JP7158839B2 - Driving support device and driving support method - Google Patents

Description

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

Conventionally, driving support devices have been proposed that switch between an automatic driving mode that automatically controls all of the vehicle's various operations such as steering, braking, and acceleration, and a manual driving mode that does not automatically control all or some of the operations. (See Patent Document 1, for example).
In the driving support device described in Patent Document 1, a road section where the equipment and information necessary for automatic driving are in place is set as a road section where automatic driving is possible, and the vehicle travels in the road section where automatic driving is possible. Control is performed in the automatic operation mode only when there is Then, when the vehicle approaches the end point of a road section on which automatic operation is possible, it outputs a voice message (manual operation mode switch notice) prompting preparation for switching to manual operation. Furthermore, in the driving support device described in Patent Document 1, when outputting a manual driving mode switching notice, the situation of other vehicles around the own vehicle is displayed on the display to alert the driver. there is

JP 2016-182906 A

As described above, in order to smoothly transition to the driving control (manual driving control) in the manual driving mode when the driving control (automatic driving control) is performed in the automatic driving mode, the driver must perform manual driving. It must be in a state where it can be obtained. However, since the driver's awareness of driving tends to weaken while the vehicle is traveling under automatic driving control, there is a risk that the driver's response to shift to manual driving will be delayed.
The present invention has been made in view of this background, and when switching from automatic driving control to manual driving control, a driving support device and a driving support method that can quickly put the driver in a state where manual driving can be performed. intended to provide

A driving support device of the present invention includes a driving control unit that selectively executes automatic driving control and manual driving control for a vehicle, a driver state recognition unit that recognizes the state of the driver of the vehicle, and the driving control unit. When the automatic operation control is being executed by the unit, at a switching preparation point set at a point before the automatic operation end point where switching from the automatic operation control to the manual operation control is scheduled, When the vehicle arrives, the driver is instructed according to the first driver state, which is the state of the driver recognized by the driver state recognition unit when the vehicle travels through the switching preparation point. a first response request unit for determining and outputting a first response request for requesting a response by means of the driver state recognition unit; a second response request unit for determining and outputting a second response request for requesting a response from the driver according to the second driver state; and the driver state recognition unit. a response request assigning unit that divides the driver's state into a plurality of stages and assigns a plurality of response requests with priority to each stage; A response request having the same content as the first response request is excluded from candidates for the second response request, the second response request is determined and output, and a change in the second driver state with respect to the first driver state is performed. determining whether or not there are a plurality of response requests assigned to the second driver state when the degree is equal to or less than a predetermined level, and if there are a plurality of response requests assigned to the second driver state, Among the plurality of response requests, the response request having the highest priority is first selected and output as the second response request, and if there are no response requests assigned to the second driver state, the first response request The response request assigned to the two driver states is output as the second response request .

A driving support method of the present invention includes a driving control step of selectively executing automatic driving control and manual driving control for a vehicle, a driver state recognition step of recognizing the state of the driver of the vehicle, and the driving control. When the automatic operation control is executed by the step, at the switching preparation point set at a point before the automatic operation end point where switching from the automatic operation control to the manual operation control is scheduled, When the vehicle arrives, the driver is instructed according to the first driver state, which is the state of the driver recognized by the driver state recognition step when the vehicle travels through the switching preparation point. a first response request step of determining and outputting a first response request for requesting a response through the driver state recognition step; a second response request step for determining and outputting a second response request for requesting a response from the driver according to the second driver state; and a driver state recognition step. and a response request assigning step of classifying the state of the driver to be treated into a plurality of stages and assigning a plurality of response requests with priority to each stage, wherein the second response request step comprises the first response request step. determining and outputting the second response request by excluding response requests having the same content as the first response request from candidates for the second response request;
determining whether or not there are a plurality of response requests assigned to the second driver state when the degree of change of the second driver state with respect to the first driver state is equal to or less than a predetermined level; 2 If there are a plurality of response requests assigned to the driver state, the response request having the highest priority among the plurality of response requests is first selected and output as the second response request, and the second response request is output. When there are not a plurality of response requests assigned to the state, the response request assigned to the second driver state is output as the second response request .

