JP2010205123A - Method, apparatus and program for driving support - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To support driving by detecting only events for which a driver needs support. <P>SOLUTION: A driving support apparatus has: a traffic condition decision unit 107 for determining the traffic conditions surrounding a vehicle; a driver's state decision unit 108 for determining the state of the driver driving the vehicle; and a driving support decision unit 110 for determining whether the driving support is needed for the driver based on the results of determination by the traffic condition decision unit and the results of determination by the driver's state decision unit. The driving support decision unit supports driving when determined that an operation needed for driving is not carried out by the driver before a certain period has passed after detection of a change in the traffic conditions by the traffic condition decision unit. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a driving support method, a driving support device, and a driving support program for supporting driving of a vehicle such as an automobile. In the present application, the vehicle includes a train and the like in addition to an automobile, and the automobile has two or more wheels.

  In a conventional driving support apparatus or system, as disclosed in Patent Document 1, for example, when notifying a driver that a traffic signal in front is in a start-permitted state, no other vehicle is behind the passenger, There is a method of providing driving assistance appropriately without giving a psychological burden to the driver by stopping or postponing the notification when the user is holding the steering wheel or watching the traffic light.

  This method is intended to reduce the psychological burden by indicating conditions for excluding or postponing notification in a device or system that is supposed to notify the driver immediately when the traffic signal is implicitly permitted to start. It is.

  Patent Document 2 discloses an accident prevention system that gives an alarm when a mobile phone is used, and Patent Document 3 determines a driver's psychological state and makes the driver recognize the determination result. A support device is disclosed, and Patent Document 4 discloses a device that supports driving in a driving state of manual driving and automatic driving.

  Further, Patent Literature 5 discloses a driving support device that measures driving operation information during traveling and determines a driving operation type, and Patent Literature 6 recognizes an utterance target and selects an utterance for an in-vehicle device. A device that performs voice recognition is disclosed, and Patent Document 7 discloses a driver state determination device that detects a physiological and psychological state of a driver.

JP 2006-92129 A JP 2000-198370 A JP 2003-048448 A JP 2006-318446 A JP 2008-217274 A JP 2008-250236 A Japanese Patent Laid-Open No. 06-251273

  However, in most cases, the driver pays attention to surrounding traffic and changes in traffic lights even during a temporary stop due to traffic lights, and notification is often unnecessary. It is desirable that the notification that the driver really expects to be supported only when attention is paid to another event and the change in the state of the traffic light is not noticed.

A driving support apparatus according to the present invention includes a traffic state determination unit that determines a traffic state around a vehicle,
A driver state determination unit for determining a state of a driver driving the vehicle;
A driving support determination unit that determines the necessity of driving support to the driver based on the determination result of the traffic state determination unit and the determination result of the driver state determination unit;
Have
The driving support determination unit performs driving when it is determined that the driver does not perform an operation necessary for driving until a predetermined time elapses after the traffic state determination unit detects the change in the traffic state. A driving support device characterized by providing support.

The driving support device according to the present invention includes a traffic state determination unit that determines a traffic state around the vehicle,
A driver state determination unit for determining a state of a driver driving the vehicle;
A driver support history storage unit that stores a history of driving support to the driver;
Based on the determination result of the traffic state determination unit and the determination result of the driver state determination unit, it is determined whether or not the driver needs driving support, and the driving support history is used when driving support is performed. And a driving support determination unit that determines the content of driving support.
The driving assistance history is a driving assistance device including past driving assistance contents and a driver's reaction to the driving assistance contents.

A driving support method for a driving support device according to the present invention includes a traffic state determination step for determining a traffic state around a vehicle,
A driver state determination step of determining a state of a driver driving the vehicle;
A driving support determination step for determining the necessity of driving support to the driver based on the determination result in the traffic state determination step and the determination result in the driver state determination step;
Have
In the driving support determination step, driving is performed when it is determined that the driver has not performed an operation necessary for driving until a certain time has elapsed since the change in the traffic state was detected in the traffic state determination step. A driving support method characterized by providing support.

The driving support method of the driving support apparatus according to the present invention includes a traffic state determination step for determining a traffic state around the vehicle,
A driver state determination step of determining a state of a driver driving the vehicle;
When determining whether or not driving assistance is required for the driver based on the determination result in the traffic state determination step and the determination result in the driver state determination step, Driving support determination step for determining the content of the driving support using the driving support history of
The driving support history is a driving support method for a driving support device, characterized in that it includes past driving support contents and a driver's reaction to the driving support contents.

