JP6958982B2 - Electronic devices with awakening function, awakening programs and awakening methods - Google Patents

Description

The present invention relates to an electronic device having an awakening function that can be used in an automatic driving system of a vehicle, and more particularly to a driver's awakening method when switching from automatic driving to manual driving (manual driving).

Various technological developments are underway for the arrival of the future autonomous driving era. There are various timings for achieving full automation and the content of autonomous driving, but autonomous driving control on expressways is shifting from the concept stage to the realization stage. In order to put the autonomous driving technology to practical use, it is necessary to solve problems and problems that were not considered in the manual driving.

There are multiple control levels for autonomous driving. The most advanced control level is to realize fully automatic driving with the car as the main body, and the lower control level is to realize the mixed driving of automatic driving and manual driving with the human being as the main body. be. Therefore, one of the problems is the control of switching between automatic operation and manual operation, which has not been a problem in the conventional completely manual operation. Patent Document 1 describes a vehicle control device capable of automatic driving control, in which a parameter called manual driving adaptability is calculated based on the driver's arousal degree and driving concentration during automatic driving, and the manual driving adaptability is determined. A vehicle control device that notifies the switching to manual operation at an earlier timing as the value is lower is disclosed. Patent Document 2 describes an automatic driving control device capable of automatic driving, and discloses a technique for determining the driving ability of a driver before starting automatic driving and performing control such as prohibiting automatic driving. There is.

Japanese Unexamined Patent Publication No. 2016-38768 Japanese Unexamined Patent Publication No. 2016-115356

As mentioned above, the control level of automatic operation may require switching between automatic operation and manual operation. During automatic driving, the driver is less focused on driving than during manual driving, which may cause him to look away or become drowsy. In such a case, it is desirable to awaken the driver before switching to manual driving in order to prepare for manual driving. As a means for awakening the driver, for example, an alarm is output from a speaker in the vehicle, the driver's seat is vibrated, and the like.

Further, one of the prior art methods is to set a danger level according to the state of the driver and change the awakening means according to the danger level. However, this method does not switch to the manual operation in consideration of the timing of awakening, and there is a concern that the manual operation may be entered in an insufficient awake state. FIG. 9 shows a problem when switching from automatic driving to manual driving, and if the driver enters manual driving in an insufficiently awake state, an accident may be induced.

The present invention solves such a conventional problem, and an object of the present invention is to provide an electronic device, an awakening program, and an awakening method having an awakening function for awakening a driver at an appropriate timing.

The electronic device according to the present invention has a function of awakening the driver when switching from automatic driving to manual driving, and is an arousal detection means for detecting the arousal level of the driver during automatic driving. Awakening means for awakening the driver, and a calculation means for calculating the start time of the awakening means based on the arousal degree and the required time of the awakening means when switching from automatic driving to manual driving. It has an awakening control means for executing the awakening means according to the calculated start time.

Preferably, the electronic device further includes a selection means for selecting the awakening means from the plurality of awakening means, and the calculation means calculates the start time of the awakening means based on the required time of the selected awakening means. Preferably, the calculation means calculates the time required for the awakening means that will reach the awakening threshold indicating whether or not the driver can drive manually. Preferably, the electronic device further includes a fatigue level detecting means for detecting the driver's fatigue level, and the selection means selects the awakening means based on the fatigue level. Preferably, the arousal level detecting means further includes a predicting means for predicting the arousal level, and the calculating means further calculates the start time of the awakening means based on the arousal level predicted by the predicting means. Preferably, the predictor includes a function that defines the relationship between alertness and time. Preferably, the electronic device further has a proposing means for proposing an action plan including the action content until the switching of the manual driving, the time required for the action content, and the time required for awakening during the automatic driving. The selection means selects the awakening means according to the action plan proposed by the proposed means.

The awakening program according to the present invention is executed by an electronic device having a function of awakening the driver when switching from automatic driving to manual driving, and detects the degree of awakening of the driver during automatic driving. Steps to calculate the start time of the awakening means based on the arousal degree and the time required for the awakening means when switching from the automatic operation to the manual operation, and the awakening means to be executed according to the calculated start time. Has steps and.

The awakening method according to the present invention is in an electronic device having a function of awakening the driver when switching from automatic driving to manual driving, and is a step of detecting the awakening degree of the driver during automatic driving. A step of calculating the start time of the awakening means based on the arousal degree and the required time of the awakening means when switching from the automatic operation to the manual operation, and a step of executing the awakening means according to the calculated start time. Has.

