JP6720785B2 - Driving support method and driving support device - Google Patents

Description

The present invention relates to a driving support method and a driving support device.

As a technique for automatically generating a vehicle behavior, for example, the technique described in Patent Document 1 is known.
The driving support device described in Patent Document 1 generates a yaw moment for avoiding an obstacle when a driver's braking operation is detected in a state where it is necessary to avoid an obstacle ahead.

JP, 2009-213251, A

The start timing of the vehicle behavior generated during automatic driving may be different from the operation timing of each driver. The driver may feel uncomfortable if the start timing of the vehicle behavior is different from the operation timing specific to the driver.
It is an object of the present invention to reduce the driver's discomfort due to the start timing of vehicle behavior generated during automatic driving.

In a driving assistance method according to an aspect of the present invention, it is determined whether a driving scene of a vehicle is a predetermined target scene, a driving operation performed by a driver in the target scene is detected, and the detected driving operation is detected. Alternatively, either one of the vehicle behaviors generated by this driving operation is stored. Further, the degree of variation in the start timing of the driving operation by the driver in the target scene is calculated.
In the automatic driving of the vehicle, when the vehicle detects the behavioral intention of the driver while traveling in the target scene, the vehicle behavior is generated based on either one of the stored driving operation or the vehicle behavior, and the target scene The start timing of the vehicle behavior is advanced within the range of the calculated variation degree.

According to the present invention, it is possible to reduce the driver's discomfort due to the start timing of the vehicle behavior generated during automatic driving.

It is a figure which shows the structural example of the driving assistance device which concerns on embodiment. It is explanatory drawing of an example of the target scene in which the profile of driving operation is produced|generated. It is a flowchart which shows the operation example of the driving assistance device in a manual driving mode. 7 is a time chart of the curvature of the center of the traveling road detected in the target scene. It is a time chart of the steering angle detected in the target scene. It is explanatory drawing of the difference of the 1st reference timing defined by the target scene, and the start timing of steering operation. It is a flowchart which shows the operation example of the driving assistance device in automatic driving mode. It is a time chart of an action intention detection signal. It is a time chart of a behavior target value.

Embodiments of the present invention will be described below with reference to the drawings. The embodiments of the present invention described below exemplify a device and a method for embodying the technical idea of the present invention, and the technical idea of the present invention is the material, shape, and The structure, arrangement, etc. are not limited to the following. Various changes can be added to the technical idea of the present invention within the technical scope defined by the claims described in the claims.

(First embodiment)
(Constitution)
Please refer to FIG. The driving support device 1 according to the embodiment of the present invention includes a controller 10, an ambient condition sensor group 20, a traveling state sensor group 30, an electroencephalogram sensor 40, an myoelectric sensor 50, and a vehicle control actuator group 60. The controller 10, the ambient condition sensor group 20, the running state sensor group 30, the electroencephalogram sensor 40, the myoelectric sensor 50, and the vehicle control actuator group 60 transmit and receive data, signals or information by wire communication or wireless communication. It is possible.

The ambient condition sensor group 20 includes a sensor for acquiring information on the ambient condition of the vehicle required for automatic driving of a vehicle (hereinafter, simply referred to as “vehicle”) equipped with the driving assistance device 1. Be done. The ambient condition sensor group 20 includes a radar 21, a camera 22, a map database (denoted as “map DB” in the drawing) 23, and a global positioning system (GPS) receiver 24.
The radar 21 and the camera 22 detect data around the vehicle such as the relative position between the vehicle and the other vehicle, the distance between the vehicle and the other vehicle, obstacles existing around the vehicle, and white lines on the road around the vehicle. .. The radar 21 and the camera 22 output the data of the detected surroundings to the controller 10.

The GPS receiver 24 receives the GPS signal and measures the current position of the vehicle. The GPS receiver 24 outputs information on the measured current position of the vehicle to the controller 10. The map database 23 is a database of map information. The controller 10 acquires, from the map database 23, the information on the situation around the current position of the vehicle obtained from the GPS receiver 24. For example, the controller 10 may acquire, from the map database 23, information such as the shape of the road on which the vehicle travels, the road curvature, the road type, the white lines on the road such as stop lines, the number of lanes, and the like, as information on the surrounding conditions.

