JP2023030507A - information notification device - Google Patents

Abstract

To deepen understanding of a driver on automatic driving or drive assistance.SOLUTION: A device 100 includes: a travel control unit 13 for controlling a travel actuator so as to perform driving assistance with a driver of a vehicle or to perform automatic driving of the vehicle; an understanding level setting unit 15 for setting an understanding level of the driver on driving assistance or automatic driving by the travel control unit 13; an information notification unit 7 for notifying the driver of information on the driving assistance or the automatic driving by the travel control unit 13; and a notification control unit 16 for controlling the information notification unit 7 so as to provide information corresponding to the understanding level set by the understanding level setting unit 15.SELECTED DRAWING: Figure 1

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an information notification device that notifies a driver of a vehicle of information relating to automatic driving or driving assistance.

Conventionally, there is known a device that changes the control state of automatic driving based on the driver's proficiency level for automatic driving (see, for example, Patent Literature 1). In the device described in Patent Document 1, the skill level of the driver is determined based on the degree of understanding of the automatic driving function and the driving experience of the automatic driving vehicle. A control state with a high rate is released.

Many drivers will have a correct understanding of automated driving and driving assistance, and vehicles with automated driving and driving assistance functions will become widespread. This will improve the safety and convenience of transportation society as a whole, and contribute to the creation of a sustainable transportation system. can be realized. In addition, by improving the efficiency and smoothness of transportation, CO2 emissions can be reduced and the burden on the environment can be reduced.

JP 2019-156171 A

However, in the device described in Patent Document 1, for drivers whose proficiency level is below the threshold, the use of automatic driving traveling with a high degree of automation is restricted, so the driver's understanding of automatic driving and driving assistance is required. difficult to deepen.

An information notification device, which is one aspect of the present invention, relates to a driving control unit that performs driving assistance for a vehicle driver or controls a driving actuator so as to automatically drive the vehicle, and driving assistance or automatic driving by the driving control unit. An understanding degree setting unit that sets the degree of understanding of the driver, an information reporting unit that notifies the driver of information related to driving assistance or automatic driving by the driving control unit, and information according to the degree of understanding set by the understanding degree setting unit. and a notification control unit that controls the information notification unit so that is notified.

ADVANTAGE OF THE INVENTION According to this invention, a driver's understanding regarding automatic driving and driving assistance can be deepened.

1 is a block diagram schematically showing an example of a configuration of a main part of an information notification device according to an embodiment of the present invention; FIG. FIG. 2 is a diagram for explaining an example of setting criteria for a driver's degree of understanding regarding driving assistance by the degree-of-understanding setting unit in FIG. 1 ; FIG. 2 is a diagram for explaining driving information notified by an information notification unit in FIG. 1 regarding a lane keeping support function; FIG. 2 is a diagram for explaining driving information notified by the information notification unit in FIG. 1 regarding the constant speed/following driving support function; FIG. 2 is a diagram for explaining driving information notified by an information notification unit in FIG. 1 regarding a lane change support function; 4 is a flow chart showing an example of processing by the information notification device according to the embodiment of the present invention;

An embodiment of the present invention will be described below with reference to FIGS. 1 to 6. FIG. An information notification device according to an embodiment of the present invention is applied to a vehicle having a driving assistance function that provides driving assistance to the driver of the vehicle or controls a travel actuator to automatically drive the vehicle. Provides driving information related to automated driving or driving assistance. Hereinafter, "driving assistance" in this embodiment includes driving assistance that assists the driver's driving operation, and automatic driving that automatically drives the vehicle regardless of the driver's driving operation, Level 1 defined by SAE (Auxiliary) to level 4 (advanced automation) equivalent to automated driving.

Driving assistance functions include, for example, a lane keeping assistance function that assists the driver's steering operation so that the vehicle runs within the driving lane, a driver's accelerator operation and It includes a constant speed/follow-up driving support function that supports braking operation. It also includes a lane change support function that controls a driving actuator to change the driving lane regardless of the driver's steering wheel operation, accelerator operation, or brake operation.

When using each driving support function, the driver must explain how to use each driving support function, including how to start, how to terminate, and how to set it, and the actions required while using each driving support function (requested actions). need to be understood correctly. The required behavior includes, for example, continuous steering wheel operation required while using the lane keeping assist function and constant speed/following assist function, surrounding surroundings including the lane change destination required while using the lane change assist function. This includes checking the status.

