JP2018165086A - Driving support method, driving support device using the same, automated driving control device, vehicle, program, and driving support system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technology to output driving information according to a state of a driver.SOLUTION: An estimation part 72 estimates a state of a driver. When a driving behavior occurs in automated driving in a case where the state of the driver estimated by the estimation part 72 is a first state, an image/sound output part 51 outputs driving information on the driving behavior to a center display 2b. When a driving behavior occurs in automated driving in a case where the state of the driver estimated by the estimation part 72 is a second state, a storage part 42 stores driving information. When the state of the driver estimated by the estimation part 72 changes from the second state to the first state, the image/sound output part 51 outputs the driving information stored in the storage part 42 to the center display 2b.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a vehicle, a driving support method provided in the vehicle, a driving support device using the same, an automatic driving control device, a program, and a driving support system.

  In a snooze prevention device that awakens the driver and prevents snoozing, for example, music is played according to the driver's sleepiness. However, in such a configuration, the driver's drowsiness level is high and the awakening by a strong stimulus is not desired enough awakening, or the driver's drowsiness level is low and a strong stimulus awakening is not desired Awakening by strong stimuli may occur. For this reason, after the driver is stimulated with a strength corresponding to the sleepiness level, the driver is continuously stimulated with the strength according to the sleepiness level specified again (for example, Patent Document 1). reference).

JP 2010-186276 A

  During automatic driving, the driver needs to be alerted to switch from automatic driving to manual driving, and if there is a degree of arousal that allows manual driving to be executed within the switching period, there is no need to wake the driver further. . On the other hand, during automatic driving, a display is made to notify the driver of information such as route changes due to traffic jams. Even if there is such a display in a time zone when the driver's arousal level is low, the driver may not recognize the display and acquire information. When information is missing, the driver may not be able to recognize the driving situation correctly, or may make it difficult to switch to manual driving due to unnecessary intervention or panic.

  This invention is made | formed in view of such a condition, The objective is to provide the technique which outputs driving information according to a driver | operator's state.

  In order to solve the above problems, a driving support device according to an aspect of the present invention includes an estimation unit that estimates a driver's state, and automatic driving when the driver's state estimated by the estimation unit is the first state. When the driving action occurs, the driving information output unit that outputs the driving information related to the driving action to the notification device, and the driving action occurs in the automatic driving when the state of the driver estimated by the estimation unit is the second state A storage unit that stores driving information. A driving information output part outputs the driving information memorize | stored in the memory | storage part to an alerting | reporting apparatus, when the driver | operator state estimated in the estimation part changes from a 2nd state to a 1st state.

  Another aspect of the present invention is an automatic operation control device. This device is configured to provide an estimation unit that estimates a driver's state, and driving information related to the driving behavior when driving behavior occurs in automatic driving when the driver's state estimated by the estimation unit is the first state. A driving information output unit that outputs to the notification device, a storage unit that stores driving information when driving behavior occurs in automatic driving when the driver's state estimated by the estimating unit is the second state, and And an automatic driving control unit that controls automatic driving of the vehicle based on driving behavior. A driving information output part outputs the driving information memorize | stored in the memory | storage part to an alerting | reporting apparatus, when the driver | operator state estimated in the estimation part changes from a 2nd state to a 1st state.

  Yet another embodiment of the present invention is a vehicle. This vehicle is a vehicle provided with a driving support device, and the driving support device is configured to perform an automatic driving when an estimation unit that estimates a driver's state and the driver's state estimated by the estimation unit are the first state. When the driving action occurs, the driving information output unit that outputs the driving information related to the driving action to the notification device, and the driving action occurs in the automatic driving when the state of the driver estimated by the estimation unit is the second state A storage unit that stores driving information. A driving information output part outputs the driving information memorize | stored in the memory | storage part to an alerting | reporting apparatus, when the driver | operator state estimated in the estimation part changes from a 2nd state to a 1st state.

  Yet another embodiment of the present invention is a driving support method. The method estimates a driver's state, and outputs driving information related to the driving behavior to a notification device when driving behavior occurs in automatic driving when the estimated driver's state is the first state. A step of storing driving information in a memory when driving behavior occurs in automatic driving when the estimated driver state is the second state, and the estimated driver state is determined from the second state. And a step of outputting the driving information stored in the memory to the notification device when the state is changed to the first state.

  Yet another embodiment of the present invention is a driving support system. This driving support system includes a notification device and a driving support device. The driving support device includes an estimation unit that estimates a driver's state, and driving information related to the driving behavior when the driving state occurs in automatic driving when the driver's state estimated by the estimation unit is the first state. And a storage unit for storing driving information when driving behavior occurs in automatic driving when the state of the driver estimated by the estimating unit is the second state. . A driving information output part outputs the driving information memorize | stored in the memory | storage part to an alerting | reporting apparatus, when the driver | operator state estimated in the estimation part changes from a 2nd state to a 1st state.

