JP2023059551A - Driving support method and driving support device - Google Patents

Abstract

To provide a driving support method and a driving support device which enable a driver to clearly recognize that a condition for switching automatic driving levels is established.SOLUTION: If a first switching condition for controlling the switching from a driving support mode of a relatively low support level to a driving support mode of a relatively high support level has been established, a specific operation for changing operation of on-vehicle equipment of a vehicle and/or a specific operation for changing behavior of the vehicle are continuously executed.SELECTED DRAWING: Figure 12

Description

TECHNICAL FIELD The present invention relates to a driving assistance method and a driving assistance device.

An information display device is known that allows a driver to recognize an automatic driving level by changing an image displayed on a monitor according to the automatic driving level (see Patent Document 1).

JP 2015-182624 A

However, in the above-described conventional information display device, since the image corresponding to the automatic driving level is only displayed on the monitor, when the automatic driving level changes, the driver satisfies the switching condition of the automatic driving level. The problem is that it cannot be clearly recognized.

The problem to be solved by the present invention is to provide a driving assistance method and a driving assistance device that allow the driver to clearly recognize that the automatic driving level switching condition is satisfied.

The present invention changes the operation of onboard equipment of a vehicle when a first switching condition for switching from a driving assistance mode with a relatively low assistance level to a driving assistance mode with a relatively high assistance level is satisfied. The above problem is solved by continuously executing a specific action and/or a specific action that changes the behavior of the vehicle.

ADVANTAGE OF THE INVENTION According to this invention, the driving assistance method and driving assistance apparatus which can recognize clearly that the switching condition of an automatic driving level is satisfied by a driver can be provided.

1 is a block diagram showing an embodiment of a driving assistance device of the present invention; FIG. 2 is a front view showing part of the input device of FIG. 1; FIG. FIG. 2 is a plan view showing an example of lane change control of the control device of FIG. 1; 2 is a block diagram showing an outline of state transitions of the control device of FIG. 1; FIG. 5A and 5B are diagrams (part 1) for explaining conditions for switching the support level in FIG. 4; FIG. 5A and 5B are diagrams (part 2) for explaining conditions for switching the support level in FIG. 4; FIG. 5A and 5B are diagrams (part 3) for explaining conditions for switching the support level in FIG. 4; FIG. 5A and 5B are diagrams each showing an example of a display screen of the in-vehicle device corresponding to the support level in FIG. 4; FIG. 5(a) and 5(b) are diagrams showing other examples of display screens of the in-vehicle device corresponding to the support levels in FIG. 4. FIG. FIG. 6 is a diagram for explaining a relationship between a support level switching condition and a threshold in FIG. 5 ; 10B is a diagram for explaining the relationship between the threshold of the switching condition in FIG. 10A and hysteresis; FIG. FIG. 10B is a diagram (part 1) for explaining the change of the threshold value of the switching condition in FIG. 10A; FIG. 10B is a diagram (part 2) for explaining the change of the threshold value of the switching condition in FIG. 10A; FIG. 2 is a flowchart showing an example of driving assistance control processing executed by the driving assistance device of FIG. 1; FIG.

<Configuration of driving support device>
BEST MODE FOR CARRYING OUT THE INVENTION An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of a driving assistance device 1 according to this embodiment. The driving assistance device 1 of this embodiment is also an embodiment for carrying out the driving assistance method according to the present invention.

As shown in FIG. 1, the driving support system 1 of this embodiment includes a sensor 11, a vehicle position detection device 12, a map database 13, an in-vehicle device 14, a navigation device 15, a presentation device 16, an input device 17, and a drive control device. 18 and a controller 19 . These devices are connected, for example, by a CAN (Controller Area Network) or other in-vehicle LAN, and can mutually transmit and receive information. Note that the sensor 11, the vehicle position detection device 12, the map database 13, the vehicle-mounted device 14, the navigation device 15, the presentation device 16, the input device 17, and the drive control device 18 of this embodiment correspond to the detection unit according to the present invention. However, the control device 19 of this embodiment corresponds to the control unit according to the present invention.

A sensor 11 detects the running state of the host vehicle. For example, the sensors 11 include a front camera, a rear camera, a side camera and an all-around camera that capture images of the surroundings of the vehicle, a front radar, a rear radar and a side radar that detect obstacles around the vehicle, A front rider, a rear rider, and a side rider that detect the distance to obstacles around the vehicle, a vehicle speed sensor that detects the speed of the vehicle, and a touch sensor (static sensor) that detects whether the driver is holding the steering wheel. capacitance sensor) and an in-vehicle camera that captures an image of the driver. As the sensor 11, one of the plurality of sensors described above may be used, or two or more types of sensors may be used in combination. The detection result of the sensor 11 is output to the control device 19 at predetermined time intervals.

The own vehicle position detection device 12 includes a GPS unit, a gyro sensor, a vehicle speed sensor, and the like. The own vehicle position detection device 12 detects radio waves transmitted from a plurality of satellite communications by the GPS unit, and periodically acquires the position information of the target vehicle (own vehicle). Also, the vehicle position detection device 12 detects the current position of the target vehicle based on the acquired position information of the target vehicle, the angle change information acquired from the gyro sensor, and the vehicle speed acquired from the vehicle speed sensor. The position information of the target vehicle detected by the own vehicle position detection device 12 is output to the control device 19 at predetermined time intervals.

The map database 13 is a memory that stores three-dimensional high-precision map information including position information of various facilities and specific points, and is accessible from the control device 19 . The three-dimensional high-precision map information is three-dimensional map information based on road shapes detected when a data acquisition vehicle is used to travel on actual roads. The three-dimensional high-precision map information, together with the map information, includes detailed and high-precision information such as curved roads and their curve sizes (e.g., curvature or radius of curvature), road junctions, junctions, toll booths, and locations where the number of lanes decreases. is map information associated as three-dimensional information.

The in-vehicle device 14 is various devices mounted in the vehicle, and is operated by the driver's operation. Such in-vehicle devices include steering wheels, accelerator pedals, brake pedals, direction indicators, wipers, lights, horns, and other specific switches. The in-vehicle device 14 outputs the operation information to the control device 19 when operated by the driver. Further, the in-vehicle device 14 executes a specific operation based on a command value from the control device 19 when a condition for switching the assistance level of the driving assistance mode in the autonomous driving control function is established. The driving assistance mode in the autonomous driving control function, the conditions for switching the assistance level of the driving assistance mode, and the specific operation will be described later.

The navigation device 15 acquires the current position information of the own vehicle from the own vehicle position detection device 12, and superimposes the position of the own vehicle on the map information for guidance and displays it on a display or the like. The navigation device 15 also has a navigation function of calculating a route to the destination when the driver inputs the destination and guiding the driver along the set route. With this navigation function, the navigation device 15 displays the route to the destination on the map on the display, and notifies the driver of the recommended driving behavior on the route by voice or the like.