During use of each driving support function, information (driving information) related to the driving support function is notified to the driver, so that the driver can take the requested action according to the driving support function being used, and the driving support function can be used correctly. However, the degree of understanding of each driving support function differs from driver to driver depending on the experience of using the driving support function, and the required driving information also differs from driver to driver. Therefore, in the present embodiment, the following information is provided so that the driver can deepen his/her understanding of the driving assistance by notifying the information regarding the driving assistance in an appropriate manner according to the driver's degree of understanding of the driving assistance. Configure the notification device.

FIG. 1 is a block diagram schematically showing an example of a main configuration of an information reporting device (hereinafter referred to as device) 100 according to an embodiment of the present invention. As shown in FIG. 1, the device 100 is mainly composed of an electronic control unit (ECU) 10. As shown in FIG. The ECU 10 includes a computer having an arithmetic unit 11 such as a CPU, a storage unit 12 such as ROM and RAM, and other peripheral circuits.

The ECU 10 is configured as part of a plurality of ECU groups that are mounted on a vehicle, for example, and that control the operation of the vehicle. The ECU 10 may be configured including a computer provided outside the vehicle, or may be configured by a combination of a computer mounted on the vehicle and a computer provided outside the vehicle. A camera 1 mounted on the vehicle, a grip sensor 2, an accelerator sensor 3, a brake sensor 4, a steering angle sensor 5, an operation input unit 6, and an information notification unit 7 are connected to the ECU 10.

The camera 1 faces the driver's seat so that the upper half of the body including the driver's face (expression) is within the angle of view. To constantly photograph a seated driver. An image signal from the camera 1 is input to the ECU 10 . Based on the image captured by the camera 1, the individual driver can be identified by face recognition.

In addition, by identifying the form of the driver's facial expression (such as the corners of the mouth) and comparing it with a plurality of pre-stored facial expression forms associated with multiple emotions such as calmness and anxiety, it is possible to determine which form applies. , the emotion of the driver can be estimated. Alternatively, it is possible to identify the direction of the line of sight of the driver and determine whether the situation around the vehicle and in front of the vehicle is being sufficiently monitored, and whether the line of sight is deviating from the front as if searching for the operation input unit 6. .

The gripping sensor 2 is composed of, for example, a capacitance sensor, and is arranged on the steering wheel of the driver's seat. A signal from the gripping sensor 2 is input to the ECU 10 . Based on the signal from the gripping sensor 2, it can be determined whether or not the driver is gripping the steering wheel and continuing to operate the steering wheel.

The accelerator sensor 3 detects the depression amount of the accelerator pedal according to the accelerator operation by the driver. The brake sensor 4 detects the amount of depression of the brake pedal according to the brake operation by the driver. The steering angle sensor 5 detects the steering angle according to the driver's steering wheel operation. Signals from the accelerator sensor 3, the brake sensor 4, and the steering angle sensor 5 are input to the ECU 10.

The operation input unit 6 is composed of buttons that can be pressed, and is arranged, for example, on the steering wheel of the driver's seat at a position that can be operated with the thumb of the driver who is operating the steering wheel. A signal from the operation input unit 6 is input to the ECU 10 . The driver can activate, terminate, and set each driving support function via the operation input unit 6 .

The information notification unit 7 includes a display provided in front of the driver's seat, a speaker provided around the driver's seat, and the like, and notifies the driver of driving information related to the driving support function. The display may be provided in the meter panel in front of the driver's seat, or may be provided on the instrument panel in the center in the vehicle width direction. Alternatively, it may be configured as a head-up display. The information reporting unit 7 operates according to a control signal from the ECU 10 . The driver can confirm the activation, termination, setting status, etc. of each driving support function via the information notification unit 7 .

The calculation unit 11 of the ECU 10 has a travel control unit 13, a driver identification unit 14, an understanding level setting unit 15, and a notification control unit 16 as functional configurations. That is, the calculation unit 11 of the ECU 10 functions as a travel control unit 13 , a driver identification unit 14 , an understanding degree setting unit 15 and a notification control unit 16 . The storage unit 12 stores user information for each driver.

When the driving support function is activated via the operation input unit 6, the driving control unit 13 controls the driving actuators so as to provide driving support to the driver. Driving actuators include driving mechanisms such as an engine and a motor that drive a vehicle, braking mechanisms such as a brake that brakes the vehicle, and steering mechanisms such as a steering gear that steers the vehicle.

