JP2011121556A - Drive learning system and drive assist system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a drive learning system capable of performing control which a driver of a vehicle expects. <P>SOLUTION: The drive learning system (10) is a drive learning system that is mounted on a vehicle (1) and learns a drive behavior related to a driver of the vehicle. The drive learning system includes: a storing means (109) for storing, after the vehicle starts turning right or left at an intersection under the condition that a vehicle is passing an intersection and the vehicle turns right or left at the intersection, (i) a first position being a position of the vehicle within the intersection when the driver starts steering a steering wheel in a direction opposite to the direction in which the driver steers the steering wheel to make the vehicle turn right or left and (ii) a second position being a position of the vehicle within the intersection when the driver starts stepping down an accelerator pedal; a calculating means (109) for calculating a difference obtained by subtracting the stored first position from the stored second position; and a change means (109) for changing an item to be stored when a drive behavior is learned according to a result of comparison between the calculated difference and a threshold value. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a technical field of a driving learning system that learns driving behavior of a driver of a vehicle such as an automobile, and a driving support system that includes the driving learning system.

  As this type of system, for example, Patent Document 1 describes an apparatus that controls a vehicle based on re-start acceleration performance improvement control when a driver's intention to turn left or right at an intersection is detected. Incidentally, as the restart acceleration performance improvement control, upshift prohibition, minimum shift gear prohibition, and throttle opening adjustment are cited.

Japanese Patent Laying-Open No. 2005-077674

  However, in the background art described above, the driver characteristics are not specifically considered. Then, there is a technical problem that control different from the control expected by the driver may be performed.

  The present invention has been made in view of the above problems, for example, and an object of the present invention is to propose a driving learning system and a driving support system capable of performing the control expected by the driver.

  In order to solve the above problems, the driving learning system of the present invention is a driving learning system that is mounted on a vehicle and learns driving behavior related to the driver of the vehicle, and the vehicle is passing an intersection, And, on the condition that the vehicle turns right or left at the intersection, after the vehicle starts to turn right or left at the intersection, (i) the driver steers the steering wheel to turn the vehicle right or left A first position, which is a position within the intersection of the vehicle when starting to steer the steering wheel in a direction opposite to the direction; and (ii) the vehicle at a time when the driver starts to step on the accelerator pedal. Recording means for recording a second position which is a position within the intersection; calculation means for calculating a difference obtained by subtracting the recorded first position from the recorded second position; Depending on the result of the comparison between the difference and a threshold value, and changing means for changing the items to be recorded when learning the driving behavior.

  According to the driving learning system of the present invention, the driving learning system is mounted on a vehicle such as an automobile and learns driving behavior related to the driver of the vehicle. Here, the “driving behavior related to the driver” is, for example, the operation that can be performed according to the operation by the driver with respect to a portion (for example, a steering wheel, an accelerator pedal, a brake pedal, a shift lever, etc.) that the driver can operate. What is necessary is just to obtain | require the condition or state of a part, and a driver | operator's visual direction by detecting.

  For example, the recording means comprising a memory, a processor, etc. may be used after the vehicle starts to turn right or left at the intersection after the vehicle is passing the intersection and the vehicle turns right or left at the intersection (i ) A first position which is a position within the intersection of the vehicle when the driver starts to steer the steering wheel in a direction opposite to the direction in which the steering wheel is steered to turn the vehicle to the right or left, and (ii) the driver A second position, which is a position within the intersection of the vehicle at the time when the pedal is started to be depressed, is recorded.

  The fact that the vehicle is passing the intersection is acquired based on, for example, map information provided in the car navigation device and position information of the own vehicle acquired by GPS (Global Positioning System) or via road-to-vehicle communication. May be detected on the basis of information related to the infrastructure (hereinafter referred to as “infrastructure” as appropriate).

  Further, the vehicle turning right or left at the intersection may be detected, for example, by detecting the state of the blinker switch or by detecting the steering angle of the steering wheel or the steering angle of the wheel.