The presentation device 16 includes various displays such as a display included in the navigation device 15, a display incorporated in the rearview mirror, a display incorporated in the meter section, and a head-up display projected onto the windshield. Also, the presentation device 16 includes devices other than the display, such as a speaker of an audio device, a seat device in which a vibrating body is embedded, and the like. The presentation device 16 informs the driver of various presentation information under the control of the control device 19 .

The input device 17 is, for example, a device such as a button switch that allows manual input by the driver, a touch panel that is arranged on a display screen, or a microphone that allows driver's voice input. In this embodiment, the driver can input setting information for the presentation information presented by the presentation device 16 by operating the input device 17 . FIG. 2 is a front view showing part of the input device 17 of the present embodiment, and shows an example of button switches arranged on the spokes of a steering wheel or the like.

The illustrated input device 17 is a button switch used when setting ON/OFF of the autonomous travel control function (autonomous speed control function and autonomous steering control function) provided in the control device 19 . The input device 17 of this embodiment includes a main switch 171 , a resume/accelerate switch 172 , a set/coast switch 173 , a cancel switch 174 , a distance control switch 175 , and a lane change support switch 176 .

The main switch 171 is a switch for turning ON/OFF the power of the system that realizes the autonomous speed control function and the autonomous steering control function of the control device 19 . After stopping (turning off) the autonomous speed control function, the resume/accelerate switch 172 restarts the autonomous speed control function at the set speed before it was turned off, increases the set speed, or controls the vehicle after following the preceding vehicle and stopping. It is a switch for restarting by the device 19 . The set/coast switch 173 is a switch that starts the autonomous speed control function at the running speed or lowers the set speed. The cancel switch 174 is a switch for turning off the autonomous speed control function. The inter-vehicle distance adjustment switch 175 is a switch for setting the inter-vehicle distance to the preceding vehicle, and is a switch for selecting one from a plurality of settings such as short distance, medium distance, and long distance. The lane change support switch 176 is a switch for instructing (approving) the start of lane change when the control device 19 confirms the start of the lane change with the driver. By pressing the lane change support switch 176 longer than a predetermined time after approving the start of lane change, the approval of the lane change proposal by the control device 19 can be cancelled.

In addition to the button switch group shown in FIG. 2 , a direction indicator lever of a direction indicator or other switches of the vehicle-mounted device 14 can be used as the input device 17 . For example, when the control device 19 proposes whether or not to change lanes by autonomous control, the driver turns on the switch of the direction indicator to input approval or permission of the lane change. can also Further, when the control device 19 suggests whether or not to change lanes by autonomous control, when the driver operates the direction indicator lever, the direction indicator lever is operated instead of the proposed lane change. It is also possible to adopt a configuration in which a lane change is performed by The setting information input by the input device 17 is output to the control device 19 .

The drive control device 18 controls running of the own vehicle. For example, when the self-vehicle runs at a set speed by the autonomous speed control function, the drive control device 18 accelerates, decelerates, and maintains the running speed so that the self-vehicle reaches the set speed. Operation of the drive mechanism (in the case of a gasoline engine vehicle, the operation of the internal combustion engine; in the case of an electric vehicle, the operation of the drive motor; in the case of a hybrid vehicle, the torque distribution between the internal combustion engine and the drive motor). and control the braking action. In addition, the drive control device 18 realizes acceleration/deceleration and travel speed so that the distance between the vehicle and the preceding vehicle is constant when the vehicle follows the preceding vehicle by the autonomous speed control function. control the operation of the drive mechanism and brake operation for

Further, the drive control device 18 performs steering control of the own vehicle by controlling the operation of the steering actuator in addition to the above-described operation control of the drive mechanism and the brake by the autonomous steering control function. For example, when the autonomous steering control function is used to perform lane keeping control, the drive control device 18 detects the lane marker of the lane in which the vehicle is traveling, and controls the vehicle to run in a predetermined position within the lane. It controls the running position of the own vehicle in the width direction. Further, the drive control device 18 controls the traveling position of the own vehicle in the width direction so that the own vehicle changes lanes when lane change support is executed by a lane change support function, which will be described later. Furthermore, the drive control device 18 performs running control to turn right or left at an intersection or the like when executing right/left turn support by the autonomous steering control function. The drive control device 18 controls the running of the own vehicle according to instructions from the control device 19, which will be described later. Other known methods can also be used as the travel control method by the drive control device 18 .

The control device 19 includes a ROM (Read Only Memory) that stores a program for controlling the running of the vehicle, a CPU (Central Processing Unit) that executes the program stored in the ROM, and an accessible storage device. Equipped with functioning RAM (Random Access Memory). In addition, as the operation circuit, instead of or together with the CPU (Central Processing Unit), MPU (Micro Processing Unit), DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), etc. can be used.

<<Function realized by the control device 19>>
The control device 19 has a running information acquisition function for acquiring information about the running state of the own vehicle, a running scene determination function for determining the running scene of the own vehicle, and a running scene determining function for determining the running scene of the own vehicle. and an autonomous cruise control function that autonomously controls the running speed and/or steering of the vehicle. Each function of the control device 19 will be described below.

The travel information acquisition function of the control device 19 is a function for the control device 19 to acquire travel information regarding the travel state of the own vehicle. For example, the control device 19 acquires image information of the exterior of the vehicle captured by the front camera, rear camera, and side camera of the sensor 11 as travel information. In addition, the control device 19 acquires detection results from the front radar, the rear radar, and the side radar as travel information. Further, the control device 19 also acquires vehicle speed information of the own vehicle detected by the vehicle speed sensor of the sensor 11 and image information of the driver's face captured by the in-vehicle camera as travel information.

Further, the control device 19 acquires current position information of the vehicle from the vehicle position detection device 12 as travel information. Further, the control device 19 acquires the set destination and the route to the destination from the navigation device 15 as travel information. Further, the control device 19 acquires location information such as curved roads and their curve sizes (e.g., curvature or radius of curvature), junctions, junctions, toll gates, and locations where the number of lanes decreases from the map database 13 as travel information. do. In addition, the control device 19 acquires operation information of the vehicle-mounted device 14 by the driver from the vehicle-mounted device 14 as driving information. The above is the travel information acquisition function realized by the control device 19 .

The driving scene determination function of the control device 19 refers to a table stored in the ROM of the control device 19 to determine the driving scene in which the host vehicle is running. A table stored in the ROM of the control device 19 stores, for example, driving scenes suitable for changing lanes and overtaking and determination conditions for each driving scene. The control device 19 refers to the table stored in the ROM and determines whether or not the driving scene of the own vehicle is suitable for, for example, changing lanes or overtaking.

For example, the judgment conditions for the "catch-up scene" include "preceding vehicle exists in front", "preceding vehicle speed < own vehicle's set speed", "predetermined time to reach the preceding vehicle", and Suppose that four conditions are set, that is, "the lane change direction is not a lane change prohibition condition." In this case, the control device 19, for example, the detection result by the front camera and the front radar included in the sensor 11, the vehicle speed detected by the vehicle speed sensor, the position information of the vehicle by the vehicle position detection device 12, and the like. Based on this, it is determined whether or not the host vehicle satisfies the above conditions. When the above conditions are satisfied, the control device 19 determines that the subject vehicle is in a "catch-up scene with the preceding vehicle". The driving scene determination function realized by the control device 19 has been described above.