The traveling state sensor group 30 includes a sensor that detects a traveling state of the vehicle and a sensor that detects a driving operation performed by the driver.
The sensors that detect the traveling state of the vehicle include a vehicle speed sensor 31, an acceleration sensor 32, and a yaw rate sensor 33.
The sensors that detect the driving operation performed by the driver include an accelerator opening sensor 34, a brake switch 35, and a steering operation amount sensor 36.

The vehicle speed sensor 31 detects the wheel speed of the vehicle and calculates the vehicle speed based on the wheel speed. The vehicle speed sensor 31 outputs information on the calculated vehicle speed to the controller 10.
The acceleration sensor 32 detects the acceleration in the front-rear direction and the acceleration in the vehicle width direction of the vehicle, and outputs information on these accelerations to the controller 10.
The yaw rate sensor 33 detects the yaw rate of the vehicle (change speed of the rotation angle in the turning direction of the vehicle body), and outputs information on the detected yaw rate to the controller 10.

The accelerator opening sensor 34 detects the accelerator opening of the vehicle and outputs information on the accelerator opening to the controller 10. For example, the accelerator opening sensor 34 detects the depression amount of the accelerator pedal of the vehicle as the accelerator opening.
The brake switch 35 detects the operating state of the driver's brake operation of the vehicle and outputs the operating state information to the controller 10. For example, the brake switch 35 outputs an on-state signal when the driver depresses the brake pedal, and outputs an off-state signal when the driver releases the brake pedal.
The steering operation amount sensor 36 detects the operation amount of the steering wheel of the vehicle and outputs information on the detected operation amount to the controller 10. The steering operation amount sensor 36 is provided on the steering shaft or the like. The steering operation amount sensor 36 may detect the steering angle of the steered wheels as information on the operation amount of the steering wheel.

The brain wave sensor 40 has a plurality of electrodes attached to the driver's head. The electroencephalogram sensor 40 outputs information on the electroencephalogram of the driver detected by the plurality of electrodes to the controller 10. The method of attaching the plurality of electrodes to the head is not particularly limited, but for example, the electroencephalogram sensor 40 may include a wearable electrode cap so as to be easily placed on the head of the driver.
The controller 10 detects the occurrence of the driver's intention to act (hereinafter, referred to as “action intention”) based on the information on the electroencephalogram received from the electroencephalogram sensor 40. For example, the controller 10 may detect the occurrence of the action intention by detecting the exercise preparation potential generated in the brain of the driver based on the brain wave of the driver.

The myoelectric sensor 50 has a plurality of electrodes attached to the skin of the driver. The myoelectric sensor 50 detects a change that occurs in the myoelectric potential on the skin surface when a person tries to take action with these plurality of electrodes, and outputs information about the detected myoelectric potential change to the controller 10.
The controller 10 detects the occurrence of the driver's action intention based on the information on the change in the myoelectric potential received from the myoelectric sensor 50.

The driving support device 1 does not need to include both the electroencephalogram sensor 40 and the myoelectric sensor 50. When detecting the driver's action intention based on the electroencephalogram detected by the electroencephalogram sensor 40, the myoelectric sensor 50 may be omitted. The electroencephalogram sensor 40 may be omitted when the driver's action intention is detected based on a change in myoelectric potential detected by the myoelectric sensor 50.
Hereinafter, an example of detecting the driver's action intention using the electroencephalogram sensor 40 will be described, but the myoelectric sensor 50 may be used similarly.

The controller 10 is an electronic control unit that controls the operation of the vehicle. The controller 10 includes a processor 11 and peripheral components such as the storage device 12.
The processor 11 may be, for example, a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit).
The storage device 12 may include any one of a semiconductor storage device, a magnetic storage device, and an optical storage device. The storage device 12 may include a memory such as a register, a cache memory, a ROM (Read Only Memory) and a RAM (Random Access Memory) used as a main storage device.

The controller 10 may be realized by a functional logic circuit set in a general-purpose semiconductor integrated circuit. For example, the controller 10 may have a programmable logic device (PLD: Programmable Logic Device) such as a field programmable gate array (FPGA).

The operation mode of the controller 10 is switched between a manual operation mode and an automatic operation mode.
In the manual driving mode, the controller 10 detects the driving operation performed by the driver. For example, the controller 10 uses the accelerator opening sensor 34, the brake switch 35, and the steering operation amount sensor 36 to detect an accelerator operation, a brake pedal operation, and a steering wheel operation performed by the driver.
The controller 10 controls the vehicle behavior of the vehicle according to the driving operation performed by the driver. For example, the controller 10 controls acceleration, deceleration, and steering, which are vehicle behaviors of the vehicle, according to an accelerator operation, a brake pedal operation, and a steering wheel operation performed by a driver.