  The “intersection” according to the present invention means a road in a predetermined range including a portion where two or more roads intersect. Here, the predetermined range includes a portion where two or more roads intersect, and a range in which communication is possible between a traffic infrastructure installed on a road such as an optical vehicle detector (so-called optical beacon) and a vehicle, for example. Can be set as

  In addition, “The driver started steering the steering wheel in the direction opposite to the direction in which the steering wheel was steered to turn the vehicle to the right or left” started to return the steering wheel that the driver cut for the right or left turn. Means that. Here, “when the steering wheel starts to be steered in a direction opposite to the steering direction in order to turn the vehicle to the right or left” is, for example, a sign of a steering displacement that is a parameter indicating a change in the steering amount of the steering wheel. What is necessary is just to obtain | require by detecting the time of a change, or the time of the value of a steering displacement becoming below a predetermined value.

  For example, a calculation means including a memory, a processor, etc. calculates a difference obtained by subtracting the recorded first position from the recorded second position. For example, a changing unit including a memory, a processor, and the like changes items to be recorded when learning driving behavior according to a result of comparing the calculated difference with a threshold value.

  According to the inventor's research, the following matters have been found. That is, when turning right or left at an intersection, an event that is important to the driver of the vehicle is different for each driver. Important events include, for example, that the vehicle's speed has decreased sufficiently before steering the steering wheel to make a right or left turn at the intersection, and the large lateral acceleration that occurs in the vehicle when making a right or left turn at the intersection. And so on.

  Here, before steering the steering wheel to make a right or left turn at an intersection, a driver who emphasizes that the speed of the vehicle has been sufficiently reduced starts to return the steering wheel and then depresses the accelerator pedal for acceleration. The time to lower is relatively short. On the other hand, a driver who attaches importance to the magnitude of the lateral acceleration generated in the vehicle when making a right or left turn at an intersection has a relatively long time from when the steering wheel is returned to when the accelerator pedal is depressed for acceleration.

  If the vehicle is uniformly controlled without taking into consideration the events that are important to the driver, control different from the control expected by the driver is performed, and the driver may feel uncomfortable.

  However, in the present invention, the difference obtained by subtracting the recorded first position from the recorded second position by the calculation means (that is, the difference between the position where the accelerator pedal is depressed and the position where the steering wheel is started to return). Is calculated. And the item which should be recorded when learning a driving | running behavior is changed by the change means according to the result by which the calculated difference and a threshold value were compared.

  Here, the “threshold value” is determined when the driver emphasizes that the vehicle speed is sufficiently lowered before steering the steering wheel to turn right or left at the intersection, or when turning right or left at the intersection. If the value is used to determine whether or not the driver is placing importance on the magnitude of the lateral acceleration generated in the vehicle, the calculated difference is compared with the threshold value so that the steering wheel can be turned to turn right or left at the intersection. Whether the driver emphasizes that the speed of the vehicle is sufficiently reduced before steering, or is the driver who emphasizes the magnitude of the lateral acceleration generated in the vehicle when turning right or left at the intersection, Is identified.

  As a result, if it is identified that the driver emphasizes that the speed of the vehicle is sufficiently low before steering the steering wheel to turn right or left at the intersection, for example, the minimum of the vehicle in the intersection The speed and the position within the intersection at the minimum speed are items to be recorded. On the other hand, when the driver is identified as a driver who places importance on the magnitude of the lateral acceleration generated in the vehicle when turning right or left at the intersection, for example, the lateral acceleration when the vehicle passes the intersection is an item to be recorded. Is done.

  Therefore, if the vehicle is controlled using the driving behavior learned by the driving learning system, the control expected by the driver can be performed. Specifically, for example, if the driver emphasizes that the vehicle speed is sufficiently reduced before steering the steering wheel to turn right or left at the intersection, the recorded vehicle speed is the lowest speed. The vehicle is controlled so that the actual vehicle speed becomes the recorded minimum speed at a position within the intersection. On the other hand, in the case of a driver who places importance on the magnitude of the lateral acceleration generated in the vehicle when turning right or left at the intersection, the vehicle is controlled so as not to exceed the maximum value of the recorded lateral acceleration.

  Note that the “threshold value” as described above is, for example, experimentally, empirically, or by simulation, for example, the time distribution from when the driver starts to return the steering wheel to when the accelerator pedal is depressed for acceleration. Before steering the steering wheel to make a right or left turn at an intersection, the driver who emphasizes that the speed of the vehicle is sufficiently low, and the magnitude of the lateral acceleration that occurs in the vehicle when making a right or left turn at the intersection What is necessary is just to obtain | require for every driver | operator to attach importance and to set based on this calculated | required distribution.

