JP2020166391A - Driving support system - Google Patents

Abstract

To give a certain degree of tension feeling to a driver who has a high frequency of not-gazing-forward driving so as to allow the driver to normally grip a steering wheel in a gazing-forward state when a self-vehicle is traveling by steering control to keep a lane.SOLUTION: When a self-vehicle is traveling by steering control to keep a lane (S11), it is examined whether a driver is releasing his/her hands from a steering wheel (S12). When hand-releasing is detected, and also when a hand-releasing state continues for a predetermined time (To) (S17), a not-gazing-forward evaluation value Val is calculated based on a not-gazing-forward warning count value Con and a travel distance Lm (Val←Con/Lm, S20). Then, a not-gazing-forward evaluation value Val is compared with an evaluation determination value Valo. In the case of Val≥Valo, primary hand-releasing warning is not output, and secondary hand-releasing warning is output (S26). Consequently, a certain degree of tension feeling is given to a driver D and also overconfidence in a system is prevented.SELECTED DRAWING: Figure 3

Description

The present invention relates to a driving support system that releases steering control at an early stage after outputting a release warning when the driver frequently does not look forward while traveling under steering control.

Conventionally, as this type of driving support system, a front recognition device such as a stereo camera mounted on a vehicle is used to recognize a lane marking that divides the left and right of the lane in which the own vehicle is traveling, and the own vehicle is left and right. There is known a lane keeping (ALK: Active Lane Keep) control technique that controls steering so as to travel in the center of the lane markings.

While the own vehicle is traveling while executing the driving support by ALK control, the driver is required to always hold the steering wheel so as not to overconfide (excessively depend on) the system. Therefore, for example, in Patent Document 1 (Japanese Unexamined Patent Publication No. 2012-31466), when the driver releases his / her hand from the steering wheel for a predetermined time or longer, the ALK control is temporarily suspended to alert the driver. , A technique for resuming ALK control when the driver grips the steering wheel is disclosed.

Further, for example, in Patent Document 2 (Japanese Unexamined Patent Publication No. 2015-120374), a threshold value for determining the time when the hand is released from the steering wheel is variably set according to the vehicle speed and the lateral position deviation of the own vehicle with respect to the center of the lane. As a result, a technique for releasing ALK control at an appropriate timing is disclosed.

At that time, for example, as disclosed in Patent Document 3 (Patent No. 6455456), the buzzer sounds and the warning lamp lighting pattern is changed according to the time when the driver releases his / her hand from the steering wheel. Techniques that have been made to change are also known.

Japanese Unexamined Patent Publication No. 2012-31466 JP-A-2015-120374 Japanese Patent No. 6455456 Japanese Unexamined Patent Publication No. 2017-219885

In driving support by ALK control, the driver is always required to hold the steering wheel so that the driver can take over the driving operation smoothly when the system determines that it is difficult to maintain ALK control. This is to be able to do it.

Therefore, even if the driver releases his / her hand from the steering wheel, if he / she faces the front, even if the driver grips the steering wheel to release the ALC control, the driver can smoothly operate the driving operation. Can be taken over by.

However, if the driver is not facing forward, such as looking aside or taking a nap, that is, if the driver's hand is away from the steering wheel while not looking forward, there will be a delay in checking the front, so simply grasping the steering wheel will cause the driver's steering wheel. The operation tends to be delayed, and it becomes difficult to smoothly take over the operation.

Therefore, in Patent Document 4 (Japanese Unexamined Patent Publication No. 2017-219885), the applicant has installed an in-vehicle camera (DMS: Driver Monitor System) for monitoring the posture of the driver, and the driver is not facing forward. Proposed a technology to call attention by vibrating the steering wheel and seat when the vehicle continues for a certain period of time.

Therefore, by using the technology disclosed in each of the above-mentioned cited documents, when the vehicle is traveling with driving support by ALK control, the driver is not facing forward and the hand is away from the steering wheel. Is continued for a predetermined time, it becomes possible to request the driver to hold the steering wheel stronger than usual.