Further, in the manual driving mode, the controller 10 determines whether or not the current traveling scene of the vehicle is a predetermined target scene.
Here, the traveling scene and the target scene refer to the traveling situation of the vehicle involving a series of specific driving operations that are started and completed within a limited time. For example, the target scene may include a case where the road ahead is a curved road, a travel lane change for avoiding an obstacle ahead, an approach to a temporary stop line, and the like.

In the manual driving mode, the controller 10 stores the driving operation performed by the driver in the storage device 12.
For example, the controller 10 generates a profile of the driving operation performed by the driver in the target scene and stores the profile in the storage device 12. The driving operation profile is a time function indicating a series of driving operations performed by the driver in the target scene.
Further, for example, the controller 10 may store the presence/absence of an accelerator operation performed by the driver in the target scene, the presence/absence of an operation of the brake pedal, the accelerator operation amount, or the steering wheel operation amount.
Further, in the manual driving mode, the controller 10 calculates the variation degree σ of the start timing of the driving operation by the driver in the target scene.

On the other hand, in the automatic driving mode, the controller 10 automatically causes the vehicle to travel in accordance with the situation around the vehicle detected by the ambient condition sensor group 20 and the traveling state of the vehicle detected by the traveling state sensor group 30.
When the traveling scene of the vehicle is not the target scene in the automatic driving mode, the controller 10 determines whether the vehicle surroundings are detected by the surrounding condition sensor group 20 and the traveling state of the vehicle detected by the traveling state sensor group 30. Drives the vehicle control actuator group 60 so that the vehicle autonomously travels.
Even if the traveling scene of the vehicle is the target scene, when the brain wave sensor 40 does not detect the behavior intention of the driver, the controller 10 causes the vehicle to travel autonomously according to the situation around the vehicle and the traveling state of the vehicle. Thus, the vehicle control actuator group 60 is driven.

On the other hand, when it is determined that the traveling scene of the vehicle is the target scene in the automatic driving mode and the brain wave sensor 40 detects the driver's behavior intention, the controller 10 follows the driving operation stored in the target scene in the manual driving mode. The vehicle control actuator group 60 is driven to generate vehicle behavior in the vehicle.
For example, the controller 10 may drive the vehicle control actuator group 60 so as to perform the same driving operation as the profile generated in the target scene in the manual driving mode. That is, the controller 10 may use the vehicle control actuator group 60 to generate vehicle behavior in the vehicle according to the profile.
Further, for example, the controller 10 may drive the vehicle control actuator group 60 such that the stored accelerator operation, brake pedal operation, or accelerator operation amount or steering wheel operation amount operation is performed in the manual operation mode. ..

At this time, the controller 10 advances the start timing of the driving operation in the target scene (that is, the start timing for generating the vehicle behavior) within the range of the variation degree σ of the starting timing of the driving operation by the driver calculated in the manual driving mode. That is, the start timing is advanced by the length equal to or less than the variation degree σ.
By advancing the start timing of the vehicle behavior, the responsiveness to the driver's behavioral intention detected by the electroencephalogram sensor 40 can be enhanced. At this time, by limiting the amount of advancing the start timing of the vehicle behavior within the range of the variation degree σ of the start timing of the driving operation by the driver, the start timing of the vehicle behavior is advanced without causing the driver to feel uncomfortable. be able to.

The vehicle control actuator group 60 operates a steering wheel, an accelerator opening degree, and a brake device of the vehicle in accordance with a control signal from the controller 10 to generate a vehicle behavior of the vehicle. The vehicle control actuator group 60 includes a steering actuator 61, an accelerator opening actuator 62, and a brake control actuator 63.
The steering actuator 61 controls the steering direction and amount of steering of the vehicle.
The accelerator opening actuator 62 controls the accelerator opening of the vehicle.
The brake control actuator 63 controls the braking operation of the brake device of the vehicle.

(Driving support method)
Next, an example of the driving support method according to the first embodiment will be described.
Please refer to FIG. In the following description, the target scene will be an example in which the traveling road 71 in front of the vehicle 70 equipped with the driving assistance device 1 is the curved road 72. Further, a steering operation of a steering wheel is illustrated as a driving operation performed by the driver in the target scene. Further, an example in which the driving operation stored in the storage device 12 in the manual scene is a driving operation profile will be described.

