JP2003011756A - Travel supporting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a travel supporting device capable of sufficiently grasping a driving operation state and enabling to improve a driving operation. SOLUTION: The travel supporting device for supporting the driving operation of a driver who drives a vehicle can support a plurality of different driving operations, and informs a driver of a support amount of a presently supporting driving operation for every different support (S14). Thereby the driver of the vehicle can know to what degree the driving operation is supported in real time. Therefore, excess and deficiency in the driving operation and a deviation of operation timing can be grasped and driving operation technique can be improved by reflecting to correction of the driving operation of one's own.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a driving support device for supporting driving operation of a vehicle.

[0002]

2. Description of the Related Art Conventionally, as described in Japanese Patent Application Laid-Open No. 2000-247162, the driving state of a driver is detected, the information on the driving state is compared with a determination reference value, and the driving information is evaluated. 2. Description of the Related Art There is known a vehicle driving condition evaluation device for informing a driver of an evaluation result. This device objectively evaluates the driving state of the driver and informs the driver of the evaluation result, thereby making the driver aware of safe driving and the like.

[0003]

However, in this device, only the comprehensive evaluation of the operating condition is informed, and it is possible to specifically inform what operation should be performed and to what extent during operation. Can not. Therefore, the driver of the vehicle cannot sufficiently reflect the evaluation result in the correction of his / her driving operation.

The present invention has been made in order to solve such a problem, and an object thereof is to provide a traveling support device capable of sufficiently grasping a driving operation state and improving driving operation. To do.

[0005]

That is, a travel support device according to the present invention is a drive support device for assisting travel control of a vehicle so as to compensate for excess or deficiency of driving operation of a driver who drives the vehicle. It is characterized in that it is provided with an informing means for informing the driver of the amount of assistance of the driving operation being performed.

Further, the traveling support device according to the present invention comprises steering control means for assisting the driver's steering operation, and the notification means outputs the steering torque or the control value for generating the steering torque with the assistance of the steering control means. It is characterized by notifying.

Further, the traveling support device according to the present invention comprises acceleration / deceleration control means for assisting the driver's acceleration / deceleration operation, and the notification means is the driving force or braking force by the acceleration / deceleration control means, or the driving force or braking force. It is characterized in that a control value for generating is notified.

Further, the driving support device according to the present invention is characterized in that the above-mentioned notifying means notifies the driver of the amount of assistance through visual, auditory or tactile sensation.

According to these inventions, the driver can know in real time how much the driving operation is supported by notifying the amount of the driving operation currently supported. Therefore, it is possible to grasp the excess or deficiency in the driving operation, the deviation of the operating timing, and the like, and it is possible to improve the driving operation technique by reflecting the correction in the driving operation. Further, by knowing the support amount of the driving operation, it is possible to prevent the driving operation technique from being deteriorated due to overreliance on the driving operation support system. In addition, it is possible to grasp the traveling environment of the vehicle such as the state of the traveling road surface from the amount of assistance in driving operation. Further, the driver's support amount is notified in real time, so that the driver can know whether the support system is operating or not, and it is possible to reduce the discomfort of the driving operation caused by the driving operation support. Further, when an abnormality occurs in the support system, the support system is not provided when the support should be provided, so that the abnormality in the support system can be recognized.

Further, the driving support device according to the present invention is capable of supporting a plurality of different driving operations in the driving support device which assists the driving control of the vehicle so as to compensate the driving operation of the driver who drives the vehicle. Is provided, and an informing means for informing the driver of the amount of assistance of the driving operation currently being assisted.

Further, the driving support device according to the present invention is characterized in that the above-mentioned supporting means supports at least the acceleration / deceleration operation and the steering operation.

Further, the driving support device according to the present invention is characterized in that the above-mentioned notifying means notifies the driver of the amount of support by sight, hearing or tactile sensation.

According to these inventions, the driver can know in real time which driving operation and to what extent the driving operation is notified by notifying the amount of the driving operation currently supported. Therefore, it is possible to grasp the excess and deficiency in each driving operation and the deviation of the operation timing,
It is possible to improve the driving operation technique by reflecting it in the correction of the driving operation. Further, by knowing the support amount of the driving operation, it is possible to prevent the driving operation technique from being deteriorated due to overreliance on the driving operation support system. In addition, it is possible to grasp the traveling environment of the vehicle such as the state of the traveling road surface from the amount of assistance in driving operation. Further, the driver's support amount is notified in real time, so that the driver can know whether the support system is operating or not, and it is possible to reduce the discomfort of the driving operation caused by the driving operation support. Furthermore,
When an abnormality occurs in the support system, it is possible to recognize the abnormality in the support system by not providing the support when the support should be provided.

