JP6330867B2 - Driving assistance device - Google Patents

Description

  The present invention relates to a driving support device.

  Recently, many vehicles provide driving assistance, and for example, lane keeping control, automatic brake control, follow-up constant speed traveling control (auto cruise control), etc. have already been put into practical use. Patent Document 1 discloses a technique for reducing attention to the surrounding environment in order to relieve a driver's tension. Patent Document 2 discloses a technique that relieves muscle tone in a driving state through control intervention.

Japanese Patent Laid-Open No. 06-255519 Japanese Patent Application Laid-Open No. 07-069233

  By the way, as a driver | operator's state in the case of driving | running, the state where concentration to driving | running is high is preferable. On the other hand, the driver is not limited to a high concentration of driving, but may be in a marginal state in which the degree of concentration is relatively low and there is a margin for concentration on driving as represented by, for example, a casual state. In such a marginal state, there is a high possibility that attention will be paid to things other than driving, and how to concentrate on driving becomes important.

  The present invention has been made in consideration of the above circumstances, and its purpose is driving assistance that allows the driver to increase concentration on driving without being distracted by things other than driving. To provide an apparatus.

The present invention is essentially according to the level or increase or decrease in the degree of concentration for the driver, Ru Citea to selectively use the contents of driving support for increasing the concentration on driving.

To achieve the above object, in the present invention are adopted solving techniques such as follows. That is, as described in claim 1 ,
A driver state detecting means for detecting the driver state;
A concentration degree determining means for determining a concentration degree of the driver with respect to driving based on the driver state detected by the driver state detecting means;
When the concentration degree determined by the concentration degree determination means is decreasing, a first support means for providing driving assistance so that concentration on driving increases;
When the concentration degree determined by the concentration degree determining means is increased, so that the concentration on driving is further increased, and when the determined concentration level is constant, the concentration on driving is maintained or increased. Second driving support means for providing driving support different from the first supporting means;
It is supposed to be equipped with.

According to the above Kikai determined approach, in terms of performing appropriate driving assistance in accordance with the increase or decrease of the degree of concentration for the driver, by increasing the concentration for the driver to prevent the thus distracted to other than the driver This is preferable.

A preferred embodiment of the present invention, Ru der as described in the subclaims.

After the driving support by the first support means is performed, when the driver's concentration level is constant or increased, the driving support is switched to the second support means (corresponding to claim 2 ). In this case, the effect corresponding to claim 1 can be obtained more sufficiently by smoothly switching from the driving support by the first support means to the driving support by the second support means.

The amount of assistance information given to the driver by the driving assistance by the second driving assistance means is larger than the amount of assistance information given to the driver by the driving assistance by the first assistance means. (Corresponding to claim 3 ). In this case, when the degree of concentration on driving is low or decreasing, even if a lot of support information is provided, not only will the driver have less room to accept it, but it will also feel annoying By providing a small amount of support information so that it can be understood intuitively, it is possible to effectively increase (raise) the degree of concentration (that is, driving willingness). On the other hand, when the degree of concentration on driving is high, constant or increasing, the driver can afford to receive a lot of support information, so even if a lot of support information is provided, there is no annoyance The contents of the support information can be easily understood and understood, and the degree of concentration (driving motivation) can be maintained or increased (increased) extremely effectively.

The driving assistance by the first assistance means provides driving assistance for a short period of time compared to the driving assistance by the second driving assistance means (corresponding to claim 4 ). In this case, the same effect as that of the third aspect can be obtained.

The first support means is configured to provide real-time driving support with a small amount of support information,
The second support means performs driving support based on accumulated data obtained by accumulating support information in the first support means.
(Corresponding to claim 5 ). In this case, the effects corresponding to the third and fourth aspects can be obtained.

A driving skill evaluation means for evaluating the driving skill of the driver is provided.
The driving support by the first support means informs the evaluation of each driving operation evaluated by the driving skill evaluation means,
The driving support by the second support means is configured to notify a comprehensive evaluation based on accumulated data obtained by accumulating evaluations for individual driving operations evaluated by the driving skill evaluation means.
(Corresponding to claim 6 ). In this case, when the degree of concentration on driving is low or decreasing, even if many evaluations regarding driving skill are provided, not only the driver can afford to accept it but also it will be annoying Therefore, it is possible to effectively increase (increase) the degree of concentration (that is, driving willingness) by providing an evaluation regarding each driving operation so that it can be intuitively understood. On the other hand, when the degree of concentration on driving is high, constant, or increasing, there is room for the driver to accept a lot of support information, so providing comprehensive evaluation based on accumulated data is bothersome. It is possible to easily understand the contents of the comprehensive evaluation without giving a mark, and it is possible to maintain or enhance (raise) the degree of concentration (motivation to drive) extremely effectively.