The autonomous driving control function of the control device 19 is a function for the control device 19 to autonomously control the driving of the own vehicle without depending on the driver's operation. The autonomous travel control function of the control device 19 includes an autonomous speed control function that autonomously controls the travel speed of the vehicle, and an autonomous steering control function that autonomously controls the steering of the vehicle. The autonomous speed control function and the autonomous steering control function of this embodiment will be described below.

When a vehicle ahead is detected, the autonomous speed control function sets the vehicle speed set by the driver as the upper limit and controls the distance between the vehicles according to the vehicle speed while following the vehicle ahead. If the vehicle is not detected, it will run at a constant speed set by the driver. The former is also called inter-vehicle control, and the latter is called constant speed control. The autonomous speed control function detects the speed limit of the road on which the vehicle is traveling from the road signs by the sensor 11, or acquires the speed limit from map information in the map database 13, and automatically adjusts the speed limit to the set vehicle speed. may include the ability to

To activate the autonomous speed control function, the driver first operates the resume/accelerate switch 172 or the set/coast switch 173 of the input device 17 shown in FIG. 2 to input a desired running speed. For example, if the set coast switch 173 is pressed while the vehicle is traveling at 70 km/h, the current traveling speed is set as is. The set speed can be increased by pressing the switch 172 multiple times. This is because the "+" mark attached to the resume/accelerate switch 172 indicates that it is a switch for increasing the set value. Conversely, if the speed desired by the driver is 60 km/h, the set coast switch 173 should be pressed a plurality of times to lower the set speed. This is because the "-" mark attached to the set/coast switch 173 indicates that it is a switch for decreasing the set value. Further, the driver's desired inter-vehicle distance can be selected by operating the inter-vehicle distance adjustment switch 175 of the input device 17 shown in FIG.

Constant-speed control, in which the vehicle travels at a constant speed set by the driver, is executed when the forward radar of the sensor 11 or the like detects that there is no preceding vehicle ahead of the own lane. In constant speed control, the drive control device 18 controls the operation of drive mechanisms such as the engine and brakes while feeding back vehicle speed data from a vehicle speed sensor so as to maintain a set running speed.

The inter-vehicle distance control, in which the vehicle follows the preceding vehicle while performing the inter-vehicle distance control, is executed when the forward radar of the sensor 11 or the like detects that there is a preceding vehicle ahead of the own lane. In the inter-vehicle distance control, the driving mechanism such as the engine and the brakes is operated by the drive control device 18 while feeding back the inter-vehicle distance data detected by the front radar so as to maintain the set inter-vehicle distance with the set running speed as the upper limit. controls the behavior of Note that when the preceding vehicle stops while traveling under inter-vehicle distance control, the host vehicle also stops following the preceding vehicle. Further, when the preceding vehicle starts moving within, for example, 30 seconds after the own vehicle stops, the own vehicle also starts and starts the follow-up running by the vehicle-to-vehicle distance control again. If the own vehicle has been stopped for more than 30 seconds, it will not automatically start even if the preceding vehicle starts moving. , the follow-up running is started again by the vehicle-to-vehicle distance control.

On the other hand, the autonomous steering control function is a function for executing steering control of the own vehicle by controlling the operation of the steering actuator. The autonomous steering control function of the present embodiment includes (1) a lane keeping function (lane width direction maintaining function) that controls the steering so that the vehicle runs in the center of the lane, for example, and assists the driver in operating the steering wheel; (2) Lane change assist function that controls the steering when the driver operates the turn signal lever and assists the operation of the steering wheel necessary for lane changes. (4) If the driver has set a destination in the navigation device, etc. When the vehicle arrives at a lane change point required to follow the route, a display is displayed to confirm the driver's intention to change lanes. and so on.

Here, the lane change support function among the autonomous steering control functions will be described. FIG. 3 is a plan view showing an example of lane change control (lane change support function) executed by the control device 19 of the present embodiment. As shown in FIG. 3, when the driver operates the turn signal lever of the host vehicle V1, the control device 19 turns on the direction indicator, and when a preset lane change start condition is met, the lane change operation (a series of autonomous lane changes) is satisfied. (hereinafter also referred to as LCP) is started. The control device 19 determines whether or not a lane change start condition is satisfied based on various types of travel information acquired by the sensor 11 . The lane change start condition is not particularly limited, but (1) the lane keep mode in the hands-on mode, (2) the hands-on determination is in progress, (3) the vehicle is traveling at a speed of 60 km/h or more, (4) There is a lane in the direction of the lane change, (5) There is a space in the lane to which the lane is to be changed, (6) The type of lane marker is that the lane can be changed, (7) Curvature of the road For example, all the conditions (1) to (8) are satisfied, such as the radius being 250 m or more and (8) the driver operating the direction indicator lever within 1 second. When the control device 19 determines that the lane change start condition is satisfied by the lane change support function without an instruction from the driver, the control device 19 notifies the driver through the presentation device 16, thereby proposing a lane change to the driver. You may

Incidentally, the lane keep mode of the hands-on mode refers to a state in which the autonomous speed control function and the lane keep function of the autonomous steering control function are being executed and the driver's holding of the steering wheel is detected. Further, "during hands-on determination" refers to a state in which the driver continues to hold the steering wheel.

When the lane change start condition is satisfied, the control device 19 starts the lane change operation LCP. As shown in FIG. 3, the lane change operation LCP of the present embodiment includes a lateral movement of the host vehicle V1 to the adjacent lane L2 and a lane change maneuver (hereinafter also referred to as LCM) for actually moving to the adjacent lane L2. include. During execution of the lane change operation LCP, the control device 19 presents information indicating that the lane is being changed by autonomous control to the driver via the presentation device 16 to draw attention to the surroundings. When the lane change maneuver LCM is completed, the control device 19 turns off the direction indicator and starts executing the lane keeping function in the adjacent lane L2. Note that the lane change operation LCP refers to the period from turning on the direction indicator by operating the turn signal lever to turning off the turn signal, and the lane change operation LCM is performed when the own vehicle V1 starts stepping on the boundary line between the own lane L1 and the adjacent lane L2. It shall be defined as the period from the start to the end of the step.

Incidentally, a plurality of levels are set for the driving support mode realized by the autonomous driving control function of this embodiment. A driving assistance mode means a form or mode of assistance in assisting a driving operation. In the present embodiment, the level of support is referred to as a support level. Each support level of the driving support mode defines how much the control device 19 intervenes in controlling the running operation of the vehicle, in other words, how much the driver's manual operation intervenes. The control device 19 combines autonomous control of traveling speed using the autonomous speed control function and autonomous control of steering operation using the autonomous steering control function to autonomously control the traveling of the own vehicle. Realize support for prescribed driving operations.