Further, the driving support apparatus according to the present invention is characterized in that the above-mentioned notifying means notifies the amount of support through a different notification medium depending on the type of driving operation support.

Further, the driving support device according to the present invention is characterized in that the above-mentioned notifying means notifies the driver of the assist amount of the acceleration / deceleration operation and the assist amount of the steering operation through different notification media.

Further, the driving support device according to the present invention is characterized in that the notification is made from different notification positions according to the operation part related to the driving operation supported by the notification means.

According to these inventions, it is possible to easily understand which one of a plurality of driving operations is supported. In particular, the amount of acceleration / deceleration operation assistance is emitted or oscillated near the pedal of the driver's seat, and the amount of steering operation assistance is emitted or oscillated to give a notification from a position corresponding to the operation portion related to the driving operation. This allows the driver to intuitively recognize which driving operation is supported.

The above-mentioned driving support device according to the present invention is a type that controls the driving operation state and the traveling state of the vehicle itself so as to compensate for excess and deficiency with respect to the target state and the ideal state on the premise of the driver's driving operation. It does not include a driving support device that merely provides information such as route guidance or obstacle information or traffic information. In addition, the traveling support device according to the present invention,
It does not include a travel support device that only presents a target operation amount such as a target vehicle speed or a target steering angle or a target control state, and a travel support device that only issues a warning.

The "support amount" here means a control amount provided by the traveling support device so as to compensate for excess or deficiency with respect to the target state or the ideal state. For example, regarding the steering operation, a steering torque applied by the travel assistance device so as to supplement the steering force of the driver or a control value for producing the steering torque corresponds to the assist amount. When the steering angle steered by the driver can be distinguished from the steering angle adjusted by the travel support device side, the steering angle adjusted by the travel support device side also corresponds to the support amount. Similarly, regarding the driving force and the braking force, the driving force generated by the driver's driving operation, the driving force applied by the traveling support device so as to compensate the excess or deficiency of the braking force, the braking force or the driving force, and the braking force. A control value or the like for generating the amount corresponds to the support amount. If it is possible to distinguish the amount of depression of the accelerator pedal or brake pedal by the driver's operation from the amount of movement of the accelerator pedal or brake pedal that has been adjusted on the side of the travel support device, move the accelerator pedal or brake pedal that has been adjusted on the side of the travel support device. The amount also corresponds to the amount of support. others,
When the travel support device side adjusts the reaction force when the accelerator pedal or brake pedal is depressed to assist the driver in operating the accelerator pedal or brake pedal, the reaction force added or subtracted by the travel support device side And the control value for that also correspond to the support amount.

As an example of the control value corresponding to the assist amount, the travel assist device side increases or decreases the control amount of the power steering actuator in the steering control, the fuel injection amount in the drive control, the intake air amount, and the braking hydraulic pressure in the braking control. And a control command value therefor.

[0021]

DETAILED DESCRIPTION OF THE INVENTION Various embodiments of the present invention will be described below with reference to the accompanying drawings. In the drawings, the same elements are designated by the same reference numerals, and overlapping description will be omitted. Further, the dimensional ratios in the drawings do not always match those described.

FIG. 1 is a block diagram of the driving support system according to this embodiment.

The driving support device 1 according to the present embodiment is a device which is mounted on a vehicle and assists a driving operation of a driver who drives the vehicle. The deviation of the operation timing or the like is compensated for on the vehicle side, and the driver is notified in real time of the amount compensated for the driving operation, that is, the assistance amount.

The driving support device 1 is capable of supporting a plurality of different driving operations, and for example, supports the driver's acceleration / deceleration operation and steering operation. As acceleration / deceleration operation support, inter-vehicle distance maintenance support and traffic jam follow-up support are provided. The inter-vehicle distance maintenance support compensates for the driver's acceleration / deceleration operation excess or deficiency, and performs acceleration / deceleration control on the vehicle side to maintain a vehicle-to-vehicle distance to a predetermined distance. In addition, the traffic congestion follow-up support is to perform acceleration / deceleration control on the vehicle side by compensating for the driver's acceleration / deceleration operation excess or deficiency during a road traffic congestion, so that the vehicle travels following the traveling of the preceding vehicle. The amount of driving operation support in the following distance maintenance support and traffic jam follow-up support is
The driving force, the braking force, the control value for generating the driving force or the braking force, and the like are applicable. "Support amount" here
Does not include the driving force, the braking force, the steering torque, or the like generated by the driver's driving operation, and means only the driving force, the braking force, the steering torque, or the like generated by the acceleration / deceleration control or the steering control of the travel support device 1.

