JP2015194798A - Driving assistance control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a driving assistance control in response to driver's characteristics.SOLUTION: Provided is a driving assistance control device 100 comprising: a driving assistance device 80 assisting a driver in driving a vehicle; and a control unit 10 executing an attitude-information acquisition function of acquiring attitude information on a driver who drives the vehicle, a degree-of-confidence evaluation function of evaluating a driver's degree of confidence in driving from a degree of dispersion of the attitude information, a first assistance process for changing a parameter value used in driving assistance so that a degree of approach between the vehicle and an obstacle is relatively lower than a control value if an evaluation result of the degree of confidence is smaller than a first predetermined evaluation value, and a second assistance process for changing the parameter value used in driving assistance so that the degree of approach between the vehicle and the obstacle is equal to or relatively higher than the control value if the evaluation result of the degree of confidence is equal to or greater than a second predetermined evaluation value equal to or greater than the first predetermined evaluation value.

Description

  The present invention relates to a driving support control device that supports driving of a vehicle.

  A driving posture evaluation device that evaluates whether or not the driving posture of a driver is appropriate based on the relationship between the steering angle during driving and the load on the seat back is known (for example, see Patent Document 1).

JP 2009-241652 A

  However, the conventional technology only evaluates the quality of the driving posture, and a driving assistance control method suitable for the degree of confidence in driving obtained from the driving posture has not been studied.

  The subject of this invention is providing the driving assistance control apparatus which performs the driving assistance which considered each driver | operator's confidence level.

  The present invention evaluates the driver's degree of confidence in driving from the degree of dispersion of the driver's posture information, and when the evaluation result of the degree of confidence is less than a first predetermined evaluation value, the degree of approach between the vehicle and the obstacle When the first support process for changing the parameter value used for driving support is performed so that the value is relatively lower than the control value, and the evaluation result of the confidence level is equal to or higher than the second predetermined evaluation value, The above problem is solved by executing the second support process for changing the parameter value used for driving support so that the degree of approach between the vehicle and the obstacle is equal to or relatively higher than the control value.

  According to the present invention, the driving support process is executed with the content corresponding to the degree of confidence evaluated from the degree of dispersion of the driver's posture information, so that driving support considering the characteristics of each driver can be realized.

It is a block diagram of the driving assistance control apparatus which concerns on this embodiment. It is a figure for demonstrating the attitude | position information which concerns on this embodiment. It is the 1st figure for demonstrating the method of urging improvement of a driver's driving posture. It is the 2nd figure for demonstrating the method of urging improvement of a driver's driving posture. It is a flowchart which shows the driving assistance process which concerns on this embodiment. It is a figure for demonstrating the confidence level which concerns on this embodiment. It is a 1st figure for demonstrating the effect of the improvement process of the driving posture which concerns on the Example of this embodiment. It is a 2nd figure for demonstrating the effect of the improvement process of the driving posture which concerns on the Example of this embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present embodiment, the driving support control device according to the present invention is applied to the driving support control device 100 on which a vehicle is mounted, and a driving support control system 1000 including another in-vehicle device will be described as an example.

  FIG. 1 is a block configuration diagram showing a driving support control system 1000 including a driving support control device 100 according to the present embodiment. As shown in FIG. 1, the driving support control system 1000 according to the present embodiment includes a driving support control device 100, a camera 1 and / or a sitting position measuring device 2, a vehicle controller 20, an in-vehicle sensor 30, and an in-vehicle device 40. A seat position adjusting device 51, a handle position adjusting device 52, an output device 60, a vehicle drive system 70, and a driving support device 80. Each of these devices is connected by a CAN (Controller Area Network) or other in-vehicle LAN, and exchanges information with each other.

Hereinafter, each apparatus with which the driving assistance control system 1000 is provided is demonstrated.
The camera 1 of the present embodiment includes an image sensor such as a CCD or a CMOS, and images the posture of the driver of the vehicle. The camera 1 of the present embodiment images the driver's elbows, knees, and hips during driving. The camera 1 is disposed at a position where an image capable of measuring at least an elbow angle, a knee angle, and an angle between a thigh and an upper body on a seat seat surface can be taken. The camera 1 may be provided inside the vehicle interior or outside the vehicle interior. In this embodiment, the camera 1 is provided on the indoor side surface of the side door. The camera 1 can be provided in the center console, the ceiling, the vicinity of the meter display, the steering, and the like. In addition, an image of the driving posture may be created by combining the captured images of the plurality of cameras 1 provided at these positions. One or more cameras 1 may be arranged. The camera 1 sends the captured image to the driving support control device 100 or the sitting posture measuring device 2.

  The sitting posture measuring apparatus 2 of the present embodiment uses the captured image of the camera 1 to measure the three-dimensional coordinate values of the posture of the human body seated on the seat (chair). The sitting posture measuring apparatus 2 includes software for measuring each position of the human body in accordance with ISO 15535: 2003 “General requirements for creating human body measurement data”. The sitting posture measuring apparatus 2 may include software for measuring each position of the human body according to ISO16840-1 Wheelchair seating-Part1 (2006). As the sitting posture measuring device 2, Kinect (registered trademark) that is a device that determines a user's movement from a captured image may be used. As the sitting posture measuring device 2, a gesture input device that is a device for determining the content of a user command from a captured image may be used. The sitting posture measuring device 2 sends the measured posture information of the human body to the driving support control device 100. The function of the sitting posture measuring device 2 may be provided in the control device 10 to be described later.

  The vehicle controller 20 of this embodiment includes an ECU that manages various types of vehicle information and controls vehicle operations. The vehicle controller 20 of the present embodiment acquires vehicle information 21 including the vehicle speed, engine speed, acceleration, steering angle, shift position, and side brake of the vehicle detected by each sensor of the in-vehicle sensor 30 described later.

  The in-vehicle sensor 30 of the present embodiment includes a vehicle speed sensor 31, an acceleration sensor 32, a steering sensor 33, a yaw rate sensor 34, a shift position sensor 35, a side brake sensor 36, a brightness sensor 37, and a door sensor 38. . The vehicle speed sensor 31 detects the vehicle speed of the vehicle. The acceleration sensor 32 detects the longitudinal acceleration and lateral acceleration of the vehicle. The steering sensor 33 detects the amount of steering of the vehicle. The yaw rate sensor 34 detects the yaw rate of the vehicle and the yaw angle of the vehicle. The shift position sensor 35 detects operation information for shifting the host vehicle. When the shift position is the P position, the vehicle is stopped, and when the shift position is the drive position, it can be estimated that the vehicle is running. The side brake sensor 36 detects the operating state of the side brake. If the side brake is operating, it can be estimated that the vehicle is stopped. The brightness sensor 37 detects the illuminance around the host vehicle. If the illuminance is less than the predetermined value, it can be estimated that the current illumination is at night or passing through the tunnel. The door sensor 38 detects opening and closing of the door of the host vehicle. It can be estimated that the vehicle is stopped before and after the door open state is detected. The sensor devices 31 to 38 send the detection results to the driving posture control device 100 via the vehicle controller 20. The various sensor devices 31 to 38 of the present embodiment can appropriately use each sensor known at the time of filing this application.

  The in-vehicle device 40 of this embodiment includes a navigation device 41, an audio device 42, and an information communication device 43. The navigation device 41 of the present embodiment includes a current position detection device having a GPS (Global Positioning System). The navigation device 41 refers to the map information and searches for a route from the current position to the destination. Further, the navigation device 41 refers to the spot information included in the map information, and determines the scene of the running point such as whether or not the point where the host vehicle runs is an intersection or a parking lot. The navigation device 41 sends the scene determination result to the driving support control device 100. The audio device 41 of the present embodiment is a device that provides music, video, and the like. The information communication device 43 is a device that exchanges information with an external device and provides the acquired information. The in-vehicle device 40 of the present embodiment can appropriately use the navigation device, audio device, and information communication device known at the time of filing this application.

The seat position adjusting device 51 of the present embodiment adjusts the height of the seat surface of the driver's seat, the horizontal position of the seat surface, the angle of the seat surface, and the tilt angle of the seat back. The seat position adjustment device 51 includes an electrically driven front / rear slide mechanism, a lifter mechanism, a tilt mechanism, a reclining mechanism, and a lumbar protrusion mechanism. Based on an adjustment command in which an adjustment amount is specified, the seat position of the driver seat Adjust.
The handle position adjusting device 52 of this embodiment adjusts the distance and height with the driver. The handle position adjusting device 52 has a function of automatically adjusting the position of the handle based on an adjustment command in which an adjustment amount is designated. The handle position adjusting device 52 of this embodiment includes an electric telescopic mechanism and a tilt mechanism, and adjusts the distance and height position with respect to the driver based on an adjustment command in which an adjustment amount is designated.

  The output device 60 of the present embodiment outputs driving posture evaluation results and guidance content for improving driving posture. The output device 60 of this embodiment includes a display 61 and a speaker 62. The display 61 of this embodiment provides driving support information. The display 61 provides appropriate posture information as an image in order to promote improvement of the driving posture. The display 61 and the speaker 62 provide the current posture information of the driver by an image or sound. The output device 60 includes a communication device 63. The communication device 63 outputs the evaluation result of the driving posture and the guidance content for improving the driving posture to a device outside the vehicle.

  The vehicle drive system 70 of the present embodiment executes driving and braking of the vehicle under the control of the vehicle controller 20 and the driving support device 80. The vehicle drive system 70 of this embodiment includes a drive device 71 including an engine and a power transmission device, a brake device 72 including a brake mechanism, and a steering device 73 including a steering mechanism. Each device is not particularly limited, and those known at the time of filing can be applied.

  The driving support device 80 of this embodiment includes a vehicle speed control device 81 (ASCD: Automatic Speed control device), an inter-vehicle control device 82 (ACC: Adaptive cruise control), a lane departure prevention device 83 (LDP: Lane departure prevention), and a lane departure. Prevention alarm device 84 (LDW: Lane Departure Warning), rear view camera, blind corner monitor, monitor device 85 including around view monitor (registered trademark) (AVM: Around view monitor (registered trademark)), parking assist device 86 (IPA: Intelligent Parking Assist) and a forward vehicle warning device (FCW) 87.