The support level of this embodiment is defined in, for example, SAE J3016 published by the Society of Automotive Engineers (SAE): SEP2016, Taxonomy and Definitions for Terms Related to Driving Automation Systems for On-Road Motor Vehicles can be set based on the level of driving automation provided. For example, assistance level 0 defined by this SAE is a level at which the driver performs all driving tasks necessary for driving maneuvers. Similarly, at support level 1, the control device 19 continuously executes either autonomous speed control or autonomous steering control (but not both simultaneously) in a specific limited area, and the driver controls the vehicle's speed or steering. (not both at the same time). Similarly, at support level 2, the control device 19 continuously executes autonomous speed control and autonomous steering control in a specific limited area, and the driver controls either the running speed of the own vehicle or the steering of the own vehicle by steering (not both at the same time). no). Similarly, assistance level 3 is the level at which the control device 19 continuously performs all driving tasks in a limited area. Similarly, support level 4 is a level in which the control device 19 executes all driving tasks, and the response to the case where continuation of control is difficult is executed continuously in a limited area. Similarly, support level 5 is a level at which the control device 19 continuously and unrestrictedly executes all driving tasks and responses to cases where continuation of control is difficult.

Assistance level 1 set in the present embodiment corresponds to the control device 19 controlling the running speed of the own vehicle by autonomous speed control, although not particularly limited. Similarly, support level 2 corresponds to the control device 19 controlling the steering of the own vehicle by autonomous steering control in addition to autonomous speed control. Support level 2 includes a hands-on mode (support level 2β) and a hands-off mode (support level 2α). Hands-on mode refers to a state in which autonomous steering control does not operate unless the driver holds the steering wheel, while hands-off mode refers to a state in which autonomous steering control operates even if the driver releases the steering wheel. . Further, at the assistance level 2 set in the present embodiment, although not particularly limited, autonomous speed control and autonomous steering control are executed in the eyes-on mode.

Assistance level 3 set in the present embodiment is not particularly limited, but corresponds to the control device 19 executing autonomous speed control and autonomous steering control in the eyes off mode in addition to assistance level 2. Eyes-on mode refers to a state in which autonomous speed control and autonomous steering control are not activated unless the driver's surroundings (especially the front) are detected. Eyes-on mode uses an in-vehicle camera to image the driver and monitor the direction of the driver's line of sight and face. If the driver is not in a situation suitable for monitoring the surroundings, such as when the line of sight is off the front or the face is not facing the front, the control device 19 activates the forward caution warning. On the other hand, the eyes-off mode is a state in which the control device 19 monitors the surroundings under certain conditions to operate autonomous speed control and autonomous steering control even if the driver's surroundings are not detected. Say.

In the assistance level 2 of the present embodiment, driving operation is controlled by the control device 19, but the driver monitors the surroundings in the eyes-on mode and determines the behavior of the vehicle, so the driver takes the initiative in driving. On the other hand, in the support level 3 of the present embodiment, in addition to controlling the driving operation, the control device 19 monitors the surroundings in the eyes-off mode and determines the behavior of the vehicle, so the initiative of driving is temporarily. is transferred to the control device 19 at .

<<State transition of driving support device>>
FIG. 4 is a block diagram showing an overview of state transitions of functions established in the control device 19. As shown in FIG. The system shown in the figure means an autonomous travel control system realized by the control device 19 . When the main switch 171 shown in FIG. 2 is turned ON from the system OFF state shown in the figure, the system enters the standby state. From this standby state, by turning on the set/coast switch 173 or the resume/accelerate switch 172 in FIG. 2, the autonomous speed control (assistance level 1) of the driving assistance mode is activated. As a result, the above-described constant speed control or vehicle distance control is started, and the driver can drive the vehicle simply by operating the steering wheel without stepping on the accelerator or brake. The system OFF state/standby state corresponds to a manual driving mode in which the driver operates the vehicle himself, and the system ON state is a driving support mode in which the driver's driving operation is supported by the autonomous driving control system of the control device 19. corresponds to

The control device 19 switches and controls the assistance level in the driving assistance mode when the manual driving mode is changed to the driving assistance mode. Support level switching control is executed when conditions for establishing each support level (hereinafter also referred to as switching conditions) are satisfied. There are no particular restrictions on the conditions under which the switching control is established. whether there is a toll gate, exit, merging, intersection, or lane reduction point within a predetermined range in front of the vehicle; whether lane markers on both sides of the vehicle are detected; In addition to road conditions and geographical conditions, whether the vehicle is traveling at a speed below the speed limit, whether the wipers are operating at high speed (HI), whether the driver is holding the steering wheel, whether the accelerator pedal is depressed, whether the driver is It is a combination of environmental conditions such as whether the brake has been operated, whether the driver is currently changing lanes, whether the driver monitor camera has detected the driver, and other conditions.

5 to 7 are diagrams for explaining the support level switching conditions. FIGS. 5A and 5B show scenes in which vehicle speed is used as a condition for switching from support level 2α to support level 3. FIG. For example, assume that a vehicle speed of 70 km/h is set as the threshold value Th1 as a switching condition. When the vehicle speed S of the host vehicle V1 detected by the sensor 11 exceeds 70 km/h, which is preferable for the driver to monitor the surroundings, the condition for switching the assistance level 2α is established. As shown in FIG. 5(a), the assistance level 2α is executed while the host vehicle V1 is traveling at a vehicle speed of 70 km/h or more. On the other hand, when the vehicle speed S of the own vehicle V1 detected by the sensor 11 falls below 70 km/h, the condition for switching the assistance level 3 is established. As shown in FIG. 5(b), while the host vehicle V1 is traveling at a vehicle speed of less than 70 km/h, the control device 19 executes support level 3 for monitoring the surroundings.

FIGS. 6A and 6B show scenes in which road conditions are used as conditions for switching from support level 2α to support level 3. FIG. For example, suppose that detection of a construction section is set as a switching condition. In the vicinity of the construction section, it is difficult to recognize the surrounding environment of the vehicle, so it is preferable for the driver to monitor the surroundings. Therefore, when the sensor 11 detects a construction section around the own vehicle V1, the condition for switching the support level 2α is satisfied. As shown in FIG. 6(a), the support level 2α is executed while the own vehicle V1 is traveling on the side of the construction section. On the other hand, if the own vehicle V1 passes through the construction section, it becomes easier to recognize the surrounding environment of the vehicle, so that the control device 19 can monitor the surroundings. Therefore, when the construction section is no longer detected by the sensor 11, the condition for switching support level 3 is established. As shown in FIG. 6(b), support level 3 is executed after the own vehicle V1 passes through the construction section.

FIGS. 7A and 7B show scenes in which conditions relating to driving conditions are used as conditions for switching from support level 2β to support level 3. FIG. The scenes shown in FIGS. 7(a) and 7(b) are scenes in which the driver changes lanes from the current lane to the lane for the left turn, because it is necessary to turn left ahead of the travel route. (see black arrow). In this case, detection of a lane change by the driver's driving operation is set as the switching condition. When an input value by the driver such as operation of the turn signal lever as the in-vehicle device 14 or steering of the steering wheel is detected, the switching condition for the assistance level 2β is established. As shown in FIG. 7A, while the host vehicle V1 is changing lanes, the assistance level 2β of the hands-on mode is executed in order to give priority to the driving operation by the driver. On the other hand, when the driver completes the lane change of the own vehicle V1, it is no longer necessary to prioritize the driving operation by the driver. Therefore, when the own vehicle V1 completes the lane change, the condition for switching the assistance level 3 is established. As shown in FIG. 7(b), assistance level 3 is executed after the lane is changed to the lane for turning left.