According to the present invention, when switching from automatic driving to manual driving, the start time of the awakening means is calculated based on the time required for the awakening means, so that the driver is awakened when the manual driving is switched. Can be kept. As a result, it is possible to prevent switching to manual operation in an insufficiently awake state and reduce the occurrence of accidents or the like when switching to manual operation.

It is a block diagram which shows the structural example of the awakening apparatus which concerns on 1st Example of this invention. It is a figure which shows the functional structure of the awakening program which concerns on 1st Example of this invention. It is a graph which shows the relationship between the degree of fatigue / arousal degree and time (automatic driving / manual driving). It is a table showing the relationship between the awakening means and the awakening coefficient. It is a flowchart which shows the operation of the awakening apparatus which concerns on embodiment of this invention. It is a figure which shows the functional structure of the awakening program which concerns on 2nd Example of this invention. This is an example of a proposal plan by the action plan proposal unit according to the second embodiment of the present invention. It is a flowchart which shows the operation of the awakening apparatus which concerns on 2nd Embodiment of this invention. It is a figure explaining the problem at the time of switching from the conventional automatic operation to the manual operation.

Next, an embodiment of the present invention will be described in detail with reference to the drawings. In a preferred embodiment, the electronic device having the awakening function of the present invention is mounted in a moving body such as a vehicle to awaken the driver. In a more preferred embodiment, the electronic device with the awakening function of the present invention functions as a part of an automatic driving system or a driving support system, and particularly awakens the driver when switching from automatic driving to manual driving.

Next, an awakening device having a function of awakening the driver according to the embodiment of the present invention will be described. FIG. 1 is a block diagram showing a configuration of an awakening device according to a first embodiment of the present invention. The awakening device 100 of this embodiment is an interface (I / F) that enables cooperation with a biological information detection unit 110, an imaging unit 120, an automatic driving information acquisition unit 130, an output unit 140, a storage unit 150, an external device, and the like. It includes 160 and a control unit 170. However, the configuration shown here is an example, and the awakening device 100 may include other functions.

The biological information detection unit 110 detects information about the driver's biological body. The driver's biological information is, for example, information such as the driver's heart rate, blood pressure, body temperature, and sweating. In one preferred example, the biometric information detection unit 110 includes a wearable terminal that can be worn by the driver, and detects the biometric information of the driver via the wearable terminal. Biological information can be used to detect the degree of fatigue and alertness of the driver.

The image pickup unit 160 includes an image pickup camera and takes an image of the driver's face. The imaging camera is arranged, for example, near the steering wheel or in the instruments panel, and captures the driver's face from the front side. The imaged data is provided to the control unit 170 and can be used to detect the degree of fatigue and the degree of arousal of the driver.

The automatic driving information acquisition unit 130 acquires automatic driving information related to automatic driving from an automatic driving system, a driving support system, or the like. The automatic driving information includes, for example, information such as an automatic driving plan, a control level of automatic driving in the automatic driving plan, switching from automatic driving to manual driving, and switching from manual driving to automatic driving. The autonomous driving system recognizes the vehicle in front, obstacles around the vehicle, traveling lane, etc., and controls the steering, speed, braking, etc. of the vehicle based on the imaging camera, various sensors, and the traveling information of the vehicle. The automatic driving system determines, for example, a section for automatic driving, a section for manual driving, and the like based on the route searched by the navigation device. For example, set the section of the highway to automatic driving and the section of the general road to manual driving, and calculate the switching point and switching time from automatic driving to manual driving or from manual driving to automatic driving based on the vehicle position and map data. can do. For example, at the exit of a highway, you can switch from autonomous driving to manual driving.

The output unit 140 outputs to awaken the driver. The output mode is arbitrary, but for example, voice is output or the seat is vibrated. The output unit 140 can also output information other than awakening. The storage unit 150 can store application software and programs executed by the control unit 170, and information necessary for awakening. The I / F 160 makes it possible to connect the awakening device 100 to an external device, an external network, or the like. For example, the awakening device 100 connects to a device such as a navigation device, an audio / video device, a television receiving device, a smartphone, or a communication device for connecting to an in-vehicle bus or an external network via an I / F 160. It is possible.

In a preferred embodiment, the control unit 170 includes a microcontroller including a ROM, a RAM, and the like, and the ROM or the RAM can store a program for controlling the operation of the awakening device 100. In this embodiment, the control unit 170 executes an awakening program that awakens the driver at an appropriate timing when switching from automatic driving to manual driving.