  In one aspect of the driving learning system of the present invention, the changing means is provided on the condition that the calculated difference is smaller than the threshold, and the minimum speed of the vehicle in the intersection and the vehicle at the minimum speed. The third position, which is a position within the intersection, is set as the item to be recorded.

  According to this aspect, by using the driving behavior learned by the driving learning system, prioritizing that the vehicle speed is sufficiently lowered before steering the steering wheel to turn right or left at the intersection. Control suitable for the driver can be performed.

  In another aspect of the driving learning system of the present invention, the changing means should record the lateral acceleration when the vehicle passes the intersection on the condition that the calculated difference is larger than the threshold. And

  According to this aspect, by using the driving behavior learned by the driving learning system, it is possible to perform control suitable for the driver who attaches importance to the magnitude of the lateral acceleration generated in the vehicle when turning right or left at the intersection. it can.

  In order to solve the above-described problem, the driving support system of the present invention uses the driving learning system of the present invention (including various aspects thereof) and the driving behavior learned by the driving learning system, so that the driver Driving support means for performing driving support.

  According to the driving support system of the present invention, since the driving learning system of the present invention described above is provided, for example, the driving support means including a memory, a processor, etc. uses the driving behavior learned by the driving learning system. By providing driving assistance to the driver, the control expected by the driver can be performed.

  The effect | action and other gain of this invention are clarified from the form for implementing demonstrated below.

It is a block diagram which shows the structure of the vehicle which concerns on embodiment of this invention. It is a flowchart which shows the driving | operation learning process which ECU which concerns on embodiment of this invention performs. It is a flowchart which shows the driving assistance process which ECU which concerns on embodiment of this invention performs.

  Hereinafter, embodiments of a driving learning system and a driving support system according to the present invention will be described with reference to FIGS. 1 to 3.

  First, the configuration of a vehicle on which the driving learning system and the driving support system according to the present embodiment are mounted will be described with reference to FIG. FIG. 1 is a block diagram showing a configuration of a vehicle according to the present embodiment. In FIG. 1, for convenience of explanation, only members that are directly related to the present embodiment are shown, and other members are not shown.

  In FIG. 1, a vehicle 1 includes a GPS 101, an in-vehicle camera 102, a millimeter wave radar 103, an infrastructure communication device 104, a vehicle speed sensor 105, a display 106, an ACC (Adaptive Cruise Control) switch 107, a PCS (Pre-Crash Safety) switch 108, An ECU (Electronic Control Unit) 109, a map information database (DB) 110, a car navigation system 111, a brake actuator 112, an accelerator actuator 113, a speaker 114, an accelerator position sensor 115, a steering sensor 116, and a lateral acceleration sensor 117 are configured. Yes.

  The GPS 101 receives a signal from a GPS satellite, specifies the current position of the vehicle 1, and transmits a signal indicating the specified current position to the ECU 109. The in-vehicle camera 102 mainly captures an image in front of the vehicle 1 and transmits a signal indicating the captured image to the ECU 109. The ECU 109 controls the display 106 so as to display an image corresponding to the received signal.

  The millimeter wave radar 103 emits a millimeter wave and receives a radio wave reflected by an object (for example, a vehicle ahead). Based on a propagation time or a frequency generated due to the Doppler effect, the millimeter wave radar 103 The position and the relative speed with respect to the vehicle 1 are measured, and a signal indicating the measured position and relative speed of the object is transmitted to the ECU 109.

  For example, the infrastructure communication device 104 is configured to, for example, information related to the surrounding situation with poor visibility, traffic control information (for example, information related to traffic lights or signs), road conditions, etc. via a traffic infrastructure installed on the road such as an optical beacon. Information (for example, information related to a traffic accident or a traffic jam) is acquired, and a signal indicating the acquired information is transmitted to the ECU 109. The ECU 109 controls the display 106 so as to display information corresponding to the received signal.

  The vehicle speed sensor 105 detects, for example, the rotational speed of an output shaft (not shown) proportional to the vehicle speed, and transmits a signal indicating the detected rotational speed to the ECU 109.

  The ACC switch 107 and the PCS switch 108 are switches for setting an operation mode. The ACC switch 107 and the PCS switch 108 enable the ACC function and the PCS function by being turned on by the driver of the vehicle 1, respectively.

  The map information database 110 includes a map data file, an intersection data file, a road data file, and the like. The map information database 110 stores information (for example, a map, a straight road, a corner, an uphill / downhill road, an expressway, etc.) necessary for driving the vehicle.