However, if the driver is accustomed to simply demanding that the steering wheel be gripped, the driver will rely on such a warning system and will often be not facing forward or take his or her hand off the steering wheel. There is a disadvantage that it increases.

In view of the above circumstances, the present invention has a certain degree of so as to allow a driver who frequently does not look forward to grip the steering wheel while always looking ahead when the own vehicle is traveling by steering control. The purpose is to provide a driving support system that can give a feeling of tension.

The present invention provides a driver state monitoring unit that monitors the driver's inattention to the front, a handle release detection unit that detects the driver's release from the handle, and steering control that causes the vehicle to travel along the traveling lane. The driving support control unit is provided with a driving support control unit to perform the operation, and the driving support control unit compares the elapsed time when the driver's release from the handle is detected by the handle release detection unit with a preset release determination time. When the driver's release from the handle is determined by the release time determination unit and the release time determination unit to exceed the release determination time, the release alarm output unit that outputs a release alarm and the release alarm output unit. A time measuring unit that measures the output time of the release alarm output from the driver, and the driver's release detection unit that uses the handle release detection unit to measure the output time even after the preset first alarm time has elapsed. In a driving support system having a steering control release unit that releases the steering control when the driver is continuously released from the handle, the driving support control unit is further in front of the driver in the driver state monitoring unit. A front non-gaze counting unit that counts the number of times that non-gaze is detected and an alarm is notified, and a front non-gaze evaluation value obtained based on the number of notifications of the alarm counted by the front non-gaze counting unit are set in advance. It has a forward inattention evaluation determination unit for comparing with an evaluation determination value, and when the front inattentive evaluation determination unit determines that the front inattentive evaluation value exceeds the evaluation determination value, the steering control In the release unit, even if the output time measured by the timing unit exceeds a preset second alarm time shorter than the first alarm time, the driver's release from the handle continues at the handle release detection unit. If so, the steering control is released.

According to the present invention, when the driver's release from the steering wheel exceeds the release determination time, a release alarm is output, and the driver even if the output time of this alarm elapses from the preset first alarm time. When the steering control is released, the number of times the driver's forward inattention is detected and the alarm is notified is counted, and the number of times the counted alarm is notified is calculated as the basis for the forward failure. When the gaze evaluation value and the evaluation judgment value are compared and it is determined that the forward non-gaze evaluation value exceeds the evaluation judgment value, the alarm output time is shorter than the first warning time. Since the steering control is canceled when the warning time is exceeded, the driver who frequently does not look forward when the vehicle is traveling under the steering control always looks ahead. It is possible to give a certain degree of tension so that the handle is gripped in the state.

Schematic configuration diagram of the driving support system Flowchart showing forward inattentive count routine Flow chart showing the release alarm judgment processing routine (Part 1) Flow chart showing the release alarm judgment processing routine (Part 2) (A) is a side view showing a driving posture of facing the front and holding the steering wheel, (b) is a side view showing a driving posture of facing the front and releasing the hand from the steering wheel, and (c) is not looking forward. Side view showing the driving posture when the hand is released from the steering wheel in the state of (A) is a waveform diagram showing an alarm pattern when the forward inattentive evaluation is within the evaluation judgment value, and (b) is a waveform diagram showing an alarm pattern when the forward inattentive evaluation exceeds the evaluation judgment value. (A) is an explanatory diagram showing the alarm timing and steering control release timing when the forward inattention evaluation is within the evaluation judgment value, and (b) is the alarm timing and steering control when the forward inattention evaluation exceeds the evaluation judgment value. Explanatory diagram showing the release timing

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. The driving support system 1 shown in FIG. 1 is mounted on the own vehicle M (see FIG. 7). The driving support system 1 has a driving support unit 11 as a driving support control unit. The operation support unit 11 is composed of a well-known microcomputer equipped with a CPU, RAM, ROM and the like, and peripheral devices thereof, and the ROM stores in advance fixed data such as a program executed by the CPU and a base map. ing.