In the awakening program of this embodiment, the parameters of "fatigue degree (α)" and "alertness degree (β)" are used. The degree of fatigue is an index showing the degree of fatigue of the driver, and the index is a numerical value of one or a plurality of the degree of fatigue. For example, the degree of eyelid opening is extracted from the driver's face image captured by the imaging unit 120 and quantified, or the driver's driving time is quantified. For example, the smaller the degree of eyelid opening, the larger the value representing the degree of fatigue, and the longer the driving time, the larger the value representing the degree of fatigue. The element for detecting the degree of fatigue is not limited to the degree of opening of the eyelids and the driving time, and for example, the driver's eye movement or the driver's biological information may be used.

The arousal level is an index showing the degree of sleepiness of the driver, and is a numerical value of information on various drivers as well as the fatigue level. Elements used for detecting the arousal level are, for example, the degree of eyelid opening, the driver's heart rate information and body temperature information detected by the biological information detection unit 110. In general, the heart rate in the sleeping state is lower than the heart rate in the awake state (when awake), so that the lower the heart rate, the lower the value of the arousal level. As for the body temperature, the body temperature in the sleeping state is lower than the body temperature at the time of awakening, so that the lower the body temperature, the lower the value of the arousal degree. The element for detecting the arousal level is not limited to the degree of opening of the eyelids and these biological information, and other elements may be included. The awakening in the present embodiment means a state in which the driver is awake to the extent that he / she can perform manual driving, and a sleeping state, a state in which the concentration is reduced, and the like are not awakenings. ..

Next, the "awakening threshold (β0)" will be described. The awakening threshold is a threshold for determining whether or not the person is awake. If the arousal level is equal to or higher than the awakening threshold, it is determined to be awake, and if it is less than the awakening threshold, it is determined that the person is not awake. In this embodiment, the arousal threshold is set based on whether or not the driver can perform manual driving, and if the arousal level is lower than the awakening threshold, it is dangerous to switch to manual driving, and the arousal level is the awakening threshold. If it is higher, there is no problem in switching to manual operation. The arousal threshold depends on the driver's condition, and is the arousal level when the driver starts driving (at this time, the driver is awake) and the awakening when the driver is sleeping. It is decided by referring to information such as degree.

FIG. 2 shows the functional configuration of the awakening program 300 of this embodiment. The awakening program 300 includes a fatigue detection unit 310, an arousal detection unit 320, a fatigue prediction unit 330, an arousal prediction unit 340, an awakening means selection unit 350, an awakening required time calculation unit 360, and an awakening start unit 370.

As described above, the fatigue level detection unit 310 detects the fatigue level quantified from the degree of opening of the driver's eyelids based on the image pickup data from the image pickup unit 120, or operates via the I / F 160. The time from the start (when the engine is turned on) is counted by a timer, and the degree of fatigue quantified from the counted operating time is detected. The smaller the eyelid opening, the greater the degree of fatigue, and the longer the driving time, the greater the degree of fatigue. In addition to the above, the fatigue degree detection unit 310 may detect the fatigue degree from the biological information detected by the biological information detection unit 110. When detecting multiple fatigue levels, calculate the average value of them or select the largest fatigue level.

As described above, the arousal level detection unit 320 detects the arousal level quantified from the degree of opening of the driver's eyelids based on the image pickup data from the image pickup unit 120. Alternatively, the quantified arousal level is detected from the driver's heart rate information and body temperature information acquired by the biological information detection unit 110. The smaller the eyelid opening, the lower the alertness, and the lower the heart rate, the lower the alertness. Also, the lower the body temperature, the lower the alertness. When detecting multiple arousal levels, calculate the average value of them or select the smallest arousal level.

The fatigue degree prediction unit 330 sets a driver's fatigue degree prediction line detected by the fatigue degree detection unit 310. In a preferred example, the fatigue prediction unit 330 sets a fatigue prediction function (for example, a linear function, a quadratic function, etc.) Fα that defines the relationship between the detected fatigue level and the operating time. FIG. 3 is a graph illustrating the relationship between the degree of fatigue / alertness and time, with the vertical axis showing the degree of fatigue α / alertness β and the horizontal axis showing the time t. The fatigue degree prediction unit 330 sets, for example, a linear function “α = −at + α1” having a negative slope “a” as the fatigue degree prediction function Fα. By using this linear function, for example, when the fatigue degree α1 is detected at the time T1, the fatigue degree prediction unit 330 can predict the fatigue degree at the subsequent time T2 or time T3. ..

