CN114987519A - Driving support device, driving support method, and storage medium - Google Patents

Abstract

A driving support device, a driving support method, and a storage medium capable of appropriately evaluating driving of a vehicle by a driver. The driving support device includes: an external information acquisition unit that acquires external information including a relative position and a relative speed of an object around the moving body, the object being observed from the moving body; a travel information acquisition unit that acquires travel information including at least a speed and an acceleration of a mobile object; a driving evaluation unit that evaluates driving of the occupant based on at least one of outside information and travel information, and starts evaluation of driving of the occupant when a predetermined condition is satisfied after an operation by the occupant; an evaluation result reporting unit that causes a reporting device to report the evaluation result, the driving evaluation unit including: a first evaluation unit that performs a first evaluation of driving of the occupant for a first predetermined period from when the operation is performed until a predetermined condition is satisfied; the second evaluation unit performs a second evaluation of the driving of the occupant for a second predetermined period after the predetermined condition is satisfied.

Description

Driving support device, driving support method, and storage medium

Technical Field

The invention relates to a driving support device, a driving support method and a storage medium.

Background

A technique for evaluating driving of a vehicle by a driver is known. For example, in japanese patent laid-open publication No. 2019-128735, the following procedure is disclosed: the higher the degree of travel of the host vehicle following the preceding vehicle, the higher the evaluation is given. In this technique, a high evaluation is given when the inter-vehicle distance between the host vehicle and the preceding vehicle is within a predetermined range, while a warning is issued when the acceleration of the host vehicle is equal to or greater than a predetermined value.

Disclosure of Invention

Problems to be solved by the invention

However, in the technique described in japanese patent application laid-open No. 2019-128735, when a preceding vehicle is at a position distant from the own vehicle, the driver may apply excessive speed and acceleration before executing the evaluation program and may want to reduce the inter-vehicle distance to the preceding vehicle. As a result, the driving of the vehicle by the driver may not be appropriately evaluated.

The present invention has been made in view of such circumstances, and an object thereof is to provide a driving support device, a driving support method, and a storage medium that can appropriately evaluate driving of a vehicle by a driver.

Means for solving the problems

The driving support device, the driving support method, and the storage medium according to the present invention have the following configurations.

(1): a driving support device according to an aspect of the present invention includes: an external information acquisition unit that acquires external information including a relative position and a relative speed of an object around a moving body, the object being observed from the moving body; a travel information acquisition unit that acquires travel information including at least a speed and an acceleration of the mobile object; a driving evaluation unit that evaluates driving of the occupant based on at least one of the outside world information and the travel information, and starts the evaluation of the driving of the occupant when a predetermined condition is satisfied after the operation by the occupant; and an evaluation result reporting unit that causes a reporting device to report a result of the evaluation, wherein the driving evaluation unit includes: a first evaluation unit that performs a first evaluation of driving by the occupant for a first predetermined period from when the operation is performed until the predetermined condition is satisfied; and a second evaluation unit that performs a second evaluation of the driving of the occupant for a second predetermined period after the predetermined condition is satisfied, wherein a method of performing the first evaluation by the first evaluation unit is different from a method of performing the second evaluation by the second evaluation unit.

(2): in the aspect of (1) above, the method of performing the first evaluation uses at least a part of the outside world information and the travel information used by the method of performing the second evaluation.

(3): in the aspect of the above (2), in the method of performing the first evaluation, the skill of the driver's driving is evaluated based on the relative velocity, in the method of performing the second evaluation, the degree of following with respect to the preceding vehicle is evaluated based on at least one of the relative position and the relative velocity of the object with respect to the object determined to be the preceding vehicle immediately ahead of the mobile body, and the evaluation result reporting unit reduces the first evaluation and causes the reporting device to report the warning to the driver when the variation amount of the relative velocity becomes smaller than a negative first threshold value within the first predetermined period.

(4): in the aspect of the above (2), the driving support apparatus further includes a storage unit that stores past average speed and average acceleration of the mobile body in a predetermined section, the first evaluation is performed by evaluating a skill of the occupant in driving based on the relative speed, the second evaluation is performed by evaluating a following degree with respect to a preceding vehicle determined to be a preceding vehicle immediately ahead of the mobile body among the objects based on at least one of the relative position and the relative speed of the object, and the evaluation result report unit reduces the first evaluation when a difference between the speed and the average speed of the mobile body is a second threshold value or more or a difference between the acceleration and the average acceleration of the mobile body is a third threshold value or more, and causing the reporting device to report a warning to the occupant.