The satisfaction of the switching condition and the switching control of the support level are not limited to the scenes described above. For example, when the conditions for autonomous steering control are met while the autonomous speed control (assistance level 1) shown in FIG. 4 is being executed, the mode shifts to the autonomous speed control/autonomous steering control/hands-on mode (assistance level 2β). If the conditions for the hands-off mode are met while the autonomous speed control/autonomous steering control/hands-on mode (assistance level 2β) is being executed, the mode shifts to the autonomous speed control/autonomous steering control/hands-off mode (assistance level 2α). On the other hand, for example, when the conditions for the hands-off mode are not satisfied during the execution of the autonomous speed control/autonomous steering control/hands-off mode (support level L2α), the hands-off mode is canceled and the autonomous speed control/autonomous steering control is performed. Go to control/hands-on mode (assistance level 2β). If the conditions for autonomous steering control are no longer satisfied during execution of autonomous speed control/autonomous steering control/hands-on mode (assistance level 2β), autonomous steering control is stopped and the system shifts to autonomous speed control (assistance level 1). When the conditions for the autonomous speed control are no longer satisfied during the execution of the autonomous speed control (assistance level 1), the operation assistance mode is changed to the manual operation mode, and the standby state is entered. When the main switch 171 in FIG. 2 is turned off in any of the support level 3, support level 2α, support level 2β, support level 1 and standby state, the system is turned off.

In this way, the transition of the assistance level in the driving assistance mode or the transition from the driving assistance mode to the manual operation mode is autonomously switched and controlled by the control device 19 when the switching control conditions are satisfied. However, in the transition from the assistance level 2 to the assistance level 3, the driving initiative is temporarily transferred from the driver to the control device 19 as described above. Therefore, if the conditions for switching to support level 3 are satisfied while support level 2α or support level 2β is being executed, the system does not immediately transition to support level 3 and enters a standby state, and the driver approves the control to switch to support level 3. Or you may make a transition when it permits. Although the method of approval or permission by the driver is not particularly limited, for example, it may be configured such as by pressing an activation switch for support level 3.

Now, the control device 19 of the present embodiment, when the condition for switching the assistance level of the driving assistance mode is established as described above, controls the switching of the assistance level autonomously or upon approval from the driver. When the assistance level is switched and controlled, for example, if the driver cannot clearly recognize that the condition for switching from assistance level 2α to assistance level 3 is satisfied, the assistance level is autonomously switched to assistance level 3. Even though the off mode is being executed, the driver continues to monitor the surroundings without noticing the transition, or autonomous driving control at support level 2α is performed without consent or permission for switching control to support level 3. It may continue.

The prior art documents cited in the conventional documents describe displaying an image corresponding to the level of automatic driving on a monitor. However, if the image is only displayed on the monitor, when the automated driving level changes, if the driver does not consciously look at the monitor, the image changes according to the automated driving level, that is, the automated driving level There is a problem that the driver cannot clearly recognize that the switching condition is established.

Therefore, in the driving assistance device 1 according to the present embodiment, when a condition for switching from a driving assistance mode with a relatively low assistance level to a driving assistance mode with a relatively high assistance level is satisfied, the in-vehicle equipment of the vehicle By continuously executing a specific action, such as changing the action or changing the behavior of the vehicle, the driver can clearly recognize that the conditions for switching the automated driving level are satisfied. An embodiment of driving support control using the control device 19 will be described below with reference to FIGS. 5 to 9. FIG.

As illustrated in FIGS. 5 to 7, when the condition for switching from the support level 2α or the support level 2β to the support level 3 is established, the control device 19 instructs the vehicle-mounted device 14, the presentation device 16, the drive control device 18, etc. to change the behavior of the on-vehicle device and the vehicle at the support level 2α or 2β. At this time, the condition for switching from the assistance level 2α or the assistance level 2β to the assistance level 3 is satisfied so that the driver can more clearly recognize the transition situation of the assistance level, and the control device 19 executes the switching control. A configuration may be adopted in which the specific action is continued while the support level is on, and the specific action is canceled (stopped) after the switching control to support level 3 is completed.

The specific action that changes the action of the in-vehicle device or the behavior of the vehicle is, for example, a visual change given to the driver. A visual change is a change that is easy for the driver to notice even when he or she is concentrating on the driving operation. In the example of using the lighting in the vehicle interior, when the condition for switching to support level 3 is established, the control device 19 transmits a specific operation execution command to the light as the on-vehicle device 14, and the support level 2α or the support level By increasing the brightness and saturation of the lighting compared to when it was lit in 2β, combining lighting and extinguishing appropriately to produce a sense of dynamism, and projecting a specific pattern into the vehicle interior change the whole atmosphere of In addition to the exemplified lights, for example, wipers may be used to change the motion of the swing or to control the speed of the swing so that it swings at specific intervals to provide visual variation.

Also, the control device 19 may change the visual information presented to the driver using the presentation device 16 . FIGS. 8A and 8B are diagrams showing an example of the display screen of the display as the presentation device 16 arranged on the instrument panel. As shown in FIG. 8(a), while the assistance level 2α is being executed, visual information presented to the driver includes, for example, a vehicle speed display S relating to the driving information of the host vehicle V1 and a hands mode display relating to the assistance level information. Display H, eyes mode display E, etc. are displayed. On the other hand, at support level 3, the control device 19 performs both the driving operation and the monitoring of the surroundings, so the display of the driving information of the own vehicle V1 becomes unnecessary information for the driver. Therefore, while the condition for switching to the support level 3 is satisfied and the support level 3 is being executed, instead of the display related to the driving information such as the vehicle speed display S, as shown in FIG. may display an irrelevant destination display D, such as the estimated time of arrival at the destination.

FIGS. 9A and 9B are diagrams showing other examples of the display screen of the display as the presentation device 16 arranged on the instrument panel. As shown in FIG. 9(a), while the assistance level 2α is being executed, visual information presented to the driver includes, for example, a vehicle speed display S relating to the driving information of the own vehicle V1 and a hands mode display relating to the assistance level information. The display H, the eyes mode display E, etc. are displayed, and in addition, the travel route guide N for the own vehicle V1 is displayed. On the other hand, while the condition for switching to the support level 3 is satisfied and the support level 3 is being executed, instead of the vehicle speed display S and the travel route guidance N regarding the travel information of the host vehicle V1, ), visual information may be changed by displaying an around-view image V around the host vehicle V1.