The alertness prediction unit 340 sets the driver's alertness prediction line detected by the alertness calculation unit 320. In a preferred example, the alertness prediction unit 350 sets an alertness prediction function (for example, a linear function, a quadratic function, etc.) Fβ that defines the relationship between the detected alertness and the driving time. As shown in FIG. 3, for example, the alertness prediction unit 340 sets a linear function “β = −bt + β1” having a negative slope “b” as the alertness prediction function Fβ. By using this linear function, for example, when the arousal degree β1 is detected at the time T1, the subsequent arousal degree can be predicted.

The awakening means selection unit 350 selects an awakening means for awakening the driver when shifting from automatic driving to manual driving. The awakening means selection unit 350 selects, for example, the awakening means according to the fatigue degree at time T2 or time T3 predicted by the fatigue degree prediction unit 330. If the predicted degree of fatigue is high, the driver is in a situation where it is difficult to awaken because the body is tired. Therefore, it is desirable that the awakening means selection unit 350 selects an awakening means having a high awakening effect or a degree of awakening from a plurality of awakening means. For example, a table that defines the relationship between the degree of fatigue and the awakening means may be prepared, and the awakening means corresponding to the predicted degree of fatigue may be selected. In another aspect, it is desirable that the awakening means selection unit 350 selects an awakening means having a high awakening effect when the detected arousal degree or the predicted arousal degree is low. For example, a table that defines the relationship between the arousal level and the awakening means may be prepared, and the awakening means corresponding to the detected or predicted arousal level may be selected. In yet another aspect, a preset awakening means may be selected, or when the awakening device 100 includes a user input unit, the awakening means instructed by the user may be selected. May be good.

The awakening means is a stimulus for awakening the driver. For example, the output unit 140 outputs a voice or music such as an alarm, vibrates the driver's seat, raises the air volume of the air conditioner, or inside the vehicle. To release aroma. Alternatively, it may be another stimulus.

In a preferred embodiment, the time required for awakening of the awakening means can be determined using a function Fn (linear function or quadratic function) having an awakening coefficient K representing the awakening effect or the degree of arousal. Since the time required for awakening differs depending on each awakening means, the awakening coefficient K of each awakening means also differs. FIG. 4 illustrates the relationship between the awakening means and its awakening coefficient K. In this example, the larger the arousal coefficient K, the stronger the arousal effect or the degree of arousal. Therefore, the larger the awakening coefficient K, the shorter the time required for awakening, and the smaller the awakening coefficient K, the longer the time required for awakening. For example, when the awakening means is music / alarm sound, the awakening coefficient K is 1.0, and when the awakening means is the vibration of the driver's seat, the awakening effect is relatively strong, so the awakening coefficient K is 1.5. be. Further, the combination of the driver's seat vibration and the warning sound further enhances the awakening effect, so that the awakening coefficient K is 1.8.

The awakening required time calculation unit 360 sets the awakening threshold value β0 (point P at the time T3 when switching from automatic operation to manual operation) from the awakening means function Fn selected by the awakening degree prediction function Fβ and the awakening means selection unit 350. Calculate the time required for awakening that will be reached. As described above, if the awakening coefficient K is large, the awakening effect is large, so that the time required for awakening to reach the awakening threshold β0 becomes short (the slope of the function Fn in FIG. 3 becomes large), and conversely, the awakening coefficient K becomes large. If it is small, the awakening effect is small, so that the time required for awakening to reach the awakening threshold β0 becomes long (the slope of the function Fn in FIG. 3 becomes small).

The awakening start unit 370 calculates the awakening start time T2 by subtracting the awakening required time calculated by the awakening required time calculation unit 360 from the time T3 which is the switching time of the manual operation. In other words, the time T2 at the point Q where the arousal prediction function Fβ and the awakening means function Fn intersect is calculated. Then, when the calculated time T2 is reached, the awakening start unit 370 starts awakening by the selected awakening means.

Next, the operation of the awakening device of this embodiment will be described with reference to the flowchart of FIG. The driver's awakening shall be performed when switching from automatic driving to manual driving. The automatic driving information acquisition unit 130 acquires, for example, time information for automatic driving, time information for manual driving, time information for switching from automatic driving to manual driving, and the like as automatic driving information (S100).

