Drive support device, drive support method, and program

Abstract

To provide a drive support device and the like enabling a vehicle to travel according to driver's will while preventing passengers from having anxiety about a situation where the passengers are likely to have anxiety.SOLUTION: A drive support device 20 is loaded on a vehicle 1 having an automatic drive supporting machine. The drive support device 20 includes: an acquisition part for acquiring a setting speed of the vehicle 1 at an automatic drive; a determination part for acquiring a real travel speed of the vehicle 1 at the automatic drive and comparing the acquired real travel speed and the setting speed acquired by the acquisition par; and an output part for outputting a real travel state of the vehicle 1 on the bases of a result determined by the determination part.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present disclosure relates to a driving support device, a driving support method, and a program.

Background Art

[0002] In recent years, when automatic driving is performed in a vehicle, a technology for notifying the vehicle occupants of the driving state of the host vehicle is known. In addition, a technology for preventing the anxiety of passengers as much as possible when there is a deviation between the driving style of a driving support system and the ordinary driving style of a driver in an autonomously driving vehicle is also known.

[0003] For example, Patent Document 1 discloses a vehicle display control device that causes a second display to display a co-rider side graphic that shows an automatic driving related state such as a following state of the host vehicle to other vehicles in automatic driving using at least one of characters and images.

[0004] In addition, Patent Document 2 discloses a vehicle driving control system including a user anxiety degree measuring device that measures the degree of user anxiety, and a driving control device that determines an anxiety factor that causes anxiety based on characteristic data of the user with respect to the driving situation of the vehicle and changes the driving control of the vehicle so as to reduce the user's anxiety.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, in Patent Document 1, the driving-related state is notified to the passenger in a situation where the passenger feels uneasy. However, simply notifying the passenger of the driving-related state indicating the following state of the host vehicle to other vehicles during automatic driving may not be able to eliminate the passenger's uneasiness in some cases.

[0007] Further, in Patent Document 2, the driving control of the vehicle can be automatically changed according to the degree of the user's uneasiness. However, it is only a means after the user's uneasiness has occurred, and it is difficult to avoid the user's uneasiness in advance. Further, in Patent Document 2, there is no means for notifying the user of the state of the vehicle's driving control, and the vehicle's driving control may not be performed in accordance with the user's intention in some cases.

[0008] Therefore, the present disclosure provides a driving support device, a driving support method, and a program that can perform vehicle driving in accordance with the driver's intention while preventing the passenger's uneasiness from occurring in a situation where the passenger's uneasiness is likely to occur.

Means for Solving the Problem

[0009] A driving support device according to an aspect of the present disclosure is a driving support device mounted on a vehicle having an automatic driving support function, including an acquisition unit that acquires a set speed of the vehicle during automatic driving, a determination unit that acquires an actual driving speed of the vehicle during automatic driving and compares the acquired actual driving speed with the set speed acquired by the acquisition unit, and an output unit that outputs an actual driving state of the vehicle based on a result determined by the determination unit.

Effect of the Invention

[0010] With the driving support device and the like of the present disclosure, it is possible to perform vehicle driving in accordance with the driver's intention while preventing the passenger's uneasiness from occurring in a situation where the passenger's uneasiness is likely to occur.

Brief Description of the Drawings

[0011]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

DETAILED DESCRIPTION OF THE INVENTION

[0012] Note that each of the embodiments described below shows comprehensive or specific examples. The numerical values, shapes, materials, components, arrangement positions and connection forms of the components, steps, order of steps, etc. shown in the following embodiments are merely examples and are not intended to limit the present disclosure. In addition, among the components in the following embodiments, the components not described in the independent claims are described as optional components.

[0013] In addition, each figure is a schematic diagram and is not necessarily drawn precisely. Also, in each figure, the same reference numerals are given to the same constituent members.

[0014] Hereinafter, the embodiments will be specifically described with reference to the drawings.

[0015] (Embodiment) <Configuration and Function> First, with reference to FIGS. 1 to 3, a vehicle 1 equipped with the driving support device 20 according to the present embodiment will be described.

[0016] FIG. 1 is a block diagram showing control of the running state of a vehicle when determining whether to change the set state after user registration in the driving support device 20 according to the embodiment. FIG. 2 is a diagram showing co - passenger registration information. FIG. 3 is a diagram showing an operation priority table.

[0017] As shown in FIG. 1, the vehicle 1 can run by the driver's manual driving or switch from the manual driving state to the automatic driving state and run automatically. Also, the vehicle 1 can switch from the automatic driving state to the manual driving state.

[0018] When the vehicle 1 is running in the automatic driving state, it can follow the preceding vehicle by the automatic driving support function. The automatic driving support function includes an ACC (Adaptive Cruise Control) function and an LKAS (Lane Keep Assist System) function. The vehicle 1 can move to the destination by following the preceding vehicle.

[0019] The vehicle 1 includes a first detection unit 11, a second detection unit 12, a position information acquisition unit 13, an input unit 14, a driving support system 2, an ACC 31, an LKAS 32, an output control unit 40, a plurality of notification units 4, a vehicle control unit 50, and a vehicle operation unit 5.