  The vehicle speed control device 81 (ASCD) is a device that drives the vehicle at a constant speed. The inter-vehicle control device 82 (ACC) is a device that causes the vehicle to travel while maintaining a constant distance from the preceding vehicle. The lane departure prevention device 83 (LDP) is a device that prompts the driver to operate when it is likely that the vehicle will unintentionally leave the driving lane. For example, when there is a possibility of deviating from the lane and approaching an obstacle when traveling at a constant speed on an expressway, that is, when the vehicle is separated from the lane by a predetermined deviation amount (distance), the necessary driving operation is supported. The lane departure prevention device 83 (LDP) is a device that controls the brake of each wheel and prompts the driver to return the vehicle to the lane. The lane departure prevention warning device 84 (LDW) displays a buzzer and a display on the driver when there is a possibility of deviating from the lane and approaching an obstacle, that is, when the vehicle is separated from the lane by a predetermined deviation amount (distance). It is a device that calls attention.

  A rear view camera, which is one of the monitor devices 85, is a device that provides a driver with an image of a predetermined area behind the vehicle and presents information on obstacles approaching the vehicle. An around view monitor (AVM) that is one of the monitor devices 85 is a device that provides an image of a predetermined area around the vehicle and presents information on an obstacle approaching the vehicle. A blind corner monitor, which is one of the monitor devices 85, is a device that presents an image of a predetermined area that is difficult to be seen by the driver and presents information on an obstacle approaching the vehicle. The night vision, which is one of the monitor devices 85, is a device that notifies the presence of an obstacle that is difficult for the driver to visually recognize when traveling at night. The parking support device 86 (IPA) is a device that supports an operation of parking a vehicle in a predetermined parking area while avoiding approaching an obstacle. A forward vehicle approach warning device 87 (FCW: Forward collision warning) is a device that alerts the driver with a buzzer and a display when approaching a vehicle ahead within a predetermined distance.

  The control device 10 of the driving support control device 100 of the present embodiment will be described. The control device 10 of the present embodiment is configured as a driving support control device 100 by executing a ROM 12 storing a program for changing a parameter used for driving support according to the degree of confidence and a program stored in the ROM 12. It has a CPU 11 as an operating circuit to function, and a RAM 13 that functions as an accessible storage device.

  The control device 10 of the driving support control device 100 according to the present embodiment includes an attitude information acquisition function, a confidence level evaluation function, a driving support function, and a driving support control function. Furthermore, the control device 10 of the driving support control device 100 according to the present embodiment includes a driving posture improvement function and a driving skill calculation function. The control device 10 of the present embodiment is a computer that executes each function by cooperation of software for realizing the above function and the above-described hardware.

  Hereinafter, each function realized by the control device 10 of the driving support control device 100 will be described.

  First, the posture information acquisition function with which the control apparatus 10 of this embodiment is provided is demonstrated. The control device 10 acquires posture information of a driver who drives the vehicle. The posture information includes one or more of the elbow joint angle of the driver, the knee joint angle of the driver, or the upper body angle of the driver.

  FIG. 2 is a diagram for explaining the posture information. The elbow joint angle is an angle A inside the elbow of the driver DV who operates the handle ST. The knee joint angle is an angle B inside the thigh and calf of the driver DV sitting on the seat SH. The upper body angle is an angle C inside the back and thigh of the driver DV who sits on the seat SH with the back on the backrest BR. In order to obtain each angle of the posture information, feature points such as a shoulder point P1, an elbow point P2, a wrist point P3, a waist point P4, a knee point P5, and an ankle point P6 are extracted from the captured image, and the angle at the intersection is determined. measure. Each feature point is defined in advance by the existence area (position) in the captured image, the feature on the captured image, the positional relationship between the feature points, and the like.

  The control device 10 of the present embodiment extracts the above-described feature points P1 to P6 from the captured image of the camera 1, and uses the elbow joint angle A and the feature points P4, P5, and P6 configured by the feature points P1, P2, and P3. A body angle C constituted by the constructed knee joint angle B and feature points P6, P4, P1 is measured. Instead of the straight line formed by P4 and P1 constituting the body angle C, an inclined line BRL of the backrest BR may be used. Further, the body angle C may be an angle between the backrest BR and the seat surface of the seat SH.

  The control device 10 of the present embodiment extracts feature points based on the captured image of the camera 1 and obtains posture information. The control device 10 according to the present embodiment may include a sitting posture measuring function included in the sitting posture measuring device 2 described above. Further, the control device 10 of the present embodiment may acquire the posture information obtained by the sitting posture measuring device 2 based on the captured image of the camera 1.

  Next, the confidence level evaluation function of the control device 10 of the present embodiment will be described. The control device 10 according to the present embodiment evaluates the driver's confidence in driving from the degree of dispersion of the acquired posture information. The degree of dispersion of the driver's posture information during driving correlates with the driver's confidence level. In this embodiment, the correlation between the driver's confidence level and the degree of dispersion of the driver's posture information is acquired in advance.

Although not particularly limited, in the present embodiment, information in which the driver's confidence level and the degree of dispersion of posture information are associated in advance is prepared. In the present embodiment, the driver is asked to answer DSQ (Driving Style Questionnaire) and WSQ (Workload Sensitivity Questionnaire), and the driver's subjective driving is answered from the answer contents. Assess confidence. As DSQ and WSQ, those known at the time of filing can be used.
The attitude information of each driver who answers DSQ and WSQ is measured, and the degree of dispersion of the attitude information is calculated. By associating the degree of dispersion of posture information measured by each driver with the degree of confidence in driving based on DSQ and WSQ responses and deriving the relationship, the degree of dispersion of the measured posture information You can ask for confidence. Thus, the degree of confidence in driving can be estimated from the degree of dispersion of posture information during driving.

  The control device 10 according to the present embodiment calculates the degree of confidence (confidence level) of the driver as a numerical value. The greater the confidence in driving, the higher the confidence level, and the lower the confidence level in driving, the lower the confidence level.

  As a result of experiments, the inventors have shown that the driver's elbow joint angle, the driver's knee joint angle, and the driver's upper body angle during driving have a predetermined correlation with the driver's confidence level. I found. This makes it possible to objectively evaluate the degree of confidence that the driver feels subjectively based on the driver's elbow joint angle, the driver's knee joint angle, and the driver's upper body angle during driving. .

  The control device 10 of the present embodiment calculates the driver's confidence level for driving from the degree of dispersion of the posture information and evaluates it. The control device 10 according to the present embodiment calculates the degree of confidence based on any one of the driver's elbow joint angle, the driver's knee joint angle, and the driver's upper body angle, or a combination of two or more. The control apparatus 10 of this embodiment calculates | requires a confidence level from the dispersion degree with respect to the population of attitude information. The degree of dispersion can be obtained from the statistical range of the population range (expansion), standard deviation, average difference, average deviation, and the like.

  The control device 10 of the present embodiment calculates the confidence level lower as the degree of dispersion of posture information is larger, and calculates the degree of confidence higher as the degree of dispersion of posture information is smaller. The control device 10 according to the present embodiment determines that a driver with a small degree of dispersion of posture information has high confidence in driving. The control device 10 according to the present embodiment determines that the driver having a large degree of dispersion of the posture information has low confidence in driving. The control device 10 according to the present embodiment determines that a driver having a relatively low degree of dispersion of posture information is more confident about driving than a driver having a relatively high degree of dispersion of posture information. .

  The control device 10 of the present embodiment evaluates that the driver is not confident in driving when the confidence evaluation result is less than the first predetermined evaluation value, and the confidence evaluation result is equal to or greater than the first predetermined evaluation value. If it is equal to or greater than the second predetermined evaluation value, the driver evaluates that he / she is confident in driving. The first predetermined evaluation value for evaluating that there is confidence and the second predetermined evaluation value for evaluating that there is no confidence can be obtained experimentally. For example, first, an answer to the DSQ and WSQ is obtained from the driver in advance. Each driver's confidence level of driving is analyzed, and the analysis result of each driver's confidence level is associated with the measurement result of posture information. A second predetermined evaluation value is obtained from the posture information of the driver who has high confidence in driving. Similarly, a first predetermined evaluation value is obtained from posture information of a driver having a low degree of confidence in driving and posture information of a driver having a high degree of confidence in driving. The first predetermined evaluation value and the second predetermined evaluation value are preferably defined for each elbow joint angle, knee joint angle, and upper body angle. The first predetermined evaluation value and the second predetermined evaluation value may be the same value or different values.

  The control device 10 according to the present embodiment is a driver's degree of confidence in driving from the driver's posture information acquired at the timing when the vehicle is determined to be traveling from the vehicle information acquired from the vehicle controller 20 on the vehicle side. To evaluate. The control device 10 determines the time when the vehicle is traveling and calculates the degree of confidence from the posture information acquired at that time. The control device 10 determines that the output values of the vehicle speed sensor 31, the acceleration sensor 32, the steering sensor 33, and the yaw rate sensor 34 are equal to or greater than a predetermined value, the output value of the shift position sensor 35 is a drive position, and the output of the side brake 36. When the value is OFF, it is determined that the vehicle is traveling. Since the control device 10 of the present embodiment evaluates the confidence level from the posture information acquired when the vehicle is traveling, the control device 10 excludes the stationary posture information and obtains the confidence level from only the posture information during driving. Can be sought. Thereby, the degree of confidence during driving can be accurately obtained.

  The control device 10 of the present embodiment identifies the current traveling scene of the vehicle based on the vehicle information acquired from the vehicle controller 20 on the vehicle side, and from the posture information of the driver acquired when the traveling scene changes. Evaluate the driver's confidence in driving. The traveling scene of the present embodiment includes deceleration traveling, acceleration traveling, intersection turning, highway traveling, dark road traveling, and parking operation. The driving scene changes when changing from deceleration to intersection turning, changing from acceleration driving to expressway driving, changing from deceleration driving to parking driving, changing from driving on a bright road to driving on a dark driving road, etc. Including. Based on the knowledge that the influence of driving confidence on driving posture tends to increase when the driving scene changes, the inventors have acquired driver posture information acquired when the driving scene changes. The driver's confidence in driving is evaluated. Since the degree of confidence is evaluated in a scene in which the posture is likely to vary according to the driver's confidence in driving, the degree of confidence of the driver can be appropriately evaluated.