At a certain time T1 during the automatic operation period (for example, immediately after the automatic operation is started), the fatigue level is detected by the fatigue level detection unit 310, the alertness level is detected by the arousal level detection unit 320 (S102), and then. , The fatigue degree prediction unit 330 sets the fatigue degree prediction function Fα, and the alertness degree prediction unit 340 sets the alertness degree prediction function Fβ (S104). Next, the awakening means selection unit 350 selects an appropriate awakening means based on the degree of fatigue at the time of switching the manual operation predicted by the prediction function Fα (time T3 in FIG. 3) (S106), and the awakening time required. The calculation unit 360 calculates the time required for awakening based on the function Fn and the prediction function Fβ of the selected awakening means (S108). Next, the awakening start unit 370 calculates the awakening start time by subtracting the awakening required time from the switching time of the manual operation (S110), and as soon as the awakening start time is reached, the awakening by the selected awakening means is started. (S112).

As described above, according to this embodiment, the time required to start awakening is calculated in consideration of the time required for awakening. Therefore, when switching to manual driving, the driver should be in a sufficiently awakened state. Can be done.

Next, a second embodiment of the present invention will be described. In the first embodiment, an example in which the awakening start time is calculated based on the awakening required time calculated by the awakening required time calculation unit 360 and the awakening is performed is shown. In the second embodiment, when the driver shifts to the automatic driving mode, an action plan is proposed until the driver switches to manual driving based on the degree of fatigue of the driver. The awakening device 100 of the second embodiment includes the configuration of the awakening device 100 shown in the first embodiment, and the awakening program 300A of the second embodiment proposes an action plan as shown in FIG. Part 380 is further included.

The action plan proposal unit 380 sets the action plan and the time required for awakening until the start of manual operation (time T3 in FIG. 3) based on the fatigue level detected by the fatigue level detection unit 310 when the mode shifts to the automatic operation mode. Suggest at the start of awakening. This calculation process is performed using the same method as in the first embodiment. For example, when the time until the start of manual operation is 50 minutes, the action plan proposal unit 380 proposes plan 1 in the case of high fatigue level, and plans 1 in the case of low fatigue level, as shown in FIG. 2 is proposed. Plan 1 proposes sleep in a relaxed posture (45 minutes) due to high fatigue, and informs that it takes 5 minutes to wake up. Plan 2 proposes watching a movie (47 minutes) because the degree of fatigue is low, and informs that it will take 3 minutes as an awakening time. The proposal of such an action plan is displayed on the display of the output unit 140.

Although the above example does not exemplify a specific awakening means, the action plan proposal unit 380 may select an appropriate awakening means in consideration of the action plan and the time until the start of manual operation. Alternatively, a plurality of specific awakening means may be exemplified, and the driver may be made to select the awakening means from among them. For example, in the case of Plan 1, if (A) the awakening means is the driver's seat vibration, the awakening time is 4 minutes and the sleep time is 46 minutes, and (B) if the awakening means is the driver's seat vibration + warning sound, the awakening time is 4 minutes. A plurality of action plans with a time of 3 minutes and a sleep time of 47 minutes may be presented, and the driver may be made to select an action plan from among them. When the driver selects a desired action plan, awakening control is performed based on the action plan.

Next, the operation of the awakening device according to the second embodiment will be described with reference to the flow of FIG. When the automatic driving information acquisition unit 130 acquires the automatic driving information including the automatic driving plan (S200), the action plan proposal unit 380 determines whether or not the mode has shifted to the automatic driving mode (S202). This determination is made based on, for example, map data of the automatic driving section or time information of the automatic driving section. When the mode shifts to the automatic driving mode, the fatigue level of the driver is detected by the fatigue level detection unit 310, and the action plan proposal unit 380 proposes one or more action plans based on the detected fatigue level (S206). .. When the action plan is selected by the driver (if there is no selection from the driver, the action plan is automatically selected) (S208), the awakening start time is based on the awakening means of the selected action plan. It is calculated and awakening to the driver is executed at the start of awakening (S210).

As described above, according to the second embodiment, the awakening means can be selected according to the proposed action plan, or the driver can select the awakening start time by himself / herself.

Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited to the specific embodiments, and various modifications and modifications are made within the scope of the gist of the invention described in the claims. It can be changed.