On the input side of the driving support unit 11, a driving support switch 12 that is turned on when performing driving support driving, a driving state detection sensor 13 that detects the driving state of the own vehicle M, and a driver D are a handle (steering handle) H (steering handle) H ( Whether or not the driver is gripping (see FIG. 5), in other words, the handle grip sensor 14 as the handle release detection unit that detects the driver D's release from the handle H, and the camera unit 21 as the driving environment recognition unit. A driver monitoring system 22 as a driver state monitoring unit that monitors postures (states) such as inattentiveness, dozing, and eye closure of the driver D is connected.

The driving state detection sensor 13 detects the driving state (vehicle speed, front-rear acceleration, steering angle, yaw rate, etc.) of the own vehicle M, and the driving state of the own vehicle such as the vehicle speed sensor, acceleration sensor, steering angle sensor, yaw rate sensor, etc. It is a general term for sensors that detect. Further, the steering wheel grip sensor 14 detects whether or not the driver is gripping the steering wheel H, and is a touch sensor provided on the wheel portion of the steering wheel H. The driver D is the wheel of the steering wheel H when the pressure is equal to or higher than a predetermined pressure. When the wheel is gripped, a handle grip signal is output. The handle grip sensor 14 may be a steering torque sensor that detects steering torque, and outputs a handle grip signal when a steering torque equal to or higher than a predetermined torque that does not affect steering is detected.

Further, the camera unit 21 is fixed to the upper center of the front part of the vehicle interior of the own vehicle M, and is arranged from the main camera 21a and the sub camera 21b symmetrically with respect to the center in the vehicle width direction. It has an in-vehicle camera (stereo camera), an image processing unit (IPU) 21c, and a forward traveling environment recognition unit 21d. Both cameras 21a and 21b have built-in image sensors such as CCD and CMOS as imaging means, and image the traveling environment in front of the own vehicle M with different viewpoints, that is, parallax. As a result, the reference image (main image) and the comparison image (sub image) necessary for performing the stereo image processing are acquired. The image signal of the traveling environment in front of the own vehicle captured by both cameras 21a and 21b is transmitted to the IPU 21c, and after predetermined image processing, it is transmitted to the front traveling environment recognition unit 21d.

The forward traveling environment recognition unit 21d generates a reference image based on the image captured by the main camera 21a based on the image signal from the IPU 21c, and generates a comparative image based on the image captured by the sub camera 21b. Then, based on the reference image and the comparison image, with respect to the captured image corresponding to one frame, the left and right sides of the lane in which the own vehicle M is traveling are determined by using the principle of triangulation that is well known from the parallax for the corresponding same image. Calculate the distance to the lane markings and three-dimensional objects.

Further, the driver monitoring system 22 includes a driver recognition camera 22a (see FIG. 5) provided in front of the driver's seat (for example, an instrument panel) and an IPU 22 that processes an image captured by the driver recognition camera 22a. A driver-oriented recognition unit 22c that detects forward inattention due to inattentiveness or dozing of the driver D based on the face image of the driver D processed by the IPU 22b is provided for each acquired image. The driver-oriented recognition unit 22c monitors whether or not the driver D is facing forward with his eyes open from the acquired face image of the driver D.

Further, on the output side of the driving support unit 11, a steering control unit 31 that causes the own vehicle M to travel along the traveling lane, a brake control unit 32 that decelerates the own vehicle M by forced braking, and an addition that controls the vehicle speed of the own vehicle M. The deceleration control unit 33 and the notification device 34 such as a monitor and a speaker are connected.