  An arbitrary combination of the above components, the expression of the present invention converted between an apparatus, a system, a method, a program, a recording medium recording the program, a vehicle equipped with the apparatus, and the like are also included in the present invention. It is effective as an embodiment.

  According to the present invention, driving information can be output according to the state of the driver.

It is a figure which shows the structure of the vehicle which concerns on embodiment. It is a figure which shows typically the interior of the vehicle of FIG. It is a figure which shows the structure of the driving assistance apparatus of FIG. It is a figure which shows the operation | movement outline | summary of the control part of FIG. It is a figure which shows the screen displayed on the center display of FIG. It is a flowchart which shows the process sequence by the control part of FIG. It is a flowchart which shows another processing procedure by the control part of FIG.

  Before describing the present invention in detail, an outline will be described. The present embodiment relates to an automatic driving of an automobile. In particular, the present embodiment is a device that controls an HMI (Human Machine Interface) for exchanging information about driving behavior of a vehicle with an occupant (for example, a driver) of the vehicle or notifying the occupant (hereinafter referred to as “driving”). Also referred to as “support device”. The terms in the present embodiment are defined as follows. “Driving behavior” includes the state of operation such as steering and braking during driving or stopping of the vehicle, or control content related to automatic driving control, for example, constant speed driving, acceleration, deceleration, pause, stop, Lane change, course change, left / right turn, parking, etc. In addition, driving behavior includes cruise (maintaining lane keeping, vehicle speed), lane keeping, preceding vehicle follow-up, stop-and-go during follow-up, lane change, overtaking, response to merging vehicles, highway entry and exit Interchange, confluence, response to construction zone, response to emergency vehicles, response to interrupting vehicles, response to right and left turn lanes, interaction with pedestrians and bicycles, avoiding obstacles other than vehicles, signs It may be a response to, a right / left turn / U-turn constraint, a lane constraint, a one-way traffic, a traffic sign, an intersection / roundabout.

  When a new driving action to be executed in the future is generated during automatic driving, the driving support apparatus presents driving information indicating the driving action to an occupant, particularly a driver. Such a new driving action is, for example, a change in a route planned for travel caused by traffic congestion, construction, or weather (hereinafter, also referred to as “plan change”). Further, the driving information is presented by, for example, display on a display. The driver recognizes the plan change, that is, the occurrence of a new driving action by visually checking the driving information. On the other hand, when it becomes difficult for the vehicle to continue the automatic driving, the driving support device presents the driver with the switching to the manual driving and causes the driver to execute the manual driving. At that time, if the driver recognizes a new driving action that occurs during the automatic driving, the driver can smoothly perform the switching from the automatic driving to the manual driving.

  Even if driving information is presented during automatic driving, if the driver's arousal level is low, the driver cannot recognize the newly generated driving behavior. Even if switching to manual driving is presented at that time, switching from automatic driving to manual driving is not performed smoothly because the driver does not understand the situation during automatic driving. Even when the driver's arousal level is low during automatic driving, the driving support apparatus according to the present embodiment executes the following process in order to make the driver recognize the newly generated driving behavior. The driving support device estimates the driver's arousal level and presents driving information to the driver if the arousal level is high. On the other hand, when the arousal level is low, the driving support device stores driving information without presenting it. Following this, when the driver's arousal level changes from a low state to a high state, the driving support device presents the stored driving information. Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Each embodiment described below is an example, and the present invention is not limited to these embodiments.

  FIG. 1 shows a configuration of a vehicle 100, and particularly shows a configuration related to an autonomous driving vehicle. The vehicle 100 can travel in the automatic driving mode, and includes a notification device 2, an input device 4, a wireless device 8, a driving operation unit 10, a detection unit 20, an automatic driving control device 30, and a driving support device 40. The devices shown in FIG. 1 may be connected by wired communication such as a dedicated line or a CAN (Controller Area Network). Moreover, you may connect by wired communication or wireless communications, such as USB (Universal Serial Bus), Ethernet (trademark), Wi-Fi (trademark), Bluetooth (trademark).

  The notification device 2 notifies the occupant of information related to traveling of the vehicle 100. The notification device 2 is, for example, a car navigation system, a head-up display, or a center display installed in the vehicle. The notification device 2 may be a display unit that displays information such as a light emitter such as an LED (Light Emitting Diode) installed around the steering wheel, pillar, dashboard, and meter panel. In addition, the notification device 2 may be a speaker that converts information into sound and notifies the occupant, or a vibration body provided at a position that can be sensed by the occupant (for example, the occupant's seat, steering wheel). There may be. Further, the notification device 2 may be a combination thereof.