(Operation in manual operation mode)
Please refer to FIG. In step S1, the controller 10 detects the curvature of the traveling path 71 in front of the vehicle 70 based on the map information around the current position of the vehicle 70 read from the map database 23 in order to determine the traveling scene of the vehicle 70. .. The controller 10 may detect the curvature of the traveling path 71 from the image in front of the vehicle 70 captured by the camera 22.
FIG. 4A shows changes in the curvature of the center line of the traveling road 71 at the position of the vehicle 70 at each time.

The curvature of the traveling path 71 is an example of the amount of the characteristic of the traveling environment that causes the steering operation in the curved road 72 accompanied by the steering operation. That is, it is an example of the amount of the characteristic of the traveling environment that causes the driving operation in the target scene accompanied by the driving operation. The amount of such a feature of the traveling environment will be referred to as “environmental feature amount” hereinafter.
Note that, for example, in an example in which the target scene is a change of the traveling lane for avoiding an obstacle ahead, the environmental feature amount may be a collision margin time with an obstacle ahead. For example, in the example in which the target scene is an approach to the stop line, the environmental feature amount may be an expected arrival time to the stop line.

Please refer to FIG. In step S2, the controller 10 determines whether the traveling road 71 in front of the vehicle 70 is the curved road 72, that is, whether the traveling scene of the vehicle 70 is the target scene, based on the curvature detected in step S1. judge. In other words, the controller 10 determines whether the traveling scene of the vehicle 70 is the target scene, based on the environmental characteristic amount of the traveling environment of the vehicle 70.
For example, the controller 10 may determine that the traveling road 71 in front of the vehicle 70 is a curved road 72 when the curvature of the traveling road 71 in front of the vehicle 70 is equal to or larger than a predetermined threshold.

When the traveling road 71 in front of the vehicle 70 is the curved road 72 (step S2: Yes), the process proceeds to step S3. When the traveling road 71 in front of the vehicle 70 is not the curved road 72 (step S2: No), the process returns to step S1.
In step S3, the steering operation amount sensor 36 detects the steering operation of the steering wheel by the driver on the curved road 72, that is, the driving operation in the target scene, in order to generate the profile of the driving operation in the target scene.
FIG. 4B shows a time change of the steering angle detected when the vehicle travels on a curved road having a similar curvature as a target scene at different places or at different occasions. As shown in FIG. 4B, in the manual operation mode, since the steering operation is performed manually by the driver, the start timing varies.

Please refer to FIG. In step S4, the controller 10 stores the start timing of the steering operation on the curved road 72 in the storage device 12. This is because the variation degree σ of the start timing of the steering operation of the steering wheel during traveling on the curved road 72, which is the target scene, is acquired.
Reference is made to FIG. 4C. A solid line 80 indicates the curvature of the center line of the traveling road 71 at the position of the vehicle 70 at each time. The broken line 81 indicates the steering angle at each time detected in step S3.

The controller 10 may store the relative time d between the predetermined first reference timing tr1 and the start timing ts in the target scene in the manual operation mode as the start timing ts of the steering operation in the target scene in the storage device 12. That is, the controller 10 may store the difference d between the first reference timing tr1 and the start timing ts in the storage device 12.
The first reference timing tr1 may be determined based on the environmental characteristic amount. For example, the time when the environmental characteristic amount is equal to or more than the threshold value may be the first reference timing tr1. For example, as shown in FIG. 4C, the rising timing of the curvature (that is, the time when the curvature exceeds the threshold value from 0) may be the first reference timing tr1.
The first reference timing tr1 may be determined without depending on the environmental characteristic amount. For example, the first reference timing tr1 may be determined based on the detection time of the target scene. In this case, for example, the first reference timing tr1 may be the detection time of the target scene or a time after a predetermined period has elapsed from the detection time of the target scene.

Please refer to FIG. In step S5, the controller 10 updates the steering operation profile on the curved road 72, that is, the driving operation profile in the target scene. For example, the controller 10 stores in the storage device 12 the profile of the steering operation detected each time the vehicle travels on a curved road having the same curvature at a different place or at a different opportunity, and calculates the average of the profile history stored in the storage device 12. Update profile by asking.
The controller 10 stores the updated profile in the storage device 12.