For example, the traveling control unit 13 controls the steering mechanism to assist the driver's steering operation during use of the lane keeping assistance function, and controls the driver's accelerator operation and It controls the drive and brake mechanisms to assist in braking. Also, during use of the lane change support function, the drive mechanism, braking mechanism, and steering mechanism are controlled so that the vehicle changes lanes regardless of the driver's steering, accelerator, or brake operations.

The driver identification unit 14 identifies the individual driver based on the image signal from the camera 1 . More specifically, when a pre-registered driver is specified based on the user information stored in the storage unit 12 and an unregistered driver is specified as a new user, a new user is stored in the storage unit 12. User information is stored.

The user information of each driver includes image information for facial recognition, information on activation, termination, and setting of each driving support function while the driver is driving the vehicle, and information on the vehicle using each driving support function. Information such as the distance traveled when driving is included. It also includes information on requests (warnings) issued by the system to the driver during use of each driving support function, information on overrides performed during use of each driving support function, and the like.

The degree-of-understanding setting unit 15 sets the degree of understanding of the driver regarding driving assistance by the driving control unit 13 based on the user information stored in the storage unit 12 . The understanding level of the driver set by the understanding level setting unit 15 is stored in the storage unit 12 as user information of each driver and updated. FIG. 2 is a diagram for explaining an example of the setting criteria for the degree of understanding by the degree-of-understanding setting unit 15. As shown in FIG. The degree of understanding regarding driving assistance is set for each driving assistance function, for example.

A driver who understands how to use each driving support function can use the driving support function by activating each driving support function via the operation input unit 6 at appropriate times while driving the vehicle. . As shown in FIG. 2, the longer the distance traveled by driving the vehicle using each driving assistance function, the higher the driver's degree of understanding of the driving assistance function is set. In this case, for example, points are given according to the distance traveled by driving the vehicle using each driving support function, and are quantified as the driver's degree of understanding of the driving support function.

However, if the elapsed time between driving the vehicle using the driving support function last time and driving the vehicle using the driving support function this time becomes longer, the driver forgets how to use the function and the desired behavior. Since the possibility increases, the degree of understanding is set (corrected) to be lower as the elapsed time is longer. In this case, for example, a correction coefficient corresponding to the elapsed time may be multiplied to set the degree of understanding low, or an appropriate correction value may be subtracted to set the degree of understanding low.

Each driving support function has a limit due to weather and road conditions, and depending on the situation, a driving operation (takeover) by the driver is required. A driver who fully understands the circumstances in which takeover is required for each driving support function should restart (override) the driving operation or terminate the driving support function and then drive before the system requests it. Operation can be resumed. Alternatively, in such a situation, a determination can be made not to activate the driving assistance function in the first place.

In addition, the driver is required to take a predetermined requested action while using each driving support function. For example, continuous steering operation is required during use of the lane keeping support function and the constant speed/following support function. When it is determined that the driver is not gripping the steering wheel based on the signal from the gripping sensor 2, the system warns the driver to continue steering. A driver who fully understands the required actions of each driving support function can take the required actions without being requested by the system.

In addition, drivers who fully understand the limitations and characteristics of each driving support function can voluntarily drive when a situation that the system is not good at occurs, even if they can continue to use the driving support function. can be resumed. For example, if the vehicle in front becomes a two-wheeled vehicle while the constant speed/follow-up driving support function is being used, the driving operation is resumed. In addition, such a driver can operate the operation input unit 6 as necessary to change the setting of each driving support function. For example, while using the constant speed/follow-up driving support function, the vehicle speed and inter-vehicle distance settings are changed as necessary.

Therefore, the higher the frequency of voluntary operation (intervention operation) by the driver that is not based on a request from the system while using each driving support function, the higher the driver's degree of understanding of the driving support function is set. be. In this case, for example, the degree of understanding may be set high by multiplying a correction coefficient according to the frequency of the intervention operation, or an appropriate correction value may be added to set the degree of understanding high.

Also, the higher the frequency with which the system issues a request (warning) to the driver during use of each driving assistance function, the lower the driver's degree of understanding of the driving assistance function is set. In this case, for example, the degree of understanding may be set low by multiplying a correction coefficient according to the frequency of requests, or the degree of understanding may be set low by subtracting an appropriate correction value.