A driving support program according to the present invention includes a traffic state determination procedure for determining a traffic state around a vehicle,
A driver state determination procedure for determining a state of a driver driving the vehicle;
A driving support determination procedure for determining the necessity of driving support to the driver based on the determination result in the traffic state determination procedure and the determination result in the driver state determination procedure;
A driving support program for causing a computer to execute
In the driving support determination procedure, driving is performed when it is determined that the driver has not performed an operation necessary for driving until a predetermined time has elapsed since the change in the traffic state was detected by the traffic state determination procedure. A driving assistance program characterized by providing assistance.

A driving support program according to the present invention includes a traffic condition determination procedure for determining a traffic condition around a vehicle,
A driver state determination procedure for determining a state of a driver driving the vehicle;
When determining whether driving assistance is required for the driver based on the determination result in the traffic condition determination procedure and the determination result in the driver condition determination procedure, Driving support determination procedure for determining the content of driving support using the driving support history of
A driving support program for causing a computer to execute
The driving assistance history is a driving assistance program characterized by including past driving assistance contents and a driver's reaction to the driving assistance contents.

  According to the present invention, the following effects can be obtained.

  The first effect is that since only the event that the driver needs assistance is detected, there is no extra intervention and the driver's psychological burden can be reduced as compared with the conventional method.

  The second effect is that even if the same support is provided, the support contents are changed with reference to the past history, so that support corresponding to the driver's habits and manners can be expected, and support that more closely matches the driver's expectations It is possible to support the guidance of safer driving.

It is a block diagram which shows the structure of one Embodiment of the driving assistance device concerning this invention. It is a flowchart explaining operation | movement of the driving assistance device of FIG. It is a flowchart explaining operation | movement of the driving assistance device of FIG. It is a block diagram which shows the state which connected the input / output device to the driving assistance device of FIG. 5 is a flowchart for explaining the operation of the driving support device in FIG. 4. 5 is a flowchart for explaining the operation of the driving support device in FIG. 4. 5 is a flowchart for explaining the operation of the driving support device in FIG. 4. 5 is a flowchart for explaining the operation of the driving support device in FIG. 4. 5 is a flowchart for explaining the operation of the driving support device in FIG. 4. 5 is a flowchart for explaining the operation of the driving support device in FIG. 4. 5 is a flowchart for explaining the operation of the driving support device in FIG. 4. 5 is a flowchart for explaining the operation of the driving support device in FIG. 4. 5 is a flowchart for explaining the operation of the driving support device in FIG. 4. 5 is a flowchart for explaining the operation of the driving support device in FIG. 4. 5 is a flowchart for explaining the operation of the driving support device in FIG. 4. It is a block diagram which shows one structural example of the computer which comprises the driving assistance device of this embodiment.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings. The present invention is applied to a vehicle such as an automobile or a train, and the automobile has two or more wheels.

  FIG. 1 is a block diagram showing a configuration of an embodiment of a driving support apparatus according to the present invention.

  As shown in FIG. 1, the driving support device of the present embodiment recognizes a signal recognition unit 101 that recognizes the start permission state of a traffic light, the presence of another vehicle, and a change in the inter-vehicle distance between the other vehicle and the own vehicle. The other vehicle recognition unit 102, the passenger recognition unit 103 that recognizes whether or not it is talking with the presence of a passenger, the driver recognition unit 104 that recognizes whether or not it is talking with the driver's line of sight, vehicle speed and brake The vehicle state detection part 105 which detects a state and a blinker state, and the apparatus operation detection part 106 which detects operation of a navigation apparatus or AV apparatus are provided. In addition, the driving support device of the present embodiment includes an ambient traffic state determination unit 107 that determines a surrounding state from a signal recognition state and a change in the inter-vehicle distance from another vehicle, a passenger and driver state, a vehicle state, and a device. A driver state determination unit 108 that determines the driver's state from the operation and its history, a device operation history storage unit 109 that holds a history of device operation, and support from the surrounding traffic state, the driver's state, and past support history A driving support determination unit 110 that determines whether or not to perform support and what kind of support is to be performed when providing support, a driver support history storage unit 111 that holds past support history, and a driver when performing support And a driving support output unit 112 for transmitting the details of the support.