According to the driving assistance device and the driving assistance method of the present invention, at the pre-switching time point set before the vehicle reaches the automatic driving end point, it is determined according to the state of the driver (first driver state). The received first response request is output. Then, a second driving state indicating the response state of the driver to the first response request is recognized, and a second response request corresponding to the second driver state is output. In this way, by outputting the second response request according to the response state of the driver, it is possible to quickly bring the driver into a state in which manual operation can be performed when switching from automatic operation control to manual operation control. .

The block diagram of a driving assistance device. Explanatory drawing of the switching timing from automatic operation control to manual operation control. 4 is a flowchart of support processing for switching to manual operation; 4 is a flowchart of driver state recognition processing; 4 is a flowchart of first response request output processing; 10 is a flowchart of second response request output processing; Explanatory drawing of a response request table. Explanatory drawing of dialogue history.

Embodiments of the present invention will be described with reference to FIGS. 1 to 8. FIG.
[1. Configuration diagram of driving support device]
A configuration of a driving assistance device 10 according to the present embodiment will be described with reference to FIG. A driving support device 10 according to the present embodiment is mounted on a vehicle 1 and controls the operation of a mechanical section (a driving mechanism, a braking mechanism, a steering mechanism, etc.) 2 of the vehicle 1 .

The driving support device 10 executes automatic driving control and manual driving control of the vehicle 1 . Here, the automatic driving control includes fully automatic driving control that controls the running of the vehicle 1 without relying on the driver's operation, as well as partially automatic driving control that assists the driver's operation to drive the vehicle 1. be As the partially automated driving control, for example, lane keeping control to keep the vehicle 1 from running out of the driving lane, inter-vehicle distance control to maintain a constant distance from the preceding vehicle, and the like are executed.

The driving support device 10 executes automatic driving control only when the vehicle 1 is traveling in a preset automatic driving section (a section in which execution of automatic driving control is permitted). And driving assistance device 10 prohibits execution of automatic driving control, when it is running the section (non-automatic driving section) other than an automatic driving section. In this embodiment, highways are set as automatic driving sections, and general roads other than expressways are set as non-automatic driving sections.

In addition, the driving support device 10 does not always perform automatic driving control when the vehicle 1 is traveling in an automatic driving section, and the automatic driving control is performed according to the operation of the driver to execute and stop the automatic driving control. It switches between a state in which driving of the vehicle 1 is controlled by control and a state in which automatic driving control is prohibited and driving of the vehicle 1 is controlled by manual driving control.

The vehicle 1 includes an operation unit 40 operated by a passenger (mainly a driver), a display unit 41, a speaker 42, an image processing unit 43, a vehicle front camera 44, a vehicle rear camera 45, an in-vehicle camera 46, a microphone 47, a map DB ( Data Base) 50 , gyro sensor 51 , GPS (Global Positioning System) receiver 52 , and network communication section 56 .

The driving assistance device 10 is an electronic circuit unit including a CPU 20, a memory 30, various interface circuits (not shown), and the like. The CPU 20 reads and executes the control program 31 of the driving support device 10 stored in the memory 30 to operate the driving control unit 21, the driver state recognition unit 22, the first response request unit 23, and the second response request. It functions as part 24 .

In the memory 30, in addition to the control program 31, data of a response request table 32 for determining the response request to be output to the driver, and a dialogue recording the output of the response request and the recognition result of the driver's state are stored. The data of history 33 is saved. Details of the response request table 32 and the dialogue history 33 will be described later.

An operation unit 40 , a display unit 41 , a speaker 42 , an image processing unit 43 , a map DB 50 , a gyro sensor 51 , a GPS receiver 52 and a network communication unit 56 are connected to the driving support device 10 .

The operation unit 40 has a switch operated by the driver, and an operation signal indicating the operation status of the switch is input to the driving support device 10 . Further, the screen display of the display unit 41 and the sound output from the speaker 42 are controlled by the control signal output from the driving support device 10 .

The vehicle front camera 44 images the front of the vehicle 1 , and the vehicle rear camera 45 images the rear of the vehicle 1 . The in-vehicle camera 46 images the interior of the vehicle 1 including the driver. The image processing unit 43 performs known processing such as feature quantity extraction and pattern matching on images captured by the vehicle front camera 44 , vehicle rear camera 45 and vehicle interior camera 46 . Through these processes, the image processing unit 43 recognizes the types of objects existing around the vehicle 1 (traffic lights, crosswalks, road signs, pedestrians, etc.), and also recognizes the state of the driver, etc. Data indicating the recognition result is output to the driving support device 10 . The map DB 50 stores map information data including types of roads (highways, general roads, etc.). The microphone 47 picks up the voice of the driver and outputs voice data to the driving support device 10 .