Lane assistance and active front steering assistance are provided as assistance for steering operation.
The lane keeping support is to maintain the traveling position of the vehicle at a predetermined position in the traveling lane by compensating for the driver's steering operation excess or deficiency and performing steering control on the vehicle side. The active front steering assist is to control steering angle on the vehicle side by compensating for the driver's steering operation excess and deficiency, and to control the steering angle of the steered wheels so that the yaw rate is estimated from the steering angle of the steering wheel. . The assist amount of the driving operation in the lane keeping assist and the active front steering assist corresponds to a steering torque or a control value for generating the steering torque.

As shown in FIG. 1, the travel support device 1 includes an ECU 2 which is an electronic control device. ECU2 is
It controls the entire apparatus, for example, CPU, RO
M, RAM, an input signal circuit, an output signal circuit, a power supply circuit, etc., and stores various control routines including a driving support control routine.

The travel support device 1 is provided with a guideline detection sensor 3. Guideline detection sensor 3
Is a detection means for detecting a guideline such as a white line or a yellow overtaking prohibition line on the center or roadside of the road, and the traveling lane (traveling lane) is recognized based on this detection signal. As the guideline detection sensor 3, a camera or the like that captures an image around the vehicle is used. The guideline detection sensor 3 is connected to the ECU 2 and sends a detection signal to the EC.
Output to U2.

A vehicle distance sensor 4 is provided in the travel support device 1. The inter-vehicle distance sensor 4 is an inter-vehicle distance detecting unit that detects an inter-vehicle distance with respect to a vehicle traveling in front of or behind the host vehicle, and is, for example, a camera, a laser radar, a radio wave radar, or the like. The vehicle distance sensor 4 is connected to the ECU 2 and outputs a detection signal to the ECU 2.

The drive assist device 1 is provided with a steering angle sensor 5. The steering angle sensor 5 is a steering angle detection unit that detects the steering angle of the vehicle. The steering angle sensor 5 is an EC
It is connected to U2 and outputs a detection signal to ECU2.

The travel support device 1 is provided with a support switch 6. The support switch 6 is composed of a plurality of switches for starting or canceling support for various driving operations. By turning on this support switch 6,
The support start condition is satisfied, and the driving operation support mode is set.
Further, when the support switch 6 is turned off, the support release condition is satisfied, and the drive operation support mode is released.

Note that the support start condition may be other operation, such as voice input by the driver, an instruction, or an operation of a vehicle-mounted device, in addition to the case where the support switch 6 is turned on.
In addition to the case where the support switch 6 is turned off, the support cancellation condition may be another operation such as voice input by the driver, an instruction, or an operation of a vehicle-mounted device.

A drive controller 7 is connected to the ECU 2. The drive control unit 7 is a drive control unit that controls the traveling driving force of the vehicle, and receives a control signal from the ECU 2 to operate an electronic throttle or the like to control the drive of the vehicle. The drive control unit 7 is, for example, a drive control EC mounted on a vehicle.
U is used.

A braking controller 8 is connected to the ECU 2. The braking control unit 8 is a braking control unit that controls the amount of braking of the vehicle, and receives a control signal from the ECU 2 to operate a braking actuator or the like to control the braking of the vehicle. As the braking control unit 8, for example, a braking control ECU mounted on a vehicle is used.

A steering controller 9 is connected to the ECU 2. The steering control unit 9 is a steering control unit that controls a steering amount of the vehicle, and receives a control signal from the ECU 2 to operate a steering actuator or the like to perform steering control of the vehicle. As the steering control unit 9, for example, a steering control ECU mounted on a vehicle is used.

In response to the control signal from the ECU 2, the drive control unit 7, the braking control unit 8 and the steering control unit 9 support the driving operation of the driver of the vehicle and function as driving operation supporting means.

A speaker 11 is connected to the ECU 2. The speaker 11 functions as an informing unit that informs the driver of the amount of assistance for the driving operation through the hearing of the driver, and emits a predetermined sound based on the output signal of the ECU 2. A buzzer other than the speaker 11 may be used as an informing unit that informs the driver of the amount of assistance in driving operation through the driver's hearing.