  The car navigation system 111 has a basic function of guiding the host vehicle to a predetermined destination. The car navigation 111 cooperates with the GPS 101, the infrastructure communication device 104, the display 106, the ECU 109, the map information database 110, and the speaker 114 to give the driver map information around the current location of the vehicle 1 and the current position of the vehicle 1. Provide information such as destination position and route.

  The accelerator position sensor 115 detects an operation amount (that is, accelerator opening) of an accelerator pedal (not shown), and transmits a signal indicating the detected accelerator opening to the ECU 109.

  The steering sensor 116 is provided, for example, in a combination switch portion (not shown) of the vehicle 1, detects the steering amount and steering direction of a handle (not shown), and indicates the detected steering amount and steering direction. A signal is transmitted to the ECU 109.

  Lateral acceleration sensor 117 detects the lateral acceleration applied to vehicle 1 and transmits a signal indicating the detected lateral acceleration to ECU 109.

  The driving learning system 10 includes a GPS 101, an infrastructure communication device 104, a vehicle speed sensor 105, an ECU 109, a map information database 110, an accelerator position sensor 115, a steering sensor 116, and a lateral acceleration sensor 117.

  In the driving learning system 10, the ECU 109 is passing the intersection 1 based on signals transmitted from the GPS 101, the infrastructure communication device 104, and the steering sensor 116, information stored in the map information database 110, and the like. And it is detected that the vehicle 1 turns right or left at the intersection.

  Subsequently, after the vehicle 1 starts to turn right or left at the intersection, the ECU 109 starts (i) steering the steering wheel in a direction opposite to the direction in which the driver steers the steering wheel to turn the vehicle 1 to the right or left. A first position (hereinafter referred to as “position L1” where appropriate) that is a position within the intersection of the vehicle 1 at the time, and (ii) a position within the intersection of the vehicle 1 when the driver starts to step on the accelerator pedal. The second position (hereinafter referred to as “position L2” as appropriate) is recorded.

  Next, the ECU 109 calculates a difference obtained by subtracting the position L1 from the position L2. Subsequently, the ECU 109 changes items to be recorded when learning the driving behavior in accordance with the result of comparing the calculated difference and the threshold value.

  Specifically, when the calculated difference is smaller than the threshold value, the ECU 109 determines the minimum speed of the vehicle 1 in the intersection, and a third position (hereinafter referred to as “appropriately”, which is the position in the intersection of the vehicle 1 at the minimum speed). The position to be recorded is a position Lmin ″). On the other hand, when the calculated difference is larger than the threshold value, the ECU 109 sets the maximum value of the lateral acceleration applied to the vehicle 1 when the vehicle 1 passes the intersection as an item to be recorded. When the calculated difference and the threshold value are “equal”, they may be included in either case.

  The driving support system 20 includes a driving learning system 10, a GPS 101, an infrastructure communication device 104, a vehicle speed sensor 105, an ECU 109, a map information database 110, a car navigation system 111, and a steering sensor 116.

  In the driving support system 20, the ECU 109 is set based on signals transmitted from the GPS 101, the infrastructure communication device 104 and the steering sensor 116, information stored in the map information database 110, or the like, or by the car navigation 111. Whether or not the driver of the vehicle 1 intends to turn right or left at the intersection is determined based on the route or the state of the blinker switch (not shown).

  When it is determined that the driver intends to turn right or left at the intersection, the ECU 109 uses the driving behavior learned by the driving learning system 10 to control the driver, for example, by controlling the brake actuator 112 or the like. I do.

  The “ECU 109” according to the present embodiment is an example of the “recording unit”, “calculating unit”, “changing unit”, and “driving support unit” according to the present invention. In this embodiment, a part of the ECU 109 for various electronic controls is used as a part of the driving learning system 10 and the driving support system 20.

  Next, a driving learning process executed by the ECU 109 while the vehicle 1 equipped with the driving learning system 10 and the driving support system 20 configured as described above is traveling will be described with reference to the flowchart of FIG. This driving learning process is mainly executed at a constant cycle, an indefinite cycle, or continuously while the vehicle 1 is traveling.

  In FIG. 2, first, the ECU 109 determines whether or not the vehicle 1 is passing through an intersection based on signals transmitted from the GPS 101 and the infrastructure communication device 104, information stored in the map information database 110, and the like. Is determined (step S101).