In step S6, the controller 10 calculates the variation degree σ of the start timing of the steering operation of the steering wheel when traveling on the curved road 72 which is the target scene. For example, the controller 10 calculates the variation degree σ of the relative time d between the first reference timing tr1 and the start timing ts stored in step S4. For example, the controller 10 calculates the standard deviation of the relative time d as the variation degree σ.
In step S7, the controller 10 determines whether or not the ignition switch (IGN) of the vehicle is off. If the ignition switch (IGN) is not off (step S7: No), the operation returns to step S1. If the ignition switch is off (step S7: Yes), the process ends.

(Operation in automatic operation mode)
Please refer to FIG. The processes of steps S10 and S11 are the same as steps S1 and S2 of FIG.
When the traveling road 71 in front of the vehicle 70 is not the curved road 72 (step S11: No), the process proceeds to step S17. When the traveling road 71 in front of the vehicle 70 is the curved road 72 (step S11: Yes), the process proceeds to step S12. That is, the controller 10 automatically drives the vehicle 70 according to the profile in subsequent steps S13 to S15 only when the traveling scene of the vehicle 70 is the target scene.

In step S12, the controller 10 determines whether or not the electroencephalogram sensor 40 has detected the occurrence of the driver's action intention.
Please refer to FIG. 6A. For example, when the electroencephalogram sensor 40 detects the occurrence of the driver's action intention, the brain wave sensor 40 inputs a trigger pulse indicating the occurrence of the action intention to the controller 10 as an action intention detection signal. The controller 10 determines that the occurrence of the driver's action intention is detected when the action intention detection signal is received.

Please refer to FIG. When the driver's action intention is not detected (step S12: No), the process proceeds to step S17, and when the driver action intention is detected (step S12: Yes), the process proceeds to step S13.
That is, the controller 10 follows the profile generated based on the driver's past driving operation in subsequent steps S13 to S15 only when the driver is going to perform some driving operation on the curved road 72 which is the target scene. The vehicle 70 is automatically driven.

In step S13, the controller 10 reads the profile stored in the storage device 12.
In step S14, the controller 10 generates a behavior target value that is the vehicle behavior of the vehicle 70 to be realized by the driving operation according to this profile based on the profile read in step S13. In this example, the target yaw rate value may be calculated as the behavior target value.
Here, the controller 10 generates the behavior target value so as to accelerate the start timing of the vehicle behavior of the vehicle 70 in the target scene within the range of the variation degree σ calculated in step S6 of FIG.

Reference is made to FIG. 6B. The broken line 90 indicates the change in the yaw rate at each time when the vehicle behavior (that is, the change in the yaw rate) according to the profile read in step S13 starts from the second reference timing tr2.
The second reference timing tr2 is a predetermined timing that is predetermined in the target scene in the automatic driving mode.

The second reference timing tr2 may be determined based on the environmental characteristic amount. For example, the predicted time when the environmental feature amount is equal to or more than the threshold value may be the second reference timing tr2. For example, the expected time at which the curvature rises may be the second reference timing tr2.
Further, for example, in the manual operation mode, the controller 10 may calculate the average value of the relative time d between the operation start timing ts and the first reference timing tr1.
In the automatic operation mode, the controller 10 may set the time when the average value of the relative time d is deviated from the predicted time when the environmental characteristic amount is equal to or more than the threshold value as the second reference timing tr2.
That is, the average start timing of the driving operation of the driver in the target scene may be the second reference timing tr2.

Further, the second reference timing tr2 may be determined regardless of the environmental characteristic amount. For example, the second reference timing tr2 may be determined based on the detection time of the target scene. In this case, for example, the second reference timing tr2 may be a time after a predetermined period has elapsed from the detection time of the target scene.

Further, the second reference timing tr2 may be set in correspondence with the first reference timing tr1 that is predetermined in the target scene in the manual operation mode.
For example, when the first reference timing tr1 is determined based on the environmental characteristic amount, the second reference timing tr2 may be determined based on the environmental characteristic amount.

For example, when the first reference timing tr1 is the time when the environmental characteristic amount is equal to or larger than the threshold value, the predicted time when the environmental characteristic amount is equal to or larger than the threshold value may be the second reference timing tr2.
Further, for example, when the first reference timing tr1 is the time when the environmental feature amount is equal to or more than the threshold value, the controller 10 determines the time when the average value of the relative time d is shifted from the expected time when the environmental feature amount is equal to or more than the threshold value. It may be 2 reference timing tr2.
Further, for example, when the first reference timing tr1 is the detection time of the target scene or the time after a predetermined period has elapsed from the detection time of the target scene, the second reference timing tr2 is the time after the predetermined period has elapsed from the detection time of the target scene. It may be time.