When the driving support switch 12 is turned on during driving, the driving support unit 11 starts driving support control by lane keeping (ALK: Active Lane Keep) control and following vehicle distance control (ACC: Adaptive Cruise Control). The ALK control controls the steering of the own vehicle M so as to travel along the center of the lane marking that divides the left and right sides of the traveling lane, based on the forward traveling environment detected by the forward traveling environment recognition unit 21d. Further, the ACC control controls to follow the preceding vehicle with a predetermined inter-vehicle distance when the preceding vehicle is detected by the forward traveling environment recognition unit 21d. When the preceding vehicle is not detected, the ACC control causes the own vehicle M to travel at a set vehicle speed within the speed limit.

Even when the own vehicle M is traveling by driving support control, when it becomes difficult to continue driving support control, or in an emergency such as avoiding an obstacle in front, the driver performs steering operation. Need to be taken over by. Therefore, the driving support unit 11 checks whether or not the driver D is gripping the steering wheel H with the steering wheel gripping sensor 14, and if the driver D is not gripping the steering wheel H for a predetermined time or more, an alarm for a gripping request is notified. Output from 34, prompting driver D to grip the steering wheel H.

As shown in FIG. 6A, this alarm initially notifies a primary release alarm of a caution level having a relatively long sounding interval for a predetermined time, and if the driver D does not grip the steering wheel H during that time, the sounding interval A short secondary release alarm strongly demands that the steering wheel be gripped. Then, when the driver D does not grip the steering wheel H even after the lapse of a predetermined time, the driving support control is released.

By the way, as shown in FIG. 5A, if the driver D holds the steering wheel H with his eyes open and facing the front, he / she can smoothly respond to an emergency. However, as shown in FIGS. (B) and (c), when the driver D does not hold the steering wheel H, the emergency response is likely to be delayed.

In this case, even if the driver D is not holding the steering wheel H, as shown in FIG. 5B, if the driver D is facing the front with the eyes open, the steering wheel H is gripped for steering. The operation can be smoothly taken over by the driver D. However, as shown in FIG. 3C, when the driver D is in a state of inattentiveness such as looking aside or taking a nap, even if he / she receives an alarm and grasps the steering wheel H, he / she first faces the front to grasp the state. Since it is necessary, delays in responsiveness in an emergency are likely to occur.

Therefore, in the present embodiment, when the time when the driver D releases his / her hand from the steering wheel H elapses, the frequency depends on the frequency of forward inattention of the driver D, and when the frequency is low, FIG. 6 (a). ), As usual, after notifying the primary release alarm, the secondary release alarm is notified. On the other hand, when the frequency of forward inattention is high, the driver D is given an appropriate sense of tension by omitting the primary release alarm and notifying the secondary release alarm, and the system is overconfident (excessively dependent). I try not to.

The frequency of forward inattention executed by the driving support unit 11 and the release alarm determination process specifically follow the forward inattention count routine shown in FIG. 2 and the release alarm determination process routine shown in FIGS. 3 and 4. Will be done.

The routine shown in FIG. 2 is continued from the start to the end of the drive support system 1 regardless of whether the drive support switch 12 is ON / OFF. When the driving support system 1 is activated, the well-known lane departure warning, preceding vehicle start notification, pre-crash brake control, erroneous start / erroneous reverse suppression control, and the like are activated.

First, in step S1, it is checked whether or not the forward inattention warning has been notified to the driver D. This forward inattention warning is based on the face image of the driver D captured by the driver recognition camera 22a of the driver monitoring system 22, and whether the driver-oriented recognition unit 22c is facing forward with the driver's eyes open. Whether or not, in other words, whether or not the person is inadvertently looking forward (looking aside, dozing, or having the eyes closed even when facing the front) is checked, and if the state of inattentiveness continues for a predetermined time, an alarm is issued. It calls attention to.

Then, if the forward inattentive alarm is not activated, the routine is exited as it is. When the forward inattentive alarm is activated, the process proceeds to step S2, the count value Con of the forward inattentive alarm is incremented (Con ← Con + 1), and the routine is exited. The initial value of this count value Con is 0, and is reset when the driving support system 1 is terminated. Further, the processing in steps S1 and S2 corresponds to the forward inattention counting unit of the present invention.