  The input device 4 is a user interface device that receives an operation input by an occupant. For example, the input device 4 is a touch panel, a lever, a button, a switch, a controller such as a joystick or a volume, a sensor such as a camera that recognizes a gesture without contact, a sensor such as a microphone that recognizes voice, or a combination thereof. Receives information on the automatic driving of the vehicle entered by. An operation signal for switching between automatic operation and manual operation may be received. The input device 4 outputs the received information to the driving support device 40 as an operation signal.

  FIG. 2 schematically shows the interior of the vehicle 100. The notification device 2 may be a head-up display (HUD, Head-Up Display) 2a or a center display 2b. The input device 4 may be the first operation unit 4a provided in the steering 11 or the second operation unit 4b provided between the driver seat and the passenger seat, and is a camera that recognizes a gesture. The third operation unit 4c, which is a sensor such as In addition, the alerting | reporting apparatus 2 and the input device 4 may be integrated, for example, may be mounted as a touch panel display. The vehicle 100 may further be provided with a speaker 6 that presents information related to automatic driving to the occupant by voice. In this case, the driving support device 40 may cause the notification device 2 to display an image indicating information related to automatic driving, and output a sound indicating information related to automatic driving from the speaker 6 together with or instead of the information. Returning to FIG.

  The wireless device 8 corresponds to a mobile phone communication system, WMAN (Wireless Metropolitan Area Network), and the like, and performs wireless communication. The driving operation unit 10 includes a steering 11, a brake pedal 12, an accelerator pedal 13, and a winker switch 14. The steering 11, the brake pedal 12, the accelerator pedal 13, and the winker switch 14 can be electronically controlled by a steering ECU, a brake ECU, an engine ECU, a motor ECU, and a winker controller. In the automatic operation mode, the steering ECU, the brake ECU, the engine ECU, and the motor ECU drive the actuator in accordance with a control signal supplied from the automatic operation control device 30. The blinker controller turns on or off the blinker lamp according to a control signal supplied from the automatic operation control device 30.

  The detection unit 20 detects a surrounding situation and a running state of the vehicle 100. The detection unit 20 includes, for example, the speed of the vehicle 100, the relative speed of the preceding vehicle with respect to the vehicle 100, the distance between the vehicle 100 and the preceding vehicle, the relative speed of the vehicle in the side lane with respect to the vehicle 100, and the vehicle in the vehicle 100 and the side lane. And the position information of the vehicle 100 are detected. The detection unit 20 outputs various detected information (hereinafter referred to as “detection information”) to the automatic operation control device 30. Further, the detection unit 20 may output the detection information to the driving support device 40 via the automatic driving control device 30 or may directly output the detection information to the driving support device 40. The detection unit 20 includes a position information acquisition unit 21, a sensor 22, a speed information acquisition unit 23, and a map information acquisition unit 24.

  The position information acquisition unit 21 acquires the current position of the vehicle 100 from a GNSS (Global Navigation Satellite System (s)) receiver. The sensor 22 is a generic name for various sensors for detecting the situation outside the vehicle and the state of the vehicle 100. For example, a camera, a millimeter wave radar, a LIDAR (Light Detection and Ranging), a sonar, a temperature sensor, an atmospheric pressure sensor, a humidity sensor, and an illuminance sensor are mounted as sensors for detecting a situation outside the vehicle. The situation outside the vehicle includes a road condition in which the host vehicle includes lane information, an environment including weather, a situation around the host vehicle, and other vehicles in the vicinity (such as other vehicles traveling in the adjacent lane). Any information outside the vehicle that can be detected by the sensor 22 may be used. Further, as the sensor 22 for detecting the state of the vehicle 100, for example, an acceleration sensor, a gyro sensor, a geomagnetic sensor, an inclination sensor, and the like are mounted.

  The speed information acquisition unit 23 acquires the current speed of the vehicle 100 from the vehicle speed sensor. The map information acquisition unit 24 acquires map information around the current position of the vehicle 100 from the map database. The map database may be recorded on a recording medium in the vehicle 100, or may be downloaded from a map server via a network when used. The map information includes information on roads and intersections.

  The automatic driving control device 30 is an automatic driving controller that implements an automatic driving control function, and determines the behavior of the vehicle 100 in automatic driving. The automatic operation control device 30 includes a control unit 31, a storage unit 32, and an I / O (Input / Output unit, input / output unit) unit 33. The configuration of the control unit 31 can be realized by cooperation of hardware resources and software resources, or only by hardware resources. Processors, ROM (Read Only Memory), RAM (Random Access Memory), and other LSIs can be used as hardware resources, and programs such as operating systems, applications, and firmware can be used as software resources. The storage unit 32 includes a nonvolatile recording medium such as a flash memory. The I / O unit 33 executes communication control according to various communication formats. For example, the I / O unit 33 outputs information related to automatic driving to the driving support device 40 and inputs a control command from the driving support device 40. Further, the I / O unit 33 inputs detection information from the detection unit 20.