(5): in any one of the above-described aspects (1) to (4), the second evaluation unit performs the second evaluation on the assumption that the occupant has performed an operation to the effect that the occupant previously consents to perform the second evaluation before the occupant performs the operation.

(6): in a driving support method according to another aspect of the present invention, the computer performs: acquiring external information including a relative position and a relative speed of an object in the vicinity of a moving body viewed from the moving body, acquiring travel information including at least a speed and an acceleration of the moving body, and evaluating driving of a passenger based on at least one of the external information and the travel information, when a predetermined condition is satisfied after the operation by the occupant, an evaluation of the driving of the occupant is started, a reporting device is caused to report a result of the evaluation, performing a first evaluation of the driving of the occupant for a first predetermined period from the operation to the satisfaction of the predetermined condition, and performing a second evaluation of the driving of the occupant for a second predetermined period after the predetermined condition is satisfied, wherein a method of performing the first evaluation is different from a method of performing the second evaluation.

(7): a storage medium according to another aspect of the present invention stores a program for causing a computer to execute: acquiring external information including a relative position and a relative velocity of an object around a moving body viewed from the moving body, acquiring travel information including at least a velocity and an acceleration of the moving body, and evaluating driving of a passenger based on at least one of the external information and the travel information, when a predetermined condition is satisfied after an operation by the occupant, an evaluation of the driving of the occupant is started, and a reporting device reports a result of the evaluation, performing a first evaluation of the driving of the occupant for a first predetermined period from the operation to the satisfaction of the predetermined condition, and performing a second evaluation of the driving of the occupant for a second predetermined period after the predetermined condition is satisfied, wherein a method of performing the first evaluation is different from a method of performing the second evaluation.

Effects of the invention

According to (1) to (7), the driving of the mobile body by the driver can be appropriately evaluated.

According to (2), the first evaluation can be reported in a form less offensive to the driver.

According to (3) and (4), it is possible to call attention to the occupant of the moving body who wants to make a forcible follow-up to the preceding vehicle.

Drawings

Fig. 1 is a diagram showing an example of a functional configuration of a driving support system mounted on a host vehicle M.

Fig. 2 is a diagram illustrating an example of a tutor menu screen displayed on the touch panel by the tutor control unit.

Fig. 3 is a diagram showing an example of the average speed and the average acceleration for each section calculated by the travel information acquisition unit and stored in the storage unit.

Fig. 4 is a diagram showing an example of the first evaluation set by the first evaluation unit.

Fig. 5 is a diagram showing an example of the second evaluation set by the second evaluation unit.

Fig. 6 is a diagram for explaining an example of a scene to which the driving support device of the present embodiment is applied.

Fig. 7 is a flowchart illustrating an example of a flow of processing performed by the driving support apparatus to cope with the scenario shown in fig. 6.

Fig. 8 is a diagram for explaining another example of a scenario in which the driving support device according to the present embodiment is applied.

Fig. 9 is a flowchart illustrating an example of a flow of processing performed by the driving support apparatus to cope with the scenario shown in fig. 8.

Detailed Description

Hereinafter, an embodiment of the driving support apparatus according to the present invention will be described with reference to the drawings.

Fig. 1 is a diagram showing an example of a functional configuration of a driving support system 1 mounted on a host vehicle M. The driving support system 1 includes a camera 10, a radar device 12, a LIDAR14, a vehicle sensor 16, a touch panel 18, a notification device 20, and a driving support device 100. The vehicle M is an example of a "mobile body".

The camera 10 is a digital camera using a solid-state imaging device such as a ccd (charge Coupled device) or a cmos (complementary Metal Oxide semiconductor). The camera 10 is mounted on an arbitrary portion of the vehicle M. When shooting the front, the camera 10 is attached to the upper part of the front windshield, the rear surface of the vehicle interior mirror, or the like. The camera 10 repeatedly captures the periphery of the host vehicle M periodically, for example. The camera 10 may also be a stereo camera.