The degree-of-understanding setting unit 15 may set the degree of understanding of the driver regarding each driving assistance function based on the facial expression of the driver captured by the camera 1 while the driving assistance function is being used. More specifically, the driver's emotion is estimated based on the facial expression of the driver photographed by the camera 1, and if the driver's feeling of anxiety is estimated, the degree of understanding of the driver is set (corrected) to be low. . Alternatively, the direction of the line of sight is specified based on the image of the driver captured by the camera 1, and if the surroundings of the vehicle and the situation in front of the vehicle are not sufficiently monitored, the line of sight is directed forward so as to search for the operation input unit 6. If it deviates from the above, the degree of understanding of the driver is set (corrected) to be low. In this case, for example, an appropriate correction coefficient may be multiplied to set the degree of understanding low, or an appropriate correction value may be reduced to set the degree of understanding low.

The notification control unit 16 controls the information notification unit 7 to notify the driving information related to each driving support function while the driving support function is in use. Such driving information is reported in such a manner that the lower the degree of understanding set by the understanding level setting unit 15, the greater the amount of information reported and the more detailed mode. It is modified to be less and simpler.

3 to 5 are diagrams for explaining an example of the driving information notified by the information notification unit 7, and show examples of display screens of the display constituting the information notification unit 7. FIG. FIG. 3 shows an example of driving information related to the lane keeping assistance function. As shown in FIG. 3, while the lane keeping assist function is in use, the function icon 7a is displayed to indicate that the lane keeping assist function is in operation regardless of the degree of understanding of the driver. Only the function icon 7a is displayed for the driver whose degree of understanding is higher than a predetermined level.

On the other hand, for a driver whose degree of understanding is lower than a predetermined level, or who has a medium or low degree of understanding, a visual display 7b and a text display 7c visually explaining the requested action are displayed in addition to the function icon 7a. In the example of FIG. 3, the function icon 7a and the visual display 7b are displayed for a driver with a medium degree of understanding, and the function icon 7a and the visual display 7b are displayed for a driver with a low degree of understanding. All the text displays 7c are displayed.

FIG. 4 shows an example of driving information relating to the constant speed/follow-up driving support function. As shown in Figure 4, when the system recognizes a vehicle in front while using the constant speed/follow-up assist function, regardless of the driver's degree of understanding, the system recognizes the vehicle in front and follows the vehicle. The function icon 7a shown is highlighted (for example, blinking). Only the function icon 7a is highlighted for the driver whose degree of understanding is above a predetermined level. On the other hand, for the driver whose degree of understanding is below a predetermined level, in addition to the highlighted display of the function icon 7a, a visual display 7b and a text display 7c visually explain that the preceding vehicle is recognized and follow-up running is performed. is displayed.

FIG. 5 shows an example of driving information related to the lane change support function. As shown in FIG. 5, a function icon 7a indicates that when a lane change to the right lane is performed by the lane change support function, the lane change to the right lane is performed regardless of the degree of understanding of the driver. is displayed. Only the function icon 7a is displayed for the driver whose degree of understanding is above a predetermined level. On the other hand, in addition to the function icon 7a, a visual display 7b and a text display 7c visually explaining the future movement of the vehicle and the requested action are displayed for the driver whose degree of understanding is below a predetermined level.

In this way, the driver's understanding of the driving assistance can be deepened by notifying the driving information related to each driving assistance function in a mode according to the degree of understanding of the driver. In other words, drivers with a low degree of understanding can deepen their correct understanding of driving assistance by gaining experience of actually using the driving assistance function correctly while taking the required actions in accordance with detailed notifications.

In addition, as the degree of understanding increases, the notification becomes simpler, so that the driver can recognize that he/she is using the driving support function correctly based on his/her own understanding. You can deepen your understanding. In addition, since the annoyance of notifications while driving is reduced, the driver can concentrate on monitoring the surroundings of the vehicle and the situation in front of the vehicle, enabling safer driving to continue.

FIG. 6 shows an example of processing by the calculation unit 11 of the ECU 10 of FIG. The processing shown in this flowchart is started, for example, when the vehicle is started and the ECU 10 is activated, and is repeated at a predetermined cycle. First, in step S1, it is determined based on the image signal from the camera 1 whether or not the passenger in the driver's seat, that is, the driver is seated. If the result in step S1 is affirmative, the process proceeds to step S2, and if the result is negative, the process ends. In step S<b>2 , the driver is identified based on the image signal from the camera 1 by processing in the driver identification unit 14 . Next, in step S3, the user information of the driver identified in step S2 is acquired from the storage unit 12. FIG.

