality of drivers as the vehicle state quantity, and

the gradual change processor circuit is configured to use, as an amount of change in vehicle behavior at which the gradual change processing is carried out, at least one of the following:

11) an average value of amounts of change in vehicle behavior by a same driver;

12) an average value of amounts of change in vehicle behavior on the basis of the driving operations by the plurality of drivers obtained at a specific site; and

13) an average value of amounts of change in vehicle behavior on the basis of driving operations by a same driver obtained at a specific site.

5. The driving model generation device according to claim 1, wherein

an amount of change in vehicle behavior is composed of at least one of traveling velocity, deceleration, acceleration, jerk, and turning angle of the vehicle, and

the model generator circuit is configured to generate a driving model of at least one of driving operation selected from

a slowing down operation at a time of slowing down of the vehicle;

a speeding up operation at a time of speeding up of the vehicle; and

turning operation at a time of traveling on a curve or at a time of traveling on a street crossing.

6. The driving model generation device according to claim 1, wherein

the model generator circuit is configured to be installed at a management center at which information showing the vehicle state quantity is aggregated, and

the model generator circuit is configured to generate the driving model on the basis of the information showing the vehicle state quantity aggregated at the management center.

7. The driving model generation device according to claim 1, wherein the driving support system includes at least one of a sound device that provides voice guidance and a display device that provides image guidance.

8. A driving support system, comprising:

a driving support circuit that supports driving of the vehicle by a driver; and

a driving evaluation device configured to evaluate driving of a vehicle by a driver, the driving evaluation device comprising;

a driving evaluator circuit configured to evaluate driving skill of the vehicle by the driver; and

an evaluation component detector sensor configured to detect, as an evaluation component, a vehicle state quantity that changes according to a driving operation by an evaluation-target driver,

wherein the driving evaluator circuit is configured to compare a driving model generated by a driving model generation device with the vehicle state quantity detected by the evaluation component detector sensor, thereby evaluating the driving skill of the evaluation-target driver, the driving model generation device configured to generate the driving model on the basis of a driving operation of a vehicle by a driver, and the driving model generation device comprising;

a state quantity detector sensor configured to detect a vehicle state quantity that changes according to the driving operation by the driver; and

a model generator circuit configured to, on the basis of the vehicle state quantity when the driver starts a specific driving operation and the vehicle state quantity when the driver ends the specific driving operation, generate the driving model to be used as a reference related to the specific driving operation, wherein

the vehicle state quantity includes a movement distance or a movement time of the vehicle from the start of the specific driving operation to the end thereof and an amount of change in vehicle behavior from the start of the specific driving operation to the end thereof,

the model generator circuit is configured to generate a simple model that shows changes over time in vehicle behavior from the start of the driving operation to the end thereof,

the driving model generation device further includes a gradual change processor circuit configured to carry out gradual change processing, which is processing for decreasing a degree of change in vehicle behavior per unit time or per unit distance shown by the previously generated simple model to generate the driving model by incorporating a time constant into the simple model,

the gradual change processor circuit is configured to carry out, as the gradual change processing, processing for decreasing the degree of change in vehicle behavior in a zone of a specific percentage that includes a change in the vehicle behavior in an entire zone where the specific driving operation has been performed,

the gradual change processor circuit is configured to modify the degree of change in vehicle behavior of the simple model according to whether the entire zone is long or short,

the gradual change processor circuit is configured to change the simple model in a manner in which the vehicle behavior will change over a longer zone when the entire zone is long and change the simple model in a manner in which the vehicle behavior will change over a shorter zone accordingly when the entire zone is short,

the gradual change processor circuit is configured to change the simple model to the driving model such that the amount of change in vehicle behavior from the start of the specific driving operation to the end thereof is increased on a basis of a constant rate of change, then the amount of change is kept constant, and then the amount of change is decreased on the basis of the constant rate of change,

the specific driving operation is one slowing down operation, one speeding up operation, or one braking operation,

the start of the specific driving operation corresponds to a beginning of the entire zone,

the end of the specific driving operation corresponds to an end of the entire zone,

the driving support circuit is configured to guide driving operation of the vehicle by the evaluation-target driver into a driving operation in compliance with the driving model using a vehicle driving system mounted on the vehicle providing vehicle control guidance, and

the driving support system supports the driving operation of the vehicle based on the comparison of the driving model generated by the model generator circuit and the vehicle state quantity detected by the evaluation component detector sensor.

9. The driving support system according to claim 8, further comprising at least one of a sound device that provides voice guidance and a display device that provides image guidance.