  The control unit 31 applies the control command input from the driving support device 40 and various information collected from the detection unit 20 or various ECUs to the automatic driving algorithm, and automatically controls the accelerator throttle opening, steering angle, etc. of the vehicle 100. A control value for controlling the object is calculated. The control unit 31 transmits the calculated control value to each control target ECU or controller. In this embodiment, it is transmitted to the steering ECU, the brake ECU, the engine ECU, and the winker controller. In the case of an electric vehicle or a hybrid car, the control value is transmitted to the motor ECU instead of or in addition to the engine ECU.

  The driving support device 40 is an HMI controller that executes an interface function between the vehicle 100 and an occupant, and includes a control unit 41, a storage unit 42, and an I / O unit 43. The control unit 41 executes various data processing such as HMI control. The control unit 41 can be realized by cooperation of hardware resources and software resources, or only by hardware resources. Processors, ROM, RAM, and other LSIs can be used as hardware resources, and programs such as an operating system, application, and firmware can be used as software resources.

  The storage unit 42 is a storage area that stores data that is referred to or updated by the control unit 41. For example, it is realized by a non-volatile recording medium such as a flash memory. The I / O unit 43 executes various communication controls according to various communication formats. The I / O unit 43 includes an operation signal input unit 50, an image / audio output unit 51, a detection information input unit 52, a command IF (Interface) 53, and a communication IF 56.

  The operation signal input unit 50 receives an operation signal from the input device 4 by an operation of an occupant or a user outside the vehicle made to the input device 4 and outputs the operation signal to the control unit 41. The image / sound output unit 51 outputs the image data or the voice message generated by the control unit 41 to the notification device 2 for display. The detection information input unit 52 is a result of the detection process by the detection unit 20, receives detection information indicating the current surrounding state and running state of the vehicle 100 from the detection unit 20, and outputs the detection information to the control unit 41.

  The command IF 53 executes interface processing with the automatic driving control device 30 and includes an action information input unit 54 and a command output unit 55. The behavior information input unit 54 receives information regarding the automatic driving of the vehicle 100 transmitted from the automatic driving control device 30 and outputs the information to the control unit 41. The command output unit 55 receives a control command for instructing the automatic driving control device 30 from the automatic driving control device 30 and transmits the control command to the automatic driving control device 30.

  The communication IF 56 executes interface processing with the wireless device 8. The communication IF 56 transmits the data output from the control unit 41 to the wireless device 8 and causes the wireless device 8 to transmit to the device outside the vehicle. Further, the communication IF 56 receives data from a device outside the vehicle transferred by the wireless device 8 and outputs the data to the control unit 41.

  Here, the automatic driving control device 30 and the driving support device 40 are configured as separate devices. As a modified example, as shown by a broken line in FIG. 1, the automatic driving control device 30 and the driving support device 40 may be integrated into one controller. In other words, one automatic driving control device may be configured to have the functions of both the automatic driving control device 30 and the driving support device 40 of FIG. Furthermore, it may be configured as a driving support system in which the notification device 2 and the driving support device 40 are combined.

  FIG. 3 shows a configuration of the driving support device 40. The control unit 41 includes a driving action determination unit 70, an estimation unit 72, a presentation control unit 74, and a selection unit 76. The control unit 41 is connected to the storage unit 42, the image / sound output unit 51, and the detection information input unit 52. The detection information input unit 52 is connected to the sensor 22, and the image / sound output unit 51 is connected to the center display 2b.

  The sensor 22 is, for example, a camera mounted in the passenger compartment, and images the driver's face. The sensor 22 outputs detection information including an image of the driver's face to the detection information input unit 52. Detection information input from the sensor 22 is input to the detection information input unit 52, and the detection information input unit 52 outputs an image included in the detection information to the estimation unit 72. Note that these processes in the sensor 22 and the detection information input unit 52 are performed periodically.

  The estimation unit 72 receives the image from the detection information input unit 52 and executes image recognition processing on the image to recognize the facial expression of the driver. The estimation unit 72 estimates the driver's arousal level as the driver's state based on the recognized facial expression. Since a known technique may be used for the image recognition process and the arousal level estimation, the description is omitted here. Further, as an example of the driver's arousal level, here, the sleepiness level defined in the evaluation method of NEDO (New Energy and Industrial Technology Development Organization) for sleepiness based on facial expressions is used. In this rule, the drowsiness level is evaluated on a scale of 1 to 5. Specifically, “sleepiness level 1” does not seem to make you sleepy at all, “sleepiness level 2” seems to be a little sleepy, “sleepiness level 3” seems to sleep, “sleepiness level 4” seems to be quite sleepy, “sleepiness level 5” Is classified as very sleepy.