  If it is determined that the vehicle 1 is not passing through the intersection (step S101: No), the ECU 109 executes the process of step S101. On the other hand, when it is determined that the vehicle 1 is passing through the intersection (step S101: Yes), the ECU 109 sends signals transmitted from the GPS 101, the infrastructure communication device 104, and the steering sensor 116, and map information. Based on the information stored in the database 110 or the like, it is determined whether or not the vehicle 1 turns right or left at the intersection (step S102).

  When it is determined that the vehicle 1 turns right or left at the intersection (step S102: Yes), after the vehicle 1 starts turning right or left at the intersection, the ECU 109 transmits signals transmitted from the GPS 101 and the steering sensor 116, and Based on the information stored in the map information database 110, the position L1 is recorded (step S103).

  Next, the ECU 109 records the position L2 based on the signals transmitted from the GPS 101 and the accelerator position sensor 115 and the information stored in the map information database 110 (step S104).

  Next, the ECU 109 calculates a difference obtained by subtracting the position L1 from the position L2 (that is, position L2−position L1), and determines whether or not the calculated difference is smaller than a threshold value (step S105). When it is determined that the calculated difference is smaller than the threshold (step S105: Yes), the ECU 109 is based on the signals transmitted from the GPS 101 and the vehicle speed sensor 105, and information stored in the map information database 110. Then, the minimum speed Vmin and the position Lmin of the vehicle 1 in the intersection are specified and recorded (step S106).

  Subsequently, the ECU 109 sets the model ID to “1” (step S107) and ends the process. In this case, the ECU 109 determines that the driver of the vehicle 1 is a driver who places importance on sufficiently reducing the speed of the vehicle 1 before steering the steering wheel to turn right or left at the intersection. .

  On the other hand, when it is determined in the process of step S105 that the calculated difference is larger than the threshold (step S105: No), the ECU 109 turns the vehicle 1 to the right or on the basis of the signal sent from the lateral acceleration sensor 117. The maximum lateral acceleration Gmax during the left turn is specified and recorded (step S108).

  Subsequently, the ECU 109 sets the model ID to “2” (step S109) and ends the process. In this case, the ECU 109 determines that the driver of the vehicle 1 is a driver who attaches importance to the magnitude of the lateral acceleration generated in the vehicle when turning right or left at the intersection.

  In the process of step S102, when it is determined that the vehicle 1 does not turn right and left at the intersection (that is, when it is determined that the vehicle 1 goes straight through the intersection) (step S102: No), the ECU 109 sets the model ID to “0”. "(Step S110), and the process ends. In this case, the ECU 109 determines that the characteristics of the driver of the vehicle 1 are unclear.

  In the process of step S110, the ECU 109 does not have to set the model ID to “0” if the model ID is set to “1” or “2” during the past driving learning process. . Alternatively, in the process of step S110, the ECU 109 sets “1” and “2” based on the model ID history set in the past driving learning process instead of setting the model ID to “0”. The larger model ID may be set.

  Next, driving support processing executed by the ECU 109 while the vehicle 1 on which the driving learning system 10 and the driving support system 20 are mounted will be described with reference to the flowchart of FIG. This driving support process is executed at regular intervals, irregular intervals, or continuously while the vehicle 1 is traveling.

  3, first, the ECU 109 is set based on signals transmitted from the GPS 101, the infrastructure communication device 104, and the steering sensor 116, information stored in the map information database 110, or the like, or by the car navigation 111. Whether or not the driver of the vehicle 1 intends to turn right or left at the intersection is determined based on the route or the state of the blinker switch (step S201).

  When it is determined that the driver does not intend to turn right or left at the intersection (step S201: No), the ECU 109 executes the process of step S201. On the other hand, when it is determined that the driver intends to turn right or left at the intersection (step S201: Yes), the ECU 109 determines whether or not the control support system can be implemented (step S202). Whether or not the control support system can be implemented may be determined, for example, by determining whether or not the distance from the vehicle 1 to the target intersection is within a certain range.

  If it is determined that the control support system cannot be implemented (step S202: No), the ECU 109 ends the process. On the other hand, when it is determined that the control support system can be implemented (step S202: Yes), the ECU 109 determines whether or not the model ID learned in the driving learning process described above is “1” (step S202). S203).