10. A driving support system configured to support a driving operation by a driver of a vehicle, the system comprising:

a driving evaluation device configured to evaluate driving of the vehicle by the driver; and

a driving support circuit that supports driving of the vehicle by the driver on the basis of evaluation results made by the driving evaluation device, the driving evaluation device including;

a driving evaluator circuit configured to evaluate the driving operation of the vehicle by the driver;

an evaluation component detector sensor configured to detect, as an evaluation component, a vehicle state quantity that changes according to a driving operation by an evaluation-target driver, and

a driving model generation device configured to generate a driving model on the basis of the driving operation of the vehicle by the driver, wherein the driving evaluator circuit is configured to compare the driving model generated by the driving model generation device with the vehicle state quantity detected by the evaluation component detector sensor, thereby evaluating the driving skill of the evaluation-target driver, the driving model generation device comprising;

a state quantity detector sensor configured to detect a vehicle state quantity that changes according to the driving operation by the driver;

a model generator circuit configured to, on the basis of the vehicle state quantity when the driver starts a specific driving operation and the vehicle state quantity when the driver ends the specific driving operation, generate the driving model to be used as a reference related to the specific driving operation, wherein the vehicle state quantity includes a movement distance or a movement time of the vehicle from the start of the specific driving operation to the end thereof and an amount of change in vehicle behavior from the start of the specific driving operation to the end thereof, and the model generator circuit is configured to generate a simple model that shows changes over time in vehicle behavior from the start of the driving operation to the end thereof; and

a gradual change processor circuit configured to;

carry out gradual change processing, which is processing for decreasing a degree of change in vehicle behavior per unit time or per unit distance shown by the previously generated simple model to generate the driving model by incorporating a time constant into the simple model,

carry out, as the gradual change processing, processing for decreasing the degree of change in vehicle behavior in a zone of a specific percentage that includes a change in the vehicle behavior in an entire zone where the specific driving operation has been performed,

modify the degree of change in vehicle behavior of the simple model according to whether the entire zone is long or short, and

change the simple model in a manner in which the vehicle behavior will change over a longer zone when the entire zone is long and change the simple model in a manner in which the vehicle behavior will change over a shorter zone accordingly when the entire zone is short, wherein

the driving support circuit is configured to guide driving operation of the vehicle by the evaluation-target driver into a driving operation in co e driving model using a vehicle driving system mounted on the vehicle providing vehicle control guidance, the driving support system supports the driving operation of the vehicle based on the comparison of the driving model generated by the driving model generation device and the vehicle state quantity detected by the evaluation component detector sensor,

the gradual change processor circuit is configured to change the simple model to the driving model such that the amount of change in vehicle behavior from the start of the specific driving operation to the end thereof is increased on a basis of a constant rate of change, then the amount of change is kept constant, and then the amount of change is decreased on the basis of the constant rate of change,

the specific driving operation is one slowing down operation, one speeding up operation, or one braking operation,

the start of the specific driving operation corresponds to a beginning of the entire zone, and

the end of the specific driving operation corresponds to an end of the entire zone.

11. The driving support system according to claim 10, further comprising at least one of a sound device that provides voice guidance and a display device that provides image guidance.

12. A driving model generation method for generating a driving model performed by a driving model generation device on the basis of a driving operation of a vehicle by a driver, the driving model generation device configured to interface with a driving support system that supports driving operation of the vehicle by the driver, the driving model generation method comprising:

detecting a vehicle state quantity that changes according to the driving operation by the driver by a state quantity detector sensor;

generating the driving model to be used as a reference related to specific driving operation on the basis of the vehicle state quantity when the driver starts the specific driving operation and the vehicle state quantity when the driver ends the specific driving operation by a model generator circuit;

selecting, as the vehicle state quantity, a movement distance or a movement time of a vehicle from the start of the specific driving operation to the end thereof and an amount of change in vehicle behavior from the start of the specific driving operation to the end thereof;

generating a simple model that shows change over time in vehicle behavior from the start of the specific driving operation to the end thereof; and

carrying out a gradual change, which is processing for decreasing the degree of change in vehicle behavior per unit time or per unit distance shown by the simple model generated on the basis of generation of the simple model to generate the driving model by incorporating a time constant into the simple model by a gradual change processor circuit,

the gradual change including;

decreasing the degree of change in vehicle behavior in a zone of a specific percentage that includes a change in the vehicle behavior in an entire zone where the specific driving operation has been performed,

modifying the degree of change in vehicle behavior of the simple model according to whether the entire zone is long or short,

changing the simple model in a manner in which the vehicle behavior will change over a longer zone when the entire zone is long and changing the simple model in a manner in which the vehicle behavior will change over a shorter zone accordingly when the entire zone is short, and

changing the simple model to the driving model such that the amount of change in vehicle behavior from the start of the specific driving operation to the end thereof is increased on a basis of a constant rate of change, then the amount of change is kept constant, and then the amount of change is decreased on the basis of the constant rate of change, wherein

the specific driving operation is one slowing down operation, one speeding up operation, or one braking operation,

the start of the specific driving operation corresponds to a beginning of the entire zone,

the end of the specific driving operation corresponds to an end of the entire zone,

the driving support system comprises a driving support circuit configured to guide driving operation of the vehicle by an evaluation-target driver into a driving operation in compliance with the driving model using a vehicle driving system mounted on the vehicle providing vehicle control guidance, and

the driving support system supports the driving operation of the vehicle based on a comparison of the driving model generated by the driving model generation device and the vehicle state quantity detected by the state quantity detector sensor.