The gyro sensor 51 detects the angular velocity of the vehicle 1 and outputs an angular velocity detection signal to the driving assistance device 10 . The GPS receiver 52 receives radio waves from GPS satellites, detects the position (latitude and longitude) of the vehicle 1 , and outputs a position detection signal to the driving support device 10 . The network communication unit 56 transmits and receives various types of information to and from the information server 71 via the communication network 70 .

In the driving assistance device 10, the travel control unit 21 selectively executes travel control of the vehicle 1 by automatic operation control and travel control of the vehicle 1 by manual operation control. The travel control unit 21 detects the current position of the vehicle 1 based on the GPS reception 52 and the detection signal of the gyro sensor 51, and acquires the map information of the area where the vehicle 1 travels from the map DB50. And the traveling control part 21 starts automatic driving|running control according to start operation of automatic driving|running control by a driver|operator, when recognizing that the vehicle 1 is driving|running|working the expressway.

In the automatic driving control, the driving control unit 21 recognizes lane marks on the road, other vehicles in the surroundings, etc. from images captured by the vehicle front camera 44 and the vehicle rear camera 45, and performs lane keeping control, preceding vehicle following control, etc. It executes approach avoidance control, etc. to the vehicle. The processing by the travel control unit 21 corresponds to the travel control step in the driving support method of the present invention.

The driver state recognition unit 22 uses the image processing unit 43 to extract the image portion of the driver from the image captured by the in-vehicle camera 46 , and analyzes the voice data of the driver picked up by the microphone 47 . Then, the driver state recognition unit 22 recognizes the driver state based on the driver's image portion and the utterance situation. The processing by the driver state recognition unit 22 corresponds to the driver state recognition step in the driving assistance method of the present invention.

Although the details will be described later, the first response requesting unit 23 and the second response requesting unit 24 perform processing for enabling the driver of the vehicle 1 to perform manual driving. The processing by the first response requesting section 23 corresponds to the first response requesting step in the driving assistance method of the present invention. Further, the processing by the second response requesting section 24 corresponds to the second response requesting step in the driving assistance method of the present invention.

Here, FIG. 2 shows a situation in which the vehicle 1 is traveling on the highway 100, which is an automatically operated section, under automatic operation control. In FIG. 2, P1 is the end point of the expressway (the point where the automatic operation is scheduled to end), and P3 is the switching preparation point set before the automatic operation end point P1 of the vehicle 1. .

The first response requesting unit 23 determines whether or not the driver of the vehicle 1 is ready for manual driving when the vehicle 1 reaches the switching preparation point P3. When the driver is not in a state in which manual driving can be performed, the first response request unit 23 outputs a first response request to prompt the driver to be in a state in which manual driving is possible.

A second response request unit 24 outputs a second response request to prompt a change in the driver's situation when the driver is not in a state in which manual driving is possible even if the first response request is output. . When the driver does not become capable of manual driving even after outputting the first response request and the second response request, the driving control unit 21 forces the vehicle 1 to stop before the automatic driving end point P1. When the vehicle 1 reaches the point P2, it is controlled to pull the vehicle 1 to the road shoulder and stop.

[2. Support processing for switching to manual operation]
Next, the processing for causing the driver of the vehicle 1 to shift to a state in which manual driving is possible, which is executed by the driving support device 10, will be described with reference to the flowcharts shown in FIGS. 3 to 6. FIG. FIG. 2 shows the overall processing procedure of the switching support processing for manual driving, and the driving support device 10 performs the processing according to the flowchart of FIG. Run. Assistance processing for switching to manual operation will be described below on the premise of the situation shown in FIG. 2 described above.

Steps S1 to S3 in FIG. 3 are processing by the first response requesting section 23. FIG. In step S1, the first response requesting unit 23 determines whether the vehicle 1 has reached the switching preparation point P3 based on the position of the vehicle 1 output from the GPS receiver 52 and the road information stored in the map DB 50. determine whether or not Then, when the vehicle 1 reaches the switching preparation point P3, the first response requesting section 23 advances the process to step S2.