[0020] The first detection unit 11 is an in-vehicle camera mounted on the vehicle 1 and images the surroundings of the vehicle 1. For example, the first detection unit 11 detects a preceding vehicle existing in front of the vehicle 1 on the road on which the vehicle 1 is traveling, road signs and pavement markings existing in front of the vehicle 1 on the road on which the vehicle 1 is traveling, an intersection existing in front of the vehicle 1, the shape of the road in front of the vehicle 1 on the road on which the vehicle 1 is traveling, a toll road tollgate existing in front of the vehicle 1 on the road on which the vehicle 1 is traveling, a breakdown vehicle existing in front of the vehicle 1 on the road on which the vehicle 1 is traveling, etc. The first detection unit 11 outputs the detected surroundings of the vehicle 1 as surrounding information to the driving support system 2. In the present embodiment, the information indicating the surroundings of the vehicle 1 is included in the surrounding environment information. The first detection unit 11 is an example of a detection unit.

[0021] The second detection unit 12 is a sonar sensor mounted on the vehicle 1 and detects obstacles existing around the vehicle 1. For example, the second detection unit 12 detects a preceding vehicle existing in front of the vehicle 1 on the road on which the vehicle 1 is traveling, and obstacles such as other objects other than the preceding vehicle.

[0022] The second detection unit 12 detects not only the presence of an obstacle but also the distance from the vehicle 1 to the obstacle, the traveling speed of the obstacle, etc. as the surrounding environment of the vehicle 1. Since the second detection unit 12 detects obstacles existing around the vehicle 1, it is not limited to detecting obstacles in front of the vehicle 1 on the road on which the vehicle 1 is traveling. For example, the second detection unit 12 also detects obstacles behind the vehicle 1, obstacles on the side of the vehicle 1, etc.

[0023] The second detection unit 12 outputs information about the detected obstacle to the driving support system 2. The information about the obstacle is included in the above-mentioned surrounding environment information.

[0024] The position information acquisition unit 13 is a GNSS receiver that acquires information indicating the position of the vehicle 1 from GNSS (Global Navigation Satellite System). The position information acquisition unit 13 outputs the acquired information indicating the position of the vehicle 1 to the driving support system 2.

[0025] The input unit 14 is mounted on the vehicle 1. The input unit 14 is an operation input unit for car navigation, an operation input unit provided on the spoke of the steering wheel 51, an operation input unit provided on the center console, a voice input unit such as a microphone mounted on the vehicle 1, etc. Also, the input unit 14 may be a known input unit arranged at other locations. A plurality of input units 14 are provided so as to correspond to each of the seats of the vehicle 1.

[0026] The driving support system 2 includes an ACC 31, an LKAS 32, and a driving support device 20.

[0027] Based on the surrounding information of the first detection unit 11 and the information regarding obstacles of the second detection unit 12, etc., the ACC 31 automatically operates the accelerator 53 of the vehicle operation unit 5, automatically operates the brake 52 of the vehicle operation unit 5, or automatically operates both of them to assist the driver's driving.

[0028] Based on the surrounding information detected by the first detection unit 11, the LKAS 32 grasps the lanes (solid lines, broken lines) on the road and automatically operates the steering wheel 51 of the vehicle operation unit 5 so that the vehicle 1 travels while maintaining near the center of the lane, thereby assisting the driver's driving.

[0029] The driving support device 20 is mounted on the vehicle 1 having an automatic driving support function. The driving support device 20 outputs the actual driving state of the vehicle 1 to notify the passengers of the actual driving state of the vehicle 1. The actual driving state of the vehicle 1 includes the actual driving speed of the vehicle 1, the inter-vehicle distance between the preceding vehicle and the vehicle 1, etc. The passengers include the driver and passengers other than the driver.

[0030] Specifically, the driving support device 20 includes a setting state acquisition unit 21, a vehicle state identification unit 22, a setting difference determination unit 23, a proposal unit 25, a passenger information acquisition unit 24, a determination unit 26, and a storage unit 27.

[0031] The setting state acquisition unit 21 acquires the setting state of the vehicle 1 during automatic driving. The setting state of the vehicle 1 is information stored in the storage unit 27. The setting state includes the set speed of the vehicle 1 during automatic driving, the inter-vehicle distance between the preceding vehicle and the vehicle 1 corresponding to the set speed, and the like. For example, since the traveling speed of the vehicle 1 is preset according to the legal speed on the road, the traffic congestion situation of the road, etc. and stored in the storage unit 27, the setting state acquisition unit 21 acquires the setting state of the vehicle 1 from the storage unit 27. In the present embodiment, the setting state acquisition unit 21 acquires the set speed of the vehicle 1 from the storage unit 27, and outputs the acquired set speed of the vehicle 1 to the setting difference determination unit 23. The setting state acquisition unit 21 is an example of an acquisition unit.