  The control device 10 according to the present embodiment determines whether or not the in-vehicle device 40 of the vehicle is operated, and uses the posture information acquired at the timing when it is determined that the in-vehicle device 40 is operated to evaluate the degree of confidence. Excluded from posture information. That is, the driver's confidence level is not evaluated using the posture information during operation of the in-vehicle device 40. The posture when the driver is performing the input operation of the navigation device 41, the audio device 42, and the information communication device 43 is different from the posture during normal driving. If the posture information during the input operation is included, the degree of confidence during driving cannot be accurately calculated. Since the control device 10 according to the present embodiment evaluates the driver's confidence level except for the posture information acquired when the in-vehicle device 40 is operated, the confidence level can be accurately calculated.

  Next, the driving support control function of the control device 10 of the present embodiment will be described. The control device 10 of the present embodiment provides driving assistance so that the degree of approach between the vehicle and the obstacle is relatively lower than the control value when the confidence level evaluation result is less than the first predetermined evaluation value. A first support process for changing parameter values used for driving support of the device 80 is executed. Further, when the confidence evaluation result is equal to or higher than the second predetermined evaluation value equal to or higher than the first predetermined evaluation value, the control device 10 according to the present embodiment has the same degree of approach between the vehicle and the obstacle as the control value. A second support process for changing parameter values used for driving support of the driving support device 80 is executed so as to be relatively high.

The driving support device 80 of the present embodiment supports driving so that the degree of approach between the vehicle and the obstacle does not exceed a predetermined control value, that is, while maintaining a state where the vehicle is not too close. When the evaluation result of the confidence level is less than the first predetermined evaluation value and the driver is not confident in driving, the control device 10 of the driving support control device 100 has a degree of approach between the vehicle and the obstacle from the control value. The first support process is executed to change the parameter value used for driving support of the driving support device 80 so that the driving force of the driving support device 80 is reduced so as to be relatively low. A high degree of approach means that the vehicle and the obstacle are approaching, and a small degree of approach means that the vehicle and the obstacle are separated.
In general, in the control of the driving support device 80, the control value of the degree of approach defined for controlling the positional relationship between the vehicle and the obstacle is uniform or a few modes with an average driver as a model. It may be defined with the value of.
By changing the parameter value of the vehicle control so that the degree of approach between the vehicle and the obstacle becomes smaller than the control value, the driving support device 80 controls the driving so as to keep the vehicle and the obstacle separated from each other. . That is, when the driver is not confident in driving, the parameter value of the vehicle control is changed so that the degree of approach becomes small. The movement of the vehicle is controlled so as to keep the object separated. A driver who is not confident in driving may feel uneasy about traveling with the approach degree (control value) set by default. According to the driving support control of the present embodiment, the driver who is not confident in driving is controlled to travel in a more generous state, so the driving support device 80 can be used with confidence.

  When the confidence evaluation result is equal to or higher than the second predetermined evaluation value that is equal to or higher than the first predetermined evaluation value, the control device 10 according to the present embodiment has the same or relative approach degree between the vehicle and the obstacle. The second support process is executed by changing the parameter value used for driving support so as to be higher. If the evaluation result of the confidence level is equal to or higher than the second predetermined evaluation value and the driver is confident in driving, the degree of approach between the vehicle and the obstacle is equal to the control value or a value greater than the control value. In other words, the first support process is executed to change the parameter value used for driving support of the driving support device 80 so that the degree of approach is maintained or increased. By changing the parameter value so that the degree of approach to the obstacle is maintained or increased, in the control of the driving support device 80, a separated state where the distance between the vehicle and the obstacle is defined or a closer state is maintained. It is. In this way, when the driver is confident in driving, the parameter value is changed so that the degree of approach is maintained or increased, thereby maintaining a sense of distance from the obstacle that matches the driver's sense. Can run. As a result, a driver who is confident in driving can use the driving support device 80 without feeling uncomfortable.

The contents of the driving support control when the driving support device 80 is the inter-vehicle control device 82 that keeps the inter-vehicle distance between the vehicle and another vehicle constant will be described.
When the confidence evaluation result is less than the first predetermined evaluation value, the control device 10 of the driving support control device 100 of the present embodiment sets the inter-vehicle distance to be equal to or greater than a predetermined distance (default value) set in advance. The first support process is executed. The inter-vehicle distance is a distance that defines the degree of approach between the host vehicle and an obstacle (another vehicle). The greater the inter-vehicle distance, the lower the degree of approach (not approaching). When it is determined that the driver is not confident in driving, the inter-vehicle distance is changed to be longer than a predetermined distance that is a preset control value. Specifically, when the inter-vehicle distance setting includes selectable level switching such as far (large distance), medium (medium distance), and near (small distance), select “far”, which makes the inter-vehicle distance the largest. Select and set automatically. Thereby, when the driver is not confident in driving, the inter-vehicle distance is changed to be long so that the degree of approach is small. Thereby, it can drive | work, maintaining the state separated from the preceding other vehicle (obstacle) rather than usual. As a result, a driver who is not confident in driving can use the inter-vehicle distance control device 82 with peace of mind.

  When the evaluation result of the confidence level is equal to or greater than the second predetermined evaluation value, the control device 10 according to the present embodiment executes the second support process for setting the inter-vehicle distance to be equal to or greater than the predetermined distance. When it is determined that the driver is confident in driving, the inter-vehicle distance is changed to be shorter than a predetermined distance that is a preset control value. Specifically, when the inter-vehicle distance setting has a selectable level switch such as far (large distance), medium (medium distance), or near (small distance), select “near” that makes the inter-vehicle distance the smallest. Select and set automatically. When the driver is confident in driving, the control device 10 of the present embodiment changes the inter-vehicle distance to be the same or shorter so that the degree of approach is the same or larger. A driver who is confident in driving may feel that the vehicle distance set by default is too long. Since the inter-vehicle distance is automatically adjusted according to the driver's confidence level, a driver who is confident in driving can use the inter-vehicle control device 82 without feeling uncomfortable.

The contents of the driving support control when the driving support device 80 is the vehicle speed control device 81 that keeps the vehicle speed constant will be described.
When the evaluation result of the confidence level is less than the first predetermined evaluation value, the control device 10 according to the present embodiment executes a first support process for setting the traveling speed to be less than a predetermined speed (default value) set in advance. To do. The vehicle speed is the amount of change in the degree of approach between the host vehicle and an obstacle (another vehicle). The lower the vehicle speed, the lower the degree of approach (the more difficult it is to approach). If it is determined that the driver is not confident in driving, the vehicle speed as the control value is changed to a speed lower than a preset target vehicle speed. As a result, when the driver is not confident in driving, the vehicle speed is changed to be lower so that the degree of approach is smaller than the control value, thereby separating the vehicle from the preceding other vehicle (obstacle) compared to the default state. You can drive while keeping the state. As a result, a driver who is not confident in driving can use the vehicle speed control device 81 with confidence.

  When the evaluation result of the confidence level is equal to or higher than the second predetermined evaluation value, the control device 10 according to the present embodiment executes a second support process for setting the traveling speed to be equal to or higher than the predetermined speed. When the driver is confident in driving, the control device 10 of the present embodiment changes the vehicle speed to be the same or higher so that the degree of approach is the same or increased. As a result, a driver who is confident in driving can use the vehicle speed control device 81 without feeling uncomfortable.

Contents of the driving support control when the driving support device 80 is a lane departure prevention device 83 and a lane departure warning device 84 that monitor the vehicle so as not to be separated from the road lane by a predetermined amount or more, and performs a lane departure monitoring operation. Will be explained.
When the confidence evaluation result is less than the first predetermined evaluation value, the control device 10 according to the present embodiment executes a first support process for setting the deviation amount to be less than a predetermined amount (default value) set in advance. To do. The amount of deviation from the lane corresponds to the degree of proximity between the host vehicle and the road shoulder obstacle (guardrail or sign). The smaller the deviation from the lane, the lower the degree of proximity to the obstacle (the more difficult it is to approach the obstacle). When it is determined that the driver is not confident in driving, the deviation amount as the control value is changed to a speed lower than a predetermined amount (distance) set in advance. That is, even if the deviation amount is smaller than usual, the lane departure prevention processing and the lane departure warning processing are executed. Thus, when the driver is not confident in driving, the deviation amount as a threshold value at which the lane departure prevention processing or the lane departure warning processing is executed so that the approach degree of the obstacle is smaller than the control value. By changing the value to be lower, it is possible to run while maintaining a state separated from the road shoulder obstacle more than usual. As a result, a driver who is not confident in driving can use the lane departure prevention device 83 and the lane departure warning device 84 with peace of mind.

  When the evaluation result of the confidence level is equal to or greater than the second predetermined evaluation value, the control device 10 according to the present embodiment executes a second support process for setting the deviation amount to be equal to or greater than the predetermined amount. When the driver is confident in driving, the control device 10 of the present embodiment executes lane departure prevention processing and lane departure warning processing so that the allowable amount of deviation from the lane is maintained or increased. Maintain or change the deviation amount. As a result, a driver who is confident in driving can use the lane departure prevention device 83 and the lane departure warning device 84 without a sense of incongruity.

The driving support device 80 is a monitor device 85 that assists driving by presenting image information of a predetermined monitoring area around the vehicle, and details of driving support control when the monitoring operation by the monitor is executed will be described.
When the confidence evaluation result is less than the first predetermined evaluation value, the control device 10 according to the present embodiment performs a first support process for setting the monitoring area wider than a predetermined area (default value) set in advance. Run. That is, when it is determined that the driver is not confident in driving, the specified monitoring area for monitoring obstacles is widely changed. Drivers who are not confident in driving tend to want to make sure that there are no obstacles in a wider area in order to ensure complete monitoring of their surroundings. When the driver is not confident in driving, a wider range can be confirmed by providing image information in a wider area than usual. As a result, a driver who is not confident in driving can utilize the information presented by the monitor device 85.

  When the evaluation result of the confidence level is equal to or greater than the second predetermined evaluation value, the control device 10 according to the present embodiment executes a second support process for setting the monitoring area to be equal to or smaller than the predetermined area. When the driver is confident in driving, the control device 10 of the present embodiment changes the monitoring area for checking the presence or absence of an obstacle to be the same or smaller. As a result, a driver who is confident in driving can be provided with the minimum necessary image information.