The radar device 12 radiates radio waves such as millimeter waves to the periphery of the host vehicle M, and detects radio waves (reflected waves) reflected by an object to detect at least the position (distance and direction) of the object. The radar device 12 is mounted on an arbitrary portion of the vehicle M. The radar device 12 may detect the position and velocity of the object by an FM-cw (frequency Modulated Continuous wave) method.

The LIDAR14 irradiates the periphery of the host vehicle M with light (or electromagnetic waves having a wavelength close to the light), and measures scattered light. The LIDAR14 detects the distance to the object based on the time from light emission to light reception. The light to be irradiated is, for example, a pulsed laser. The LIDAR14 is attached to an arbitrary portion of the vehicle M.

The vehicle sensors 16 include a vehicle speed sensor that detects the speed of the host vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects an angular velocity about a vertical axis, an orientation sensor that detects the orientation of the host vehicle M, and the like.

The touch panel 18 is configured by superimposing a Display unit such as an LCD (1 essential Crystal Display) or an organic el (electroluminescence) and an input unit capable of detecting a touch position of the operator by a coordinate detection mechanism. The display unit displays a GUI (graphical User interface) switch for operation. When the touch operation, tap operation, slide operation, or the like on the GUI switch is detected, the input unit generates an operation signal indicating that the touch operation on the GUI switch is performed, and outputs the operation signal to the drive assist device 100.

The reporting apparatus 20 has a reporting function to a user. The reporting device 20 may report by, for example, causing an audio output device, not shown, to output audio, or may report by communicating information with another device, for example, an information processing terminal held by a user. The reporting device 20 performs a reporting operation under the control of an evaluation result reporting unit 150, which will be described later.

The driving support apparatus 100 includes, for example, a tutor control unit 110, an external information acquisition unit 120, a travel information acquisition unit 130, a driving evaluation unit 140, an evaluation result report unit 150, and a storage unit 160, and is realized by executing programs (software) by hardware processors such as a cpu (central Processing unit), for example, the tutor control unit 110, the external information acquisition unit 120, the travel information acquisition unit 130, the driving evaluation unit 140, and the evaluation result report unit 150, respectively. Some or all of these components may be realized by hardware (including a circuit portion) such as lsi (large Scale integration), asic (application Specific Integrated circuit), FPGA (Field-Programmable Gate Array), gpu (graphics Processing unit), or the like, or may be realized by cooperation of software and hardware. The program may be stored in advance in a storage device (a storage device including a non-transitory storage medium) such as an HDD or a flash memory of the driving support apparatus 100, may be stored in a removable storage medium such as a DVD or a CD-ROM, or may be attached to the HDD or the flash memory of the driving support apparatus 100 by being mounted on the drive apparatus via the storage medium (the non-transitory storage medium). The storage unit 160 is implemented by, for example, a rom (read Only memory), a flash memory, an SD card, a ram (random Access memory), a register, and the like.

The guidance control unit 110 performs various controls related to the guidance of the driving of the host vehicle M by the occupant. The tutoring is to evaluate driving of the vehicle M by the occupant for the purpose set by the occupant regarding following of the preceding vehicle, acceleration/deceleration adjustment, vehicle position control in the vehicle width direction in the lane, and the like, and to transmit the evaluation to the occupant, thereby promoting improvement of the driving. For example, when following a preceding vehicle, the vehicle-to-vehicle distance is closer to a degree enabling parking in consideration of the relative speed and the vehicle speed with respect to the vehicle-to-vehicle distance to the preceding vehicle, and the higher the relative speed is closer to zero, the higher the evaluation is set by the tutoring. The guidance control unit 110 displays, for example, a guidance menu screen for the occupant to specify details relating to guidance on the touch panel 18, or receives an occupant selection input on the guidance menu screen of the touch panel 18, and executes processing corresponding to the selection.

Fig. 2 is a diagram illustrating an example of a tutor menu screen displayed on the touch panel 18 by the tutor control unit 110. In fig. 2, a region a1 represents a pull-down list for selecting tutoring content, a region a2 represents a tutoring start button, and a region A3 represents detailed information related to tutoring. As described above, although the tutoring content includes various purposes in the area a1, the present embodiment is assumed to select "follow tutoring".