[0032] The vehicle state identification unit 22 acquires peripheral information from the first detection unit 11 and acquires information about obstacles from the second detection unit 12. The vehicle state identification unit 22 identifies the traveling speed of the preceding vehicle and the traveling state of the vehicle 1 (the actual traveling speed of the vehicle 1 and the inter-vehicle distance between the preceding vehicle and the vehicle 1) based on peripheral environment information such as peripheral information and information about obstacles. The vehicle state identification unit 22 outputs the traveling state of the vehicle 1 to the setting difference determination unit 23.

[0033] The setting difference determination unit 23 acquires the setting state of the vehicle 1 from the setting state acquisition unit 21. In the present embodiment, the setting difference determination unit 23 acquires the set speed of the vehicle 1 from the setting state acquisition unit 21. The setting difference determination unit 23 is an example of a determination unit.

[0034] Further, the setting difference determination unit 23 acquires the actual traveling state of the vehicle 1 during automatic driving from the vehicle state identification unit 22. In the present embodiment, the setting difference determination unit 23 acquires the actual traveling speed of the vehicle 1 during automatic driving. Note that the actual traveling speed of the vehicle 1 may be acquired from an in-vehicle ECU (Electronic Control Unit), or may be acquired by calculating the actual traveling speed of the vehicle 1 based on information indicating the position of the vehicle 1 from the position information acquisition unit 13.

[0035] The setting difference determination unit 23 compares the preset setting state of the vehicle 1 with the actual driving state of the vehicle 1 during automatic driving, and calculates the difference between the setting state and the driving state. In the present embodiment, the setting difference determination unit 23 compares the actual driving speed of the vehicle 1 during automatic driving with the preset setting speed of the vehicle 1, and calculates the difference. Specifically, the setting difference determination unit 23 compares the actual driving speed with the setting speed to calculate the speed difference between the actual driving speed and the setting speed. Then, the setting difference determination unit 23 determines whether the calculated speed difference is equal to or greater than the threshold value. The threshold value is a preset value and can be arbitrarily changed.

[0036] Furthermore, the setting difference determination unit 23 may compare the actual inter-vehicle distance with the set inter-vehicle distance to calculate the distance difference between the actual inter-vehicle distance and the set inter-vehicle distance, and determine whether the calculated distance difference is within a predetermined range.

[0037] The setting difference determination unit 23 outputs the determined result to the proposal unit 25. Specifically, (the setting difference determination unit 23) outputs to the proposal unit 25 the result of determining that the speed difference is equal to or greater than the threshold value, or the result of determining that the speed difference is less than the threshold value. Furthermore, the setting difference determination unit 23 may output to the proposal unit 25 the result of determining that the distance difference is outside the predetermined range, or the result of determining that the distance difference is within the predetermined range.

[0038] The proposal unit 25 outputs the actual driving state of the vehicle 1 based on the result determined by the setting difference determination unit 23. In the present embodiment, when (the setting difference determination unit 23) determines that the speed difference is equal to or greater than the threshold value, the proposal unit 25 outputs the actual driving state of the vehicle 1 to the output control unit 40. By causing the output control unit 40 to output the actual driving state of the vehicle 1 to one or more of the plurality of notification units 4, the actual driving state of the vehicle 1 is notified to the occupant.

[0039] In addition, the proposal unit 25 outputs the actual driving state of the vehicle 1 and outputs the reason for changing the setting state of the vehicle 1. For example, when the speed difference between the actual driving speed and the set speed is large, when the preceding vehicle changes lanes, when the preceding vehicle accelerates suddenly, etc., the vehicle 1 may accelerate suddenly. Therefore, the proposal unit 25 outputs the reason for changing the current setting state of the vehicle 1 in order to suppress the deviation of the speed difference between the actual driving speed and the set speed. Note that the proposal unit 25 may output the reason for changing the current setting state of the vehicle 1 in order to suppress the deviation of the distance difference between the actual inter-vehicle distance and the set inter-vehicle distance.

[0040] Next, the proposal unit 25 outputs a proposal to prompt the change of the setting state of the vehicle 1. That is, the proposal unit 25 outputs the reason for changing the current setting state of the vehicle 1 and also outputs a proposal to prompt the change of the setting state of the vehicle 1. In the present embodiment, the proposal unit 25 outputs the reason for changing the set speed of the vehicle 1 and also outputs a proposal to prompt the change of the set speed of the vehicle 1. Note that the proposal unit 25 may output the reason for changing the set inter-vehicle distance of the vehicle 1 and also output a proposal to prompt the change of the set inter-vehicle distance of the vehicle 1.

[0041] If the passenger's consent is input to the input unit 14 mounted on the vehicle 1 for the proposal to prompt the change of the setting state of the vehicle 1 proposed by the proposal unit 25, the proposal unit 25 outputs the change of the setting state indicated by the proposal to the in-vehicle ECU. Thereby, the in-vehicle ECU changes the setting state of the vehicle 1.