The count value Con of the forward inattention alarm is read by the routine shown in FIGS. 3 and 4. In this routine, first, in step S11, it is checked whether or not steering control is in progress, that is, whether or not the driving support switch 12 is turned on and steering control (ALK control) is being executed in the driving support unit 11. Then, if steering control is being executed, the process proceeds to step S12. If the steering control is released (the driving support switch 12 is OFF or automatically released), the routine is exited.

When it is determined that steering control is in progress and the process proceeds to step S12, it is checked whether or not the steering wheel gripping signal is output from the steering wheel gripping sensor 14 during traveling (for example, 15 [Km / h] or more), and the steering wheel gripping signal is output. If not, it is assumed that the release is detected, and the process proceeds to step S13. Further, when the steering wheel gripping signal is output during traveling, the driver D determines that the steering wheel H is gripped, branches to step S14, and sets the timer counters T to T2 for measuring the elapsed time described later. Clear (T, T1, T2 ← 0), and in step S15, clear the primary release warning time lapse flag F and exit the routine.

Further, from step S12 to step S13, the value of the primary release alarm time elapsed flag F is checked, and F = 0, that is, the alarm time elapses even if the primary release alarm is not notified or is being notified. If not, the process proceeds to step S16. Further, when F = 0, that is, when the alarm time of the primary release alarm has elapsed, the process jumps to step S26.

When the process proceeds to step S16, the timer counter T for timing the release time is incremented (T ← T + 1), and the process proceeds to step S17 to compare the timer counter T with the release determination time To (for example, 10 [sec]). If T <To, exit the routine and continue timing. When T ≧ To, the release determination time has been reached, so the process proceeds to step S18. The processing in steps S16 and S17 corresponds to the release time determination unit of the present invention.

In step S18, the count value Con of the forward inattention alarm counted by the above-mentioned forward inattention counting routine is read, and in step S19, the mileage Lm [Km] after the driving support system 1 is activated is read. This mileage Lm is calculated based on the vehicle speed detected by the vehicle speed sensor or the movement amount of the own vehicle position detected by the GNSS receiver in the vehicle control unit (not shown).

After that, the process proceeds to step S20, the forward inattentive evaluation value Val is calculated (Val ← Con / Lm) based on the count value Con of the forward inattention warning and the mileage Lm, and is compared with the evaluation judgment value Val in step S21. To do. The evaluation determination value Valo is, for example, Valo = 0.2 when the allowable number of alarms = 5 while the own vehicle M is traveling 10 [Km] is set as the threshold value. Further, the evaluation determination value Valo may be set to a gradually lower value, that is, a stricter value because the driver's concentration tends to be slower as the mileage Lm becomes longer.

Then, in step S21, when Val <Valo, it is determined that the number of forward inattention is still within the allowable range, and the process proceeds to step S22. When Val ≧ Valo, it is determined that the forward inattention has exceeded the allowable number of times, and the process jumps to step S26. The processing in steps S18 to S21 corresponds to the forward inattention evaluation determination unit of the present invention.

When the process proceeds to step S22, the primary release alarm is output and the process proceeds to step S23. As shown in FIG. 6A, the primary release alarm has a longer sounding interval than the secondary release alarm described later, and for example, a relatively loose alarm sound that repeats the sound of pawn, pawn, etc. is operated from the notification device 34. Notified to person D. The process in step S22 corresponds to the primary release alarm output unit of the present invention.

Proceeding to step S23, the sounding timer counter T1 of the primary release alarm is incremented (T1 ← T1 + 1), and is compared with the primary release alarm time T1o in step S24. The primary release alarm time T1o is shorter than the release determination time To, for example, about 6 [sec].