A light emitting section 12 is connected to the ECU 2. The light emitting unit 12 functions as an informing unit for informing the driver of the amount of assistance for the driving operation through the driver's eyes, and emits predetermined light based on the output signal of the ECU 2. As the light emitting unit 12, a light emitting body such as an LCD, an LED or a lamp is used.

A vibration part 13 is connected to the ECU 2. The vibrating unit 13 functions as an informing unit that informs the driver of the amount of assistance for the driving operation through the tactile sensation of the driver, and causes a predetermined vibration based on the output signal of the ECU 2.

Next, the operation of the driving support system according to this embodiment will be described.

FIG. 2 is a driving support device 1 according to this embodiment.
3 is a flowchart regarding a driving operation support process in FIG.

As shown in S10 of FIG. 2, it is determined whether or not the driving operation support start condition is satisfied. The establishment of the support start condition is determined, for example, based on whether or not the support switch 6 is turned on. When it is determined that the support switch 6 is turned on and the support start condition is satisfied, S
Move to 12. On the other hand, when it is determined that the support switch 6 is not turned on and the support start condition is not satisfied, the control process ends.

At S12, support processing is performed. The assisting process is a process of assisting the driving operation when there is excess or deficiency of the driving operation of the driver or timing deviation. That is, based on the detection signals of the guideline detection sensor 3, the vehicle-interval sensor 4, and the steering angle sensor 5, assistance is provided for assistance that has started between inter-vehicle distance maintenance assistance, traffic jam follow-up assistance, lane keeping assistance, and active front steering assistance. Whether it is necessary or not is determined, and a control signal is appropriately output to the drive control unit 7, the braking control unit 8, and the steering control unit 9 to assist the driving operation.

At this time, the amount of assistance in the inter-vehicle distance maintenance support and the traffic jam follow-up support includes the driving force by the acceleration / deceleration control, the braking force or the control current value, the control voltage value in the acceleration / deceleration control,
A control value such as a control frequency value is applicable. Further, the steering torque by the steering control or the control value such as the control current value, the control voltage value, the control frequency value, etc. in the steering control corresponds to the assistance amount in the lane keeping assistance and the active front steering assistance.

Then, the processing shifts to S14, and the notification processing is performed. The informing process is a process of informing the driver of the support amount of the driving operation currently supported. For example, when the inter-vehicle distance maintenance support is being performed, a control signal is output from the ECU 2 to the speaker 11 and a predetermined sound is emitted from the speaker 11. This sound allows the driver to recognize that the inter-vehicle distance maintenance support is being performed. Further, the sound emitted from the speaker 11 changes in volume, sound frequency, sound generation period, and the like according to the support amount of the inter-vehicle distance maintenance support. For example, the larger the support amount, the louder the sound becomes, the higher the sound becomes, or the shorter the sound generation period becomes. Thus, the driver can recognize the support amount of the inter-vehicle distance maintenance support based on the loudness of the sound, the pitch of the sound, the generation period of the sound, and the like.

Further, when the traffic jam follow-up support is being performed, a control signal is output from the ECU 2 to the vibrating section 13 and the vibrating section 13 vibrates. This vibration allows the driver to recognize that the traffic jam follow-up support is being performed. Further, the vibration of the vibrating unit 13 changes in magnitude of vibration, frequency of vibration, generation period of vibration, and the like, depending on the amount of assistance in traffic jam follow-up. For example, as the support amount increases, the vibration amplitude increases, the vibration frequency increases, or the vibration generation period decreases. This allows the driver to recognize the amount of assistance in traffic jam follow-up assistance based on the magnitude of the vibration amplitude, the height of the vibration frequency, the vibration generation period, and the like.

Further, when the lane keeping support is being performed, a control signal is output from the ECU 2 to the light emitting unit 12, and the light emitting unit 12 emits light. This light emission allows the driver to recognize that lane keeping assistance is being performed. Further, in the light emission of the light emitting unit 12, the intensity of the light emission, the color of the light emission, the blinking cycle of the light emission, and the like change according to the amount of assistance for the lane keeping support. For example, the greater the amount of support, the more intense the light, the greener the
It changes from yellow to red or the blinking cycle becomes shorter. Thereby, the driver can recognize the support amount of the lane keeping support based on the light emission amount, the light emission color, the blinking cycle, and the like.