  The surrounding traffic state determination unit 107 is connected to the signal recognition unit 101 and the other vehicle recognition unit 102. The driver state determination unit 108 is connected to the passenger recognition unit 103, the driver recognition unit 104, the vehicle state detection unit 105, the device operation detection unit 106, and the device operation history storage unit 109. The driving support determination unit 110 is connected to the surrounding traffic state determination unit 107, the driver state determination unit 108, and the driver support history storage unit 111. The driving support output unit 112 is connected to the driving support determination unit 110.

  Next, the operation of this embodiment will be described in detail with reference to FIG. 2, FIG. 3, and FIG.

  2 and 3 explain the operation of the driving support apparatus of FIG.

  First, the surrounding traffic state determination unit 107 reads information on whether a traffic signal can start or wait time from the signal recognition unit 101, and reads the presence of another vehicle, the inter-vehicle distance, and the inter-vehicle distance change from the other vehicle recognition unit 102 (step S301). ). These pieces of information are comprehensively determined and passed to the subsequent processing as the surrounding traffic state (step S302).

  Next, the driver state determination unit 108 reads the passenger's presence and conversation state information from the passenger recognition unit 103, and the driver recognition unit 104 receives information about the item for which the driver's attention is paid and the conversation state information. Information is read, information on speed, turn signal, and brake is read from the vehicle state detection unit 105, and operation information of the air conditioner device and the navigation device is read from the device operation detection unit 106 (step S303). The type of operation performed from the information in the device operation history storage unit 108 and the operation information is specified to estimate how much the driver's attention is directed to the device operation (step S304). These pieces of information are comprehensively determined and passed to the subsequent processing as the driver state (step S305).

  Finally, the driving support determination unit 110 determines whether or not to provide support from the surrounding traffic state and the driver state (step S306), and a certain time has elapsed since the change of the surrounding traffic state. If it is determined that an operation necessary for driving such as departure, stop, acceleration / deceleration, or operation of the brake is not performed, the execution of support is determined (step S307). The past driver's reaction is read from the driver support history storage unit 111 (step S308), the content of what kind of support is performed is determined, and the driving support output unit 112 is instructed (step S309). The driver's reaction due to support is added to the driver support history storage unit 111 as a result, and the process is terminated (step S310).

  FIG. 4 is a block diagram showing a state in which an input / output device is connected to the driving support device of FIG. A beacon receiver 201 that receives information transmitted from the infrastructure in order to detect the state of a traffic signal in front of the vehicle is connected to the signal recognition unit 101. The inter-vehicle communication 203 for obtaining the presence of the other vehicle and the distance between the vehicles is connected to the other vehicle recognition unit 102 even when the image condition such as bad weather or night is bad. In addition, even when the beacon cannot be received, the external camera 202 for detecting the state of the signal and detecting the presence of the other vehicle and the distance between the vehicles from the surrounding images is provided in the signal recognition unit 101 and the other vehicle recognition unit 102. It is connected.

  In addition, an internal camera 204 for detecting the presence of the driver and passengers and the state of conversation is connected to the passenger recognition unit 103 and the driver recognition unit 104. A vehicle speed sensor 205, a winker 206 indicating the driver's intention to turn left and right, and a brake 207 that detects a brake operation are connected to the vehicle state detection unit 105. A brake 207, an air conditioner device 208, and a navigation device (navigation device) 209 are connected to the device operation detection unit 106. The beacon receiver 210 to the navigation device 209 described above are input devices. In addition, a speaker 210 that conveys assistance contents to the driver and a display device 211 are connected to the driving assistance output unit 112 as an output device. Support for driving is provided by sound from the speaker 210 and video from the display device 211. For example, it is possible to provide assistance to the driver by telling the driver “please leave” with the speaker 210 or displaying an image with the characters “please leave” on the display device 210. it can. In this case, the past driver's reaction is read from the support history storage unit 111, and what kind of support is to be performed is determined. For example, when it is determined that support by sound and image is good, support is provided by both sound by the speaker 210 and video by the display device 211.