13. The generation method according to claim 12, wherein the gradual change carries out at least one of the following:

b) decreasing the degree of change in vehicle behavior in a specific zone that includes at least one of the start point and the end point of the zone, in the entire zone where specific driving operation has been performed;

c) decreasing the degree of change in vehicle behavior in a zone where a vehicle has traveled during lapse of a predetermined period of time after the vehicle has gone through the start point of the zone, in the entire zone where specific driving operation has been performed; and

d) decreasing the degree of change in vehicle behavior in a zone where a vehicle has traveled during a predetermined period of time until the vehicle arrives at the end point of the zone, in the entire zone where specific driving operation has been performed.

14. The generation method according to claim 12, wherein

the gradual change includes modifying a decreasing rate of the degree of change in the vehicle behavior according to a driving pattern of a driver to whom a driving model generated by generation of the driving model is to be presented.

15. The generation method according to claim 12, wherein

the detection of the vehicle state quantity includes obtaining information that shows state quantifies of a plurality of vehicles on the basis of driving operations by a plurality of drivers as the vehicle state quantity, and

the gradual change uses, as an amount of change in a vehicle in which the gradual change is carried out, at least one of the following:

11) average value of amounts of change in vehicle behavior by a same driver;

12) an average value of amounts of change in vehicle behavior on the basis of the driving operations by the plurality of drivers obtained at a specific site; and

13) an average value of amounts of change in vehicle behavior on the basis of driving operations by a same driver obtained at a specific site.

16. The generation method according to claim 12, further comprising selecting at least one of traveling velocity, deceleration, acceleration, jerk, and turning angle of a vehicle as an amount of change in vehicle behavior, wherein

generation of the driving model includes generating a driving model of at least one of driving operation selected from

a slowing down operation at a time of slowing down of the vehicle,

a speeding up operation at a time of speeding up of the vehicle, and

turning operation at a time of traveling on a curve or at a time of traveling on a street crossing.

17. The generation method according to claim 12, wherein the driving support system includes at least one of a sound device that provides voice guidance and a display device that provides image guidance.

18. A driving support method, comprising:

providing driving support to a driver via a driving support circuit; and

a driving evaluation method performed by a driving evaluation device for evaluating driving of a vehicle by a driver, the driving evaluation method comprising;

evaluating driving operation the vehicle by the driver by a driving evaluator; and

detecting, as an evaluation component, a vehicle state quantity that changes according to a driving operation by an evaluation-target driver by an evaluation component detector,

wherein the evaluation of the driving operation includes comparing a driving model generated by a driving model generation method with the vehicle state quantity detected by evaluation of the driving operation, thereby evaluating the driving skill of the evaluation-target driver, and

wherein the driving model generation method generates the driving model on the basis of a driving operation of a vehicle by a driver, the driving model generation method comprising;

detecting a vehicle state quantity that changes according to the driving operation by the driver by a state quantity detector sensor;

generating the driving model to be used as a reference related to specific driving operation on the basis of the vehicle state quantity when the driver starts the specific driving operation and the vehicle state quantity when the driver ends the specific driving operation by a model generator circuit;

selecting, as the vehicle state quantity, a movement distance or a movement time of a vehicle from the start of the specific driving operation to the end thereof and an amount of change in vehicle behavior from the start of the specific driving operation to the end thereof;

generating a simple model that shows change over time in vehicle behavior from the start of the specific driving operation to the end thereof, and

carrying out a gradual change, which is processing for decreasing the degree of change in vehicle behavior per unit time or per unit distance shown by the simple model generated on the basis of generation of the simple model to generate the driving model by incorporating a time constant into the simple model by a model generator circuit,

the gradual change including;

decreasing the degree of change in vehicle behavior in a zone of a specific percentage that includes a change in the vehicle behavior in an entire zone where specific driving operation has been performed,

modifying the degree of change in vehicle behavior of the simple model according to whether the entire zone is long or short,

changing the simple model in a manner in which the vehicle behavior will change over a longer zone when the entire zone is long and changing the simple model in a manner in which the vehicle behavior will change over a shorter zone accordingly when the entire zone is short, and

changing the simple model to the driving model such that the amount of change in vehicle behavior from the start of the specific driving operation to the end thereof is increased on a basis of a constant rate of change, then the amount of change is kept constant, and then the amount of change is decreased on the basis of the constant rate of change, and

wherein the specific driving operation is one slowing down operation, one speeding up operation, or one braking operation,

the start of the specific driving operation corresponds to a beginning of the entire zone,

the end of the specific driving operation corresponds to an end of the entire zone,

the driving support circuit is configured to guide driving operation of the vehicle by the evaluation-target driver into a driving operation in compliance with the driving model using a vehicle driving system mounted on the vehicle providing vehicle control guidance, and

the driving support provided by the driving support circuit is based on the comparison of the driving model generated by the driving model generation method and the vehicle state quantity detected by evaluation of the driving operation.

19. The driving support method according to claim 18, wherein the driving support circuit controls at least one of a sound device that provides voice guidance and a display device that provides image guidance.