The around-view image V displayed during execution of the support level 3 is an image of the surroundings of the own vehicle V1 captured by the front camera, the rear camera, and the side camera as the sensors 11 . In addition to the around-view image V that is displayed so as to overlook the surroundings of the host vehicle V1, for example, a partial image Vf captured by the front camera may be displayed in a reduced size. The around-view image V and the partial image Vf are part of the operation information of surrounding monitoring by the control device 19 executed at the support level 3 . By continuously displaying these images, the driver can recognize that the eyes-off mode of assistance level 3 is in operation. At the support level 2α and the support level 2β, the driver himself/herself needs to monitor the surroundings, so it is not preferable to continuously display images such as the around-view image V and the partial image Vf while the vehicle V1 is running. .

The specific action that changes the action of the in-vehicle device or the behavior of the vehicle may be an auditory change given to the driver. The auditory change allows the driver to notice that the condition for switching to support level 3 has been met without changing the driver's line of sight or posture, so it is less likely to interfere with the driving operation. In an example using switch sounds and operation sounds of turn signals, audio, air conditioner, etc., when the condition for switching to support level 3 is established, the control device 19 controls the turn signals, audio, air conditioner, etc. as the in-vehicle device 14. Send a specific action execution command to each device, increase the volume, change the tone, or make the sound longer than when it was operating at support level 2α or support level 2β. Change the sound emitted from the device. Also, the voice quality or tone of the agent device provided in the vehicle may be changed, or a specific sound effect may be played to notify that the conditions for switching to support level 3 are satisfied.

The specific action may be a sensory change given to the driver. A sensory change is a change related to the ride comfort of the vehicle, and is a change in which the driver can easily perceive that the condition for switching to support level 3 has been met. At support level 3, the initiative in driving is temporarily transferred to the control device 19, so that the driver can prioritize ride comfort and comfort over operability of the vehicle. Therefore, when the condition for switching to support level 3 is established, the control device 19 transmits a command to execute a specific operation to the drive control device 18, and provides a more comfortable ride than when support level 2α or support level 2β is executed. The running behavior of the vehicle is controlled so that For example, by increasing the acceleration/deceleration and steering speed, and making the suspension elastic, the ride comfort of the vehicle is made milder. In addition, the height and fore-aft position of the steering wheel and the angle of the seat may be adjusted to increase the driver's range of motion, thereby varying the spatial comfort.

In this way, by changing the operation of the in-vehicle equipment and the behavior of the vehicle, the vehicle actively notifies the driver that the condition for switching from the support level 2α or the support level 2β to the support level 3 is met. Therefore, the driver can easily recognize that the switching condition is met. Any one of the above-described visual changes, auditory changes, and sensory changes may be used as the specific action that changes the operation of the in-vehicle device or the behavior of the vehicle, or two or more changes may be used. They may be used in combination. Further, the specific operation may be configured to continue for a predetermined time from when the condition for switching to support level 3 is satisfied until the switching control is executed, and even after the switching control to support level 3 is executed. It is good also as a structure which continues. Further, the specific action may be autonomously canceled at a predetermined timing, or may be canceled when the driver performs a stop operation.

FIG. 10A is a diagram for explaining the relationship between support level switching conditions and thresholds. The upper diagram of FIG. 10A shows the passage of the running time of the own vehicle V1, the lower diagram of FIG. 10A shows the change in the vehicle speed S corresponding to the passage of time of the own vehicle V1, and the middle diagram of FIG. 10A shows the vehicle speed of the own vehicle V1. It is the figure which showed the transition state of the support level according to the change of S. FIG. The control device 19 of the present embodiment notifies the driver of satisfaction of the condition for switching from the assistance level 2α or the assistance level 2β to the assistance level 3 by executing the specific operation. Here, as in FIGS. 5A and 5B, for example, when the vehicle speed is used as the switching condition, as shown in FIG. Suppose that a vehicle speed of 70 km/h is set as the threshold Th1 of the condition, and a vehicle speed of 70 km/h is similarly set as the threshold Th2 of the second switching condition for switching from the support level 3 to the support level 2α. At this time, if the own vehicle V1 runs at a vehicle speed of about 70 km/h, the condition for switching to the support level 3 is established every time the vehicle speed falls below 70 km/h, and the specific operation is executed (t2, t5 reference). However, if the satisfaction and non-satisfaction of the condition for switching to assistance level 3 are repeated frequently, the execution and cancellation of the specific operation are also frequently repeated, which may annoy the driver.

Therefore, the control device 19 of the present embodiment provides hysteresis in the switching condition between the support level 2α or the support level 2β and the support level 3, as shown in FIG. 10B. For example, when switching control from support level 3 to support level 2α or support level 2β, compared to threshold Th2 (=70 km/h) of the second switching condition, from support level 2α or support level 2β to support level 3 The threshold value Th1fa (=65 km/h) of the first switching condition for switching control is set relatively high. Note that setting the threshold Th1fa of the first switching condition to a relatively high value means increasing the difficulty of satisfying the switching condition when performing switching control to support level 3, rather than the magnitude of the numerical value. In the scene shown in FIG. 11A , the threshold Th2 (=70 km/h) of the second switching condition for switching from the support level 3 to the support level 2α, and the threshold Th2 (=70 km/h) for switching from the support level 2α to the support level 3, the second A hysteresis is provided for the threshold Th1 (=70 km/h) of the switching condition of 1, and the threshold Th1 (=70 km/h) for switching control from the support level 2α to the support level 3 is changed to the threshold Th1fa (=65 km/h). . This suppresses frequent repetition of the satisfaction and non-satisfaction of the switching condition between the support level 3 and the support level 2α.

Furthermore, FIG. 11B shows that in the scene shown in FIG. FIG. 10 is a diagram showing a scene that changes according to the elapsed time α from . While the threshold value Th1fa of the first switching condition for switching control from the support level 2α to the support level 3 is set to a vehicle speed of 65 km/h, after completing the switching control from the support level 3 to the support level 2α exceeds a predetermined value T, the threshold Th1fa of the first switching condition is changed to the threshold Th1fb (=vehicle speed 60 km/h) for switching from the support level 2α to the support level 3 (t5 reference).

As shown in FIG. 11B, when the vehicle speed of the host vehicle V1 traveling at a speed of less than 70 km/h becomes 70 km/h or more at t1, the support level 3 is controlled to switch to the support level 2α. At this time, the control device 19 determines whether or not the elapsed time α1 from t1 when the support level is switched to 2α is greater than a predetermined value T. The predetermined value T is not particularly limited, but is a value such as 1 minute for determining whether or not the vehicle speed according to the driving environment of the host vehicle V1 should be maintained at the support level 2α. When the elapsed time α1 from t1 is smaller than the predetermined value T, that is, in a short period of time after switching control to the support level 2α, the vehicle speed becomes less than the threshold Th1fa (=65 km/h) again, and the support level 3 is reached. When the switching condition is satisfied, a specific operation is executed at t2, and switching control to support level 3 is performed.

At t3, when the vehicle speed of the own vehicle V1 becomes 70 km/h or more again, the support level 3 is switched to the support level 2α. Also at this time, it is determined whether or not the elapsed time α2 from t3 when the support level is switched to 2α is greater than the predetermined value T. When the elapsed time α2 from t3 is greater than the predetermined value T, that is, when a certain amount of time has passed since the control was switched to the support level 2α, the driving environment of the host vehicle V1 maintains the current vehicle speed. Therefore, continuing the support level 2α rather than switching to the support level 3 again makes it easier to cope with subsequent changes in vehicle speed. Therefore, when the elapsed time α2 exceeds the predetermined value T, the control device 19 relatively increases the threshold Th1fa itself and changes it to the threshold Th1fb.