  When it is determined that the model ID is “1” (step S203: Yes), the ECU 109 determines the signals from the GPS 101 and the vehicle speed sensor 105, the minimum speed Vmin and the position Lmin recorded in the driving learning process described above. Based on the information stored in the map information database 110, the control amount is calculated so that the speed of the vehicle 1 becomes the minimum speed Vmin at the position Lmin (step S204).

  On the other hand, when it is determined that the model ID is not “1” (step S203: No), the ECU 109 determines whether the model ID is “2” (step S205). When it is determined that the model ID is “2” (step S205: Yes), the ECU 109 determines the signals from the GPS 101 and the vehicle speed sensor 105, the maximum lateral acceleration Gmax recorded in the driving learning process described above, and the map. Based on the information stored in the information database 110, the control amount is calculated so that the lateral acceleration applied to the vehicle 1 when the vehicle 1 is turning right or left does not exceed the maximum lateral acceleration Gmax (step S206).

  When it is determined that the model ID is not “2” (that is, the model ID is “0”) (step S205: No), the ECU 109 selects a control amount based on the general model (step S207). The “control amount based on the general model” is determined by, for example, an experiment, and is stored in advance in a memory of the ECU 109, for example.

  Next, the ECU 109 determines whether or not a start condition for the control support system is satisfied (step S208). The “start condition” specifically refers to, for example, a case where the driver is not stepping on the accelerator pedal, the speed of the vehicle 1 is less than a certain value, and the distance between the vehicle and the target intersection is less than a certain value. The control timing set in advance is reached, and so on.

  When it is determined that the start condition is not satisfied (step S208: No), the ECU 109 executes the process of step S202. On the other hand, when it is determined that the start condition is satisfied (step S208: Yes), the ECU 109 sets, for example, the brake actuator 112 or the like so that the control amount is determined in any of the processes of steps S204, S206, and S207. Control is performed (step S209).

  Next, the ECU 109 determines whether or not a termination condition for the control support system is satisfied (step S210). The “end condition” specifically includes, for example, that the driver has stepped on the accelerator pedal, the speed of the vehicle 1 is not more than a certain value, the vehicle 1 has passed the target intersection, and the like.

  When it is determined that the end condition is satisfied (step S210: Yes), the ECU 109 ends the process. On the other hand, when it is determined that the end condition is not satisfied (step S210: No), the ECU 109 executes the process of step S209.

  In addition to or instead of changing the control amount, the control timing may be changed.

  The present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit or idea of the invention that can be read from the claims and the entire specification. A driving support system is also included in the technical scope of the present invention.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 10 ... Deceleration support system, 101 ... GPS, 102 ... Car-mounted camera, 103 ... Millimeter wave radar, 104 ... Infrastructure communication apparatus, 105 ... Vehicle speed sensor, 106 ... Display, 107 ... ACC switch, 108 ... PCS switch, 109 ... ECU, 110 ... Map information database, 111 ... Car navigation, 112 ... Brake actuator, 113 ... Accelerator actuator, 114 ... Speaker, 115 ... Accelerator position sensor, 116 ... Steering sensor

Claims (4)

A driving learning system that is mounted on a vehicle and learns driving behavior related to a driver of the vehicle,
On the condition that the vehicle is passing the intersection and the vehicle turns right or left at the intersection, after the vehicle starts to turn right or left at the intersection, (i) the driver A first position that is a position within the intersection of the vehicle at the start of steering the handle in a direction opposite to the direction in which the steering wheel is steered to turn right or left, and (ii) the driver depresses the accelerator pedal Recording means for recording a second position which is a position in the intersection of the vehicle at the time of starting to step down;
Calculating means for calculating a difference obtained by subtracting the recorded first position from the recorded second position;
A driving learning system comprising: changing means for changing an item to be recorded when learning the driving behavior according to a result of comparing the calculated difference with a threshold value.   The changing unit is configured to determine a minimum speed of the vehicle in the intersection and a third position that is a position in the intersection of the vehicle at the minimum speed on the condition that the calculated difference is smaller than the threshold. The driving learning system according to claim 1, wherein the driving learning system is an item to be recorded.   The said changing means makes the item which should record the lateral acceleration at the time of the said vehicle passing the said intersection on the condition that the said calculated difference is larger than the said threshold value. Driving learning system described in 1. The driving learning system according to any one of claims 1 to 3,
A driving support system comprising: driving support means for performing driving support for the driver using the driving behavior learned by the driving learning system.

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