When the occupant of the vehicle M presses the guidance start button in the area a2, the contents thereof are transmitted to the guidance control unit 110, and the guidance control unit 110 performs guidance. On the other hand, in the case where the tutoring content is "follow-up tutoring", it is necessary to have a preceding vehicle in front of the host vehicle M in order to perform tutoring. Therefore, as shown in the area a3, when the tutoring start button is pressed, the tutoring control unit 110 specifies the presence of the preceding vehicle from the peripheral objects included in the external world information acquired by the external world information acquisition unit 120, and starts execution of the tutoring at the timing at which the preceding vehicle is specified.

The external information acquisition unit 120 performs sensor fusion processing on the detection results of some or all of the camera 10, the radar device 12, and the LIDAR14, and acquires external information such as the type of a peripheral object present around the host vehicle M, and the relative position and relative speed of the peripheral object viewed from the host vehicle M.

The traveling information acquisition unit 130 acquires traveling information including the speed and acceleration of the host vehicle M from the vehicle sensor 16. The travel information acquisition unit 130 further specifies the section (road or intersection) where the host vehicle M exists using a gnss (global Navigation Satellite system) receiver (not shown) provided in the host vehicle M and map information, calculates the average speed and the average acceleration for each of the sections, and stores the average speed and the average acceleration in the storage unit 160.

Fig. 3 is a diagram showing an example of the average speed and the average acceleration for each section calculated by the travel information acquisition unit 130 and stored in the storage unit 160. In fig. 3, the solid lines indicate the average speed and the average acceleration of the host vehicle M in a certain section, and the broken lines indicate the speed and the acceleration (i.e., the travel information) of the host vehicle M of this time in the section. The graph of fig. 3 directly shows only the speed of the host vehicle M, but the acceleration of the host vehicle M can be easily derived by obtaining the gradient of the speed of the host vehicle M. In the case of fig. 3, the current acceleration CA is higher than the past average acceleration PA of the host vehicle M. As described later, the driving evaluation unit 140 evaluates the driving of the host vehicle M by the occupant by comparing the travel information with the past average speed and average acceleration of the host vehicle M.

The driving evaluation unit 140 evaluates the driving of the vehicle M by the occupant based on at least one of the outside world information acquired by the outside world information acquisition unit 120 and the travel information acquired by the travel information acquisition unit 130. The driving evaluation unit 140 starts evaluation of driving of the host vehicle M by the occupant when the occupant presses the tutor start button and the outside world information acquisition unit 120 specifies the preceding vehicle. The pressing of the tutor start button is an example of "operation by the occupant", and the specification of the preceding vehicle by the external information acquisition unit 120 is an example of "predetermined condition".

The driving evaluation unit 140 includes a first evaluation unit 141 and a second evaluation unit 142. The first evaluation unit 141 evaluates the skill of the driver in driving based on the relative speed of the preceding vehicle for a first predetermined period from when the tutor start button is pressed to when the external world information acquisition unit 120 specifies the preceding vehicle (hereinafter, this may be referred to as "first evaluation"). Specifically, for example, when the amount of change in the relative speed is smaller than the negative first threshold value in the first predetermined period, the first evaluation unit 141 sets the first evaluation to decrease. That is, this means that the host vehicle M approaches the preceding vehicle rapidly during the first predetermined period. In the present embodiment, the relative velocity is defined as the relative velocity of the peripheral object viewed from the host vehicle M, and therefore the negative first threshold value is used for the determination. However, the configuration of the present invention is not limited to this, and the relative velocity may be defined as the relative velocity of the host vehicle M as seen from the peripheral object, and in the above determination, the first evaluation may be set low when the amount of change in the relative velocity is equal to or greater than the positive first threshold value.

Fig. 4 is a diagram illustrating an example of the first evaluation set by the first evaluation unit 141. Fig. 4 shows a scene in which the first evaluation unit 141 performs evaluation by specifying a preceding vehicle by the external information acquisition unit 120 after the guidance start button is pressed by the occupant of the host vehicle M. In the case of fig. 4, the first evaluation unit 141 determines that the amount of change in the relative velocity is less than the negative first threshold value, and therefore sets the first evaluation so as to decrease as "not to have any effect for following". With this configuration, when the preceding vehicle is located at a position away from the host vehicle M, it is possible to notify the attention of the occupant of the host vehicle M who intends to reduce the inter-vehicle distance from the preceding vehicle by applying excessive speed and acceleration for the execution of the tutoring.