  The estimation unit 72 is “sleepiness level 1” when the movement of the line of sight is fast and frequent, the blink has a stable cycle of about 2 times per 2 seconds, or the movement is active and accompanied by the movement of the body. Estimated. Further, the estimation unit 72 estimates “sleepiness level 2” when the lips are open or the movement of the line of sight is slow. In addition, the estimation unit 72 estimates “sleepiness level 3” when blinking occurs frequently, there is a movement of the mouth, a person sits down, or a hand is touched on the face. In addition, the estimation unit 72 may have a blink that seems to be conscious, there may be unnecessary movements of the entire body such as shaking the head or moving the shoulder up and down, frequent yawning and deep breathing, Is estimated to be “sleepiness level 4”. The estimation unit 72 estimates “drowsiness level 5” when the heel is closed, the head tilts forward, or the head falls back.

  In such a rule, it can be said that the closer to drowsiness level 1, the higher the arousal level, and the closer to drowsiness level 5, the lower the arousal level. The sleepiness level 1 and the sleepiness level 2 are included in the “first state”, and the sleepiness level 3 to the sleepiness level 5 are included in the “second state”. Thereby, the estimation part 72 estimates whether a driver | operator is a 1st state or a 2nd state from the estimated sleepiness level. It can be said that the awakening level in the first state is higher than the awakening level in the second state.

  The driving action determination unit 70 receives the detection information from the detection unit 20 in FIG. 1 through the detection information input unit 52, receives the information from the wireless device 8 in FIG. 1 through the communication IF 56, and performs the automatic driving in FIG. Action information from the control device 30 is received via the action information input unit 54. The driving behavior determination unit 70 determines driving behavior in automatic driving based on the received information. Since a known technique may be used to determine driving behavior, description thereof is omitted here. An example of the new driving behavior determined by the driving behavior determination unit 70 is a plan change in which the previous driving behavior is changed to another driving behavior.

  In the plan change, the driving behavior is shown as “change from route A to route B due to traffic jam” or “change speed to 30 km / h due to heavy fog”, for example, “cause” and “change Shown by combination with “content”. Causes include traffic jams, accidents, construction, weather, etc., and changes include route changes, speed changes, stops, etc. When a new driving action occurs in automatic driving, the driving action determination unit 70 outputs driving information indicating the driving action to the presentation control unit 74 and the storage unit 42. Further, the driving action determination unit 70 outputs a command corresponding to the new driving action to the automatic driving control device 30 via the command output unit 55 of FIG. Thus, the automatic driving control device 30 controls the automatic driving of the vehicle 100 based on a new driving action such as a plan change.

  The presentation control unit 74 receives the driver state estimated by the estimation unit 72 and also receives driving information from the driving action determination unit 70. When the state of the driver estimated by the estimation unit 72 is the first state, that is, when the arousal level is high, the presentation control unit 74 generates and generates an image indicating the driving behavior included in the driving information. An image (hereinafter also referred to as “driving information”) is output to the image / sound output unit 51. The image / sound output unit 51 outputs driving information to the center display 2b, and the center display 2b displays the driving information. Such an image / sound output unit 51 can be said to be a driving information output unit. On the other hand, when the driving state of the driver estimated by the estimation unit 72 is the second state, the presentation control unit 74 does not generate an image. Therefore, the image / sound output unit 51 does not output driving information to the center display 2b.

  Similarly to the presentation control unit 74, the storage unit 42 receives the driver state estimated by the estimation unit 72 and also receives driving information from the driving action determination unit 70. When the driver state estimated by the estimation unit 72 is the second state, that is, when the arousal level is low, the storage unit 42 stores driving information when a driving action occurs in the automatic driving. For example, the storage unit 42 stores the driving information together with the occurrence time or the storage time (hereinafter referred to as “time information”). In such a state, when the state of the driver estimated by the estimation unit 72 changes from the second state to the first state, the storage unit 42 outputs the stored driving information together with time information to the selection unit 76.

  When the driver state estimated by the estimation unit 72 changes from the second state to the first state, the selection unit 76 receives a combination of driving information and time information from the storage unit 42. The selection unit 76 selects a part of the driving information. Specifically, the selection unit 76 confirms the cause of the driving action in the driving information, and when there are a plurality of driving information including the same cause, the driving information having the time information corresponding to the latest time is selected. To do. For example, when a route change due to a traffic jam occurs three times, the selection unit 76 selects driving information corresponding to the last route change. Since such a selection is not executed between different causes, the driving information related to the driving action due to the cause that occurs only once is selected as it is. The selection unit 76 outputs the selected driving information to the presentation control unit 74.

  When the driver state estimated by the estimation unit 72 changes from the second state to the first state, the presentation control unit 74 summarizes the driving behaviors included in some driving information selected by the selection unit 76. An image is generated, and the generated image (hereinafter also referred to as “driving information”) is output to the image / sound output unit 51. The image / sound output unit 51 outputs driving information to the center display 2b, and the center display 2b displays the driving information. The driving information displayed on the center display 2b may indicate a plurality of driving actions.