  The details of the operation of the driving support apparatus of FIG. 4 will be described with reference to FIGS. First, as shown in FIG. 5, in the signal recognizing unit 101, the beacon receiver 201 receives information such as whether the traffic signal is ready to start and waiting time if there is an infrastructure placed near the intersection (step S401, S402). At an intersection where infrastructure is not maintained, the external camera 202 directly recognizes the traffic light and determines whether or not the vehicle can start by image recognition processing (step S403). The signal recognizing unit 101 receives the recognition result from both, finally determines whether the traffic signal can start or not, and sends it to the surrounding traffic state determining unit 107 (step S404). Here, after the beacon receiver 201 receives the traffic signal start / not possible state in step 402, the external camera 202 directly visually recognizes the traffic light in step 403 and determines the start / not possible state in the image recognition process. The process may move from step 402 to step 404 without going through step 403.

  As shown in FIG. 6, in the other vehicle recognizing unit 102, the external camera 202 detects the presence of other vehicles before and after the image recognition process, the inter-vehicle distance, and the change in the inter-vehicle distance (step S405). If vehicle-to-vehicle communication 203 is possible when image processing is difficult, such as during stormy weather, the same type of information as image recognition processing is received and sent to the other vehicle recognition unit 102 (steps S406 and S407). The other vehicle recognition unit 102 finally determines the presence of the other vehicle, the inter-vehicle distance, and the change in the inter-vehicle distance from these pieces of information, and sends it to the surrounding traffic state determination unit 107 (step S408).

  Next, as shown in FIG. 7, in the passenger recognition unit 103, the internal camera 204 detects a passenger boarding in the vehicle by image recognition processing, and further determines whether or not the conversation is based on the movement of the lips, The data is sent to the driver state determination unit 108 (steps S501 and S502). As shown in FIG. 8, in the driver recognition unit 104, the internal camera 204 detects an object in which the driver is paying attention from the line of sight through image recognition processing, and further determines whether the conversation is based on the movement of the lips Then, it is sent to the driver state determination unit 108 (steps S503 and S504). As shown in FIG. 9, the vehicle state detection unit 105 receives a vehicle speed signal from the vehicle speed sensor 205, a winker signal from the winker 206, and a brake signal from the brake 207, and sends them to the driver state determination unit 108 (steps S505 to S508). . As shown in FIG. 10, the device operation detection unit 106 receives device operation information from the air conditioner device 208 and the navigation device 209 and sends it to the driver state determination unit 108 (steps S509 to S511).

  Next, as shown in FIG. 11, in the surrounding traffic state determination unit 107, the signal recognition unit 101 and the other vehicle recognition unit 102 determine whether or not the traffic signal can start, wait time, other vehicle presence information, and inter-vehicle distance change information. When there is no other vehicle ahead, it is judged only by the start permission state, and when the other vehicle is ahead, the start permission state is determined by the change in the inter-vehicle distance exceeding a certain threshold. The determined result is sent to the driving support determination unit 110 (steps S601 to S606).

  Further, as shown in FIGS. 12 and 13, in the driver state determination unit 108, information on whether the passenger is in conversation with the presence of the passenger from the passenger recognition unit 103, and the driver is in conversation from the driver recognition unit 104. Information such as whether or not, movement of the line of sight and what is being watched. A winker signal is received from the vehicle state detection unit 105 and the driver's intention to turn left and right is determined, and whether the vehicle is stopped or whether the driver is controlling the vehicle while being aware of the stop is determined from the vehicle speed information and the brake signal. .

  The driver state determination unit 108 receives the latest operation status, line-of-sight information, and past operation history of the device from the device operation detection unit 106 from the device operation history storage unit 109, and the driver operates the device. Whether or not you are doing complex operations that are distracting. Based on these determinations, it is presumed that the driver applies to any of the following states (steps S701 to S710). 1) Resting with eyes closed 2) No gaze movement and no conversation, 3) Gaze is fixed in the car and caring about something 4) Continue to operate the device And is not paying attention because it does not look out of the car. 5) It is talking with a passenger and it is not paying attention because it is not looking at the traffic light. 6) It is talking alone or by telephone. 7) The line of sight in the direction required when waiting for a right or left turn is not performed. The estimated result is sent to the driving support determination unit 110 (step S711).

  Further, as shown in FIG. 14 and FIG. 15, when the driving support determination unit 110 receives the results from the surrounding traffic state determination unit 107 and the driver state determination unit 108, whether or not to provide support based on those contents Is determined (steps S801 to S804). Furthermore, a certain amount of time has passed since the surrounding traffic state changed to the permitted state, and within this time, the driver can perform operations necessary for driving such as starting and stopping, acceleration and deceleration, and accelerator and brake operations. If it is determined that the vehicle has not been operated, it is determined to assist the driver (steps S805 and S806). In actual support execution, in order to take into account the characteristics and habits of the driver, the support contents according to past driver responses (whether they responded immediately or ignored, etc.) from the driver support history storage unit 111 Is selected, and execution is instructed to the driving support output unit 112 (steps S807 and S808). The driving support output unit 112 appropriately supports the driver using the speaker 210 or the display device 211 based on the instruction (step S809). The driving support determination unit 110 adds the driver's reaction as an execution result to the driver support history storage unit 111 and ends the support process (step S810).