Then, when T1 <T1o, since the primary release alarm time T1o has not been reached, the routine is exited, the primary release alarm is continued, and the time counting by the sounding timer counter T1 is repeated.

Further, in the case of T1 ≧ T1o, even if the primary release warning time T1o is reached, it is determined that the driver D does not grip the steering wheel H, the process proceeds to step S25, and the primary release alarm time elapsed flag F is set (F). ← 1), proceed to step S26.

Then, when the process proceeds from step S13, S21, or step S25 to step S26, a secondary release alarm is output and the process proceeds to step S27. Therefore, as shown in FIGS. 6 (a) and 7 (a), when the forward inattentive evaluation value Val is less than the evaluation judgment value Val (Val <Valo), after notifying by the primary release warning, the secondary The release alarm is sounded. On the other hand, as shown in FIGS. 6 (b) and 7 (b), when the forward inattentive evaluation value Val is equal to or higher than the evaluation judgment value Val (Val ≧ Val), immediately after the release judgment time To elapses, two The next release alarm is sounded.

As shown in FIG. 6B, the secondary release alarm has a shorter sounding interval than the primary release alarm, and for example, an alarm sound such as pop, pop ... is notified from the notification device 34 to the driver D. The process in step S26 corresponds to the secondary release alarm output unit of the present invention, and the processes in steps S22 and S26 correspond to the release alarm output unit of the present invention.

Then, in step S27, the sounding timer counter T2 of the secondary release alarm is incremented (T2 ← T2 + 1), and in step S28, it is compared with the secondary release alarm time T2o. The processing in steps S23 and S27 corresponds to the timekeeping unit of the present invention. Further, the time obtained by adding the primary release alarm time T1o and the secondary release alarm time T2o corresponds to the first alarm time of the present invention. Further, the secondary release alarm time T2o corresponds to the second alarm time of the present invention.

The secondary release alarm time T2o is set to be the same as or slightly longer than the primary release alarm time T1o (for example, about 8 [sec]). This is to make the driver D recognize both the urgency and the steering control (ALK control) being released.

Then, when T2 <T2o, since the secondary release alarm time T2o has not been reached, the routine is exited, the secondary release alarm is continued, and the time counting by the sounding timer counter T2 is repeated.

Further, when T2 ≧ T2o, it is determined that the driver D does not grip the steering wheel H even if the secondary release warning time T2o is reached, and the process proceeds to step S29. In step S29, the driver is notified via the notification device 34 that the steering control (ALK control) is to be released, and then the process proceeds to step S30 to release the steering control and end the routine. The processing in steps S29 and S30 corresponds to the steering control release unit of the present invention.

Further, while the primary release alarm and the secondary release alarm are sounding, a sentence or pictogram requesting the steering wheel to be gripped is displayed on the multi-information display or the like provided in the combination meter. Furthermore, it is also displayed that the steering control is canceled while the secondary release warning is sounding.

Then, in order to restart the steering control after the steering control is released, the driving support switch 12 is turned on while the driver D holds the steering wheel H during traveling.

As described above, in the present embodiment, the frequency of inattention to the front of the driver D is evaluated based on the mileage Lm, and when the evaluation value Val is equal to or more than the evaluation judgment value Val (Val ≧ Val), the release judgment time Since the secondary release warning is sounded immediately after To has passed, a certain amount of tension is given when the own vehicle M is traveling under ALK control, and overconfidence (excessive dependence) of the system is prevented. can do. As a result, it can be expected that the driver D will hold the steering wheel H while always gazing at the front.

The present invention is not limited to the above-described embodiment. For example, the sounding time of the secondary alarm that sounds when Val ≥ Valo is larger than the sounding time of the secondary alarm that sounds when Val <Valo. May be set longer. In addition, the release alarm is limited to the primary alarm, and the sounding time of the release alarm that sounds when Val ≥ Valo is shorter than the sounding time of the release alarm that sounds when Val <Valo, and the steering control is released. May be shortened.