The driving skill evaluation means is configured to individually evaluate a plurality of types of driving skills,
The notification of the driving skill by the first support means is performed by notifying at least one of the individual evaluations regarding the plurality of types of driving skills,
The notification of the driving skill by the second support means is performed by notifying the overall driving skill based on the individual evaluation of the plurality of types of driving skills.
(Corresponding to claim 7 ). In this case, it is particularly preferable to enhance the driving support effect by the first support means.

Notification of individual driving skill by the first support means, evaluation preferentially perform for lowest driving skill evaluation of the individual evaluation of the plurality of types of driving skill, are then way (claim 8 Correspondence). In this case, the driving operation is performed so that the evaluation is increased for a certain driving operation having a low evaluation, and the concentration on the driving is increased.

The driver state detection means detects a biological state of the driver, an operation state with respect to the driving operation device, and an operation state with respect to the in-vehicle device other than the driving operation device,
The concentration level determination means is an active concentration amount indicating active concentration due to an internal factor of the driver such as driving willingness, and passive driving due to an external factor for driving such as an outside environment. A passive concentration amount indicating the concentration of the vehicle, a concentration amount other than the operation indicating the concentration with respect to operations other than the driving operation, and a spare capacity amount indicating that the concentration is not concentrated on anything, and the active capacity is estimated. It is determined that the greater the sum of the concentration amount and the passive concentration amount, the greater the degree of concentration with respect to driving.
(Corresponding to claim 9 ). In this case, it is preferable for accurately determining the degree of concentration with respect to driving.

The driving support by the second support means and the second support means is executed on condition that the amount of spare capacity is not less than a predetermined amount (corresponding to claim 10 ). In this case, the margin for driving can be effectively used to increase concentration on driving. In addition, it is also preferable in that the margin for driving is not directed to anything other than driving.

  According to the present invention, concentration on driving can be enhanced without being distracted by things other than driving.

The figure which shows the example of a control system of this invention. The figure which shows the content of four types collectively. The figure which shows the example of the various parameters for determining four types. The figure which shows the example of control of this invention. 5 is a flowchart for determining a driver state in FIG. 4. 6 is a flowchart showing a continuation of FIG. 7 is a flowchart showing a continuation of FIG. The flowchart which shows the example of control which evaluates a driving skill. The figure which shows the specific example for evaluating a driving skill. The figure which shows the example which the concentration amount with respect to a driving | operation changes by driving assistance. The figure which shows another example from which the concentration amount with respect to a driving | operation changes by driving assistance.

  FIG. 1 shows an example of a control system of the present invention, and U in the figure is a controller (control unit) configured using a microcomputer. Signals from various sensors or devices S1 to S7 are input to the controller U. S1 is an accelerator sensor that detects the accelerator opening. S2 is a brake sensor that detects an operation amount of the brake pedal. S3 is a steering sensor that detects the steering angle. S4 is a vehicle interior camera as an imaging means for imaging the driver's face. S5 is an out-of-vehicle camera for imaging a situation outside the vehicle, particularly a situation in front of the host vehicle. S6 is a radar that detects the distance to an obstacle or the like ahead of the host vehicle. S7 is a navigation device, where map information and current vehicle position information are acquired.

  The controller U controls various devices S11 to S16 for driving support described later. S11 is a head-up display provided in front of the driver's seat. S12 is a speaker that emits sound toward the passenger compartment. S13 is a follow-up type constant-speed traveling device (auto-cruise device), and in the embodiment, is operated in the entire vehicle speed range (range of extremely low vehicle speed exceeding 0 km / h to maximum vehicle speed). S14 is a power steering device, and is particularly for automatic steering. S15 is a throttle actuator for changing the throttle characteristic (for changing the characteristic of the throttle opening relative to the accelerator opening). S16 is a brake actuator, and is particularly for changing the responsiveness of the generation of the braking force accompanying the brake operation.