In the scene shown in FIG. 11B, when the elapsed time α2 from t3 when switching to the support level 2α exceeds a predetermined value T, the threshold Th1fa (= 65 km/h) to the threshold Th1fb (=60 km/h). At t5 when the vehicle speed of the own vehicle V1 becomes less than 65 km/h, if the threshold Th1fa remains at the vehicle speed of 65 km/h, the condition for switching the support level 3 is satisfied, and the specific operation is executed. On the other hand, if the threshold value Th1fb is changed to the vehicle speed of 60 km/h, it is possible to suppress the satisfaction of the switching condition for the support level 3 at t5, and the support level 2α can be continued from t3 to t6. . In this way, by changing the threshold Th1 for switching control from the support level 2α to the support level 3 to relatively high threshold values Th1fa and Th1fb, it is possible to suppress frequent satisfaction of the support level 3 switching condition. and the repeated execution of the specific operation can be suppressed.

In the example shown in FIG. 11B, the threshold Th1fa and the threshold Th1fb are changed to two values of 65 km/h and 60 km/h. After that, the change width of the threshold Th1fa may be continuously set larger as the elapsed time α becomes longer. In the scene shown in FIG. 11B, the longer the elapsed time α2 from t3 when the support level 3 is switched to the support level 2α, the slower the vehicle speed set to the threshold value Th1fb, and the switch control to the support level 3 again. suppress The reason why the driving support mode with a relatively high support level is controlled to the driving support mode with a relatively low support level is that there is a high possibility that a change has occurred in the driving environment of the own vehicle V1. By suppressing the support level switching control until the change settles down, the running behavior of the vehicle can be stabilized.

When changing the threshold Th1 of the first switching condition for switching from the support level 2α or the support level 2β to the support level 3, the control device 19 sets the threshold Th1fa based on the driving environment of the own vehicle V1. You may The driving environment conditions of the own vehicle V1 include the driving conditions of other vehicles traveling around the own vehicle V1. For example, when the vehicle is traveling near an interchange or a junction, the number of other vehicles increases around the host vehicle V1, and the vehicle speed temporarily slows down. However, when passing near an interchange or a junction, the number of other vehicles running around decreases, and the vehicle speed of the own vehicle V1 may increase. In such a case, it is preferable to switch to support level 3 when the vehicle speed is slow even after passing near an interchange or a junction in order to prevent the condition for switching to support level 3 from being satisfied frequently.

In addition, if the lane in which the vehicle V1 is currently traveling is congested and the vehicle speed temporarily slows down, and even if the conditions for switching to support level 3 are met, the traffic flow will improve if the overtaking lane is empty. As a result, the vehicle speed of the own vehicle V1 may increase. For this reason, not only the lane in which the vehicle V1 is currently traveling but also the congestion state of the overtaking lane is detected, and when it is determined that the number of other vehicles traveling around the vehicle V1 will increase and the vehicle speed will continue to be slow. , support level 3. In this manner, the threshold value Th1 is changed so that the switching condition for the support level 3 is established when the driving environmental conditions are favorable for switching control based on the driving conditions of other vehicles driving around the host vehicle V1. do.

The driving environmental conditions of the own vehicle V1 may include the operating conditions of the sensor 11 and the natural environmental conditions in which the own vehicle V1 is traveling. This is for controlling the switching to support level 3 in a stable situation in which the surrounding environment of the host vehicle V1 can be normally recognized. For example, if only one of a plurality of sensors 11, such as a front camera for detecting lane markers on the road surface, a front lidar, and an all-around camera, can detect a detected value from one sensor, the detectability of the surrounding environment is reduced. Therefore, it is not preferable for the control device 19 to switch to support level 3 for monitoring the surroundings. Therefore, the threshold value Th1 is changed so that the switching condition for support level 3 is satisfied when the detection values from all the sensors can be confirmed.

By the way, if the detection performance is reduced due to road conditions such as the lane markers being blurred or it is difficult to detect the lane markers due to the contrast with the road surface, bad weather such as rain or fog, or driving on a road with few streets at night. Similarly, when the surrounding environment cannot be recognized due to the natural environment such as the vehicle V1, the threshold value Th1 is set so that the condition for switching to the support level 3 is satisfied when the situation becomes stable and the surrounding environment of the own vehicle V1 can be normally recognized. preferred to change. By changing the threshold value Th1 based on the driving environmental conditions of the own vehicle V1, it is possible to perform switching control of the support level according to the driving environmental conditions of the own vehicle V1.

<<Driving support control processing>>
Next, the driving support control process of this embodiment will be described with reference to FIGS. 5 and 12. FIG. FIG. 12 is a flowchart showing an example of driving assistance control processing executed by the driving assistance device 1 of this embodiment. The driving assistance control process described below is executed by the driving assistance device 1 at predetermined time intervals. Also, in the following, a case where the driving assistance mode is executed at the assistance level 2α by the autonomous driving control function of the control device 19 will be described. A vehicle speed of 70 km/h is set as the threshold value Th1 of the first switching condition for switching from the assistance level 2α to the assistance level 3. It is assumed that when the activation switch is pressed, control for switching to support level 3 is executed.

First, in step S1 of FIG. 12, the vehicle speed of the own vehicle V1 is detected based on the input value from the sensor 11. Next, in step S2, the control device 19 determines whether or not the condition for switching support level 3 is satisfied. If the vehicle speed of the host vehicle V1 is less than 70 km/h, it is determined that the condition for switching to support level 3 is satisfied, and the process proceeds to step S3. On the other hand, step S2 is repeated for a predetermined time until the vehicle speed becomes less than 70 km/h, that is, until the condition for switching to support level 3 is satisfied.

When it is determined in step S2 that the condition for switching support level 3 is satisfied, in step S3, the control device 19 transmits a specific operation execution command to the vehicle-mounted device 14, the presentation device 16, and the drive control device 18. and changes the operation of onboard equipment and the behavior of the vehicle.

In subsequent step S4, the control device 19 determines whether or not the driver has consented to the switching control to the assistance level 3. If the driver presses the activation switch for support level 3, it is determined that the driver has accepted the control for switching to support level 3, and the process proceeds to step S5. On the other hand, if the driver does not press the activation switch for support level 3, it is determined that the driver has not consented to switching control to support level 3, and step S4 is repeated for a predetermined time.

As a result of the determination in step S4, when the driver approves the switching control to the assistance level 3, the control device 19 executes the switching control from the assistance level 2α to the assistance level 3 in step S5. In subsequent step S6, the control device 19 determines whether or not the switching control to support level 3 has been completed. When it is determined that the control for switching to support level 3 has been completed, the process proceeds to step S7. On the other hand, if it is determined that the switching control to support level 3 has not been completed, the process proceeds to step S8, and if the predetermined time has elapsed, the process proceeds to step S7.