  The same applies to the case where the driving support device 80 is a parking support device 86 that supports a parking support operation, and performs a monitoring operation with a monitor around the vehicle. When the evaluation result of the confidence level is less than the first predetermined evaluation value, the control device 10 according to the present embodiment executes a first support process for setting a monitoring region at the time of parking operation support wider than a predetermined area. When the evaluation result of the confidence level is equal to or higher than the second predetermined evaluation value, a second support process for setting the monitoring area at the time of parking operation support to a predetermined area or less is executed. Also in this process, the above-described effects can be obtained.

  The same applies to the case where the driving support device 80 is the forward vehicle approach device 87 and monitors the movement of another vehicle existing in a predetermined area in front of the vehicle. When the evaluation result of the confidence level is less than the first predetermined evaluation value, the control device 10 according to the present embodiment performs the first support process for setting the monitoring area at the time of the monitoring process of the other vehicle ahead is larger than the predetermined area. Run. When the evaluation result of the confidence level is equal to or higher than the second predetermined evaluation value, a second support process is executed for setting the monitoring area during the monitoring process of the other vehicle ahead to a predetermined area or less. Also in this process, the above-described effects can be obtained.

  As described above, by automatically controlling the driving support parameters, the occupant can perform driving support in accordance with his / her own characteristics without operating the devices by himself / herself.

Furthermore, the control device 10 of the present embodiment controls the activation of the driving support device 80 according to the driver's confidence level. When the evaluation result of the confidence level is less than the first predetermined evaluation value, the control device 10 according to the present embodiment executes the first support process for starting the driving support function of the driving support device 80, and evaluates the confidence level. When the result is higher than the second predetermined evaluation value equal to or higher than the first predetermined evaluation value, the second support process that does not activate the driving support operation of the driving support device 80 is executed. As described above, for a driver who has a low degree of confidence in driving, the driving support device 80 is automatically activated so that appropriate driving can be performed. In addition, a driver who has a high degree of confidence in driving respects the driver's intention and does not automatically start the driving support device 80, but follows the driver's startup command. Thereby, it is possible to prevent the driver having high confidence from feeling uncomfortable while giving the driver assistance to the driver having low confidence.
As the driving support device 80, a night vision device can be included. In the situation where the brightness sensor 37 detects that the surrounding is dark, the control device 10 according to the present embodiment activates the night vision device when the degree of confidence in driving is less than the first predetermined evaluation value. In addition, when the degree of confidence in driving is less than the first predetermined evaluation value, the control device 10 expands the night vision detection range and relaxes the obstacle detection condition so that the obstacle is easily detected. . As a result, it is possible to provide appropriate driving assistance to a driver who is not confident in driving.

Next, the posture improvement function of the control apparatus 10 of this embodiment is demonstrated.
The control device 10 according to the present embodiment presents different information to the driver according to the evaluation result of the confidence level. When the evaluation result of the confidence level is less than the first predetermined evaluation value, the control device 10 according to the present embodiment executes a first improvement process that prompts the driver to improve the posture, and the evaluation result of the confidence level is the first. If the second predetermined evaluation value is equal to or greater than the first predetermined evaluation value, the second improvement process for presenting the driver's posture information is executed.

  Although not particularly limited, the first improvement process in the control device 10 of the present embodiment is a process of presenting the current driving posture and an appropriate driving posture of the driving driver to improve the driving posture. . The control device 10 according to the present embodiment performs the first improvement process on a driver whose degree of confidence in driving is less than the first predetermined evaluation value and who is relatively unconfident (low) in driving.

  Specifically, as illustrated in FIG. 3A, the control device 10 displays image information in which an image of the driver model MD in an appropriate driving posture is superimposed on an image captured by the driver DV captured by the camera 1. The driver DV considers the difference between his / her posture and the posture of the driver model MD, and corrects his / her posture so as to take the same posture as the driver model MD. Since the driver can correct his / her driving posture while checking the driver model MD, the improvement point and the adjustment amount of the driving posture can be easily understood intuitively, and the appropriate posture can be easily realized. Although not shown in FIG. 3A, coordinate axes such as ruled lines and latitude lines may be superimposed so that the position of the driver's posture can be easily understood.

  FIG. 3B shows the driving posture and the proper driving posture of the driver DVa after changing his driving posture based on the driving posture (captured image) of the driver DV and the model MD of the proper driving posture in FIG. 3A. It is a figure which shows no model MD. As shown in FIG. 3B, the difference between the driving posture of the driver DVa whose posture has been changed and the appropriate driving posture model MD is small. That is, the driving posture of the driver DV is improved so as to approximate the proper driving posture after the driving posture (captured image) of FIG. 3A and the model MD of the appropriate driving posture are presented.

  The first improvement process for prompting the driver to improve his / her posture includes a process for instructing the driver to change the current posture. The first improvement process is a process that advises how to change postures such as “sit deeply on the seat”, “stretch the back”, “stretch the elbows”, “stretch the knees”, and “attach the back to the seat”. It may be included.

  The driving posture is determined by the state of the driver's body and the position of the seat. The first improvement process includes a process of instructing the driver to change the current seat position. The first improvement process includes “moving the seat position forward (backward)”, “raising (lowering) the seating surface position of the seat”, “increasing (decreasing) the seating surface angle of the seat”, “reducing the backrest” A process of advising how to change the position of the sheet, such as “wake up”, may be included. The first improvement process is a process of advising how to change the position of the operating device, such as “moving the handle position forward (backward)” and “raising (lowering) the height position of the handle”. It may be included.

  When the evaluation result of the confidence level is less than the first predetermined evaluation value, the control device 10 of the present embodiment allows the driver to reduce the difference between the driver's current driving posture and the appropriate driving posture. The first improvement process for improving the driving posture of the driver is performed by adjusting the position of the seat on which the driver sits. The control device 10 acquires the current sheet position from the sheet position adjusting device (51). The difference between the driving posture of the driver and the appropriate driving posture is calculated from the captured image of the camera 1. The position of the sheet is changed so that this difference is reduced. The change direction and change amount of the driving posture and the control content of the seat position are associated in advance.

In the present embodiment, the control device 10 moves the position of the sheet SH shown in FIG. 2 back and forth along the arrow M1. Thereby, the distance shown by the arrow M3 and the arrow M2 can be changed. In the present embodiment, the control device 10 moves the seat surface position of the seat SH up and down along the arrow BRH. As a result, the distances indicated by the arrow BRH and the arrow SHH are changed, and the position of the shoulder point P1 and the viewpoint height HRH are changed. The elbow joint angle A can be adjusted by changing the position of the shoulder point P1.
In the present embodiment, the control device 10 increases (decreases) the seating surface angle of the seat SH. That is, the knee side end of the sheet SH is moved up and down. Accordingly, the knee joint angle B can be adjusted by changing the positions of the knee point P5 and the ankle point P6.

In the present embodiment, the control device 10 can tilt the positions of the backrest BR and the headrest HR shown in FIG. 2 forward or backward. By changing the position of the shoulder point P1, the elbow joint angle A and the upper body angle C can be adjusted.
By combining these, the driving posture of the driver can be improved.

  When the evaluation result of the confidence level is less than the first predetermined evaluation value, the control device 10 of the present embodiment allows the driver to reduce the difference between the driver's current driving posture and the appropriate driving posture. The first improvement process for improving the driving posture of the driver is performed by adjusting the position of the operating device operated by the driver. The control device 10 acquires the current handle position from the handle position adjusting device (52). The difference between the driving posture of the driver and the appropriate driving posture is calculated from the captured image of the camera 1. The position of the handle is changed so that this difference is reduced. The change direction and change amount of the driving posture and the control content of the handle position are associated in advance.

  In the present embodiment, the control device 10 moves the position of the handle ST shown in FIG. 2 back and forth along the arrow M4 to change the distance indicated by the arrow M4. The elbow joint angle A can be adjusted by changing the positions of the wrist point P3 and the elbow point P2. The control device 10 changes the height position indicated by the arrow STH of the handle ST. The elbow joint angle A can be adjusted by changing the positions of the wrist point P3 and the elbow point P2.

  Thus, the control device 10 of the present embodiment adjusts the position of the seat and / or the position of the operation device so that the driver can take an appropriate posture. The driver can take an appropriate driving posture in accordance with the improved seat position and the position of the operating device.

  The 2nd improvement process in the control apparatus 10 of this embodiment is a process which shows the picked-up image of the driver | operating driver as a driving posture. The control device 10 of the present embodiment performs the second improvement process on a driver who has a confidence level of driving equal to or higher than the second predetermined evaluation value and is relatively confident in driving.

  The second improvement process for prompting the driver to improve the attitude includes a process of presenting the driver's current driving attitude during driving. The second improvement process is a process of not instructing the driver to change the posture but transmitting the actually detected driving posture to the driver. The actually detected driving posture includes text information such as “the elbow angle is X degrees” and “the elbow angle is within an appropriate range”.

  Whether or not the driver accepts the improvement of the driving posture is influenced by the driver's confidence level. In the driving assistance control device 100 of the present embodiment, the posture varies depending on the driver's confidence level. Perform improvement processing. The driving support control apparatus 100 according to the present embodiment obtains the degree of confidence in driving under the driver's latent consciousness from the driver's posture information detected in a non-contact manner, and executes an improvement process according to the degree of confidence. Accordingly, posture improvement processing can be executed in consideration of personal characteristics such as a driver's confidence in driving. As a result, the driving posture improvement proposal is hardly rejected, and the driving posture improvement effect can be enhanced.

  Next, the driving skill calculation function of the control device 10 of the present embodiment will be described. The control device 10 calculates the driving skill of the driver from the history of the vehicle information acquired from the vehicle side. The driver's driving skill is the driver's objective driving skill.

  The control apparatus 10 of this embodiment acquires the vehicle information 21 from the vehicle controller 20 of a vehicle. The control device 10 according to the present embodiment acquires steering entropy, speed of each operation, operation angular speed, operation jerk (differential value of acceleration), operation value fluctuation, and operation fine movement as vehicle information 21. The smaller the difference from the predefined vehicle information when the driving operation is good (appropriate), the higher the driving skill is evaluated. The control device 10 calculates a lower driving skill value as the difference between the vehicle information during proper driving and the detected vehicle information 21 increases, and the difference between the vehicle information during proper driving and the detected vehicle information 21. The smaller the is, the higher the driving skill value is calculated.