  Such processing by the control unit 41 will be described with reference to FIG. FIG. 4 shows an outline of the operation of the control unit 41. The horizontal axis shows time. New driving behavior occurs in the order of “A”, “B”, “C”,. Since the driver's state when the driving action “A” to “D” occurs is drowsiness level 4, these driving actions are stored in the storage unit 42. It is assumed that the cause of the driving actions “A”, “C”, and “D” is traffic jam, and the cause of the driving action “B” is weather. Since the driver's state is drowsiness level 2 at time t0, the latest driving action “D” among the driving actions “A”, “C”, and “D” that are the same cause is selected. . Therefore, driving information including driving actions “B” and “D” is displayed after time t0.

  FIG. 5 shows a screen displayed on the center display 2b. As shown in the figure, a route change caused by a traffic jam and a speed change caused by weather are shown. Returning to FIG. Since the driver's state becomes drowsiness level 1 at time t1, the generated driving actions “E” and “F” are displayed as driving information as they are.

  The operation of the driving support device 40 having the above configuration will be described. FIG. 6 is a flowchart illustrating a processing procedure performed by the control unit 41. If no driving action occurs in the driving action determining unit 70 (N in S10), the process waits. If driving behavior occurs in the driving behavior determination unit 70 (Y in S10) and the driver's state estimated in the estimation unit 72 is the first state (Y in S12), the presentation control unit 74 displays driving information. It is displayed (S14). On the other hand, when the state of the driver estimated by the estimation unit 72 is not the first state (N in S12), that is, in the second state, the storage unit 42 stores the driving information (S16), and the presentation control unit 74 Hides the driving information (S18).

  FIG. 7 is a flowchart showing another processing procedure performed by the control unit 41. When the driver state estimated by the estimation unit 72 changes from the second state to the first state (Y of S50), if driving information is stored in the storage unit 42 (Y of S52), the selection unit 76 Selects some driving information (S54). The presentation control unit 74 displays driving information (S56). When the driver state estimated by the estimation unit 72 does not change from the second state to the first state (N in S50), or when driving information is not stored in the storage unit 42 (N in S52), the process is as follows. Is terminated.

  According to the present embodiment, the driving information is stored when the driver's arousal level is in the second state, and the driving information is output when the driver changes from the second state to the first state. Operation information can be output accordingly. Further, if the driver's arousal level is low, the driving information is stored, and the driving information is output after the driver's arousal level is high. Therefore, an output corresponding to the driver's arousal level can be realized. In addition, if the driver's arousal level is high, the driving information is output immediately, so the driving information can be promptly notified to the driver. In addition, if the driver's arousal level is in the second state, driving information is not output, so that useless output can be prevented.

  In addition, since part of the stored driving information is selected and output, it is possible to suppress the occurrence of a situation in which too much driving information is output. In addition, since the occurrence of a situation in which too much driving information is output is suppressed, the situation can be easily grasped by the driver. Further, since the operation information having the same cause is selected, unnecessary operation information can be deleted. In addition, since the latest driving information is selected from the driving information having the same cause, the driver can be made aware of the latest situation. In addition, since the operation information having different causes is not deleted, it is possible to prevent the necessary operation information from being deleted by mistake.

  As mentioned above, although embodiment concerning this invention has been explained in full detail with reference to drawings, the function of the apparatus mentioned above and each processing part may be realized by a computer program. A computer that realizes the above-described functions by a program includes an input device such as a keyboard, mouse, and touch pad, an output device such as a display and a speaker, a CPU (Central Processing Unit), a ROM, a RAM, a hard disk device, and an SSD (Solid State Drive). Storage device such as a DVD-ROM (Digital Versatile Disk Read Only Memory), a reading device that reads information from a recording medium such as a USB memory, a network card that communicates via a network, etc., and each part is connected by a bus .

  The reading device reads the program from the recording medium on which the program is recorded, and stores the program in the storage device. Or a network card communicates with the server apparatus connected to the network, and memorize | stores the program for implement | achieving the function of said each apparatus downloaded from the server apparatus in a memory | storage device. Further, the function of each device is realized by the CPU copying the program stored in the storage device to the RAM and sequentially reading out and executing the instructions included in the program from the RAM.

  The outline of one embodiment of the present invention is as follows. The driving support device according to an aspect of the present invention includes an estimation unit that estimates a driver's state, and when driving behavior occurs in automatic driving when the driver's state estimated by the estimation unit is the first state. A driving information output unit that outputs driving information related to the driving behavior to the notification device, and storage of driving information when driving behavior occurs in automatic driving when the state of the driver estimated by the estimation unit is the second state And a storage unit. A driving information output part outputs the driving information memorize | stored in the memory | storage part to an alerting | reporting apparatus, when the driver | operator state estimated in the estimation part changes from a 2nd state to a 1st state.