The solid line 91 indicates the behavior target value (that is, the target yaw rate value) generated by the controller 10.
The controller 10 generates the behavior target value such that the start timing of the vehicle behavior is earlier than the vehicle behavior of the broken line 90 within the range of the variation degree σ. That is, the controller 10 generates the behavior target value such that the start timing of the vehicle behavior is earlier than the second reference timing tr2 within the range of the variation degree σ.

In step S15, the controller 10 drives the steering actuator 61 based on the behavior target value to cause the vehicle 70 to generate a vehicle behavior according to the profile.
In step S16, the controller 10 determines whether the ignition switch (IGN) of the vehicle is off. When the ignition switch (IGN) is not off (step S16: No), the operation returns to step S10. If the ignition switch is off (step S16: Yes), the process ends.
In step S17, the controller 10 controls the vehicle so that the vehicle autonomously travels according to the vehicle surroundings detected by the surroundings sensor group 20 and the traveling state of the vehicle detected by the traveling state sensor group 30. Drive group 60. Thereafter, the processing proceeds to step S16.

(Effects of the first embodiment)
(1) The controller 10 determines whether the traveling scene of the vehicle 70 is a predetermined target scene, detects a driving operation performed by the driver in the target scene, and stores the driving operation in the storage device 12. To do. Further, the controller 10 calculates a variation degree σ of the start timing of the driving operation by the driver in the target scene.
When the traveling scene of the vehicle 70 is the target scene and the driver's action intention is detected during the automatic operation of the vehicle 70, the controller 10 causes the vehicle 70 to generate the vehicle behavior according to the driving operation stored in the storage device 12. The controller 10 advances the start timing of the vehicle behavior in the target scene within the range of the variation degree σ.

By accelerating the start timing of the vehicle behavior, it is possible to enhance the responsiveness to the driver's action intention. At this time, the amount of advancing the start timing of the vehicle behavior is limited within the range of the variation degree σ of the start timing of the driving operation by the driver. As described above, by advancing the start timing of the vehicle behavior within the range of the variation degree σ of the driving operation of the driver, the start timing of the vehicle behavior can be advanced without causing the driver to feel uncomfortable. As a result, it is possible to prevent the driver from feeling uncomfortable at the start timing.

(2) The electroencephalogram sensor 40 detects the action intention by detecting the exercise preparation potential of the driver. By detecting the exercise preparation potential, the driver's action intention can be detected with high accuracy.
(3) The myoelectric sensor 50 detects the action intention by detecting the myoelectric potential of the driver. By detecting the myoelectric potential, the driver's action intention can be detected with high accuracy.

(Modification)
(1) Instead of the driving operation detected in the target scene in the manual driving mode, the controller 10 may store the vehicle behavior generated in the vehicle 70 by the driving operation in the storage device. Then, in the automatic driving mode, the controller 10 determines that the traveling scene of the vehicle is the target scene, and when the driver's action intention is detected, the same vehicle behavior occurs in the vehicle 70 according to the stored vehicle behavior. Alternatively, the vehicle control actuator group 60 may be driven.
For example, the controller 10 may generate a profile of the vehicle behavior generated in the vehicle 70 by the driving operation performed by the driver in the target scene, instead of the profile of the driving operation. The vehicle behavior profile is a time function indicating a series of vehicle behaviors that have occurred in the vehicle 70 due to the driving operation performed by the driver in the target scene.
In the automatic driving mode, the controller 10 determines that the traveling scene of the vehicle is the target scene, and when the driver's action intention is detected, the vehicle control actuator group so that the same vehicle behavior as the profile occurs in the vehicle 70. 60 may be driven.

(2) When the target scene is a change of the traveling lane for avoiding an obstacle ahead, the controller 10 may detect, for example, a margin time for collision with an obstacle ahead as an environmental feature amount. In the manual operation mode, the controller 10 may calculate the variation degree σ of the start timing of the driving operation by the driver by using the time when the collision margin time is less than the threshold value as the first reference timing tr1.
In the automatic operation mode, the controller 10 may set, for example, the predicted time when the collision margin time is less than the threshold value as the second reference timing tr2. The controller 10 may advance the start timing of the vehicle behavior from the second reference timing tr2 within the range of the variation degree σ.