  The controller U has two types of databases (DB) D1 and D3 for various driving support described later. The databases D1 and D3 are actually composed of externally connected large capacity storage means. The database D1 stores model driving operations (accelerator pedal depression, brake pedal depression, steering handle operation timing, operation amount, etc.) performed when an expert (expert) driver drives. Model driving operations corresponding to various driving situations are stored. The database D3 stores actual driving operations performed by the driver. In the embodiment, the database D3 stores operation states of the accelerator pedal and the brake pedal. Note that the output devices S1 to S7 and S11 to S16 shown in FIG. 1 include those not used in the present invention.

  Next, with reference to FIG. 2, the point of classifying the state of the driver into four types will be described. As a premise for classification into this type, first, the points of concentration and margin for driving by the driver will be described.

  As the concentration with respect to driving, the following four types of concentration are set according to the contents. That is, first, there is an external (passive) concentration in driving, a situation in which driving operation is forced by an external factor, and driving motivation is low. Second, it is internal (active) concentration, and the driver is highly motivated to drive in a state where he / she is driving with positive intention. Thirdly, concentration other than driving is set (for example, concentration on screen operation of the navigation device, telephone conversation, etc.). Fourth, there is a margin for concentration and no concentration (the spare margin for operation concentration is sometimes referred to as spare capacity in the description in the drawing).

  When the total of the four types of concentration levels is 100%, the concentration level on driving is the ratio of the added value of external concentration and internal concentration. Further, the degree of margin for driving by the driver is the ratio of the added value of the internal concentration and the spare margin.

  As the four types, the first type to the fourth type are set. The first type is a case where the degree of concentration in driving is low and the degree of margin for driving is low. Specifically, it is assumed that the driver is looking aside. The second type is a case in which the degree of concentration in driving is low and the degree of margin for driving is high. Specifically, it is assumed that the vehicle is in an automatic driving state or a casual state. The third type is a case where the degree of concentration on driving is high and the margin for driving is low. When it corresponds to this third type, for example, when the vehicle is approaching the following vehicle, it is determined that the driver is in a tension state. The fourth type is a case where the degree of concentration in driving is high and the margin for driving is high, which is an ideal driving state.

  FIG. 3 shows the driver state obtained from the image captured by the in-vehicle camera S4, that is, the driver's facial expression, line-of-sight direction, pupil state, and the operation state of the accelerator pedal (A pedal) and the brake pedal (B pedal). Based on the above, the external concentration level, the internal concentration level, the non-driving concentration level, and the spare margin level are determined. Then, by combining the respective determination results, it is determined which type currently corresponds to the above-described four types.

  When the driver corresponds to the second type, the controller U performs driving support in a direction to increase the degree of internal concentration according to the degree of internal concentration (internal concentration amount). This driving support can be performed, for example, by notifying the evaluation of the driving skill as described later. When the degree of internal concentration is relatively low, i.e., the accelerator operation, the brake operation, the steering wheel operation, etc. May be a timing for each short cycle, or may be a constant notification.

  When the degree of internal concentration is relatively high, which is equal to or higher than the predetermined value, the driving skill evaluation is based on data that accumulates individual driving operations. More specifically, the evaluation is, for example, a comprehensive evaluation that integrates each operation of an accelerator operation, a brake operation, and a steering wheel operation, and the notification of this comprehensive evaluation may be at a timing for each long period or always be a notification. You can also.

  Next, the contents of control by the controller U will be described with reference to the flowchart of FIG. First, in Q1 of FIG. 4, the driver state is determined as will be described later. The determination in Q1 is to determine which type the driver currently corresponds to among the four types. In Q2, it is determined whether or not the driver is in an ambiguous state, that is, whether or not it corresponds to the second type described above. When the determination in Q2 is NO, driving support is not performed, and the process returns to Q1.

  When the determination in Q2 is YES, this is a time when there is a sufficient margin to concentrate on driving. At this time, after time measurement is started in Q3, it is determined in Q4 whether or not the internal concentration amount is equal to or greater than a predetermined value set in advance.