[0042] The passenger information acquisition unit 24 acquires the passenger registration information other than the driver. Specifically, the passenger registration information is registered in the storage unit 27 by the passenger inputting information regarding the passenger through the input unit 14 mounted on the vehicle 1 or a terminal device such as a smartphone and registering the user. Thereby, the passenger information acquisition unit 24 acquires the passenger registration information from the storage unit 27. The registered passenger can input consent or rejection to the input unit 14 for the proposal of the proposal unit 25.

[0043] For example, as shown in FIG. 2, the registered co - passengers can set whether to receive notifications and whether to allow operations. The setting of whether to receive notifications is a setting on whether to receive notifications of the actual driving state of Vehicle 1. The setting of whether to allow operations is a setting on whether to input consent or rejection in response to a proposal prompting a change in the setting state of Vehicle 1. For example, in FIG. 2, since both the setting of whether to receive notifications and the setting of whether to allow operations are "allowed", the registered co - passengers of the user can obtain notifications of the actual driving state of Vehicle 1 and input consent or rejection in the input unit 14 in response to a proposal prompting a change in the setting state of Vehicle 1.

[0044] Here, as shown in FIG. 1, the proposal unit 25 mainly outputs the proposals shown in FIG. 5 to the driver, but can also output proposals prompting the change of the setting state of Vehicle 1 to co - passengers other than the driver. When the proposal unit 25 outputs the proposal to co - passengers, for example, it is the case where an automatic driving support function other than the ACC function is enabled. In this case, the notification unit 4 and the input unit 14 are arranged corresponding to each seat of Vehicle 1. Each of the plurality of passengers can input consent or rejection to the proposal in the input unit 14. When a plurality of passengers input consent or rejection to the proposal, the determination unit 26 may make a determination. Note that the determination unit 26 is installed in the driving support device 20, but may also be installed in the in - vehicle ECU.

[0045] The determination unit 26 may be set to prioritize the driver's input over that of co - passengers. For example, the determination unit 26 may determine consent or rejection using an operation priority table as shown in FIG. 3. When the driver does not operate on the input unit 14 and there are a plurality of co - passengers in Vehicle 1, the determination unit 26 may determine consent or rejection by validating the input of the co - passenger who first operates on the input unit 14 among the plurality of co - passengers.

[0046] In case (1), when the driver agrees to the proposal, one passenger agrees to the proposal, and another passenger rejects it, the determination unit 26 gives priority to the driver's proposal and regards it as an agreement, and outputs a change in the setting state of the vehicle 1 to the in-vehicle ECU.

[0047] In case (2), when the driver rejects the proposal, one passenger agrees to the proposal, and another passenger rejects it, the determination unit 26 gives priority to the driver's proposal and regards it as a rejection, and does not output a change in the setting state of the vehicle 1 to the in-vehicle ECU.

[0048] In case (3), when the driver does not input anything regarding the proposal and one passenger agrees to the proposal, the determination unit 26 regards it as an agreement and outputs a change in the setting state of the vehicle 1 to the in-vehicle ECU.

[0049] In case (4), when the driver does not input anything regarding the proposal and one passenger rejects the proposal, the determination unit 26 regards it as a rejection and does not output a change in the setting state of the vehicle 1 to the in-vehicle ECU.

[0050] In case (5), when neither the driver nor the passengers input anything regarding the proposal, the proposal unit 25 notifies the proposal for a certain period of time. When the certain period of time has elapsed, the determination unit 26 regards the proposal as a rejection and does not output a change in the setting state of the vehicle 1 to the in-vehicle ECU. Thereafter, the screen of the notification unit 4 returns to the normal screen.

[0051] In this way, by giving priority to the driver's input over the passengers' input, it is possible to determine whether to change the setting state of the vehicle 1. In addition, when the driver does not input anything regarding the proposal, one passenger agrees to the proposal, and another passenger rejects it, the proposal unit 25 may notify the driver again whether to agree to the proposal.

[0052] The storage unit 27 stores the setting state of the vehicle 1, that is, the set speed, the set inter-vehicle distance, etc. The storage unit 27 also stores the passenger registration information.

[0053] Here, the description of the driving support device 20 ends, and as shown in FIG. 1, the description returns to the vehicle 1.

[0054] The output control unit 40 of the vehicle 1 controls the output modes of a plurality of notification units 4 mounted on the vehicle 1. For example, the output control unit 40 controls the plurality of notification units 4 so as to notify a proposal that prompts the vehicle 1 to change its setting state by the proposal unit 25.

[0055] The plurality of notification units 4 include a driver-side notification unit 41, a passenger-side notification unit 42, and an audio output unit 43. Each of the driver-side notification unit 41 and the passenger-side notification unit 42 is an in-vehicle display such as a center display, a head-up display, a meter display, a passenger display, a display for the front passenger seat, and a display for the rear seat mounted on the vehicle 1. The audio output unit 43 is an in-vehicle audio device such as a speaker. Each of the plurality of notification units 4 can output a proposal that prompts the vehicle 1 to change its setting state by the proposal unit 25.