(3) When the target scene is approaching the stop line, the controller 10 may detect, for example, the expected arrival time to the stop line as the environmental feature amount. In the manual operation mode, the controller 10 may calculate the variation degree σ of the start timing of the driving operation by the driver by using, for example, the time when the expected arrival time is less than the threshold value as the first reference timing tr1.
In the automatic operation mode, the controller 10 may set, for example, the predicted time at which the predicted arrival time to the stop line is less than the threshold as the second reference timing tr2. The controller 10 may advance the start timing of the vehicle behavior from the second reference timing tr2 within the range of the variation degree σ.

(4) The controller 10 may determine whether the traveling scene of the vehicle 70 is the target scene based on information other than the environmental feature amount. For example, the controller 10 may determine whether the traveling road 71 in front of the vehicle 70 is a curved road 72 based on information other than the curvature of the traveling road 71. For example, the controller 10 detects the position of another vehicle traveling ahead and determines whether the traveling road 71 in front of the vehicle 70 is a curved road 72 based on the turning radius of the other vehicle calculated from the detected position. You may judge.

(Second embodiment)
Next, the driving support device 1 of the second embodiment will be described. When the driving skill of the driver is low, it is preferable to enhance the responsiveness to the driver's action intention and to generate the vehicle behavior earlier and improve the safety, as compared with the case where the driving skill of the driver is high.
Therefore, the driving support device 1 of the second embodiment determines the driving skill of the driver, and when the driving skill is low, increases the amount of advancing the start timing of the vehicle behavior as compared with the case where the driving skill is high.

The configuration of the driving support device 1 of the second embodiment is similar to the functional configuration shown in FIG. The controller 10 determines the driving skill of the driver in the manual driving mode.
For example, the controller 10 may determine the driving skill of the driver based on the information about the vehicle surroundings detected by the surrounding condition sensor group 20 and the traveling state of the vehicle 70 detected by the traveling state sensor group 30. For example, the controller 10 determines that the driving delay is lower as the delay in the change in the yaw rate occurring in the vehicle 70 with respect to the change in the curvature of the traveling path of the vehicle 70 is larger.

For example, the controller 10 may determine the driving skill of the driver based on the information about the vehicle surroundings detected by the surrounding condition sensor group 20 and the driving operation detected by the running state sensor group 30. For example, the controller 10 determines that the driving delay is lower as the delay in the change in the steering operation with respect to the change in the curvature of the traveling path of the vehicle 70 is larger.
Further, for example, the controller 10 may determine the driving skill of the driver based on the traveling state of the vehicle 70 detected by the traveling state sensor group 30. For example, it may be determined that the smoother the change in the yaw rate occurring in the vehicle 70, the higher the driving skill.
When the driving skill is low, the controller 10 increases the amount by which the start timing of the vehicle behavior is advanced as compared with the case where the driving skill is high.

(Effects of Second Embodiment)
The controller 10 determines the driving skill of the driver, and when the driving skill is low, increases the amount of advancing the start timing of the vehicle behavior as compared with the case where the driving skill is high. Therefore, when the driving skill of the driver is low, the responsiveness to the driver's behavioral intention can be enhanced as compared with the case where the driving skill of the driver is high, and the vehicle behavior can be generated earlier and the safety can be improved. ..

(Third Embodiment)
Next, the driving support device 1 of the third embodiment will be described. By advancing the start timing of the vehicle behavior, the restriction on the travel range of the vehicle 70 may be violated. For example, when the target scene is the curved road 72, if the start timing of the yaw rate change that is the vehicle behavior is too early, the vehicle 70 may cross the inner road boundary.
Therefore, the driving support device 1 according to the third embodiment determines a restriction on the travel range of the vehicle 70, and limits the amount of advancing the start timing of the vehicle behavior according to the restriction.

The configuration of the driving support device 1 of the second embodiment is similar to the functional configuration shown in FIG. The controller 10 determines restrictions on the travel range of the vehicle 70.
For example, the controller 10 determines, based on the map information around the current position of the vehicle 70 read from the map database 23, the restriction of the traveling range of the vehicle 70 according to the road boundary of the traveling path on which the vehicle 70 travels.
For example, the controller 10 determines the restriction of the traveling range of the vehicle 70 based on the surrounding conditions of the vehicle detected by the radar 21 and the camera 22.