  When the determination in Q4 is NO, that is, when the amount of internal concentration is less than a predetermined value (when the degree of internal concentration is relatively low), processing of Q5 or less corresponding to driving support by the first support means is executed. Is done. That is, as driving assistance, notification of evaluation of driving skill for each driving operation is performed. Specifically, in Q5, the driving support interval is set to a short interval (for example, a measurement time of 30 seconds to 60 seconds). Thereafter, in Q6, data for driving skill evaluation is accumulated (stored in the database D3). After Q6, at Q7, it is determined whether or not the short-term measurement time set in Q5 has been reached from the time when the process shifts to Q5. If NO in Q6, the process returns to Q6.

  If YES in Q7, evaluation in Q8 (evaluation of driving skill) is performed as described later in Q8. The evaluation of the driving operation is performed by comparing the data accumulated in Q6 with the driving operation by the expert driver stored in the database D1. There are three types of driving operations to be evaluated, for example, an accelerator operation, a brake operation, and a steering wheel operation. In Q8, the driving skill for each operation is evaluated independently (for example, 3.5 in a five-step evaluation). 2.5 points from the point).

  After Q8, in Q9, as a result of the evaluation in Q8, the driving operation (for example, brake operation) having the lowest evaluation is extracted. In Q10, the evaluation result of the driving operation with the lowest evaluation is displayed, for example, on the display S11. It is also possible to display sequentially from the lowest evaluation to the highest (automatic sequential display or display switching by manual operation), or simultaneously display from the upper column to the lower column from the lowest evaluation to the highest.

  When displaying the evaluation in Q10, the correction content related to the driving operation can also be displayed based on the evaluation result. Specifically, if the driving operation to be notified is a brake operation, for example, “Let's depress the brake a little more slowly at the beginning” or “The depressing at the end of the brake is too strong” Is displayed. If the notification target is an accelerator operation, a message such as “Let's refrain from frequent accelerator operations” to “Let's start the accelerator a little more slowly” is displayed. Further, regarding the steering wheel operation, it is possible to display such as “Let's refrain from abrupt steering wheel operation” to “The steering wheel return operation seems to be delayed”. In addition, although the notification of the evaluation of the driving skill can be performed at each short-term timing, it can be always displayed (however, the displayed evaluation is for the short-term immediately before the current time).

  As described above, the notification of the evaluation of the driving operation for each short period is performed, so that the driving motivation is improved and the degree of internal concentration with respect to driving can be increased without being distracted by things other than driving. it can. In particular, the driver's motivation to perform individual driving operations that increase the evaluation of the driving skill with the lowest driving evaluation, and the concentration on driving is increased. In a state where the degree of internal concentration is relatively low, reporting a comprehensive evaluation that summarizes the evaluation of each driving operation reduces the possibility of obtaining a high comprehensive evaluation, so it is difficult to improve driving motivation However, if it is evaluation about each driving operation, since the opportunity for obtaining high evaluation also increases, driving willingness can be improved effectively.

  If the determination in Q4 is YES, that is, if the amount of internal concentration is equal to or greater than a predetermined value (when the degree of internal concentration is relatively high), processing of Q11 and below corresponding to driving support by the second support means is executed. Is done. That is, notification of evaluation of driving skill for a long period is performed as driving assistance. Specifically, in Q11, the driving support interval is set to a long interval (for example, a measurement time of 10 minutes to 30 minutes). Thereafter, in Q12, data for driving skill evaluation is accumulated (corresponding to Q6 and stored in the database D3). After Q12, in Q13, it is determined whether or not the long measurement time set in Q11 has been reached from the time when the process shifts to Q11. If the determination in Q13 is NO, the process returns to Q12.

  If the determination in Q13 is YES, in Q14, evaluation relating to driving operation (evaluation of driving skill) is performed as described later. As in the case of Q8, this driving operation evaluation is performed individually for three types of driving operations, for example, an accelerator operation, a brake operation, and a steering wheel operation, and then a comprehensive evaluation is performed by combining these evaluations (for example, A score obtained by arithmetically averaging the evaluation score of the accelerator operation, the evaluation score of the brake operation, and the evaluation score of the steering wheel operation is obtained). In Q15, the overall evaluation of the driving skill is displayed on the display S11, for example. Also in this case, as described in Q10, points to be corrected for each driving operation can be displayed together. The display of evaluation in Q15 can be performed at each long-term timing, but can also be always displayed. The evaluation of the displayed driving skill can be based on cumulative driving operations from the start of traveling to the present time.