[0056] The vehicle control unit 50 controls the in-vehicle ECU to control the running of the vehicle 1. Specifically, if the consent of the occupant is input to the input unit 14 mounted on the vehicle 1 in response to a proposal that prompts the vehicle 1 to change its setting state proposed by the proposal unit 25, the vehicle control unit 50 controls the in-vehicle ECU to change the setting state and operates the vehicle operation unit 5 to control the running of the vehicle 1.

[0057] The vehicle operation unit 5 includes a steering angle device by the steering 51, a brake 52, an accelerator 53, etc., and the steering angle device, the brake 52, the accelerator 53, etc. in the automatic driving are controlled by the vehicle control unit 50.

[0058] <Operation Example 1> Next, with reference to FIGS. 4 to 6, Operation Example 1 of the driving support device 20 according to the present embodiment will be described.

[0059] FIG. 4 is a flowchart showing an operation example 1 of the driving support device 20 according to the embodiment. FIG. 5 is a diagram showing a proposal made by the proposal unit 25. FIG. 6 is a diagram showing the reason for changing the setting state and the case where the proposal of the proposal unit 25 is notified to the notification unit 4.

[0060] In FIG. 4, it is assumed that the vehicle 1 starts automatic driving and the automatic driving support function becomes effective, and the vehicle 1 is following a preceding vehicle and traveling.

[0061] First, in the vehicle 1, it is in the automatic driving state and the automatic driving support function is effective (S11). In this operation example, it is assumed that the ACC function of the vehicle 1 is effective.

[0062] Next, the driving support device 20 determines whether the vehicle 1 is following the preceding vehicle by the ACC function (S12).

[0063] When the driving support device 20 determines that the vehicle 1 is not following the preceding vehicle (NO in S12), the process returns to step S11.

[0064] When the driving support device 20 determines that the vehicle 1 is following the preceding vehicle (YES in S12), the setting state acquisition unit 21 acquires the setting state of the vehicle 1 during automatic driving. When the ACC function is effective, the setting state acquisition unit 21 acquires the set speed included in the setting state of the vehicle 1 from the storage unit 27.

[0065] Next, the setting difference determination unit 23 acquires the set speed of the vehicle 1 from the setting state acquisition unit 21 and the actual driving state of the vehicle 1 during automatic driving from the vehicle state specifying unit 22. The setting difference determination unit 23 compares the actual driving speed with the set speed to calculate a difference, and determines whether the difference is outside a predetermined range (S13). Specifically, the setting difference determination unit 23 calculates the speed difference between the actual driving speed and the set speed, and determines whether the calculated speed difference is equal to or greater than a threshold value. The setting difference determination unit 23 outputs the determined result to the proposal unit 25.

[0066] When the setting difference determination unit 23 determines that the difference is within the predetermined range (NO in S13), the process returns to step S11.

[0067] When the setting difference determination unit 23 determines that the difference is outside the predetermined range (YES in S13), the proposal unit 25 outputs the actual driving state of the vehicle 1 to the output control unit 40. By causing the output control unit 40 to notify one or more of the plurality of notification units 4 of the actual driving state of the vehicle 1, one or more notification units 4 notify the occupant of the actual driving state of the vehicle 1 (S14).

[0068] Next, the proposal unit 25 outputs the reason for changing the setting state of the vehicle 1 and outputs a proposal to prompt to change the setting state of the vehicle 1 (S15).

[0069] For example, as shown in FIG. 5, when the speed difference between the actual driving speed and the set speed is equal to or greater than the threshold value, when the preceding vehicle changes lanes or accelerates, the vehicle 1 may accelerate suddenly. For this reason, the proposal unit 25 outputs a proposal to prompt to change the set speed of the vehicle 1, such as "The speed difference between the actual driving speed and the set vehicle speed is large, and when the preceding vehicle changes lanes and disappears, there is a possibility of sudden acceleration. To prevent sudden acceleration, the current set speed is 〇〇〇 km / h, but do you want to change the set speed to ▽▽▽ km / h?"

[0070] For example, the proposal of the proposal unit 25 is notified to the notification unit 4 by the proposal unit 25 outputting the proposal to the output control unit 40. As shown in FIG. 6, the notification unit 4 may display it in a color indicated by dot hatching so that the reason for changing the set speed of the vehicle 1 can be understood, or may display an option to agree or reject a proposal to prompt the change with another hatching. Further, the proposal of the proposal unit 25 may be output by voice through an audio device such as a speaker mounted on the vehicle 1. In this case, the occupant may input it to the input unit 14 by speaking whether to agree or reject. In this case, the input unit 14 is a microphone, and a microphone and a voice recognition unit that recognizes the spoken content input to the microphone may be mounted on the vehicle 1.

[0071] If the consent of the occupant is input to the input unit 14 mounted on the vehicle 1 in response to a proposal prompting the vehicle 1 to change the set speed proposed by the proposal unit 25, the in-vehicle ECU changes the set speed of the vehicle 1. Then, the proposal unit 25 outputs the set speed of the vehicle 1 after the change, such as "The change of the set speed has been approved." and "The set speed has been changed to ▽▽▽ km / h."