When the active front steering assist is being performed, a control signal is output from the ECU 2 to the light emitting section 12, and the light emitting section 12 emits light. This light emission allows the driver to recognize that active front steering assistance is being performed. Further, in the light emission of the light emitting unit 12, the intensity of the light emission, the color of the light emission, the blinking cycle of the light emission, and the like change according to the support amount of the active front steering support. For example, the larger the support amount is, the stronger the light emission becomes, and the green, yellow, and red colors change, or the blinking cycle becomes shorter. Thereby, the driver can recognize the support amount of the active front steering support based on the light emission amount, the light emission color, the blinking cycle, and the like.

When the same notifying means is used to support a plurality of driving operations such that the light emitting unit 12 is used as the notifying means of the assisting amount in the lane keeping assist and the active front steering assist, the driver does not It is desirable to inform them so that they can recognize whether support is being provided. For example, it is desirable that different luminescent colors are used for lane keeping support and active front steering support, and the amount of support is notified by a change in the amount of light emission or a blinking cycle.

Then, the flow shifts to S16, where it is judged whether or not the condition for canceling the driving operation support is satisfied. The satisfaction of the support cancellation condition is determined, for example, based on whether or not the support switch 6 is turned off. When it is determined that the support switch 6 is not turned off and the support release condition is not satisfied, the process returns to S12. On the other hand, when the support switch 6 is turned off and it is determined that the support release condition is satisfied, the control process ends.

As described above, according to the driving support apparatus 1 according to the present embodiment, by notifying the support amount of the driving operation currently supported, which driving operation is supported by the driver and to what extent? Can be known in real time.
Therefore, it is possible to grasp the excess and deficiency in each driving operation, the deviation of the operation timing, and the like, and it is possible to improve the driving operation technique by reflecting the correction in the own driving operation.

Further, by knowing the support amount of the driving operation, it is possible to prevent the driving operation technique from being deteriorated by relying too much on the driving operation support system. In addition, the traveling environment of the vehicle such as the state of the traveling road surface can be grasped from the amount of driving operation support.

Further, the driver's support amount is notified in real time, so that the driver can know the operation / non-operation of the support system, and the discomfort of the driving operation caused by the driving operation support can be reduced.

Further, when an abnormality occurs in the support system, it is possible to recognize the abnormality of the support system by not providing the support when the support should be provided.

In the present embodiment, in the notification processing, the notification medium of the assistance amount of the inter-vehicle distance maintenance support is audible, the notification medium of the assistance amount of the traffic jam follow-up support is vibrated, and the notification medium of the assistance amount of lane keeping support is optical. Although the case where the notification is performed by using the notification medium of the support amount of the active front steering support as light has been described, the traveling support device according to the present invention is not limited to this, and each support and sound, light, Notification may be performed by changing the combination with a notification medium such as vibration.

However, it is desirable to notify the support amount through different notification media according to the type of driving operation support.
For example, it is desirable to notify the amount of assistance using different notification media for the inter-vehicle distance maintenance support and the traffic jam follow-up support that support the acceleration / deceleration operation and the lane keeping support and the active front steering support that support the steering operation. in this case,
The driver can easily understand which of the plurality of driving operations is supported by the difference in the notification medium.

In addition, it is desirable to perform the notification from a different notification position according to the operation site related to the driving operation to be supported.
For example, in the inter-vehicle distance maintenance support and the traffic jam follow-up support that support the acceleration / deceleration operation, the floor part of the driver's seat is illuminated or vibrated to make a sound from a position below the driver's seat where the accelerator pedal and the brake pedal are installed. Emits light, vibration, etc. On the other hand, in the lane keeping assist and the active front steering assist that assist the steering operation, the steering wheel itself emits light to vibrate, and sound, light, vibration, etc. are emitted from a position above the driver's seat where the steering wheel is installed. In this way, the driver can intuitively recognize which driving operation is assisted by notifying the driver from the position corresponding to the operation portion related to the driving operation.

In this embodiment, the case where the speaker 11 or the like is used as the notification means has been described, but the notification may be made using other means. For example, a dedicated indicator may be provided on the instrument panel and the type and amount of assistance may be displayed using letters, numbers, symbols, or the like. Further, the notification may be made by changing the color of the background of the meter.

Further, in the present embodiment, the driving support device for performing the following distance maintenance support, the traffic jam follow-up support, the lane keeping support and the active front steering support as the driving operation support has been described. The present invention is not limited to such a thing, and can be applied to other things that support driving operations.

Furthermore, in the present embodiment, the driving support device for supporting a plurality of driving operations has been described, but the present invention can be applied to a driving support device for supporting one driving operation.