In another scenario, when the preceding vehicle that is the follow-up candidate starts to move at an excessively high speed and acceleration after the occupant of the host vehicle M presses the tutor start button, the occupant of the host vehicle M may want to follow the preceding vehicle at an excessively high speed and acceleration. Then, the first evaluation unit 141 sets the first evaluation so as to decrease when the speed of the own vehicle M is higher than the past average speed stored in the storage unit 160 by the second threshold value or more or when the acceleration of the own vehicle M is higher than the past average acceleration stored in the storage unit 160 by the third threshold value or more after the press of the tutoring start button, and the evaluation is displayed on the touch panel 18. As described above, since the past average speed and the past average acceleration are stored for each section in which the host vehicle M has traveled in the past, the first evaluation unit 141 determines the section in which the host vehicle M exists at the current time point when performing the comparison, and extracts the average speed and the average acceleration corresponding to the section from the storage unit 160. With this configuration, it is possible to call attention to the occupant of the host vehicle M who intends to forcibly follow the preceding vehicle.

In the above determination, the first evaluation unit 141 compares a value obtained by subtracting the average speed from the speed of the host vehicle M with the second threshold value, and compares a value obtained by subtracting the average acceleration from the acceleration of the host vehicle M with the third threshold value. However, the present invention is not limited to this configuration, and the first evaluation unit 141 may determine the vehicle speed by comparing the absolute value of the difference between the speed of the vehicle M and the average speed, the square error, and the threshold, or comparing the absolute value of the difference between the acceleration of the vehicle M and the average acceleration, the square error, and the threshold, for example.

The second evaluation unit 142 evaluates the degree of following of the subject vehicle M with respect to the preceding vehicle, based on at least one of the relative position and the relative speed of the preceding vehicle, for a second predetermined period after the preceding vehicle is specified by the external information acquisition unit 120 (hereinafter, this may be referred to as "second evaluation"). Specifically, for example, the second evaluation unit 142 sets the second evaluation high when the relative position of the preceding vehicle is close to a degree that the vehicle can stop or the relative speed is close to zero, taking into account the relative speed, during the second predetermined period. The second evaluation unit 142 may set the second evaluation so as to decrease when the host vehicle M travels at an excessively high speed or acceleration for the second predetermined period, based on the travel information of the host vehicle M.

Fig. 5 is a diagram illustrating an example of the second evaluation set by the second evaluation unit 142. Fig. 5 shows a scenario in which the external world information acquisition unit 120 specifies the preceding vehicle after the guidance start button is pressed by the occupant of the host vehicle M, and the follow-up guidance is executed for a second predetermined period, and then the second evaluation unit 142 performs evaluation. In the case of fig. 5, the second evaluation unit 142 determines that the degree of following of the host vehicle M to the preceding vehicle is high in the second predetermined period, and therefore sets the second evaluation in such an elevated manner as "excellent".

The evaluation result reporting unit 150 causes the touch panel 18 to display the result of the evaluation by the driving evaluation unit 140, or causes the reporting device 20 to report the result. The storage unit 160 stores the past average speed and average acceleration acquired by the travel information acquisition unit 130 for each section.

Next, a description will be given of a scenario in which the driving support apparatus 100 according to the present embodiment is applied, with reference to fig. 6. Fig. 6 is a diagram for explaining an example of a scenario in which the driving support apparatus 100 according to the present embodiment is applied. In fig. 6, the host vehicle M stops at the intersection after the tutoring start button is pressed, and another vehicle M1 traveling in another lane enters the host lane of the host vehicle M by turning left ahead of the host vehicle M. At this time, the occupant of the host vehicle M may try to apply an excessive speed or acceleration in order to start coaching with the other vehicle M1 as a preceding vehicle, and may be forced to catch up with the other vehicle M1.

Fig. 7 is a flowchart illustrating an example of a flow of processing of the driving support apparatus 100 to cope with the scene shown in fig. 6. First, the driving support apparatus 100 receives the guidance content input by the occupant of the host vehicle M on the touch panel 18 using the guidance control unit 110 (step S100). Specifically, the driving support apparatus 100 receives a selection of "follow-up guidance" on the touch panel 18 by the occupant of the host vehicle M. The selection of "follow-up tutoring" is an example of "operation to the effect that the occupant agrees with the execution of the second evaluation in advance".