In step S<b>2 , the first response requesting section 23 recognizes the driver's state (corresponding to the first driver's state of the present invention) with the driver's state recognizing section 22 . The driver state recognizing unit 22 recognizes the state of the driver by the processing according to the flowchart shown in FIG. In steps S20 to S21, the driver's state recognition unit 22 captures an image with the in-vehicle camera 46 via the image processing unit 43, and the image processing unit 43 extracts an image portion of the driver.

In steps S22 and S23, the driver state recognition unit 22 picks up sound with the microphone 47 and analyzes the content of the driver's utterance. In subsequent step S24, the driver state recognition unit 22 recognizes the driver's state from the driver's image portion and the content of the driver's utterance. Specifically, the driver's gaze direction, eye opening/closing status, gestures, etc. are recognized from the driver's image portion, and the driver's response status and requirements are recognized from the driver's utterance content.

In the next step S<b>25 , the driver state recognition unit 22 stores data (driver state data) indicating the recognized state of the driver and the level of the state in the memory 30 . Here, FIG. 7 shows a response request table 32 in which the driver's condition, each driver's condition level, the response request assigned to each level, and the priority of each response request are associated with each other. A configuration for allocating response requests according to the driver's state by the response request table 32 corresponds to the response request assigning section of the present invention.

As shown in FIG. 7, in the present embodiment, the driver's state is divided into five assumed states of forward gaze, drowsiness, smartphone operation, and dozing off, and levels of each assumed state. Level 1 (possible to drive), level 2 (understanding of current situation), level 2 (feeling ready to drive), and level 3 (impossible to drive) are set as levels of each assumed state.

Returning to the flowchart of FIG. 3, in step S3, the first response requesting unit 23 executes the first response request output process according to the flowchart shown in FIG. At step S30 in FIG. 5, the first response requesting unit 23 reads the recognition result of the driver's state. In subsequent step S31, the first response requesting unit 23 calculates the remaining time until switching to manual driving (the time until the vehicle 1 reaches the automatic driving end point P1).

In the next step S32, the first response requesting unit 23 refers to the response request table 32, selects a response request according to the driver's state and the remaining time until switching to manual operation, and outputs the voice of the response request to the speaker. Output from 42. For example, when the driver's state is "focusing on the front" and the time until the automatic driving end point P1 is 5 minutes, a voice ( first response request) is output from the speaker 42 . It should be noted that characters or images indicating similar contents may be displayed on the display unit 41 together with the voice. For example, a guidance screen showing how to stretch may be displayed on the display unit 41 when outputting the response request voice "How about stretching?"

In subsequent step S34, the first response requesting unit 23 records the driver state recognition result read in step S30 and the content of the first response request output in step S33 in the dialogue history 33 prepared in the memory 30. do. As shown in FIG. 8, the dialogue history 33 includes the driver state recognized by the driver state recognition unit 22 and the response requests output by either the first response request unit 23 or the second response request unit 24. are recorded together with the recognition time and the output time.

Returning to the flowchart of FIG. 3, a loop consisting of steps S10 and S12 branched from steps S4 to S5 and step S5 is processing by the second response requesting unit . The second response requesting unit 24 waits until the level of the driver's condition becomes drivable (level 1) in step S5 or until the vehicle 1 reaches the forced stop point P2 (see FIG. 2) in step S10. and the second response request output process in step 12 are repeatedly executed. The driver state recognized in step S4 corresponds to the second driver state of the present invention. The second driver state indicates the response state of the driver to the first response request or the second response request.

FIG. 6 is a flowchart of the second response request output process. In step S40, the second response requesting unit 24 refers to the dialogue history 33 to read the previous recognition result of the driver state. read out. For example, in the first loop process, the previous recognition result of the driver state is the driver state recognized in the processing of step S2 in FIG. This is the driver state recognized in the process of step S4. In addition, in the second and subsequent loop processes, the recognition result of the previous driver's state is the driver's state recognized in the process of step S4 in the previous loop.

In the next step S42, the second response requesting unit 24 determines whether or not the driver's state of the previous time and this time is different. Then, the second response requesting unit 24 advances the process to step S43 if the previous and current driver states are different (if the difference is the same, advances the process to step S51 if the previous and current driver states are the same.

In step S50, the second response requesting unit 24 refers to the dialogue history 33, excludes the output response request from the response request candidates to be output next, and proceeds to step S43. For example, in the dialog history 33 shown in FIG. 8, the driver's state is the same at t5 and t6, which is "drowsiness - feeling ready to drive". Is it possible?" is excluded from the response request candidates to be output next. Then, at the next time t8, a different response request "Shall we play some music for a change of pace?" is selected and output.