  When the degree of internal concentration is relatively high, it is a driving simulator that comprehensive evaluation that combines individual driving operations is more effective in improving driving motivation than evaluation of individual driving operations. It has been confirmed by an experiment using. Therefore, the evaluation of the driving skill when the degree of internal concentration is relatively high is set as a comprehensive evaluation, which is preferable in improving driving motivation and increasing the degree of internal concentration.

  By executing the processes of Q5 to Q10 described above, the amount of internal concentration increases, and when the determination in Q4 is YES, the process of shifting to Q11 is executed (the evaluation range of the driving skill is Switch from short to long).

  Next, details of Q1 in FIG. 4 will be described with reference to FIGS. First, after data is input in Q11 of FIG. 5, it is determined in Q12 whether or not the driver's face direction offset (corresponding to looking aside) is large. If the determination in Q12 is YES, in Q13, a concentration amount other than driving is added (for example, 20 points).

  After Q13 or when NO in Q12, the frequency of operations other than the main driving operation (for example, driving operation for changing the behavior of the vehicle such as accelerator operation, brake operation, steering wheel operation, etc.) is high in Q14. Or not (whether or not it is greater than or equal to a preset threshold value). If the determination in Q14 is YES, in Q15, a concentration amount other than driving is added (for example, 20 points).

  After Q15 or when NO is determined in Q14, it is determined in Q16 whether or not the operation time other than the main driving operation is long (whether or not it is greater than a preset threshold value). The If the determination in Q16 is YES, in Q17, points are added for the amount of concentration other than driving (for example, 20 points).

  After Q17 or when NO is determined in Q16, it is determined in Q18 whether or not the driver's head shake is large (whether or not it is greater than a preset threshold value). The If the determination in Q18 is YES, a spare margin is added in Q19 (for example, 20 points).

  After Q19 or when NO in Q18, whether or not the delay time for switching between the accelerator pedal and the brake pedal is large in Q20 (is equal to or greater than a preset threshold value) Whether or not) is determined. If the determination in Q20 is YES, in Q21, a spare margin is added (for example, 20 points).

  After Q21 or when NO in Q20, it is determined in Q22 whether or not the driver's line-of-sight movement speed is low (whether or not it is a preset threshold value or less). If the determination in Q22 is YES, in Q23, a spare margin is added (for example, 20 points).

  After Q23, or when NO is determined in Q22, whether or not the degree of coincidence between the driver's face direction and the line-of-sight direction is high in Q31 of FIG. 6 (the threshold of coincidence is set in advance). Whether it is within the value range) is determined. If the determination in Q31 is YES, in Q32, an active (internal) concentration amount for driving is added (for example, 20 points).

  After Q32 or when NO is determined in Q31, it is determined in Q33 whether or not the holding time of the accelerator opening is long (whether or not it is greater than or equal to a preset threshold value). . If the determination in Q33 is YES, in Q34, an active (internal) concentration amount for driving is added (for example, 20 points).

  After Q34 or when NO in Q33, whether or not the variation (standard deviation) in the changeover time between the accelerator pedal and the brake pedal is small in Q35 (is set in advance) Whether or not it is equal to or less than a threshold value is determined. When the determination in Q35 is YES, in Q36, an active (internal) concentration amount for driving is added (for example, 20 points).

  If NO in Q35, a passive (external) driving concentration amount is added in Q37 (for example, 50 points).

  After Q37, it is determined in Q41 in FIG. 7 whether or not the concentration amount (total point) other than driving is greater than zero. If YES in Q41, it is determined in Q42 that the driver is looking aside, that is, corresponds to the first type.

  When the determination in Q41 is NO, in Q43, the spare margin amount (the total value) is larger than the added value of the passive driving concentration amount (the total value) and the active driving concentration amount (the total value). Is determined. If the determination in Q43 is YES, it is determined in Q44 that the driver is in a loose state, that is, the second type.

  When the determination in Q43 is NO, it is determined in Q45 whether or not the active concentration amount (the total value thereof) is larger than the passive concentration amount (the total value thereof). If the determination in Q45 is YES, it is determined in Q46 that the driver is in the ideal state (fourth type). On the other hand, when the determination in Q45 is NO, it is determined in Q47 that the driver is in a tension state (third type).