  The control device 10 of the present embodiment identifies a traveling scene of the vehicle based on vehicle information acquired from the vehicle side, and evaluates the driving skill of the driver from the vehicle information associated with the traveling scene.

  Although not particularly limited, the control device 10 according to the present embodiment evaluates that the driving skill with low deceleration acceleration is high because it can be determined that the brake operation is gentle. On the other hand, when the deceleration acceleration is a predetermined value (for example, 0.2 G or more), it can be determined that the brake operation is sudden, so that it is evaluated that the driving skill is low.

  Although not particularly limited, the control device 10 according to the present embodiment has high driving skill because it can be determined that the steering operation is appropriate for the driving in which the steering start timing at the right or left turn at the intersection is less than the predetermined time from the ideal timing. And evaluate. On the other hand, driving with the steering start timing being a predetermined time or more from the ideal timing is evaluated as having low driving skill because it can be determined that the steering operation is inappropriate. Whether or not it is a traveling scene at the time of turning left or right may be determined based on the position information of the navigation device 41 and map information, or may be determined based on the presence or absence of a steering operation.

  Although not particularly limited, the control device 10 according to the present embodiment evaluates that the driving skill is high because the acceleration operation can be determined to be appropriate for the driving in which the amount of change in speed is less than the predetermined value during traveling on the highway. On the other hand, driving with a speed change amount equal to or greater than a predetermined value while traveling on a highway is evaluated as having low driving skill because it can be determined that the acceleration operation is inappropriate. Whether it is a driving scene on an expressway may be determined based on position information detected by the navigation device 41 and map information including road information, or may be determined based on changes in vehicle speed or vehicle speed. Good.

  Although not particularly limited, the control device 10 according to the present embodiment has a high driving skill because it can be determined that the driving operation is appropriate for driving in which the steering change amount or the speed change amount is less than a predetermined value during dark road traveling. evaluate. On the other hand, during driving on a dark road, driving with a steering change amount or speed change amount equal to or greater than a predetermined value is evaluated as having low driving skill because it can be determined that the driving operation is inappropriate. Whether or not the vehicle is traveling on a dark road may be determined based on the detection value of the brightness sensor 37, the sunset time and the current time, the map information including the position information detected by the navigation device 41 and the position information of the tunnel. Good.

  Although not particularly limited, the control device 10 according to the present embodiment evaluates that the driving skill is high because it can be determined that the driving operation is appropriate for the driving in which the number of steering reversions is less than the predetermined number during the parking operation. On the other hand, driving in which the number of steering turnovers is greater than or equal to a predetermined number during parking driving is evaluated as having low driving skills because it can be determined that the driving operation is inappropriate.

  The control device 10 of the present embodiment stores driving skills in association with each traveling scene. Appropriate driving operation varies depending on the driving scene. It is easy to evaluate the quality of driving skills in a driving scene where a characteristic driving operation is required. In this embodiment, since the quality of the driving skill is determined in a predetermined traveling scene, the driving skill can be accurately evaluated.

  The control device 10 of the present embodiment provides the first support when the calculated driving skill of the driver is less than the predetermined value even when the confidence evaluation result is higher than the second predetermined evaluation value. Execute the process. That is, for a driver who has confidence in driving but does not have skills, the first support process is executed instead of the second support process. Specifically, the control device 10 according to the present embodiment, even when the confidence evaluation result is higher than the second predetermined evaluation value, when the calculated driving skill of the driver is less than the predetermined value. Then, the driving support device 80 is automatically activated, and the parameters used for the driving support processing are changed so that the degree of approach becomes small.

  The control device 10 according to the present embodiment allows the person who does not have good driving operation ability despite the high degree of driving confidence, for example, an elderly driver, to use the driving support device 80 semi-forcibly, Regardless of the consciousness, the driving support device 80 can support the appropriate driving.

  Further, the control device 10 of the present embodiment has a confidence evaluation result equal to or higher than the second predetermined evaluation value and the calculated driving skill of the driver is less than the predetermined value, that is, there is confidence but skill is involved. The first improvement process is executed for the driver who is not present. In this case, the control device 10 may execute the first improvement process for improving the driving attitude together with the second improvement process, or execute the first improvement process for improving the driving attitude instead of the second improvement process. May be. This is a control content for elderly people who have long driving experience and high confidence but have low driving skills due to a decline in physical ability. Even when the degree of confidence is higher than the second predetermined evaluation value, when the driving skill is low, it is preferable to improve the driving posture and realize an appropriate driving environment. Even if the degree of confidence is high, the control device 10 of the present embodiment executes a first improvement process for improving the driving posture when the driving skill is low. As a result, even if the degree of confidence in driving and driving skills conflict, the driving posture of the driver can be improved.

  For a driver who is confident in driving but does not have skills, the second improvement process indicating the current driving attitude is executed first without suddenly performing the first improvement process for improving the driving attitude. The driver can easily improve the driving posture.

  Next, based on FIG. 4, the control procedure of the driving assistance control apparatus 100 of this embodiment is demonstrated. FIG. 4 is a flowchart of the driving support control process according to the present embodiment.

  The control device 10 of the driving assistance control device 100 according to the present embodiment confirms with the driver whether or not to activate the driving assistance control function. The control device 10 executes this process when an execution command is input from the driver. The execution command may be touch-inputted via the touch panel of the navigation device 41, may be voice-inputted via a microphone, or may be pressed-input via a dedicated input switch.

  If the execution instruction of the driving support control function is input, the control device 10 of the present embodiment acquires the vehicle information 21 from the vehicle controller 20 in step S10.

  In step S10, the control device 10 of the present embodiment determines whether or not it is the evaluation timing of the driving posture. The control device 10 according to the present embodiment determines whether or not the vehicle is in a traveling state from vehicle information 21 such as a vehicle speed, an engine speed, a brake operation, a side brake signal, and a shift position signal.

  In step S11, when the vehicle is in the traveling state, the control device 10 of the present embodiment determines that it is the driving posture evaluation timing, and proceeds to step S12.

  In step S <b> 12, the control device 10 of the present embodiment acquires the driver posture information at a timing when it is determined from the vehicle information that the vehicle is traveling. The acquired posture information is used for evaluation of driving posture and confidence level.

In step S13, the control device 10 of the present embodiment evaluates the driving posture.
First, the control device 10 according to the present embodiment determines whether or not it is the timing for evaluating the driving posture and the driver's confidence in driving. For example, the driver's posture is different from that during normal driving during parking operation. Further, when the driver is operating the in-vehicle device 40 such as the navigation device 41 and the audio device 42 in the vehicle, the posture of the driver is different from that during normal driving. For this reason, the driving posture and the confidence level are not evaluated during the parking operation or the operation of the in-vehicle device 40. This is because the driving posture and the degree of confidence may not be accurately evaluated from the acquired posture information. From the viewpoint of reducing the amount of posture information to be recorded, the traveling scene is identified based on the vehicle information, and the posture information of the driver obtained when the traveling scene changes or when the traveling scene changes is obtained. For example, the timing for moving to a driving scene on an expressway, the timing for shifting to a driving scene for turning right at an intersection, the timing for shifting to a driving scene entering a narrow street in a residential area, the timing for shifting to a driving scene in rainy weather, etc. Using the posture information acquired at the timing when the scene changes, the driving posture and the confidence level evaluation process performed in the subsequent stage are performed. This is because the posture information acquired when the driving scene changes represents the characteristics of the driving posture of the driver, and thus an accurate degree of confidence can be derived.

  Although not particularly limited, the control device 10 of the present embodiment evaluates the driving posture and the degree of confidence using posture information when the steering angle is approximately 0 degrees and the deceleration acceleration is zero. As a result, the driving posture and the degree of confidence can be more accurately evaluated.

  After obtaining appropriate posture information, evaluate the driving posture. The control device 10 of the present embodiment quantifies and acquires the elbow joint angle and knee joint angle of the acquired posture information by image analysis or the like. The control device 10 may perform image analysis using the image information of the camera 1 to acquire posture information such as an elbow joint angle and a knee joint angle, or may use the image analysis result of the sitting posture measurement device 2 to control the control device. 10 may acquire posture information such as an elbow joint angle and a knee joint angle. The method of image analysis processing of the sitting posture is not particularly limited, and a method known at the time of filing can be used.

  In step S <b> 13, the control device 10 of the present embodiment determines whether or not the acquired elbow joint angle, knee joint angle, and upper body angle are within a recommended angle range recommended as an appropriate posture. The recommended angle range can be defined in advance according to the vehicle type and the driver's physique. The vehicle type and the physique of the driver are input in advance. The recommended angle range is a predetermined threshold value based on the recommended angle. For example, when the recommended angle of the elbow joint angle is 120 degrees and the allowable range is +50 degrees to −50 degrees, the recommended angle range is 70 degrees or more and less than 170 degrees. When elbow joint angles of less than 70 degrees and 170 degrees or more are detected, it is evaluated that the driving posture is not appropriate.

  The posture information is preferably evaluated based on a plurality of measured values. For this reason, the control apparatus 10 of this embodiment attaches a score to each measured posture information and evaluates the posture. Specifically, taking the elbow joint angle as an example, 70 degrees to 120 degrees are divided into 100 pieces, and 0 to 100 points are assigned to each division. The 120 degree score is the highest and the 70 degree score is the lowest. The score is given a gradient so that the score becomes lower as it approaches 120 degrees from 70 degrees. Similarly, 120 degrees to 170 degrees are divided into 100 pieces, and 0 to 100 points are assigned to each division. The 120 degree score is the highest and the 170 degree score is the lowest. The score is given a gradient so that the score becomes lower as it approaches 120 to 170 degrees. A driving posture is evaluated based on posture information obtained over a predetermined period or a predetermined number of times. The knee joint angle and the upper body angle are also assigned with points according to the angle by the same method, and the knee joint angle and the upper body angle are quantitatively evaluated.