In step S43, the second response requesting unit 24 determines whether or not there are a plurality of response requests assigned to the current driver state. Then, if there are a plurality of assigned response requests, the second response requesting unit 24 advances the process to step S44, and selects response requests in descending order of priority among the plurality of response requests.

For example, in the response request table 32 shown in FIG. 4 "Shall we play some music for a change of mood?" is assigned. In this case, priority 2-3 is set higher than priority 2-4, so "How about stretching?" Shall we play music on?" is selected.

On the other hand, in step S51, since only one response request is assigned, the second response request unit 24 selects the assigned response request and advances the process to step S45. For example, in the response requests shown in FIG. 7, one response request "Switch to manual driving in about XX minutes. Are you sure?" ing. Therefore, the second response requesting unit 24 selects the response request "The operation will switch to manual operation in about XX minutes. Are you sure?".

In step S<b>45 , the second response request unit 24 outputs the voice of the response request (second response request) selected in step S<b>44 or step S<b>51 from the speaker 42 . Note that characters or an image showing the same content as the second response request may be displayed on the display unit 41 together with the voice. In subsequent step S46, the second response request unit 24 additionally records the response request output in step S45 in the dialogue history 33. FIG.

Returning to the flowchart of FIG. 3, the second response requesting unit 24 advances the process to step S6 when the driver state becomes "Focus on front -1: Driving possible" in step S5. In step S6, the driving support device 10 outputs a guidance voice such as "We will switch to manual driving in about XX minutes. Please prepare."

In subsequent step S7, the driving support device 10 determines whether or not the driver has given an operation instruction in response to the output of the response request. Here, an operational instruction from the driver means that, for example, in response to a response request, "Isn't it hot?" , or the case where the driver outputs voice such as "Yes, play music" in response to the response request "Shall we play music for a change of mood?"

Then, when there is an operation instruction from the driver, the driving support device 10 advances the processing to step S8, performs processing according to the operation instruction (activate the air conditioner, play music, etc.), and then proceeds to step S9. to end the switching support process to manual operation. On the other hand, when there is no operation instruction from the driver, the driving support device 10 advances the process to step S9.

Further, when the vehicle 1 reaches the forced stop point P2 in step S10, that is, when the vehicle 1 reaches the forced stop point P2 before the driver state becomes "1: drivable", the second response request The unit 24 advances the process to step S11.

Step S11 is processing by the travel control unit 21, and the travel control unit 21 performs control to decelerate the vehicle 1 and bring it to the road shoulder to stop. As a result, it is possible to prevent the automatic operation control of the vehicle 1 from being switched to the manual operation control and the manual operation control being executed in a state where it can be determined that the manual operation by the driver is difficult.

[3. Other embodiments]
In the above embodiment, the second response request unit 24 outputs a response request different from the previous response request when the driver's state does not change when outputting the response request. good.

Also, as shown in the response request table 32 of FIG. 7, priority is set for response requests, and the second response request unit 24 selects and outputs response requests in descending order of priority. may be configured to select the response requests according to an arbitrary order or other conditions without setting .

In addition, the driver state recognition unit 22 recognizes the driver state based on the image portion of the driver extracted from the captured image by the in-vehicle camera 46 and the content of the driver's utterance picked up by the microphone 47. The driver's state may be recognized based on only one of the driver's image portion and the utterance content.

Also, a vibrating body is incorporated in the driver's seat, and the vibrating body is activated when the first response requesting unit 23 or the second response requesting unit 24 outputs the voice of the response request, thereby enhancing the effect of alerting the driver. good too.

In addition, in step S42 of FIG. 6, the second response requesting unit 24 determines whether or not the previous and current driver states are different. When the driver state difference level is equal to or less than a predetermined level (the degree of change in the driving state is small), a response request different from the previous response request may be output.

FIG. 1 is a schematic diagram showing the functional configuration of the driving assistance device 10 classified according to main processing contents for easy understanding of the present invention. Depending on the content, it can also be classified into more components. Also, one component can be grouped to perform more processing. Also, the processing of each component may be executed by one piece of hardware, or may be executed by a plurality of pieces of hardware. Also, the processing of each component may be implemented by one program or may be implemented by a plurality of programs.