[0072] As an example of the change of the set speed, as shown in FIG. 5, when the actual traveling speed of the vehicle 1 following the preceding vehicle traveling at 60 km / h is 60 km / h and the set speed of the vehicle 1 is set to 100 km / h, there is a speed difference of 40 km / h. At this time, when the preceding vehicle turns on the direction indicator to change lanes and leaves from in front of the vehicle 1, before the vehicle 1 makes a sudden acceleration, the proposal unit 25 may output a proposal prompting to change the set speed to 80 km / h. This proposal made by the proposal unit 25 is merely an example. Therefore, the proposal unit 25 may output a proposal prompting to change the set speed to 60 km / h, and the proposal unit 25 may output a proposal prompting to change the set speed to 100 km / h.

[0073] If the consent of the occupant is input to the input unit 14 in response to a proposal to change to a new set speed, the in-vehicle ECU changes the set speed of the vehicle 1 to the new set speed. On the other hand, if the occupant's rejection is input to the input unit 14 in response to a proposal to change to a new set speed, the in-vehicle ECU does not change the set speed of the vehicle 1.

[0074] Then, the driving support device 20 ends the flowchart of the operation example 1.

[0075] <Operation Example 2> Next, with reference to FIG. 7, the operation example 2 of the driving support device 20 according to the present embodiment will be described.

[0076] FIG. 7 is a flowchart showing an operation example 2 of the driving support device 20 according to the embodiment. In FIG. 7, it is assumed that the vehicle 1 starts automatic driving and an automatic driving support function other than the ACC function is enabled, and the vehicle 1 is traveling following a preceding vehicle. In this operation example, the proposal unit 25 outputs a proposal prompting to change the setting state of the vehicle 1 not only to the driver but also to the passengers.

[0077] First, in the vehicle 1, it is in an automatic driving state and the automatic driving support function is enabled (S21). In this embodiment, an automatic driving support function other than the ACC function of the vehicle 1 is enabled.

[0078] Next, the setting state acquisition unit 21 acquires the setting state of the vehicle 1 when the automatic driving support function is enabled from the storage unit 27, and acquires the actual driving state of the vehicle 1 from the first detection unit 11 (S22). In this operation example, it is assumed that the LKAS function of the vehicle 1 is enabled.

[0079] Next, the setting difference determination unit 23 acquires the setting state of the vehicle 1 from the setting state acquisition unit 21 and the actual driving state of the vehicle 1 during automatic driving from the vehicle state specifying unit 22. The setting difference determination unit 23 compares the actual driving state with the setting state to determine the difference between the actual driving state and the setting state, and determines whether the difference is within a predetermined range (S23).

[0080] If the setting difference determination unit 23 determines that the difference is within the predetermined range (NO in S23), the process returns to step S21.

[0081] If the setting difference determination unit 23 determines that the difference is outside the predetermined range (YES in S23), the proposal unit 25 outputs the actual driving state of the vehicle 1 to the output control unit 40.

[0082] Next, the proposal unit 25 outputs the actual driving state of the vehicle 1 to the output control unit 40. By causing the output control unit 40 to output the actual driving state of the vehicle 1 to one or more of the plurality of notification units 4, one or more of the notification units 4 notify the passengers of the actual driving state of the vehicle 1 (S24).

[0083] Next, the proposal unit 25 outputs the reason for changing the setting state of the vehicle 1 and also outputs a proposal to prompt the change of the setting state of the vehicle 1 (S25). That is, the proposal unit 25 outputs the proposal to the output control unit 40. By causing the output control unit 40 to notify the proposal to one or more of the plurality of notification units 4, one or more notification units 4 notify the proposal to the occupant.

[0084] Next, the determination unit 26 determines whether to agree to or reject the proposal (S26). Since the determination unit 26 preferentially determines the driver's response to the responses from a plurality of occupants, when the determination unit 26 determines to agree to the proposal, it outputs the change of the setting state of the vehicle 1 to the in-vehicle ECU. On the other hand, when the determination unit 26 determines to reject the proposal, it does not output the change of the setting state of the vehicle 1 to the in-vehicle ECU.

[0085] Then, the driving support device 20 ends the flowchart of the operation example 2.

[0086] <Operation Example 3> Next, with reference to FIG. 8, the operation example 3 when a temporary stop line exists in front of the vehicle 1 will be described.

[0087] FIG. 8 is a flowchart showing the operation example 3 of the driving support device 20 according to the embodiment.

[0088] First, the first detection unit 11 detects the periphery of the vehicle 1 during automatic driving, and the second detection unit 12 detects obstacles existing around the vehicle 1. The first detection unit 11 outputs the peripheral information to the driving support device 20, and the second detection unit 12 outputs the information regarding the obstacles to the driving support device 20. Thereby, the driving support device 20 acquires the peripheral environment information (S31). The peripheral environment information includes information indicating a temporary stop line existing in front of the vehicle 1 during automatic driving, an intersection traffic signal existing in front of the vehicle 1 during automatic driving, a sharp curve existing in front of the vehicle 1 during automatic driving, a toll road tollgate existing in front of the vehicle 1 during automatic driving, a breakdown vehicle existing in front of the vehicle 1 during automatic driving, and the like.