  The control device 10 according to the present embodiment determines whether or not the evaluation result of the driving posture based on the posture information is within the recommended range. If the evaluation of the driving posture is within the recommended range, the process proceeds to step S21 to notify the driver that the driving posture is good. At this time, the current driving posture may be presented to the driver as in step S19 described later. Thereby, the driver knows that his / her driving posture is good, and can expect the possibility of trying to maintain the driving posture. The evaluation results of these driving postures are output via the display 61 and the speaker 62.

  On the other hand, if the evaluation of the driving posture is not within the recommended range, the process proceeds to step S14, and appropriate driving support processing and driving posture improvement processing according to the characteristics of the driver are examined.

  In step S <b> 14, the control device 10 of the present embodiment calculates a confidence level for driving from the degree of dispersion of the acquired posture information. The control device 10 according to the present embodiment determines the driver from the degree of dispersion of any one or more of posture information including the driver's elbow joint angle, the driver's knee joint angle, and the driver's upper body angle. Assess your confidence in driving.

  In step S14, the control device 10 of the present embodiment evaluates the degree of confidence in driving based on the posture information. The control device 10 of the present embodiment can evaluate the degree of confidence for each traveling scene. For example, the control device 10 of the present embodiment travels on a driving scene when traveling in an urban area, a traveling scene when traveling on a suburban road, a traveling scene when passing an intersection, and a highway. Attitude information for each driving scene, such as driving scenes when driving, driving scenes when driving on hills, driving scenes when driving on winding roads, driving scenes when driving on off-road, etc. The degree of confidence in driving may be evaluated for each driving scene from the amount of change (dispersity) in the posture information. Each scene may be determined from the current position information and map information of the navigation device 41. Further, the driving scene may be determined from the range of vehicle speed, change in altitude information, change in lateral acceleration, change in steering amount, and the like. As a traveling scene determination method, a method known at the time of filing is appropriately used.

  In step S <b> 15, the control device 10 of the present embodiment evaluates the confidence level based on a predefined confidence / no-confidence threshold based on the variance value of the posture information. When the degree of confidence obtained from the variance value of the posture information is less than the threshold value indicating no confidence, the process proceeds to step S16 and the first support process is executed. On the other hand, if the degree of confidence obtained from the variance value of the posture information is equal to or greater than the threshold value indicating no confidence, the process proceeds to step S17.

  When the evaluation result of the confidence level is less than the first predetermined evaluation value, the control device 10 of the present embodiment causes the degree of approach between the vehicle and the obstacle to be relatively lower than the control value in step S16. In addition, a first support process for changing a parameter value used for driving support is executed. The control device 10 activates the vehicle speed control device: ASCD (81), the inter-vehicle control device: ACC (82), the lane departure prevention device: LDP (83), and the lane departure warning device: LDW (84) of the driving support device 80. Then, the parameter change process is performed so that the degree of approach becomes small. The control device 10 activates the monitor device 85 of the driving support device 80 and greatly changes the monitoring area.

  Although not particularly limited, the control device 10 of the present embodiment requests the first improvement process for requesting to improve the driving posture in the subsequent step S22 when the evaluation result of the confidence level is less than the first predetermined evaluation value. Execute. In executing the first improvement process, the execution timing is considered. The control device 10 executes the first improvement process when the vehicle is stopped based on the vehicle information 21 such as the vehicle speed, brake information, and shift position information.

  When the evaluation result of the confidence level is less than the first predetermined evaluation value in step S22, the control device 10 of the present embodiment presents the driver's driving posture and the appropriate driving posture, and the driver's driving A first improvement process for improving the posture is executed. For example, as shown in FIG. 3A, a captured image of the driver's driving posture and a model of an appropriate driving posture are presented. The driver improves his / her posture while looking at the presented proper driving posture. At this time, the driver adjusts his / her posture, the position of the driving operation device, and the position of the seat so as to be in an appropriate position while confirming ease of operation and ease of holding the posture.

  In addition, in step S22, the control device 10 according to the present embodiment determines the position of the seat on which the driver is seated and / or the driver so that the difference between the current driving posture of the driver and the appropriate driving posture is reduced. Adjust the position of the operating device to be operated to improve the driving posture of the driver. The adjustment of the position of the seat on which the driver is seated and / or the position of the operating device operated by the driver may be performed automatically or by the driver himself. When performing automatically, a menu for position adjustment is presented, and the current driving posture to an appropriate driving posture is improved step by step. For example, when the difference between the current driving posture and the appropriate driving posture is divided into predetermined ratios (10% and 50% each) and the position adjustment menu is executed once, the position of the predetermined ratio (10% and 50% each) is The adjustment may be performed in stages. This makes it possible to bring the current driving posture closer to an appropriate driving while considering the driver's preference.

  In step S <b> 17, when the degree of confidence obtained from the variance value of the posture information is equal to or greater than the threshold value with confidence, the control device 10 of the present embodiment proceeds to step S <b> 18. In step S18, the control device 10 according to the present embodiment calculates the driving skill of the driver from the history of vehicle information acquired from the vehicle side. In step S18, the control device 10 of the present embodiment determines whether or not the driver's driving skill is equal to or greater than a predetermined value.

  In step S18, the control device 10 of the present embodiment proceeds to step S19 when the driving skill of the driver is equal to or greater than a predetermined value, and executes the second support process. That is, the driving support device 80 is not automatically activated, and the parameters used for driving support are maintained or changed so as to increase the degree of approach.

  Although not particularly limited, the control device 10 of the present embodiment executes the second improvement process for the driving posture in step S23 when the driving skill of the driver is equal to or greater than a predetermined value.

  In step S18, when the driver's driving skill is less than the predetermined value, the control device 10 of the present embodiment proceeds to step S20 and executes the first support process. That is, the driving support device 80 is automatically activated, and the parameters used for driving support are changed so that the degree of approach becomes small.

  Furthermore, in the present embodiment, the first support process is executed for a driver who has a high degree of confidence in driving but has a low driving skill. That is, the first support process is not executed for a driver who has a high degree of confidence in driving and a high driving skill. In the present embodiment, the second support process is executed for a driver with high driving confidence and high driving skill. In the present embodiment, the first support process is performed for a driver with high driving confidence but low driving skill while considering the driver's confidence. For example, an elderly person who has a long driving experience but a low athletic ability is the target of this processing. Appropriate driving support processing can be executed for a driver with low driving skill while considering the psychological state of the driver with high driving confidence.

  Although not particularly limited, when the driver's driving skill is less than the predetermined value, the control device 10 of the present embodiment proceeds to step S24 and executes the first improvement process. In this process, only the first improvement process may be executed, or the second improvement process may be executed together with the first improvement process.

  Although the vehicle driving support device 80 has various functions, the driving support device 80 may not be used unless the driver is confident in driving. For example, the degree of approach set by the driving support device 80 may feel uneasy for the driver. Since the driving support control device 100 according to the present embodiment starts up and sets parameters according to the driver's confidence in driving, the driver can use the driving support control device 100 without feeling uncomfortable.

  In addition, although the quality of the environment around the driver's seat of the vehicle is improving year by year, the ease of driving cannot be realized unless the posture of the driver sitting on the seat is appropriate. In the present embodiment, the driving posture improvement process is performed in consideration of the personal characteristics of the driver from the viewpoint of allowing many drivers to accept the improvement of the driving posture that tends to be rejected. Thereby, an appropriate driving posture can be transmitted to more drivers.

<Example>
Hereinafter, examples relating to the calculation of the confidence level in the present embodiment will be described.
This example was carried out in a turning experiment site having a total length of 200 m and a width of 100 m. A color cone (registered trademark) was placed in the turning experimental field, and a test course including (a) a wide straight path, (b) a narrow meander path, and (c) a wide meander path was set. From the viewpoint of investigating the relationship between the presence of confidence and the driving posture, select 9 subjects who are confident in driving and 9 subjects who are not confident in driving by limiting the range of gender, age, height and weight. did. The test vehicle was a private vehicle of each subject. Test cars were limited to ordinary passenger cars with bonnets, avoiding light cars and one-box cars. The subject's confidence in driving was evaluated in advance by DWQ and WAQ.

  An image of the driver holding the steering wheel in the same posture as during normal driving was taken with the camera 1 from the side door side. The obtained posture information is image information as shown in FIG. 3A. Posture information including the elbow joint angle and the knee joint angle was acquired from this image information.

  An image for improving the driving posture was created by superimposing the appropriate driving posture of the appropriate model equivalent to the body shape of the subject on the image information on the image information obtained by capturing the driving posture of the driver. The image for improving the driving posture was shown to the subject. The subject adjusted his / her posture, the position of the seat, the angle of the backrest, and the position of the seat so that his / her posture matched with the proper posture indicated by the proper model. The driving posture improved based on the driving posture improvement image is set as an appropriate posture.

  Each subject drove the test course three times in a normal posture (ordinary posture) and drove the test course three times in a proper posture. A questionnaire was taken after running the test course. In the questionnaire, it was confirmed whether or not the driving operation became easy and the reason. In the questionnaire, it was confirmed whether or not it became easier to maintain the posture during driving and the reason.

  The elbow joint angle and the knee joint angle were obtained for each of the normal posture and the proper posture when the vehicle was stopped. FIG. 5 shows the values of the elbow joint angle and the knee joint angle for a subject who is confident in driving and a subject who is not confident in driving. The elbow joint angle and the knee joint angle are displayed as 180 degrees when both the elbow and knee are extended. FIG. 5 shows changes in the knee joint angle in the normal posture and the knee joint angle when the proper posture is taken. The thick line shown in FIG. 5 is the average value of the knee joint angle and the knee joint angle.

  As shown in FIG. 5, the degree of dispersion in the normal posture of the elbow joint angle of the group of subjects who are confident in driving may be smaller than the degree of dispersion in the normal posture of the elbow joint angle of the group of subjects who are not confident in driving. I understood. Similarly, as shown in FIG. 5, the degree of dispersion in the normal posture of the knee joint angle of the group of subjects who are confident in driving is larger than the degree of dispersion in the normal posture of the knee joint angle of the group of subjects who are not confident in driving. I found it small. The result which showed the same tendency also about the body angle was obtained.