Next, in step S4, the understanding degree setting unit 15 sets the degree of understanding of the driver regarding each driving support function based on the user information acquired in step S3 and the image signal from the camera 1, and sets the degree of understanding of the driver. is updated. Next, in step S5, the required action of each driving support function is determined by processing in the notification control unit 16, and the notification mode by the information notification unit 7 is set according to the degree of understanding set in step S4. Next, in step S6, based on the image signal from the camera 1, it is determined whether or not the driver has left the seat. If the result in step S6 is negative, the process returns to step S3, and if the result is positive, the process ends.

In this way, the degree of understanding regarding driving assistance is updated each time the vehicle is driven (steps S1 to S4), and the mode of reporting driving information is set according to the updated degree of understanding (step S5). In addition, the degree of understanding is based on the usage history of each driving support function, the frequency of intervention operations and requests (warnings) while using each driving support function, and the facial expression and line of sight of the driver when using each driving support function. is updated (step S6→S3, S4). As a result, the driver can always receive notification of driving information in an appropriate manner according to his/her degree of understanding of each driving support function.

According to this embodiment, the following effects can be obtained.
(1) The device 100 includes a driving control unit 13 that controls a driving actuator to provide driving assistance to the driver of the vehicle, and an understanding level setting unit that sets the driver's degree of understanding of the driving assistance by the driving control unit 13. 15, an information notification unit 7 for notifying the driver of driving information related to driving support by the driving control unit 13, and an information notification unit for notifying the driving information according to the degree of understanding set by the understanding degree setting unit 15. and a notification control unit 16 that controls 7 (FIG. 1). As a result, the driver's understanding of driving assistance can be deepened.

(2) The notification control unit 16 controls the information notification unit 7 so that the amount of information to be notified decreases as the understanding level set by the understanding level setting unit 15 increases (FIGS. 3 to 5). To deepen understanding of a driver with a low degree of understanding by notifying in a detailed manner, and to reduce annoyance due to notification during driving by notifying a driver with a high degree of understanding in a simple manner. can be done.

(3) When the degree of understanding set by the degree-of-understanding setting unit 15 is less than a predetermined value, the notification control unit 16 uses the driving support function to notify the driver of the requested action while driving. Then, the information notification unit 7 is controlled (FIGS. 3 and 5). As a result, a driver with a low degree of understanding can actually use the driving assistance function correctly while taking the required action according to the notification, so that the correct understanding of each driving assistance function can be deepened.

(4) The notification control unit 16 uses the driving support function to determine the requested action, which is the action requested of the driver while the vehicle is running. The degree-of-understanding setting unit 15 obtains the frequency of an intervention operation by the driver that differs from the requested action determined by the notification control unit 16 while driving using the driving support function, and calculates the obtained frequency of intervention operation, Based on at least one of the mileage traveled using the driving support function, the frequency of requesting the requested action to the driver, and the facial expression of the driver during driving using the driving support function, the driving control unit 13 Set the degree of understanding of the driver regarding driving assistance (Fig. 2). That is, it is possible to easily and accurately set the degree of understanding of the driver based on the detection values of detectors generally possessed by the vehicle equipped with the driving support function.

(5) The notification control unit 16 uses the driving support function to determine the requested action, which is the action requested of the driver during running. The degree-of-understanding setting unit 15 acquires the frequency of an intervention operation by the driver that differs from the requested action determined by the notification control unit 16 while driving using the driving support function, and determines whether the acquired frequency of the intervention operation is The degree of understanding of the driver regarding the driving assistance by the driving control unit 13 is set higher the higher, the longer the traveled distance traveled using the driving assistance function, or the lower the frequency of requesting the requested action to the driver. (Fig. 2). For example, the degree of understanding can be quantified by assigning points according to the frequency of intervention operations, the distance traveled, or the frequency of requests for requested actions.

(6) The device 100 further includes a camera 1 that captures the expression of the driver (Fig. 1). The degree-of-understanding setting unit 15 sets the degree of understanding of the driver regarding the driving assistance by the driving control unit 13 based on the expression of the driver during driving using the driving assistance function captured by the camera 1 . For example, the driver's emotion is estimated based on the facial expression, and if the driver's feeling of anxiety is estimated, the degree of understanding of the driver is set (corrected) to be low. As a result, it is possible to set the degree of understanding of the driver with higher accuracy.