  In the driving support device of the present embodiment described above, the driver is distracted by an event different from the change in the state of the traffic light when notifying that the traffic signal has been permitted to start while the vehicle is stopped. By notifying after a certain amount of time only when recognizing that it is not noticeable, the driver can properly provide notification support only when the driver really needs or expects support, and can reduce the psychological burden It becomes possible.

  Specifically, being distracted by another event means that if you are thinking dimly, if you are concerned about conversations with your passengers or the other party, if you are concerned about the operation of the machine If it has been done (navigation device, AV equipment, telephone, etc.), there is a check of the vehicle state of the own vehicle (gazing at the meter panel). For these detections, a driving support determination unit that comprehensively determines the surrounding traffic state and the driver state is provided. The surrounding traffic state is a state determined from the start permission state of the traffic light, the presence of front and rear vehicles, and the change in the inter-vehicle distance. The driver state is a state determined from the state of the passenger including the passenger, the state of the vehicle, and the operation history and state of the device by the driver.

  In addition, since the frequency and tendency to be distracted depend on the driver's personal habits and characteristics, the driving support determination unit records the passenger's condition, equipment operation history, and notification support results and provides feedback. This makes it possible to more accurately infer the need for support and to change the support method and content according to the degree.

  The driving support device of the present embodiment described above may be configured by hardware using a dedicated IC or the like, but may be realized by software.

  FIG. 16 is a block diagram illustrating a configuration example of a computer that configures the driving support apparatus of the present embodiment.

  A program that describes the functions of some or all of the components other than the storage units 109 and 111 of the driving support device shown in FIG. 1 is stored in a disk device 1005 such as a hard disk device, and the device operation history storage unit 109 and driving The disk device 1005 is used as the driver support history storage unit 111, and the device operation history and the driver support history are stored in the disk device 1005. The CPU 1004 executes the program. The input unit 1001 is an input device such as a keyboard that inputs settings for driving support operations and data necessary for driving support operations. For example, it is used when inputting a setting for stopping the support operation during high-speed driving. A display unit 1002 such as a liquid crystal display constitutes a display device 211. Each unit of the driving support apparatus is connected by a bus 1006 such as a data bus, and information necessary for information processing of the CPU 1004 is stored in a memory 1003 such as a DRAM that stores the information.

  A program for controlling the functions of the driving support device shown in FIG. 1 may be stored in advance in a disk device such as a ROM or a hard disk device, but a flexible disk such as an FD (floppy disk), CD-ROM, DVD, flash It may be stored in a computer-readable information recording medium such as a memory or provided through a network such as the Internet. And a driving assistance device is realizable by those programs being read and executed by a computer.

  In the embodiment described above, the surrounding traffic state determination unit 107 determines the surrounding traffic situation using the recognition result of the signal recognition unit 101 and the recognition result of the other vehicle recognition unit 102. The surrounding traffic situation may be determined using either the recognition result of the unit 101 or the recognition result of the other vehicle recognition unit 102. Further, by using information other than this, for example, position information from the navigation device or adding this position information to the recognition result of the signal recognition unit 101 and the recognition result of the other vehicle recognition unit 102, the surrounding traffic state is determined. May be.

  The driver state determination unit 108 also displays the recognition results of the passenger recognition unit 103 and the driver recognition unit 104, the detection results of the vehicle state detection unit 105 and the device operation detection unit 106, and the history of the device operation history storage unit 109. The driver state was determined using the recognition result of the passenger recognition unit 103, the recognition result of the driver recognition unit 104, the detection result of the vehicle state detection unit 105, the detection result of the device operation detection unit 106, Alternatively, the driver state may be determined using any one of the histories in the device operation history storage unit 109 or using two or more histories.

  The present invention is applied to driving assistance for vehicles such as automobiles and trains having two or more wheels.