Further, before the process in step S29 described above, after detecting the driver's release in step S12, the driver-oriented recognition unit 22c of the driver monitoring system 22 detects the driver's eye closure, and the state thereof. If is continuing, an emergency evacuation control unit that executes emergency evacuation control may be interposed. When the emergency evacuation control is executed by the driving support unit 11, the driving support unit 11 drives each control unit 31 to 33 to guide the own vehicle M to a safe place such as a roadside zone and automatically stop the vehicle M. ..

1 ... Driving support system,
11 ... Driving support unit,
12 ... Driving support switch,
13 ... Operating state detection sensor,
14 ... Handle grip sensor,
21 ... Camera unit,
21a ... Main camera,
21b ... Sub camera,
21c, 22b ... Image processing unit,
21d ... Forward driving environment recognition unit,
22 ... Driver monitoring system,
22a ... Driver recognition camera,
22c ... Driver-oriented recognition unit,
31 ... Steering control unit,
32 ... Brake control unit,
33 ... Acceleration / deceleration control unit,
34 ... Notification device,
Con ... Count value,
D ... Driver,
F ... Primary release alarm time elapsed flag,
H ... handle,
Lm ... mileage,
M ... own vehicle,
T ... Timer counter,
To ... Let go judgment time,
T1, T2 ... Sound timer counter,
T1o ... Primary let-off alarm time,
T2o ... Secondary let-off alarm time,
Val ... Forward inattention evaluation value,
Valo ... Evaluation judgment value

Claims (5)

A driver condition monitoring unit that monitors the driver's inattention to the front,
The steering wheel release detection unit that detects the driver's release from the steering wheel,
It is equipped with a driving support control unit that controls steering to drive the own vehicle along the driving lane.
The driving support control unit
A release time determination unit that compares the elapsed time when the driver's release from the steering wheel is detected by the steering wheel release detection unit with a preset release determination time.
When the release time determination unit determines that the driver's release from the steering wheel exceeds the release determination time, the release alarm output unit that outputs a release alarm and
A timekeeping unit that measures the output time of the release alarm output from the release alarm output unit,
If the driver's release from the steering wheel continues at the steering wheel release detection unit even after the first alarm time preset by the output time measured by the timing unit has elapsed, the steering control is released. In a driving support system having a steering control release unit,
The driving support control unit further
A forward inattention counting unit that counts the number of times that the driver's condition monitoring unit detects the driver's forward inattentiveness and notifies an alarm.
It has a front non-gaze evaluation determination unit that compares the front non-gaze evaluation value obtained based on the number of notifications of the alarm counted by the front non-gaze counting unit with a preset evaluation determination value.
When the forward inattentive evaluation determination unit determines that the forward inattentive evaluation value exceeds the evaluation determination value, the steering control release unit determines that the output time measured by the timekeeping unit is the first alarm. A driving support characterized in that the steering control is released when the driver's release from the steering wheel is continued by the steering wheel release detection unit even after a preset second alarm time shorter than the time is exceeded. system. The driving support according to claim 1, wherein the front non-gaze evaluation determination unit obtains the front non-gaze evaluation value based on the number of notifications of the alarm and the mileage counted by the front non-gaze counting unit. system. The first alarm time is a value obtained by adding the primary release alarm time and the secondary release alarm time, and the secondary release alarm time corresponds to the second alarm time. Alternatively, the driving support system according to 2. The driving support system according to any one of claims 1 to 3, wherein the steering control release unit notifies that the steering control is released when the steering control is released. The steering control release unit further has an emergency evacuation control unit.
In the emergency evacuation control unit, the driver state monitoring unit said that the driver state monitoring unit was in the period from the time when the driver's release from the steering wheel was detected by the steering wheel release detection unit to the notification that the steering control was released. The driving support system according to claim 4, wherein when the driver's eyes are continuously detected, the vehicle is guided to a safe place and automatically stopped.

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