100: Awakening device 110: Biological information detection unit 120: Imaging unit 130: Automatic operation information acquisition unit 140: Output unit 150: Storage unit 160: I / F 170: Control unit

Claims (6)

It is an electronic device that has a function to awaken the driver when switching from automatic driving to manual driving.
Fatigue detection means that detects the driver's fatigue during automatic driving,
Fatigue prediction means that predicts fatigue based on the fatigue prediction function that defines the relationship between the detected fatigue and operating time, and
Arousal detection means that detects the driver's arousal during automatic driving,
An arousal level prediction means that predicts the arousal level based on the arousal level prediction function that defines the relationship between the detected arousal level and the driving time,
It is a selection means for selecting an awakening means for awakening the driver from a plurality of awakening means when shifting from automatic driving to manual operation, and the selection means is the time predicted by the fatigue degree predicting means. The selection means and the selection means for selecting the awakening means according to the degree of fatigue of
A calculation means for calculating the time required from the arousal degree at the time predicted by the arousal degree predicting means to the awakening threshold value at the time of switching the automatic operation to the manual operation based on a function having an awakening coefficient of the selected awakening means.
A start time calculation means for calculating the start time of the awakening means from the time when the automatic operation is switched to the manual operation and the time calculated by the calculation means, and
Awakening control means for executing the awakening means selected by the selection means according to the calculated start time, and
Electronic device with. The electronic device further proposes an action plan including the action content until the switching of manual driving based on the detected fatigue level, the time required for the action content, and the time required for awakening during automatic driving. Have,
The electronic device according to claim 1 , wherein the selection means selects the awakening means according to the action plan proposed by the proposed means. It is an awakening program executed by an electronic device that has a function to awaken the driver when switching from automatic driving to manual driving.
Steps to detect driver fatigue during autonomous driving and
Steps to predict fatigue based on the fatigue prediction function that defines the relationship between detected fatigue and operating time,
Steps to detect the driver's alertness during autonomous driving,
The step of predicting the arousal level based on the arousal level prediction function that defines the relationship between the detected arousal level and the driving time, and
It is a step of selecting an awakening means for awakening the driver from a plurality of awakening means when shifting from automatic driving to manual driving, and the selected step is predicted by the step of predicting the degree of fatigue. The step of selecting the awakening means according to the degree of fatigue at the time, and the above-mentioned selection step,
The step of calculating the time required from the arousal level of the time predicted by the step of predicting the arousal degree to the awakening threshold value of the time when the automatic operation is switched to the manual operation is calculated based on the function having the awakening coefficient of the selected awakening means. ,
A step of calculating the start time of the awakening means from the time of switching the automatic operation to the manual operation and the time calculated by the calculation step, and
A step of executing the awakening means selected by the selected step according to the calculated start time, and a step of executing the awakening means selected by the selected step.
Awakening program with. The awakening program further takes steps to propose an action plan that includes the action content until the switching of manual driving based on the detected fatigue level, the time required for the action content, and the time required for awakening during automatic driving. Including
The awakening program according to claim 3, wherein the selected step selects an awakening means according to the action plan proposed by the proposed step. It is an awakening method in an electronic device having a function of awakening the driver when switching from automatic driving to manual driving.
Steps to detect driver fatigue during autonomous driving and
Steps to predict fatigue based on the fatigue prediction function that defines the relationship between detected fatigue and operating time,
Steps to detect the driver's alertness during autonomous driving,
The step of predicting the arousal level based on the arousal level prediction function that defines the relationship between the detected arousal level and the driving time, and
It is a step of selecting an awakening means for awakening the driver from a plurality of awakening means when shifting from automatic driving to manual driving, and the selected step is predicted by the step of predicting the degree of fatigue. The step of selecting the awakening means according to the degree of fatigue at the time, and the above-mentioned selection step,
The step of calculating the time required from the arousal level of the time predicted by the step of predicting the arousal degree to the awakening threshold value of the time when the automatic operation is switched to the manual operation is calculated based on the function having the awakening coefficient of the selected awakening means. ,
A step of calculating the start time of the awakening means from the time of switching the automatic operation to the manual operation and the time calculated by the calculation step, and
A step of executing the awakening means selected by the selected step according to the calculated start time, and a step of executing the awakening means selected by the selected step.
Awakening method with. The awakening method further includes a step of proposing an action plan including the action content until the switching of manual driving based on the detected fatigue level, the time required for the action content, and the time required for awakening during automatic driving. Including
The awakening method according to claim 5, wherein the selected step selects an awakening means according to the action plan proposed by the proposed step.

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