  According to this aspect, driving information is stored when the driver's state is the second state, and driving information is output when the driver changes from the second state to the first state. Can output.

  The driving information output unit may not output the driving information of the driving behavior generated in the automatic driving to the notification device when the state of the driver estimated by the estimation unit is the second state. In this case, if the driver's state is the second state, the driving information is not output, so that useless output can be prevented.

  When the state of the driver estimated by the estimation unit changes from the second state to the first state, the driver may further include a selection unit that selects a part of the driving information stored in the storage unit. The driving information output unit may output a part of the driving information selected by the selection unit to the notification device. In this case, since a part of the stored driving information is selected and output, it is possible to suppress the occurrence of a situation where the output driving information is excessive.

  The driver state estimated by the estimation unit is the driver's arousal level, and the arousal level in the first state is higher than the awakening level in the second state. In this case, since the driver's state is the driver's arousal level, driving information can be output according to the driver's sleepiness.

  The driver state estimated by the estimation unit is the presence or absence of an action that affects the driving operation, and the second state may include an action that affects the driving operation. In this case, since the driver's state is the presence or absence of an action that affects the driving operation, the output of driving information can be controlled even in a situation where the driver is awake.

  Another aspect of the present invention is an automatic operation control device. This device is configured to provide an estimation unit that estimates a driver's state, and driving information related to the driving behavior when driving behavior occurs in automatic driving when the driver's state estimated by the estimation unit is the first state. A driving information output unit that outputs to the notification device, a storage unit that stores driving information when driving behavior occurs in automatic driving when the driver's state estimated by the estimating unit is the second state, and And an automatic driving control unit that controls automatic driving of the vehicle based on driving behavior. A driving information output part outputs the driving information memorize | stored in the memory | storage part to an alerting | reporting apparatus, when the driver | operator state estimated in the estimation part changes from a 2nd state to a 1st state.

  According to this aspect, driving information is stored when the driver's state is the second state, and driving information is output when the driver changes from the second state to the first state. Can output.

  Yet another embodiment of the present invention is a vehicle. This vehicle is a vehicle provided with a driving support device, and the driving support device is configured to perform an automatic driving when an estimation unit that estimates a driver's state and the driver's state estimated by the estimation unit are the first state. When the driving action occurs, the driving information output unit that outputs the driving information related to the driving action to the notification device, and the driving action occurs in the automatic driving when the state of the driver estimated by the estimation unit is the second state A storage unit that stores driving information. A driving information output part outputs the driving information memorize | stored in the memory | storage part to an alerting | reporting apparatus, when the driver | operator state estimated in the estimation part changes from a 2nd state to a 1st state.

  According to this aspect, driving information is stored when the driver's state is the second state, and driving information is output when the driver changes from the second state to the first state. Can output.

  Yet another embodiment of the present invention is a driving support method. The method estimates a driver's state, and outputs driving information related to the driving behavior to a notification device when driving behavior occurs in automatic driving when the estimated driver's state is the first state. A step of storing driving information in a memory when driving behavior occurs in automatic driving when the estimated driver state is the second state, and the estimated driver state is determined from the second state. And a step of outputting the driving information stored in the memory to the notification device when the state is changed to the first state.

  Yet another embodiment of the present invention is a driving support system. This driving support system includes a notification device and a driving support device. The driving support device includes an estimation unit that estimates a driver's state, and driving information related to the driving behavior when the driving state occurs in automatic driving when the driver's state estimated by the estimation unit is the first state. And a storage unit for storing driving information when driving behavior occurs in automatic driving when the state of the driver estimated by the estimating unit is the second state. . A driving information output part outputs the driving information memorize | stored in the memory | storage part to an alerting | reporting apparatus, when the driver | operator state estimated in the estimation part changes from a 2nd state to a 1st state.

  The present invention has been described based on the embodiments. It is understood by those skilled in the art that these embodiments are exemplifications, and that various modifications can be made to combinations of the respective constituent elements and processing processes, and such modifications are also within the scope of the present invention. By the way.

  In the present embodiment, the driver state estimated by the estimation unit 72 is the driver's arousal level. However, the present invention is not limited to this. For example, the driver state estimated by the estimation unit 72 may be a driving concentration degree. The driving concentration level is determined by the presence or absence of an action that affects driving operation, and is a case where the driver's arousal level is high but manual driving is difficult. One example is when the driver is operating a mobile phone or a smartphone, and it can be said that the degree of driving concentration is low. This case is included in the second state. According to this modification, the application range can be expanded.

  In the present embodiment, the sleepiness level 1 and sleepiness level 2 of NEDO evaluation are defined as “first state”, and sleepiness level 3 to sleepiness level 5 are defined as “second state”. The state in which the driver is awakening is not limited to the first state, and the state having drowsiness may be estimated as the second state.