Next, the driving support apparatus 100 receives the pressing of the tutor start button by the occupant of the host vehicle M on the touch panel 18 by using the tutor control unit 110 (step S101). Next, the driving support apparatus 100 determines whether or not there is a preceding vehicle in the vicinity of the host vehicle M using the external information acquisition unit 120 (step S102). If it is determined that there is no preceding vehicle, the driving support apparatus 100 executes the process of step S102 again. On the other hand, when it is determined that there is a preceding vehicle, the driving support apparatus 100 acquires the latest traveling information of the host vehicle M using the traveling information acquisition unit 130 (step S103).

Next, the driving support apparatus 100 determines whether the own vehicle M has stopped and started (i.e., accelerated from a stopped state) based on the latest traveling information acquired by using the driving evaluation unit 140 (step S104). When it is determined that the vehicle M is not stopped or started, the driving assistance device 100 sets the first evaluation value to be high by using the first evaluation unit 141 (step S105). Thereafter, the driving support apparatus 100 advances the process to step S111. On the other hand, when it is determined that the stop/start is performed, the driving support apparatus 100 uses the travel information acquisition unit 130 to refer to the storage unit 160, and acquires the past travel information corresponding to the partition in which the own vehicle M currently exists (step S106).

Next, the driving support apparatus 100 determines whether or not the amount of change in the relative speed of the preceding vehicle is less than the negative first threshold value for a first predetermined period from when the tutor start button is pressed to when the external world information acquisition unit 120 specifies the preceding vehicle, using the first evaluation unit 141 (step S107). When determining that the amount of change in the relative speed of the preceding vehicle has not become less than the negative first threshold value, the first evaluation unit 141 compares the latest traveling information with the past traveling information and determines whether the host vehicle M has traveled at a high speed or started quickly (step S108). Specifically, the first evaluation unit 141 determines whether the speed of the host vehicle M is higher than the past average speed by a second threshold or more, or whether the acceleration of the host vehicle M is higher than the past average acceleration by a third threshold or more. When it is determined that the host vehicle M is not traveling at a high speed or is starting rapidly, the first evaluation unit 141 sets the first evaluation to be high.

On the other hand, when it is determined that the host vehicle M is traveling at a high speed or is starting rapidly, the first evaluation unit 141 sets the first evaluation value to be lowered (step S109). Accordingly, the driving support apparatus 100 uses the evaluation result reporting unit 150 to cause the reporting apparatus 20 to report that the host vehicle M is going to be noticed as the first evaluation (step S110). Then, the driving support apparatus 100 starts the follow-up tutoring using the tutoring control unit 110, and executes the follow-up tutoring for a second predetermined period (step S111). After the second predetermined period has elapsed, the second evaluation unit 142 evaluates the driving of the own vehicle M by the occupant, and the reporting device 20 reports the evaluation result (step S112). This ends the processing in the flowchart. The processing according to the above flowchart can alert the occupant of the moving object who wants to make an extraordinary follow-up to the preceding vehicle for the execution of the tutoring.

In the above-described flowchart, it is determined whether or not the host vehicle M has stopped starting, whether or not the amount of change in the relative speed is smaller than the negative first threshold, and whether or not the host vehicle M has traveled at a high speed or started quickly as compared with the past travel information. However, the present invention is not limited to this configuration, and at least whether or not the amount of change in the relative speed is smaller than the negative first threshold value may be determined. This configuration can also cope with the scenario shown in fig. 6.

Next, another scenario in which the driving support apparatus 100 according to the present embodiment is applied will be described with reference to fig. 8. Fig. 8 is a diagram for explaining another example of a scene to which the driving support apparatus 100 according to the present embodiment is applied. In fig. 8, it is assumed that the host vehicle M stops at the intersection after the tutoring start button is pressed, and the other vehicle M1 stops ahead of the host vehicle M, but the other vehicle M1 starts rapidly thereafter. At this time, the occupant of the host vehicle M may try to apply an excessive speed or acceleration to forcibly catch up with the other vehicle M1 in order to start coaching with the other vehicle M1 as a preceding vehicle.

Fig. 9 is a flowchart illustrating an example of a flow of processing of the driving support apparatus 100 to cope with the scene shown in fig. 8. The processing from step S200 to step S203 is the same as the processing from step S100 to step 103 in fig. 7, and therefore, the description thereof is omitted.