[0089] Next, the setting state acquisition unit 21 of the driving support device 20 acquires a setting state corresponding to the surrounding environment information from the storage unit 27 (S32). For example, the setting states acquired by the setting state acquisition unit 21 include the setting state of the stop line related to the set speed, the setting state of the intersection traffic signal related to the set speed, the setting state of the sharp curve related to the set speed, the setting state of the toll road toll gate related to the set speed, and the setting state of the breakdown vehicle related to the set speed. Any of the setting states includes the deceleration situation of the vehicle 1, the distance between the preceding vehicle and the vehicle 1, and the like.

[0090] Next, the setting difference determination unit 23 acquires the actual driving state of the vehicle 1 from the vehicle state specifying unit 22 and the setting state corresponding to the surrounding environment information from the setting state acquisition unit 21. The setting difference determination unit 23 compares the actual driving state with the setting state corresponding to the surrounding environment information, and determines whether the actual driving state satisfies the setting state corresponding to the surrounding environment information (S33).

[0091] For example, the setting difference determination unit 23 can compare the actual driving state with respect to the stop line with the setting state of the stop line, and determine whether the actual driving state satisfies the setting state of the stop line. For example, the setting difference determination unit 23 determines whether the difference between the actual driving speed of the vehicle 1 with respect to the stop line and the set speed of the stop line is equal to or greater than a predetermined threshold.

[0092] In addition, the setting difference determination unit 23 can compare the actual driving state with respect to the intersection traffic signal with the setting state of the intersection traffic signal, and determine whether the actual driving state satisfies the setting state of the intersection traffic signal. For example, the setting difference determination unit 23 determines whether the difference between the actual driving speed of the vehicle 1 with respect to the intersection traffic signal and the set speed of the intersection traffic signal is equal to or greater than a predetermined threshold.

[0093] In addition, the setting difference determination unit 23 can compare the actual driving state with respect to a sharp curve with the set state of the sharp curve, and determine whether the actual driving state satisfies the set state of the sharp curve. For example, the setting difference determination unit 23 determines whether the difference between the actual driving speed of the vehicle 1 with respect to a sharp curve and the set speed of the sharp curve is equal to or greater than a predetermined threshold value.

[0094] In addition, the setting difference determination unit 23 can compare the actual driving state with respect to a toll road toll gate with the set state of the toll road toll gate, and determine whether the actual driving state satisfies the set state of the toll road toll gate. For example, the setting difference determination unit 23 determines whether the difference between the actual driving speed of the vehicle 1 with respect to a toll road toll gate and the set speed of the toll road toll gate is equal to or greater than a predetermined threshold value.

[0095] In addition, the setting difference determination unit 23 can compare the actual driving state with respect to a breakdown vehicle with the set state of the breakdown vehicle, and determine whether the actual driving state satisfies the set state of the breakdown vehicle. For example, the setting difference determination unit 23 determines whether the difference between the actual driving speed of the vehicle 1 with respect to a breakdown vehicle and the set speed of the breakdown vehicle is equal to or greater than a predetermined threshold value.

[0096] When the setting difference determination unit 23 determines that the actual driving state satisfies the set state according to the surrounding environment information (YES in S33), the driving support device 20 returns the process to step S31.

[0097] On the other hand, when the setting difference determination unit 23 determines that the actual driving state does not satisfy the set state according to the surrounding environment information (NO in S33), the proposal unit 25 outputs the actual driving state of the vehicle 1 to the output control unit 40 (S34).

[0098] For example, the proposal unit 25 outputs the actual driving state of the vehicle 1 with respect to a stop line, the actual driving state of the vehicle 1 with respect to an intersection traffic signal, the actual driving state of the vehicle 1 with respect to a sharp curve, the actual driving state of the vehicle 1 with respect to a toll road toll gate, or the actual driving state of the vehicle 1 with respect to a breakdown vehicle to the output control unit 40.

[0099] The notification unit 4 or above is controlled by the output control unit 40 to notify the actual driving state of the vehicle 1.

[0100] Next, the proposal unit 25 outputs the reason for changing the setting state according to the surrounding environment information, and also outputs a proposal to prompt the change of the setting state related to the set speed according to the surrounding environment information (S35).

[0101] For example, at a stop line, it is necessary to enable the vehicle 1 to stop. When there is a stop line in front of the vehicle 1, the proposal unit 25 outputs a proposal to decelerate so that the vehicle 1 can stop before the stop line and to prompt the change of the setting state of the stop line (the setting state related to the set speed) so that the vehicle 1 can decelerate and stop because there is a stop line in front of the vehicle 1. When the proposal to prompt the change of the setting state of the stop line is agreed, the driving support device 20 may automatically turn off the AAC function, and the vehicle 1 may decelerate and stop up to the set speed. Thereby, it is possible to suppress the vehicle 1 from accelerating suddenly according to the movement of the preceding vehicle and to maintain the distance from the preceding vehicle and stop.