[0060]

As described above, according to the present invention, by notifying the driver of the amount of assistance of the driving operation currently being assisted, the driver can see in real time how much the driving operation is supported. I can know. Therefore, it is possible to grasp the excess and deficiency in the driving operation, the deviation of the operating timing, and the like, and it is possible to improve the driving operation technique by reflecting the correction in the own driving operation.

Further, by knowing the driving operation support amount, it is possible to prevent the driving operation technology from being lowered due to excessive reliance on the driving operation support system.

Further, it is possible to grasp the traveling environment of the vehicle such as the state of the road surface on which the vehicle is traveling based on the amount of driving operation.

Further, the driver's support amount is notified in real time, so that the driver can know whether the support system is operating or not, and the discomfort of the driving operation caused by the driving operation support can be reduced.

Further, when an abnormality occurs in the support system, it is possible to recognize the abnormality in the support system because the support is not provided when the support should be provided.

Further, by notifying the driver of the support amount of the currently supported driving operation among the plurality of different driving operation supports, the driver knows in real time which driving operation is supported and to what extent. be able to.

Further, by notifying the amount of assistance through different notification media depending on the type of assistance of the driving operation, the driver can easily understand which of the plurality of driving operations is being assisted. be able to.

Further, the driver can intuitively recognize which driving operation is assisted by notifying from a different notification position according to the operation part related to the driving operation to be assisted.

[Brief description of drawings]

FIG. 1 is a configuration diagram of a traveling support device according to an embodiment of the present invention.

FIG. 2 is a flowchart showing an operation of the travel support device of FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Driving support device, 2 ... ECU, 3 ... Guideline detection sensor, 4 ... Inter-vehicle sensor, 5 ... Steering angle sensor, 6 ... Support switch, 7 ... Drive control part, 8 ... Braking control part, 9 ... Steering control part, 11 ... Speaker, 12 ... Light emitting part, 13 ... Vibrating part.

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) B60T 8/00 B60T 8/00 Z B62D 6/00 B62D 6/00 G05B 23/02 G05B 23/02 X / / G08G 1/16 G08G 1/16 C B62D 119: 00 B62D 119: 00 F Term (reference) 3D032 CC08 CC30 CC39 DA03 DA15 DA77 DA84 DA88 EB04 EB11 EB16 FF01 FF07 GG01 3D044 AA21 A21 AD31 AD16 AC59 AC59 AD56 AC59 AC59 AE21 BA20 BB01 BD01 3D046 BB01 EE01 HH08 HH20 HH51 MM08 5H180 AA01 CC03 CC04 CC14 LL01 LL04 LL07 LL08 LL09 5H223 AA10 BB05 BB06 DD03 EE08 FF04

Claims (10)

[Claims] 1. A drive assist device for assisting drive control of a vehicle so as to compensate for excess or deficiency of drive operation of a driver who drives a vehicle, wherein the driver is informed of the support amount of the drive operation currently supported. A driving assistance device, comprising: 2. A steering control means for assisting a steering operation of the driver, wherein the notification means notifies a steering torque of the steering control means or a control value for generating the steering torque.
The travel support device according to claim 1, wherein 3. An acceleration / deceleration control means for assisting an acceleration / deceleration operation of the driver, wherein the notifying means causes the driving force or the braking force by the acceleration / deceleration control means, or the driving force or the braking force. The driving support device according to claim 1 or 2, wherein the control value is notified. 4. The travel support device according to claim 1, wherein the notification unit notifies the driver of the amount of support through sight, hearing, or touch. 5. A drive assist device for assisting the drive control of a vehicle so as to supplement the excess or deficiency of a drive operation of a driver driving a vehicle, and a support means capable of supporting a plurality of different drive operations, A driving assistance device comprising: a notification unit configured to notify the driver of the amount of assistance of the driving operation being supported. 6. The travel support device according to claim 5, wherein the support means supports at least an acceleration / deceleration operation and a steering operation. 7. The travel support device according to claim 5, wherein the notification unit notifies the driver of the amount of assistance through sight, hearing, or tactile sensation. 8. The travel support device according to claim 5, wherein the notification unit notifies the amount of support through a notification medium that differs depending on the type of support for the driving operation. . 9. The traveling support device according to claim 8, wherein the notification unit notifies the driver of the assist amount of the acceleration / deceleration operation and the assist amount of the steering operation through different notification media. 10. The traveling support device according to claim 5, wherein the notification unit gives notification from a different notification position according to an operation part related to a driving operation to be assisted.