After the driving assistance device 100 acquires the latest traveling information of the own vehicle M, it determines whether the own vehicle M is accelerating or not based on the acquired latest traveling information using the driving evaluation unit 140 (step S204). When it is determined that the vehicle M is not accelerating, the driving support apparatus 100 uses the first evaluation unit 141 to set the first evaluation high (step S207). Thereafter, the driving support apparatus 100 advances the process to step S210. On the other hand, when it is determined that the vehicle is accelerating, the driving support apparatus 100 uses the travel information acquisition unit 130 to refer to the storage unit 160 and acquires the past travel information corresponding to the partition in which the own vehicle M currently exists (step S205).

Next, the driving support apparatus 100 determines whether the host vehicle M is traveling at a high speed or starting at a high speed, using the first evaluation unit 141, for a first predetermined period from when the tutor start button is pressed until when the external world information acquisition unit 120 specifies the preceding vehicle (step S206). Specifically, the first evaluation unit 141 determines whether the speed of the host vehicle M is higher than the past average speed by at least a second threshold value or whether the acceleration of the host vehicle M is higher than the past average acceleration by at least a third threshold value. When it is determined that the vehicle M is not traveling at a high speed or is starting rapidly, the first evaluation unit 141 sets the first evaluation to be high.

On the other hand, when it is determined that the host vehicle M is traveling at a high speed or is starting rapidly, the first evaluation unit 141 sets the first evaluation to be low (step S208). Accordingly, the driving support apparatus 100 uses the evaluation result reporting unit 150 to cause the reporting apparatus 20 to report that the host vehicle M is traveling hard as the first evaluation (step S209). Then, the driving support apparatus 100 starts the follow-up tutoring using the tutoring control unit 110, and executes the follow-up tutoring during the second predetermined period (step S210). After the second predetermined period has elapsed, the second evaluation unit 142 evaluates the driving of the vehicle M by the occupant, and the reporting device 20 reports the evaluation result (step S211). This ends the processing in the flowchart. The processing according to the above flowchart can alert the occupant of the moving object who wants to make an extraordinary follow-up to the preceding vehicle for the execution of the tutoring.

In the above-described flowchart, it is determined whether or not the host vehicle M is accelerating, and whether or not the host vehicle M is traveling at a high speed or is starting rapidly as compared with the past travel information. However, the present invention is not limited to this configuration, and it is sufficient to determine whether or not the host vehicle M is traveling at a high speed or is starting at a high speed, at least in comparison with the past traveling information. This configuration can also cope with the scenario shown in fig. 8.

According to the present embodiment described above, when the host vehicle M attempts to make a tentative follow-up to the preceding vehicle for the execution of the coaching during the period from when the occupant of the host vehicle M requests the coaching to when the preceding vehicle is specified, the first evaluation unit detects and recognizes the amount of change in the relative speed and the comparison between the current travel information and the past travel information, and gives attention to the occupant. This makes it possible to appropriately evaluate the driving of the mobile body by the driver.

Further, according to the present embodiment, the method of performing the first evaluation uses the relative speed, and the method of performing the second evaluation uses at least one of the relative position, the relative speed, and the travel information of the host vehicle M. That is, the method of performing the first evaluation uses at least a part of the outside world information and the travel information used by the method of performing the second evaluation, and can report the first evaluation in a form that is less intrusive to the occupant of the vehicle M.

The above-described embodiments can be expressed as follows.

A driving support device is configured to include:

a storage device storing a program; and

a hardware processor for processing the received data, wherein the hardware processor,

the hardware processor executes the program stored in the storage device to perform the following processing:

acquiring external information including relative positions and relative velocities of objects around a moving body viewed from the moving body,

acquiring traveling information including at least a speed and an acceleration of the mobile body,

evaluating the driving of the occupant based on at least one of the outside world information and the travel information, and starting the evaluation of the driving of the occupant when a predetermined condition is satisfied after the operation of the occupant is performed,

the result of the evaluation is reported to a reporting means,

performing a first evaluation of the driving of the occupant for a first predetermined period from the operation to the satisfaction of the predetermined condition,

performing a second evaluation of the driving of the occupant for a second predetermined period after the predetermined condition is satisfied,

the method of the first evaluation by the first evaluation unit is different from the method of the second evaluation by the second evaluation unit.