  Next, a method for determining the evaluation of the driving skill for each driving operation will be described with reference to the flowchart of FIG. The evaluation of the driving skill can also be performed independently (in parallel) with the control shown in FIG. First, in Q51 of FIG. 8, an execution instruction for driving evaluation is performed (a predetermined time required for acquiring data for driving evaluation is set). Thereafter, in Q52, the operation statuses of the steering wheel, the accelerator pedal, and the brake pedal are accumulated for a predetermined time (stored in the actual operation database D3). Thereafter, in Q53, the operation evaluation point is calculated by comparing the operation status of the expert driver read from the database D1 with the operation status of the driver stored in the database D3. In Q54, it is determined whether the driving skill is high or low based on the driving evaluation point (evaluation by scoring between 0 and 5 points).

  The calculation of the driving evaluation score at Q53 is performed, for example, as shown in FIG. In FIG. 9, the steering wheel operation is omitted for the sake of simplicity. That is, the time difference with the expert driver (in the embodiment, the three-step time difference) is set for the three elements of the opening degree holding time and the depression delay time for the accelerator pedal, and the stepping time between the accelerator pedal and the brake pedal. An evaluation score is given according to (setting). The determination of driving skill (determination of evaluation value) in Q54 is made based on the total score of the evaluation points for the above three elements.

  The evaluation of the driving skill shown in FIG. 9 is a combination of a plurality of types of driving operations (accelerator operation and brake operation). Separately from the case of FIG. 9, the driving skill is evaluated individually for the brake operation, the accelerator operation, and the steering wheel operation. And in evaluation of each driving skill, especially evaluation of delay or too early in driving operation is obtained, and this evaluation result is used for evaluation in Q8 of FIG.

  FIG. 10 shows the relationship between the notification of the evaluation of the driving skill and the concentration degree (internal concentration amount in the embodiment). In the figure, the timing of black triangles is the support timing. The display at Q10 in FIG. 4 is an evaluation in a short period between the black triangles (the previous evaluation is not reflected in the evaluation notified this time). On the other hand, the evaluation of the long-term driving skill is from the start of traveling and is for a long time spanning a plurality (a large number) of black triangles.

  In FIG. 10, line A indicates that the degree of concentration increases stepwise (gradually) by notifying the evaluation of the driving skill (a tendency often seen by drivers with low driving skill). The line B initially shows a concentration level that increases stepwise in the same way as the line A, but indicates that the degree of concentration increases abruptly from the middle (mostly seen by drivers with medium driving skills). Trend). Line C originally indicates that the degree of concentration is high, but the state where the degree of concentration is high is maintained by driving support (a tendency often seen by drivers having high driving skills).

  FIG. 11 corresponds to FIG. 10, and each of the A2 line, the B2 line, and the C2 line shows how the degree of concentration changes due to driving support. As is clear from FIGS. 10 and 11, the manner in which the degree of concentration by driving assistance changes (increases) differs depending on the driver.

  Here, the driving assistance by the first assistance means and the second driving assistance means is not limited to the case of separation according to the level of concentration with respect to driving, but can also be divided according to increase or decrease of the concentration degree with respect to driving. Specifically, when the concentration degree with respect to driving is decreasing, driving assistance by the first support means is performed so that the concentration with respect to driving increases. In addition, when the degree of concentration on driving is increasing, driving assistance by the second driving assistance means is provided so that the concentration on driving increases, and when the degree of concentration is constant, the concentration on driving is maintained or increased. Just do it. In this case, when the driving support by the first support means is performed in a state where the concentration level is decreasing, and the concentration level changes so as to be constant or increased, the driving support is switched to the driving support by the second support means. do it.

  Although the embodiments have been described above, the present invention is not limited to the embodiments, and appropriate modifications can be made within the scope of the claims. The degree of concentration with respect to driving is not limited to the case of determination based on the amount of internal concentration, but can also be determined according to the sum of the amount of internal concentration and the amount of external concentration. As the driving support by the first support means, the amount of driving support information given to the driver is small compared to the case of driving support by the second support means, and real-time information is preferable. An appropriate method such as emphasizing the engine sound and flowing it into the passenger compartment can be adopted. Further, as the driving support by the second support means, the information amount of driving support given to the driver is larger than that of the first support means, and a long-term information is preferable. Even in the notification of the evaluation, it is preferable that the evaluation is for a long time (or travel distance). The driving assistance is not limited to information relating to the driving operation itself, but may be information notifying information relating to the vehicle state generated in response to the driving operation. The driving assistance may be performed without a condition when there is a large margin for driving concentration. Each step or group of steps shown in the flowchart indicates a function of the controller U, and means or a letter of a part can be attached to a name indicating the function and can be grasped as a constituent requirement of the controller U. Of course, the object of the present invention is not limited to what is explicitly stated, but also implicitly includes providing what is substantially preferred or expressed as an advantage.