In the above embodiment, a specific example of the standard for setting the level of understanding by the level of understanding setting unit 15 has been described with reference to FIG. 2 and the like. It is not limited to setting the degree. For example, the degree of understanding may be set based on self-reported information input by the driver himself/herself. Moreover, although an example in which the degree of understanding is individually set for each driving support function has been described, a single degree of understanding may be set for all the driving support functions. In this case, for example, the average value of the degree of understanding of each driving support function may be set as the overall degree of understanding.

In the above embodiment, specific examples of the display screen of the display constituting the information notification unit 7 are shown in FIGS. The part is not limited to such a thing. For example, it may be displayed by changing the blinking state, brightness, size, etc. of a function icon or a visual display. In addition to the display, a speaker may be used for notification. In this case, for example, a driver with a high degree of understanding may be notified simply by beep sound, and a driver with a low degree of understanding may be notified in detail by voice guidance. Moreover, although the example in which the notification mode is changed in three stages according to the degree of understanding has been described, the notification mode may be changed in two stages, or in four or more stages.

In the above embodiment, the camera 1 is used to identify the individual driver by face authentication. However, the driver may be identified by iris authentication, or fingerprint authentication or palm print authentication using a sensor provided on the steering wheel. , finger vein authentication, or the like. Voice authentication may be performed using a microphone provided in the vehicle. It may be identified using a smart device such as a smart key or smart phone that is associated with the driver and carried by the driver.

The above description is merely an example, and the present invention is not limited by the above-described embodiments and modifications as long as the features of the present invention are not impaired. It is also possible to arbitrarily combine one or more of the above embodiments and modifications, and it is also possible to combine modifications with each other.

1 camera, 2 grip sensor, 3 accelerator sensor, 4 brake sensor, 5 steering angle sensor, 6 operation input unit, 7 information notification unit, 10 electronic control unit (ECU), 11 calculation unit, 12 storage unit, 13 travel control unit , 14 driver identification unit, 15 understanding level setting unit, 16 notification control unit, 100 information notification device (device)

Claims (6)

a travel control unit that controls a travel actuator to provide driving assistance to the driver of the vehicle or automatically drive the vehicle;
a degree-of-understanding setting unit that sets the degree of understanding of the driver regarding driving assistance or automatic driving by the travel control unit;
an information notification unit that notifies the driver of information related to driving assistance or automatic driving by the travel control unit;
An information notification device, comprising: a notification control section for controlling the information notification section so as to notify information corresponding to the degree of understanding set by the degree-of-understanding setting section. In the information notification device according to claim 1,
The information notification device, wherein the notification control unit controls the information notification unit so that the amount of information to be notified decreases as the degree of understanding set by the degree of understanding setting unit increases. In the information notification device according to claim 1 or 2,
The notification control unit, when the degree of understanding set by the degree-of-understanding setting unit is equal to or less than a predetermined level, notifies the driver of a requested action that is required during driving with driving assistance or automatic driving. An information reporting device, characterized by controlling a reporting unit. In the information notification device according to any one of claims 1 to 3,
The notification control unit determines a requested action that is an action requested to the driver during driving with driving assistance or automatic driving,
The degree-of-understanding setting unit acquires the frequency of an intervention operation by the driver that differs from the requested action determined by the notification control unit while driving with driving assistance or automatic driving, and obtains the frequency of the intervention operation, driving Driving support by the driving control unit based on at least one of the mileage traveled with assistance or automatic driving, the frequency of requesting the requested action to the driver, and the facial expression of the driver during driving with driving assistance or automatic driving. or an information reporting device characterized by setting the degree of understanding of a driver regarding automatic driving. In the information notification device according to any one of claims 1 to 3,
The notification control unit determines a requested action that is an action requested to the driver during driving with driving assistance or automatic driving,
The degree-of-understanding setting unit acquires the frequency of an intervention operation by the driver that differs from the requested action determined by the notification control unit while driving with driving assistance or automatic driving, and the frequency of the acquired intervention operation is high. The longer the travel distance traveled with driving assistance or automatic driving, or the lower the frequency of requesting the requested action to the driver, the higher the degree of understanding of the driver regarding driving assistance or automatic driving by the driving control unit. An information annunciation device characterized by setting. In the information notification device according to any one of claims 1 to 5,
Equipped with a camera that captures the driver's expression,
The degree-of-understanding setting unit sets the degree of understanding of the driver regarding the driving assistance or automatic driving by the driving control unit based on the facial expression of the driver during driving with the driving assistance or automatic driving photographed by the camera. An information reporting device characterized by:

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