While the present invention has been described with reference to the embodiments, the present invention is not limited to the embodiments, and various modifications and substitutions can be made without departing from the scope of the present invention.

Claims (7)

1. A driving support apparatus, wherein,

the driving support device includes:

an external information acquisition unit that acquires external information including a relative position and a relative speed of an object around a moving body, the object being observed from the moving body;

a travel information acquisition unit that acquires travel information including at least a speed and an acceleration of the mobile object;

a driving evaluation unit that evaluates driving of the occupant based on at least one of the outside world information and the travel information, and starts the evaluation of the driving of the occupant when a predetermined condition is satisfied after the operation by the occupant; and

an evaluation result reporting unit for causing a reporting device to report the result of the evaluation,

the driving evaluation unit includes:

a first evaluation unit that performs a first evaluation of driving by the occupant for a first predetermined period from when the operation is performed until the predetermined condition is satisfied; and

a second evaluation unit that performs a second evaluation of the driving of the occupant for a second predetermined period after the predetermined condition is satisfied,

the method of the first evaluation performed by the first evaluation unit is different from the method of the second evaluation performed by the second evaluation unit.

2. The driving support apparatus according to claim 1,

the method of performing the first evaluation uses at least a part of the outside world information and the travel information used by the method of performing the second evaluation.

3. The driving support apparatus according to claim 2, wherein,

in the method of performing the first evaluation, a skill of the driving of the occupant is evaluated based on the relative speed,

in the method of performing the second evaluation, with respect to the object determined as a preceding vehicle immediately ahead of the moving body among the objects, a degree of following with respect to the preceding vehicle is evaluated based on at least either one of the relative position and the relative speed of the object,

the evaluation result reporting unit reduces the first evaluation and causes the reporting device to report a warning to the occupant when the change amount of the relative speed becomes a first threshold value smaller than negative within the first predetermined period.

4. The driving support apparatus according to claim 2, wherein,

further comprises a storage unit for storing past average speed and average acceleration of the moving body in a predetermined section,

in the method of performing the first evaluation, a skill of the driving of the occupant is evaluated based on the relative speed,

in the method of performing the second evaluation, a degree of following with respect to a preceding vehicle determined to be a preceding vehicle immediately ahead of the moving body among the object objects is evaluated based on at least one of the relative position and the relative speed of the object,

the evaluation result reporting unit reduces the first evaluation and causes the reporting device to report a warning to the occupant when a difference between the speed of the mobile body and the average speed is equal to or greater than a second threshold or a difference between the acceleration of the mobile body and the average acceleration is equal to or greater than a third threshold.

5. The driving support apparatus according to any one of claims 1 to 4, wherein,

the second evaluation unit performs the second evaluation on the assumption that the occupant performs an operation to the effect that the occupant agrees in advance to perform the second evaluation before the occupant performs the operation.

6. A driving support method, wherein,

the driving support method causes a computer to perform:

acquiring external information including relative positions and relative velocities of objects around a moving body viewed from the moving body,

acquiring traveling information including at least a speed and an acceleration of the mobile body,

evaluating driving of the occupant based on at least one of the outside world information and the travel information, and starting the evaluation of the driving of the occupant when a predetermined condition is satisfied after an operation by the occupant,

causing a reporting means to report the result of said evaluation,

performing a first evaluation of the driving of the occupant for a first predetermined period from the operation to the satisfaction of the predetermined condition,

performing a second evaluation of the driving of the occupant for a second predetermined period after the predetermined condition is satisfied,

the method of performing the first evaluation is different from the method of performing the second evaluation.

7. A storage medium storing a program, wherein,

the program causes a computer to execute:

acquiring external information including relative positions and relative velocities of objects around a moving body viewed from the moving body,

acquiring traveling information including at least a speed and an acceleration of the mobile body,

evaluating driving of the occupant based on at least one of the outside world information and the travel information, and starting the evaluation of the driving of the occupant when a predetermined condition is satisfied after an operation by the occupant,

causing a reporting means to report the result of said evaluation,

performing a first evaluation of the driving of the occupant for a first predetermined period from the operation to the satisfaction of the predetermined condition,

performing a second evaluation of the driving of the occupant for a second predetermined period after the predetermined condition is satisfied,

the method of performing the first evaluation is different from the method of performing the second evaluation.

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