  The present invention is preferable in increasing the degree of concentration with respect to driving by providing suitable driving support according to the degree of concentration with respect to driving.

U: Controller S1: Accelerator sensor S2: Brake sensor S3: Rudder angle sensor S4: In-vehicle camera (detection of driving concentration, fun feeling, etc.)
S5: Outside camera (Ambient condition detection)
S6: Radar S7: Navigation device S11: Head-up display S12: Speaker S13: Auto cruise S14: Power steering device S15: Throttle actuator D1: First database D3: Third database

Claims (10)

A driver state detecting means for detecting the driver state;
A concentration degree determining means for determining a concentration degree of the driver with respect to driving based on the driver state detected by the driver state detecting means;
When the concentration degree determined by the concentration degree determination means is decreasing, a first support means for providing driving assistance so that concentration on driving increases;
When the concentration degree determined by the concentration degree determining means is increased, so that the concentration on driving is further increased, and when the determined concentration level is constant, the concentration on driving is maintained or increased. Second driving support means for providing driving support different from the first supporting means;
A driving assistance apparatus comprising: In claim 1 ,
The driving support apparatus according to claim 1, wherein when the driver's concentration degree is constant or increased after the driving support by the first supporting means is performed, the driving assistance device is switched to driving support by the second supporting means. Oite to claim 1 or claim 2,
The amount of assistance information given to the driver by the driving assistance by the second driving assistance means is larger than the amount of assistance information given to the driver by the driving assistance by the first assistance means. A featured driving support device. In claim 1 or claim 2 ,
The driving support device according to claim 1, wherein the driving support by the first support means performs driving support for a short period of time compared to the driving support by the second driving support means. In claim 1 or claim 2 ,
The first support means is configured to provide real-time driving support with a small amount of support information,
The second support means performs driving support based on accumulated data obtained by accumulating support information in the first support means.
A driving support device characterized by that. In claim 1 or claim 2 ,
A driving skill evaluation means for evaluating the driving skill of the driver is provided.
The driving support by the first support means informs the evaluation of each driving operation evaluated by the driving skill evaluation means,
The driving support by the second support means is configured to notify a comprehensive evaluation based on accumulated data obtained by accumulating evaluations for individual driving operations evaluated by the driving skill evaluation means.
A driving support device characterized by that. In claim 6 ,
The driving skill evaluation means is configured to individually evaluate a plurality of types of driving skills,
The notification of the driving skill by the first support means is performed by notifying at least one of the individual evaluations regarding the plurality of types of driving skills,
The notification of the driving skill by the second support means is performed by notifying the overall driving skill based on the individual evaluation of the plurality of types of driving skills.
A driving support device characterized by that. In claim 7 ,
The driving assistance apparatus characterized in that the notification of the individual driving skills by the first support means preferentially evaluates the driving skill having the lowest evaluation among the individual evaluations of the plurality of types of driving skills. . In any one of Claims 1 thru | or 8 ,
The driver state detection means detects a biological state of the driver, an operation state with respect to the driving operation device, and an operation state with respect to the in-vehicle device other than the driving operation device,
The concentration level determination means is an active concentration amount indicating active concentration due to an internal factor of the driver such as driving willingness, and passive driving due to an external factor for driving such as an outside environment. A passive concentration amount indicating the concentration of the vehicle, a concentration amount other than the operation indicating the concentration with respect to operations other than the driving operation, and a spare capacity amount indicating that the concentration is not concentrated on anything, and the active capacity is estimated. It is determined that the greater the sum of the concentration amount and the passive concentration amount, the greater the degree of concentration with respect to driving.
A driving support device characterized by that. In claim 9 ,
A driving support apparatus characterized in that driving support by the second support means and the second support means is executed on condition that the amount of spare capacity is equal to or greater than a predetermined value.

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