In step S6, when it is determined that the switching control to support level 3 has been completed, and in step S8, when the predetermined time has elapsed, in step S7, the control device 19 controls the in-vehicle device 14 and the presentation device. 16 and drive control device 18 to cancel the specific operation.

As described above, according to the driving assistance method and the driving assistance device 1 of the present embodiment, when the driving assistance mode having a plurality of assistance levels is switched and the driving of the vehicle is assisted by the autonomous driving control, the assistance level is relatively low. When a first switching condition for controlling switching from a low driving support mode to a driving support mode with a relatively high level of support is satisfied, a specific operation that changes the operation of the onboard equipment of the vehicle and / or the behavior of the vehicle Continuously perform a specific action that changes the This allows the driver to clearly recognize that the condition for switching the driving assistance level is satisfied.

Further, according to the driving assistance method and the driving assistance device 1 of the present embodiment, when the first switching condition is satisfied, the specific operation is continued for a predetermined time, and the operation is started from the driving assistance mode with a relatively low assistance level. After completing the switching control to the driving assistance mode with a relatively high assistance level, the specific operation is canceled, so the driver can more clearly recognize the transition state of the driving assistance level.

Further, according to the driving assistance method and the driving assistance device 1 of the present embodiment, the threshold of the second switching condition for switching from the driving assistance mode with a relatively high assistance level to the driving assistance mode with a relatively low assistance level. , the threshold of the first switching condition is set relatively high. As a result, frequent satisfaction of the condition for switching to the driving assistance mode with a relatively high assistance level can be suppressed, and repeated execution of the specific operation can be suppressed.

Further, according to the driving assistance method and the driving assistance device 1 of the present embodiment, the elapsed time after completing the switching control from the driving assistance mode with the relatively high assistance level to the driving assistance mode with the relatively low assistance level The longer is, the higher the threshold value of the first switching condition is set, so the running behavior of the vehicle can be stabilized.

Further, according to the driving assistance method and the driving assistance device 1 of the present embodiment, at least one of the driving conditions of other vehicles running around the vehicle, the operating conditions of the sensors provided in the vehicle, and the natural environment conditions in which the vehicle is running can be detected. A threshold value for the first switching condition is set based on the driving environmental conditions of the vehicle. As a result, it is possible to perform switching control of the support level according to the driving environment of the host vehicle V1.

Further, according to the driving assistance method and the driving assistance device 1 of the present embodiment, the specific action includes a visual change, an auditory change, and a bodily sensation given to the driver by the action of the in-vehicle equipment of the vehicle and/or the behavior of the vehicle. contains at least one of the Accordingly, the vehicle can actively notify the driver that the switching condition is satisfied. As a result, the driver can easily recognize that the switching condition has been met.

Further, according to the driving assistance method and the driving assistance device 1 of the present embodiment, the visual change includes at least changes in lighting in the vehicle interior, display of driving information, display of surrounding conditions, and change in wiper operation control. including one. The visual change is easy to notice even if the driver is concentrating on the driving operation, so it becomes easy to recognize that the condition for switching to the driving assistance mode with a relatively high level of assistance has been met.

Further, according to the driving assistance method and the driving assistance device 1 of the present embodiment, auditory changes include at least one of changes in the volume and tone of operation sounds of in-vehicle devices of the vehicle. Since the auditory change allows the driver to recognize that the conditions for switching to the driving assistance mode with a relatively high level of assistance have been satisfied without changing the driver's line of sight or posture, it is less likely to interfere with the driving operation.

Further, according to the driving assistance method and the driving assistance device 1 of the present embodiment, the sensory change includes at least one of changes in vehicle acceleration/deceleration control, steering control, suspension control, and steering wheel position control. Therefore, it becomes easier for the driver to intuitively notice that the condition for switching to the driving assistance mode with a relatively high assistance level is met.

It should be noted that the embodiments described above are described to facilitate understanding of the present invention, and are not described to limit the present invention. Therefore, each element disclosed in the above embodiments is meant to include all design changes and equivalents that fall within the technical scope of the present invention.

DESCRIPTION OF SYMBOLS 1... Driving assistance apparatus 11... Sensor 12... Vehicle position detection apparatus 13... Map database 14... Vehicle-mounted apparatus 15... Navigation apparatus 16... Presentation apparatus 17... Input device 18... Drive control apparatus 19... Control apparatus V1... Own vehicle

Claims (10)

In a driving assistance method executed by a processor and switching driving assistance modes having a plurality of assistance levels to assist driving of a vehicle by autonomous driving control,
The processor
When a first switching condition for controlling switching from a driving assistance mode with a relatively low assistance level to a driving assistance mode with a relatively high assistance level is satisfied, a specification for changing an operation of an in-vehicle device of the vehicle. A driving support method for continuously executing a specific action that changes the action and/or the behavior of the vehicle. The processor
When the first switching condition is satisfied, the specific operation is continued for a predetermined time, and switching control is performed from the driving assistance mode with the relatively low assistance level to the driving assistance mode with the relatively high assistance level. 2. The driving support method according to claim 1, wherein the specific action is canceled after completion. The processor
The threshold value of the first switching condition is set relative to the threshold value of the second switching condition for controlling switching from the driving assistance mode with the relatively high assistance level to the driving assistance mode with the relatively low assistance level. 3. The driving support method according to claim 1, wherein the threshold value is set high. The processor
The threshold value of the first switching condition is set higher as the elapsed time after completing the switching control from the driving assistance mode with the relatively high assistance level to the driving assistance mode with the relatively low assistance level is longer. The driving support method according to claim 3. The processor
Based on the driving environment conditions of the vehicle including at least one of the driving conditions of other vehicles running around the vehicle, the operating conditions of sensors provided in the vehicle, and the natural environment conditions in which the vehicle is running, the first 5. The driving support method according to claim 3, wherein a threshold for switching conditions is set. The specific operation includes at least one of a visual change, an auditory change, and a sensory change given to the driver by the operation of the in-vehicle device of the vehicle and/or the behavior of the vehicle. The driving support method according to any one of the items. 7. The driving support method according to claim 6, wherein the visual change includes at least one of lighting in the interior of the vehicle, display of driving information, display of surrounding conditions, and change in wiper operation control. 8. The driving support method according to claim 6, wherein the auditory change includes at least one of a change in volume and tone of an operation sound of an in-vehicle device of the vehicle. The driving support method according to any one of claims 6 to 8, wherein the sensory change includes at least one of changes in acceleration/deceleration control, steering control, suspension control, and steering wheel position control of the vehicle. . In a driving support device that switches between driving support modes having a plurality of support levels and supports driving of a vehicle by autonomous driving control,
a detection unit that detects that a first switching condition for switching from a driving assistance mode with a relatively low assistance level to a driving assistance mode with a relatively high assistance level is satisfied;
and a control unit that continuously executes a specific action that changes the action of an in-vehicle device of the vehicle and/or a specific action that changes the behavior of the vehicle when the first switching condition is satisfied. Device.

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