  As shown in FIG. 5, the difference between the elbow joint angle in the normal posture of the subject who is confident in driving and the elbow joint angle after the improvement to the appropriate posture is the elbow joint angle in the normal posture of the subject who is not confident in driving. And the difference between the elbow joint angle after improvement to the proper posture. The same applies to the variance value of the elbow joint angle in the normal posture and the variance value of the elbow joint angle after the improvement to the proper posture. The group of subjects who were not confident in driving showed elbow joint angles in a narrower range after the improvement to the proper posture than before the improvement of the driving posture. In other words, it was found that the degree of dispersion of the elbow joint angle is small in the proper posture with improved posture.

  Subjects who are confident in driving (drivers) tend to have smaller elbow joint angle variance values, and subjects who are not confident in driving (drivers) have larger elbow joint angle variance values. There was a tendency to become. Similarly, subjects who are confident in driving (drivers) tend to have smaller knee joint angle variance, and subjects who are not confident in driving (drivers) There was a tendency for the value to increase.

  In other words, if the variance value of the elbow joint angle shows a value greater than or equal to a predetermined threshold, it can be assumed that the driver is not confident in driving, and the elbow joint angle variance value is less than the predetermined threshold value. If so, it can be assumed that the driver is confident in driving. Similarly, when the variance value of the knee joint angle indicates a value greater than or equal to a predetermined threshold, it can be assumed that the driver is not confident in driving, and the variance value of the knee joint angle is less than the predetermined threshold value. , It can be assumed that the driver has confidence in driving.

  As shown in FIG. 5, the difference between the knee joint angle in the normal posture of the group of subjects who are confident in driving and the knee joint angle after the improvement to the appropriate posture is the normal posture in the group of subjects who are not confident in driving. It is smaller than the difference between the knee joint angle and the knee joint angle after improvement to the proper posture. The same applies to the variance value of the knee joint angle in the normal posture and the variance value of the knee joint angle after the improvement to the appropriate posture. A group of subjects who are not confident in driving shows an elbow joint angle in a narrower range after improvement to the proper posture than before improvement of the driving posture. In other words, in the proper posture with improved driving posture, the degree of dispersion of the knee joint angle was low.

  Subjects who were confident in driving showed no significant difference in elbow joint angle and knee joint angle in the three test courses described above. On the other hand, subjects who were not confident in driving tended to take a forward leaning posture with the elbow joint angle narrowing immediately after driving on a narrow meandering path. This trend was continuously observed during testing. The subjects who were not confident in driving had a small decrease in the elbow joint angle immediately after the start of driving on the wide meandering path, but the elbow joint angle decreased during running, and a tendency toward a forward leaning posture was observed.

  After the test run, a questionnaire was conducted regarding the ease of driving when driving in a normal posture and the ease of driving when improving the driving posture based on the appropriate posture. The result is shown in FIG. As shown in FIG. 6, 7 out of 9 subjects who are not confident in driving answered that it became easier to drive. The reason why these subjects felt that it was easier to drive was 5 people who answered that the front pylon was easy to see, and 4 people who answered that the distance from the front pylon was easy to understand, Three people answered that is easy to move. In this result, the average of the visual analog scale was + 11.6 ± (plus / minus) 6.2 with confidence and + 14.4 ± (plus / minus) 8.5 without confidence.

  As shown in FIG. 6, only three people answered that it became easier to drive among subjects who are confident in driving. There was a significant difference in the effect of performing the process of improving the driving posture by showing the appropriate posture depending on the degree of confidence in driving. A subject who is not confident in driving feels that driving is easier by showing an appropriate posture and improving the driving posture, but a subject who is confident in driving performs processing that shows an appropriate posture and improves the driving posture. But I do n’t feel it ’s easier to drive. A driver who is confident in driving tends not to accept an attempt to improve the driving posture by showing an appropriate posture. On the other hand, it has been found that a driver who is not confident in driving tends to accept this if the driver shows an appropriate posture and improves the driving posture.

  In other words, the first improvement process in the present embodiment that shows the appropriate posture and improves the driving posture is easily accepted by a driver with a low degree of confidence in driving, but is difficult for a driver with a high degree of confidence in driving. I understood that.

  After the test run, a questionnaire was conducted on the ease of maintaining the posture when driving in a normal posture and the ease of maintaining the posture when improving the driving posture based on the appropriate posture. The results are shown in FIG. As shown in FIG. 7, five subjects who are not confident in driving answered that it was easier to maintain their posture. There was no answer that it was difficult to maintain posture. The reason why the subjects felt that it was easier to maintain their posture was that 4 respondents answered that the front pylon was easy to see, and 4 respondents said that the distance from the front pylon was easy to grasp. Two people answered that the side pylon was easy to see. Although six test subjects who were confident in driving replied that it was easier to maintain their posture, two respondents said that it was difficult to maintain their posture. The average of the visual analog scale was + 11.3 ± (plus / minus) 6.2 with confidence, and + 14.4 ± (plus / minus) 8.1 without confidence.

  It has been found that for subjects who are not confident in driving, improvement of driving posture modeled on proper posture greatly contributes to maintaining posture during driving. On the other hand, when there is a person who feels that it is difficult to maintain his / her posture even if he / she performs driving posture improvement processing using the appropriate posture as a model for subjects who are confident in driving, and when he / she is confident in driving It was found that the effect of improving the ease of maintaining the posture during driving was lower.

  Since the driving support control device 100 of the present embodiment is configured and operates as described above, the following effects can be obtained.

[1] According to the driving support control apparatus 100 of the present embodiment, the driving support process is executed with the content corresponding to the degree of confidence evaluated from the degree of dispersion of the driver's posture information, so the characteristics of each driver are taken into consideration. The driving assistance of the content that was done can be executed.
In the control of the driving support device 80, the degree of approach that defines the positional relationship between the vehicle and the obstacle may be uniformly defined. For a driver who is not confident in driving, the parameter value is changed so that the degree of approach is small, so that the distance between the vehicle and the obstacle is separated from the defined distance in the control of the driving support device 80. Maintained. When the driver is not confident in driving, the parameter value is changed so that the degree of approach is small, so that the driver can travel while maintaining a state separated from the obstacle more than usual. As a result, a driver who is not confident in driving can use the driving support device 80 with peace of mind.
On the other hand, for drivers who are confident in driving, the parameter values are changed so that the degree of accessibility to the obstacles is maintained or increased, so that the distance from the obstacles that matches the driver's senses should be maintained. Can run. As a result, a driver who is confident in driving can use the driving support device 80 without feeling uncomfortable.

  [2] According to the driving support control device 100 of the present embodiment, when the driver is not confident in driving, the inter-vehicle distance is changed to be longer so that the degree of approach is smaller, so the other vehicle ahead It can run while keeping a distance from (obstacles). As a result, a driver who is not confident in driving can use the inter-vehicle distance control device 82 with peace of mind. On the other hand, if the driver is confident in driving, the inter-vehicle distance is maintained or shortened so that the degree of approach is maintained or increased, so that the driver who is confident in driving feels comfortable with the inter-vehicle control device 82. Available.

  [3] According to the driving support control apparatus 100 of the present embodiment, when the driver is not confident in driving, the vehicle speed is changed to be low so that the degree of approach is small. It can run while keeping a distance from the obstacles. As a result, a driver who is not confident in driving can use the vehicle speed control device 81 with peace of mind. On the other hand, when the driver is confident in driving, the vehicle speed is maintained or increased so that the degree of approach is maintained or increased, so that the driver who is confident in driving uses the vehicle speed control device 81 without feeling uncomfortable. it can.

  [4] According to the driving support control apparatus 100 of the present embodiment, when it is determined that the driver is not confident in driving, the deviation amount that is a control value is set to a predetermined amount that is a preset control value ( Since the speed is changed to a speed lower than the distance), the vehicle can run while maintaining a state separated from the road shoulder obstacle than usual. As a result, a driver who is not confident in driving can use the lane departure prevention device 83 and the lane departure warning device 84 with peace of mind. On the other hand, when the driver is confident in driving, the amount of deviation from which lane departure prevention processing or lane departure warning processing is executed is maintained or increased so that the allowable amount of deviation from the lane is maintained or increased. Therefore, the driver who is confident in driving can use the lane departure prevention device 83 and the lane departure warning device 84 without feeling uncomfortable.

  [5] According to the driving support control apparatus 100 of the present embodiment, when the driver is determined not to be confident in driving, the specified monitoring area for monitoring obstacles is widely changed. You can drive while checking a wide range. On the other hand, if the driver is confident in driving, the monitoring area for checking the presence or absence of obstacles is changed so that the monitoring area is maintained or reduced. Can be provided.

  [6] According to the driving support control device 100 of the present embodiment, for a driver with low driving confidence, the driving support device 80 is automatically activated to perform appropriate driving. Can be On the other hand, a driver with high confidence in driving respects the driver's intention without automatically starting the driving support device 80, so that the driver with high confidence does not feel uncomfortable. can do.

  [7] According to the driving support control apparatus 100 of the present embodiment, when the confidence evaluation result is equal to or higher than the second predetermined evaluation value and the calculated driving skill of the driver is less than the predetermined value, the confidence level Even if is high, it is determined that the driving skill is low, and the first support process is executed. Thereby, even if the driving skill is low, it is possible to drive appropriately by the support processing of the driving support device 80.

  [8] Appropriate driving operation varies depending on the driving scene. It is easy to evaluate the quality of driving skills in a driving scene where a characteristic driving operation is required. According to the driving support control apparatus 100 of the present embodiment, the driving scene of the vehicle is identified based on the vehicle information acquired from the vehicle side, and the driving skill of the driver is evaluated from the vehicle information associated with each driving scene. So you can accurately evaluate your driving skills.

  [9] The driving support control apparatus 100 according to the present embodiment evaluates the driver's degree of confidence in driving from the degree of dispersion of the elbow joint angle of the driver and the degree of dispersion of the knee joint angle of the driver. According to the driving support control device 100 of the present embodiment, the degree of confidence that the driver feels subjectively can be objectively evaluated based on the degree of dispersion of the elbow joint angle of the driver or the knee joint angle of the driver.