DESCRIPTION OF SYMBOLS 101 Signal recognition part 102 Other vehicle recognition part 103 Passenger recognition part 104 Driver recognition part 105 Vehicle state detection part 106 Equipment operation detection part 107 Ambient traffic state judgment part 108 Driver state judgment part 109 Equipment operation history storage part 110 Driving support Determination unit 111 Driver support history storage unit 112 Driving support output unit

Claims (11)

A traffic condition judging unit for judging the traffic condition around the vehicle,
A driver state determination unit for determining a state of a driver driving the vehicle;
A driving support determination unit that determines the necessity of driving support to the driver based on the determination result of the traffic state determination unit and the determination result of the driver state determination unit;
Have
The driving support determination unit performs driving when it is determined that the driver does not perform an operation necessary for driving until a predetermined time elapses after the traffic state determination unit detects the change in the traffic state. A driving assistance device characterized by providing assistance. A driver support history storage unit for storing a history of driving support to the driver;
The history of driving assistance to the driver includes past driving assistance contents and a driver's response to the driving assistance contents,
The driving support apparatus according to claim 1, wherein the driving support determination unit determines the content of driving support using the driving support history when driving support is performed. A traffic condition judging unit for judging the traffic condition around the vehicle,
A driver state determination unit for determining a state of a driver driving the vehicle;
A driver support history storage unit that stores a history of driving support to the driver;
Based on the determination result of the traffic state determination unit and the determination result of the driver state determination unit, the necessity of driving support to the driver is determined, and the driving support history is used when driving support is performed. And a driving support determination unit that determines the content of driving support.
The driving assistance history is a driving assistance device including past driving assistance contents and a driver's reaction to the driving assistance contents. A device operation history storage unit for storing a history of device operations of the driver of the vehicle;
4. The driver state determination unit according to claim 1, wherein the driver state determination unit determines the state of the driver using at least device operation information of the vehicle driver and the history. The driving assistance apparatus as described.   The driving assistance apparatus according to any one of claims 1 to 4, wherein the driving assistance is performed when the vehicle is stopped. A traffic condition determination step for determining a traffic condition around the vehicle;
A driver state determination step of determining a state of a driver driving the vehicle;
A driving support determination step for determining the necessity of driving support to the driver based on the determination result in the traffic state determination step and the determination result in the driver state determination step;
Have
In the driving support determination step, driving is performed when it is determined that the driver has not performed an operation necessary for driving until a certain time has elapsed since the change in the traffic state was detected in the traffic state determination step. A driving support method for a driving support device, characterized in that support is provided. In the driving support determination step, when performing driving support, the driving support history to the driver is taken out from the driver support history storage unit, and the driving support history is determined using the driving support history.
7. The driving assistance method according to claim 6, wherein the driving assistance history includes past driving assistance contents and a driver's response to the driving assistance contents. A traffic condition determination step for determining a traffic condition around the vehicle;
A driver state determination step of determining a state of a driver driving the vehicle;
When determining whether or not driving assistance is required for the driver based on the determination result in the traffic state determination step and the determination result in the driver state determination step, Driving support determination step for determining the content of the driving support using the driving support history of
The driving support history includes a past driving support content and a driver's response to the driving support content. A traffic condition judging procedure for judging the traffic condition around the vehicle,
A driver state determination procedure for determining a state of a driver driving the vehicle;
A driving support determination procedure for determining the necessity of driving support to the driver based on the determination result in the traffic state determination procedure and the determination result in the driver state determination procedure;
A driving support program for causing a computer to execute
In the driving support determination procedure, driving is performed when it is determined that the driver has not performed an operation necessary for driving until a predetermined time has elapsed since the change in the traffic state was detected by the traffic state determination procedure. A driving assistance program characterized by providing assistance. In the driving support determination procedure, when driving support is performed, the driving support history to the driver is extracted from the driver support history storage unit, and the driving support content is determined using the driving support history.
10. The driving assistance program according to claim 9, wherein the driving assistance history includes past driving assistance contents and a driver's response to the driving assistance contents. A traffic condition judging procedure for judging the traffic condition around the vehicle,
A driver state determination procedure for determining a state of a driver driving the vehicle;
When determining whether driving assistance is required for the driver based on the determination result in the traffic condition determination procedure and the determination result in the driver condition determination procedure, Driving support determination procedure for determining the content of driving support using the driving support history of
A driving support program for causing a computer to execute
The driving assistance history includes a past driving assistance content and a driver's reaction to the driving assistance content.

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