  In the present embodiment, the control unit 41 includes a selection unit 76. However, the present invention is not limited to this. For example, the selection unit 76 may not be included in the control unit 41. In that case, the presentation control unit 74 may output the driving information stored in the storage unit 42 as it is. According to this modification, the configuration can be simplified.

  2 Informing device, 2a Head-up display, 2b Center display, 4 Input device, 4a 1st operation part, 4b 2nd operation part, 4c 3rd operation part, 6 Speaker, 8 Wireless device, 10 Driving operation part, 11 Steering, 12 brake pedal, 13 accelerator pedal, 14 blinker switch, 20 detection unit, 21 position information acquisition unit, 22 sensor, 23 speed information acquisition unit, 24 map information acquisition unit, 30 automatic operation control device, 31 control unit, 32 storage unit , 33 I / O unit, 40 driving support device, 41 control unit, 42 storage unit, 43 I / O unit, 50 operation signal input unit, 51 image / sound output unit, 52 detection information input unit, 53 command IF, 54 Action information input unit, 55 command output unit, 56 communication F, 70 driving behavior determination unit 72 estimating unit, 74 display control unit, 76 selection unit, 100 vehicle.

Claims (10)

An estimation unit for estimating the state of the driver;
A driving information output unit that outputs driving information related to the driving behavior to the notification device when driving behavior occurs in the automatic driving when the state of the driver estimated in the estimation unit is the first state;
A storage unit that stores driving information when driving behavior occurs in automatic driving when the driver's state estimated by the estimating unit is the second state;
The driving information output unit outputs driving information stored in the storage unit to the notification device when the state of the driver estimated in the estimating unit changes from the second state to the first state. Driving assistance device.   The driving information output unit does not output the driving information of the driving behavior generated in the automatic driving to the notification device when the state of the driver estimated by the estimating unit is the second state. The driving support device according to claim 1. When the state of the driver estimated in the estimation unit changes from the second state to the first state, the driver further includes a selection unit that selects a part of the driving information stored in the storage unit,
The driving support device according to claim 1, wherein the driving information output unit outputs a part of the driving information selected by the selection unit to the notification device.   4. The driver state estimated by the estimation unit is a driver's arousal level, and the arousal level in the first state is higher than the arousal level in the second state. The driving assistance device according to claim 1.   The driver state estimated by the estimation unit is presence or absence of an action that affects driving operation, and the second state includes an action that affects driving operation. Item 4. The driving support device according to any one of Items 1 to 3. An estimation unit for estimating the state of the driver;
A driving information output unit that outputs driving information related to the driving behavior to the notification device when driving behavior occurs in the automatic driving when the state of the driver estimated in the estimation unit is the first state;
A storage unit that stores driving information when driving behavior occurs in automatic driving when the state of the driver estimated in the estimation unit is the second state;
An automatic driving control unit that controls automatic driving of the vehicle based on the generated driving behavior,
The driving information output unit outputs driving information stored in the storage unit to the notification device when the state of the driver estimated in the estimating unit changes from the second state to the first state. Automatic operation control device. A vehicle equipped with a driving support device,
The driving support device includes:
An estimation unit for estimating the state of the driver;
A driving information output unit that outputs driving information related to the driving behavior to the notification device when driving behavior occurs in the automatic driving when the state of the driver estimated in the estimation unit is the first state;
A storage unit that stores driving information when driving behavior occurs in automatic driving when the driver's state estimated by the estimating unit is the second state;
The driving information output unit outputs driving information stored in the storage unit to the notification device when the state of the driver estimated in the estimating unit changes from the second state to the first state. vehicle. Estimating the driver's condition;
A step of outputting driving information related to the driving behavior to the notification device when driving behavior occurs in the automatic driving when the estimated state of the driver is the first state;
Storing driving information in a memory when driving behavior occurs in automatic driving when the estimated driver state is the second state;
When the estimated driver state changes from the second state to the first state, the step of outputting the driving information stored in the memory to the notification device;
A driving support method comprising: Estimating the driver's condition;
A step of outputting driving information related to the driving behavior to the notification device when driving behavior occurs in the automatic driving when the estimated state of the driver is the first state;
Storing driving information in a memory when driving behavior occurs in automatic driving when the estimated driver state is the second state;
The program for making a computer perform the step which outputs the driving | running information memorize | stored in the said memory to the said alerting | reporting apparatus, when the estimated driver | operator state changes from a 2nd state to a 1st state. A notification device;
A driving support device,
The driving support device includes:
An estimation unit for estimating the state of the driver;
A driving information output unit that outputs driving information related to the driving behavior to the notification device when driving behavior occurs in automatic driving when the state of the driver estimated in the estimation unit is the first state;
A storage unit that stores driving information when driving behavior occurs in automatic driving when the driver's state estimated by the estimating unit is the second state;
The driving information output unit outputs driving information stored in the storage unit to the notification device when the state of the driver estimated in the estimating unit changes from the second state to the first state. Driving support system.

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