  [10] The driving support control device 100 of the present embodiment is confident of the driver's driving from the posture information of the driver acquired at the timing when the vehicle is determined to be running from the vehicle information acquired from the vehicle side. Since the degree is evaluated, it is possible to obtain the degree of confidence only from the posture information while driving, excluding the posture information while stopping. Thereby, the degree of confidence during driving can be accurately obtained.

  [11] The driving support control device 100 according to the present embodiment identifies a traveling scene of the vehicle based on the vehicle information acquired from the vehicle side, and drives from the driver posture information acquired when the traveling scene changes. The driver's confidence in driving. According to the driving support control device 100 of the present embodiment, the degree of confidence is evaluated in a scene where the posture is likely to vary according to the strength of the driver's confidence, so that the driver's degree of confidence can be appropriately evaluated. .

  [12] In the driving support control device 100 of the present embodiment, the posture when the driver is performing the input operation of the navigation device 41, the audio device 42, and the information communication device 43 is different from the posture during normal driving. . If the posture information during the input operation is included, the degree of confidence during driving cannot be accurately calculated. The driving support control device 100 according to the present embodiment determines whether or not the in-vehicle device of the vehicle is operated, and uses the posture information acquired at the timing when it is determined that the in-vehicle device is operated. Do not evaluate confidence. According to the driving support control apparatus 100 of the present embodiment, since the driver's confidence level is evaluated except for the posture information acquired when the in-vehicle device 40 is operated, the confidence level can be accurately calculated.

[13] According to the driving support control apparatus 100 of the present embodiment, the driving posture improvement processing is executed with the content according to the degree of confidence evaluated from the degree of dispersion of the driver posture information. Regardless of the situation, it is possible to promote the improvement of the driving posture with contents that are easily accepted by each driver.
The driving support control apparatus 100 according to the present embodiment obtains the degree of confidence in driving under the driver's latent consciousness from the driver's posture information detected in a non-contact manner, and executes an improvement process according to the degree of confidence. Accordingly, posture improvement processing can be executed in consideration of personal characteristics such as a driver's confidence in driving. As a result, the driving posture improvement proposal is hardly rejected, and the driving posture improvement effect can be enhanced.
The driving support control device 100 of the present embodiment presents the driver's driving posture and an appropriate driving posture and improves the driving posture of the driver when it is less than the first predetermined evaluation value. Therefore, it is possible to notify the driver in a manner capable of comparing the driving posture and the appropriate posture of the driver. As a result, the driver can be made aware of the difference between the proper posture and the driving posture of the driver.
In addition, by performing notification for correcting the driving posture of the driver to an appropriate posture, the driving posture of the driver can be appropriately guided to the appropriate posture.

  [14] According to the driving support control device 100 of the present embodiment, when the evaluation result of the confidence level is less than the first predetermined evaluation value, the position of the seat and / or the position of the operating device is adjusted. Since the person only needs to improve the driving posture in accordance with the improved seat position and the position of the operating device, it becomes easy to take an appropriate posture.

  The embodiment described above is described for facilitating understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  That is, in the present specification, as one aspect of the driving support control device according to the present invention, the camera 1, the vehicle controller 20, the in-vehicle sensor 30, the in-vehicle device 40, and the seat position adjusting device 51. The steering wheel position adjustment device 52, the output device 60, the vehicle drive system 70, and the driving support device 80 will be described together with the driving support control device 100 constituting the driving support control system 1000 as an example. It is not limited.

  In this specification, as an example of a driving support control device including driving support means, posture information acquisition means, confidence evaluation means, and driving support control means, a driving support device 80, an attitude information acquisition function, Although the driving assistance control apparatus 100 provided with the control apparatus 10 which performs a self-confidence degree evaluation function and a driving assistance control function is demonstrated as an example, it is not limited to this.

  In the present specification, as an example of a driving support control device further including posture improvement means and driving skill calculation means, a driving support control device 100 further including a control device 10 that executes the posture improvement function and driving skill calculation function is taken as an example. However, the present invention is not limited to this.

DESCRIPTION OF SYMBOLS 1000 ... Driving assistance control system 100 ... Driving assistance control apparatus 10 ... Control apparatus 11 ... CPU
12 ... ROM
13 ... RAM
DESCRIPTION OF SYMBOLS 1 ... Camera 2 ... Sitting posture measuring device 20 ... Vehicle controller 30 ... In-vehicle sensor 40 ... In-vehicle device 51 ... Seat position adjusting device 52 ... Handle position adjusting device 60 ... Output device 70 ... Vehicle drive system 80 ... Driving support device

Claims (14)

Driving support means for supporting driving of the vehicle;
Attitude information acquisition means for acquiring attitude information of a driver driving the vehicle;
Confidence level evaluation means for evaluating the driver's confidence level of driving from the degree of dispersion of the acquired posture information;
If the evaluation result of the confidence level is less than the first predetermined evaluation value, the parameter used for driving support so that the degree of approach between the vehicle and the obstacle is relatively lower than the control value. When the first support process for changing the value is executed and the evaluation result of the confidence level is equal to or higher than a second predetermined evaluation value equal to or higher than the first predetermined evaluation value, an approach degree between the vehicle and the obstacle is controlled. And a driving support control means for executing a second support process for changing a parameter value used for driving support so as to be equal to or relatively higher than the value. The driving support means performs an inter-vehicle distance maintaining operation for maintaining a constant inter-vehicle distance between the vehicle and another vehicle,
When the evaluation result of the confidence level is less than the first predetermined evaluation value, the driving support control means executes a first support process for setting the inter-vehicle distance longer than a predetermined distance, 2. The driving support control device according to claim 1, wherein when the evaluation result is equal to or greater than the second predetermined evaluation value, a second support process for setting the inter-vehicle distance to be equal to or less than a predetermined distance is executed. The driving support means performs a running speed maintaining operation for keeping the speed of the vehicle constant,
When the evaluation result of the confidence level is less than the first predetermined evaluation value, the driving support control unit executes a first support process for setting the traveling speed to be lower than the predetermined speed, and evaluates the confidence level. 2. The driving support control device according to claim 1, wherein when the result is equal to or greater than the second predetermined evaluation value, a second support process for setting the traveling speed to be equal to or higher than a predetermined speed is executed. The driving support means executes a lane departure prevention operation for monitoring the vehicle so as not to be separated from the road lane by a predetermined amount or more,
When the evaluation result of the confidence level is less than the first predetermined evaluation value, the driving support control means executes a first support process for setting the deviation amount to be less than a predetermined amount, and evaluates the confidence level. 2. The driving support control apparatus according to claim 1, wherein when the result is equal to or greater than the second predetermined evaluation value, a second support process is performed in which the deviation amount is set to be equal to or greater than the predetermined amount. Driving support means for supporting driving by presenting image information of a predetermined monitoring area around the vehicle;
Attitude information acquisition means for acquiring attitude information of a driver driving the vehicle;
Confidence level evaluation means for evaluating the driver's confidence level of driving from the degree of dispersion of the acquired posture information;
When the evaluation result of the confidence level is less than the first predetermined evaluation value, a first support process for setting the monitoring area wider than a predetermined area is executed, and the evaluation result of the confidence level is the second predetermined value. And a driving support control unit configured to execute a second support process for setting the monitoring region to be equal to or smaller than the predetermined area when the evaluation value is equal to or greater than the evaluation value. Driving support means for supporting driving of the vehicle;
Attitude information acquisition means for acquiring attitude information of a driver driving the vehicle;
Confidence level evaluation means for evaluating the driver's confidence level of driving from the degree of dispersion of the acquired posture information;
If the evaluation result of the confidence level is less than a first predetermined evaluation value, a first support process for starting a driving support function of the driving support means is executed, and the evaluation result of the confidence level is the first predetermined evaluation value. A driving support control unit that executes a second support process that does not activate the driving support operation of the driving support unit when the driving value is higher than a second predetermined evaluation value that is greater than or equal to a value. . Further comprising driving skill calculation means for calculating the driving skill of the driver from the history of vehicle information acquired from the vehicle side;
Even if the evaluation result of the degree of confidence is higher than the second predetermined evaluation value, the posture improving means is configured to perform the first improvement if the calculated driving skill of the driver is less than a predetermined value. The driving support control apparatus according to any one of claims 1 to 6, wherein the driving process is executed.   The driving skill calculating means identifies a traveling scene of the vehicle based on vehicle information acquired from the vehicle side, and evaluates the driving skill of the driver from the vehicle information associated with each traveling scene. The driving support control device according to claim 7.   The self-confidence level evaluation unit evaluates the driver's degree of confidence in driving from the degree of dispersion of the elbow joint angle of the driver or the degree of dispersion of the knee joint angle of the driver. The driving support control device according to any one of claims 8 to 9.   The confidence evaluation means evaluates the driver's confidence in driving from the driver's posture information acquired at the timing when the vehicle is determined to be running from the vehicle information acquired from the vehicle side. The driving assistance control device according to any one of claims 1 to 9, wherein   The confidence level evaluation means identifies a traveling scene of the vehicle based on the vehicle information acquired from the vehicle side, and the driver's driving from the posture information of the driver acquired when the traveling scene changes. The driving assistance control device according to any one of claims 1 to 10, wherein a degree of confidence in the vehicle is evaluated.   The self-confidence level evaluation means determines whether or not an in-vehicle device of the vehicle is operated, and uses posture information excluding posture information acquired at a timing when it is determined that the in-vehicle device is operated. The driving support control device according to any one of claims 1 to 11, wherein the driver's confidence level is evaluated.   When the evaluation result of the confidence level is less than a first predetermined evaluation value, a first improvement process for improving the driving posture of the driver by presenting the driving posture and an appropriate driving posture of the driver is executed. And an attitude improvement means for executing a second improvement process for presenting the driving attitude of the driver when the evaluation result of the confidence level is equal to or higher than a second predetermined evaluation value equal to or higher than the first predetermined evaluation value. The driving support control device according to any one of claims 1 to 12, further comprising:   When the evaluation result of the confidence level is less than the first predetermined evaluation value, the seat of the seat on which the driver is seated is reduced so that a difference between the current driving posture of the driver and an appropriate driving posture is reduced. The apparatus further comprises posture improving means for adjusting a position and / or a position of an operating device operated by the driver to perform a first improvement process for improving the driving posture of the driver. The driving assistance control device according to any one of ˜13.

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