The controller 10 limits the amount of advancing the start timing of the vehicle behavior according to the determined constraint.
For example, the controller 10 determines whether or not the constraint is violated by advancing the start timing of the vehicle behavior by the length L defined within the range of the variation degree σ.
When the constraint is violated, the controller 10 does not cause the vehicle behavior in the vehicle according to the driving operation or the vehicle behavior stored in the storage device 12, and the vehicle autonomously operates according to the surrounding environment of the vehicle and the traveling state of the vehicle. Vehicle behavior may be controlled to drive. For example, the controller 10 controls the vehicle behavior so that the vehicle autonomously travels according to the surrounding environment of the vehicle and the traveling state of the vehicle without causing the vehicle to generate the vehicle behavior according to the profile stored in the storage device 12. You can
Alternatively, the amount by which the start timing of the vehicle behavior is advanced until the constraint is no longer violated may be reduced.

(Effect of the third embodiment)
The controller 10 determines a constraint on the travel range of the vehicle 70, and limits the amount of advancing the start timing of the vehicle behavior according to the constraint. Therefore, by advancing the start timing of the vehicle behavior, it is possible to prevent the restriction of the traveling range of the vehicle 70 from being violated.
It goes without saying that the present invention includes various embodiments and the like not described here. Therefore, the technical scope of the present invention is defined only by the matters specifying the invention according to the scope of claims reasonable from the above description.

DESCRIPTION OF SYMBOLS 1... Driving support device, 10... Controller, 11... Processor, 12... Storage device, 20... Ambient condition sensor group, 21... Radar, 22... Camera, 23... Map database, 24... GPS receiver, 30... Running state sensor Group, 31... Vehicle speed sensor, 32... Acceleration sensor, 33... Yaw rate sensor, 34... Accelerator opening sensor, 35... Brake switch, 36... Steering operation amount sensor, 40... Brain wave sensor, 50... Myoelectric sensor, 60... Vehicle Control actuator group, 61... Steering actuator, 62... Accelerator opening actuator, 63... Brake control actuator

Claims (8)

Determine whether the driving scene of the vehicle is a predetermined target scene,
Detecting the driving operation performed by the driver in the target scene,
Either one of the driving operation or the vehicle behavior generated by the driving operation is stored,
Calculate the degree of variation in the start timing of the driving operation by the driver in the target scene,
In the automatic driving of the vehicle, the driving operation stored when the driving scene of the vehicle is the target scene and the behavior intention of the driver, which is the intention of the driver to act, is detected. Alternatively, the vehicle behavior is generated in the vehicle according to any one of the vehicle behavior ,
Advancing the start timing of the vehicle behavior generated in the vehicle in the target scene within the range of the variation degree,
A driving support method characterized by the above. The driving support method according to claim 1, wherein the action intention is detected by detecting an exercise preparation potential of the driver. The driving assistance method according to claim 1, wherein the action intention is detected by detecting a myoelectric potential of the driver. Judging the driver's driving skills,
The driving support method according to claim 1, wherein when the driving skill is low, the amount of advancing the start timing of the vehicle behavior is increased as compared with the case where the driving skill is high. .. The driving support method according to any one of claims 1 to 4, wherein a restriction on a travel range of the vehicle is determined, and an amount of advancing a start timing of the vehicle behavior is restricted according to the restriction. A first sensor for detecting a driving scene of the vehicle;
A second sensor for detecting the driving operation of the driver;
A third sensor for detecting the driver's action intention,
An actuator for generating a vehicle behavior in the vehicle,
A controller that drives the actuator based on detection signals of the first sensor, the second sensor, and the third sensor,
The controller is
Determine whether the traveling scene of the vehicle is a predetermined target scene,
Stores either one of the driving operation detected in the target scene or the vehicle behavior generated by the driving operation,
Calculate the degree of variation in the start timing of the driving operation by the driver in the target scene,
In the automatic driving of the vehicle, the driving operation stored when the driving scene of the vehicle is the target scene and the behavior intention of the driver, which is the intention of the driver to act, is detected. Alternatively, the vehicle behavior is generated in the vehicle by the actuator according to any one of the vehicle behavior ,
Advancing the start timing of the vehicle behavior generated in the vehicle in the target scene within the range of the variation degree,
A driving support device characterized by the above. 7. The driving support device according to claim 6 , wherein the third sensor detects the action intention by detecting the exercise preparation potential of the driver. The driving assistance device according to claim 6 , wherein the third sensor detects the behavioral intention by detecting a myoelectric potential of the driver.

Images