In the driving assistance device 10, the control program 31 executed by the CPU 20 is downloaded from an external server via the communication network 70, for example, loaded onto the memory 30 such as a RAM, and executed by the CPU 20. can be Alternatively, the program may be directly loaded from an external server to the memory 30 such as a RAM via the communication network 70 and executed by the CPU 20 . Alternatively, it may be loaded onto the memory 30 such as RAM from a storage medium connected to the driving support device 10 .

The processing unit of the flowcharts shown in FIGS. 3 to 6 is divided according to the main processing content in order to facilitate understanding of the processing by the driving support device 10. FIG. The present invention is not limited by the division method or name of the processing unit. The processing of the driving support device 10 can also be divided into more processing units according to the content of the processing. Also, one processing unit can be divided to include more processing. Further, the order of processing in each flowchart is not limited to the illustrated example, as long as similar processing results can be obtained.

1 Vehicle 2 Mechanical Unit 10 Driving Support Device 20 CPU
21 Driving control unit 22 Driver state recognition unit 23 First response request unit 24 Second response request unit 30 Memory 31 Control program 32 Response request table 33 Dialogue history 40 Operation unit 42 Speaker 43 Image processing unit 44 Vehicle front camera 45 Vehicle Rear camera 45 In-vehicle camera 46 In-vehicle camera 47 Microphone 50 Map DB
51 gyro sensor 52 GPS receiver 56 network communication unit 70 communication network 71 information server

Claims (2)

A travel control unit that selectively executes automatic operation control and manual operation control for the vehicle;
a driver state recognition unit that recognizes the state of the driver of the vehicle;
When the automatic operation control is executed by the travel control unit, a switching preparation point set at a point before the automatic operation end point where switching from the automatic operation control to the manual operation control is scheduled and, when the vehicle arrives, the driving is performed according to the first driver state, which is the state of the driver recognized by the driver state recognition unit when the vehicle travels through the switching preparation point. a first response request unit that determines and outputs a first response request requesting a response from the person;
A second driver state indicating a response state of the driver to the output of the first response request is recognized by the driver state recognition unit, and a response is made to the driver according to the second driver state. a second response request unit that determines and outputs a second response request requesting
a response request allocation unit that divides the state of the driver recognized by the driver state recognition unit into a plurality of stages, and allocates a plurality of response requests with a set priority to each stage;
with
The second response request unit is
excluding response requests having the same content as the first response request from candidates for the second response request, determining and outputting the second response request;
determining whether or not there are a plurality of response requests assigned to the second driver state when the degree of change in the second driver state with respect to the first driver state is equal to or less than a predetermined level; When there are a plurality of response requests assigned to the driver state, the response request having the highest priority among the plurality of response requests is first selected and output as the second response request, and the second response request is output. outputting the response request assigned to the second driver state as the second response request when there are not a plurality of response requests assigned to
A driving support device characterized by: A travel control step for selectively executing automatic driving control and manual driving control for the vehicle;
a driver state recognition step of recognizing the state of the driver of the vehicle;
When the automatic operation control is executed by the travel control step, a switching preparation point set at a point before the automatic operation end point where switching from the automatic operation control to the manual operation control is scheduled. and, when the vehicle arrives, the driving is performed in accordance with the first driver state, which is the state of the driver recognized by the driver state recognition step when the vehicle travels through the switching preparation point. a first response request step of determining and outputting a first response request requesting a response from the person;
A second driver state indicating a response state of the driver to the output of the first response request is recognized by the driver state recognition step, and a response is made to the driver according to the second driver state. a second response request step of determining and outputting a second response request requesting
a response request assigning step of classifying the state of the driver recognized by the driver state recognition step into a plurality of stages and allocating a plurality of response requests with a set priority to each stage;
including
The second response requesting step includes:
excluding response requests having the same content as the first response request from candidates for the second response request, determining and outputting the second response request ;
determining whether or not there are a plurality of response requests assigned to the second driver state when the degree of change in the second driver state with respect to the first driver state is equal to or less than a predetermined level; When there are a plurality of response requests assigned to the driver state, the response request having the highest priority among the plurality of response requests is first selected and output as the second response request, and the second response request is output. outputting the response request assigned to the second driver state as the second response request when there are not a plurality of response requests assigned to
A driving support method characterized by:

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