[0102] For example, when the intersection signal indicates go (blue), it is necessary to enable the vehicle 1 to travel straight, and when the intersection signal indicates stop (yellow, red), it is necessary to enable the vehicle 1 to stop.

[0103] In the present embodiment, when the intersection signal in front of the vehicle 1 indicates go, the proposal unit 25 outputs a proposal to travel through the intersection at a predetermined speed because there is an intersection signal in front of the vehicle 1, and to prompt the change of the setting state of the intersection signal (the setting state related to the set speed) so that the vehicle 1 can travel through the intersection at a predetermined speed. When the proposal to prompt the change of the setting state of the intersection signal is agreed, the vehicle 1 may travel straight.

[0104] Also, when the intersection signal in front of the vehicle 1 indicates a stop, since there is an intersection signal in front of the vehicle 1, the proposal unit 25 outputs a proposal to decelerate so that the vehicle 1 can stop before the intersection signal, and a proposal to prompt a change in the setting state of the intersection signal (the setting state related to the set speed) so that the vehicle 1 decelerates and stops. When the proposal to prompt a change in the setting state of the intersection signal is agreed, the driving support device 20 may automatically turn off the AAC function, and the vehicle 1 may decelerate and stop up to the set speed.

[0105] This suppresses the vehicle 1 from accelerating rapidly due to the movement of the preceding vehicle, and enables the vehicle 1 to maintain a distance from the preceding vehicle and stop.

[0106] For example, when there is a sharp curve in front of the vehicle 1, it is conceivable that the preceding vehicle is hidden by an obstacle and the vehicle 1 rapidly accelerates up to the set speed. In this embodiment, when there is a sharp curve in front of the vehicle 1, since there is a sharp curve in front of the vehicle 1, the proposal unit 25 outputs a proposal to decelerate the vehicle 1 before the sharp curve, and a proposal to prompt a change in the setting state of the sharp curve (the setting state related to the set speed) so that the vehicle 1 decelerates. When the proposal to prompt a change in the setting state of the sharp curve is agreed, the vehicle 1 may decelerate on the sharp curve up to the set speed. This suppresses the vehicle 1 from accelerating rapidly due to the movement of the preceding vehicle, and enables the vehicle 1 to maintain a distance from the preceding vehicle and stop.

[0107] For example, when there is a toll road tollgate in front of the vehicle 1, since the leading vehicle may change lanes, it is conceivable that the vehicle 1 may suddenly accelerate to the set speed. In this embodiment, when there is a toll road tollgate in front of the vehicle 1, the proposal unit 25 outputs a proposal to prompt the vehicle 1 to decelerate before reaching the toll road tollgate and to prompt a change in the set state (set state related to the set speed) of the toll road tollgate so that the vehicle 1 decelerates because there is a toll road tollgate in front of the vehicle 1. When the proposal to prompt a change in the set state of the toll road tollgate is agreed, the vehicle 1 may decelerate at the toll road tollgate to the set speed. Thereby, it is possible to suppress the vehicle 1 from suddenly accelerating due to the movement of the leading vehicle and to maintain the inter-vehicle distance from the leading vehicle and stop.

[0108] For example, when there is a breakdown vehicle in front of the vehicle 1, since the leading vehicle may change lanes, it is conceivable that the vehicle 1 may suddenly accelerate to the set speed. In this embodiment, when there is a breakdown vehicle in front of the vehicle 1, the proposal unit 25 outputs a proposal to prompt the vehicle 1 to decelerate before reaching the breakdown vehicle and to prompt a change in the set state (set state related to the set speed) of the breakdown vehicle so that the vehicle 1 decelerates because there is a breakdown vehicle in front of the vehicle 1. When the proposal to prompt a change in the set state of the breakdown vehicle is agreed, the vehicle 1 may decelerate at the breakdown vehicle to the set speed. Thereby, it is possible to suppress the vehicle 1 from suddenly accelerating due to the movement of the leading vehicle and to maintain the inter-vehicle distance from the leading vehicle and stop.

[0109] If the occupant's consent is input to the input unit 14 for a proposal to change the set state according to the surrounding environment information, the in-vehicle ECU changes the set speed of the vehicle 1 to a new set speed. On the other hand, if the occupant's rejection is input to the input unit 14 for a proposal to change the set state according to the surrounding environment information, the in-vehicle ECU does not change the set speed of the vehicle 1.

[0110] <Operational effects> The operational effects of the driving support device 20, the driving support method, and the program in this embodiment will be described.

[0111] As described above, the driving support device 20 in Technology 1 of the present embodiment is a driving support device 20 mounted on a vehicle 1 having an automatic driving support function, and includes an acquisition unit (setting state acquisition unit 21) that acquires the set speed of the vehicle 1 during automatic driving, and acquires the actual traveling speed of the vehicle 1 during automatic driving, and compares the acquired actual traveling speed with the set speed acquired by the acquisition unit (setting state acquisition unit 21). It is a driving support device 20 including a determination unit (setting difference determination unit 23) and an output unit (proposal unit 25) that outputs the actual traveling state of the vehicle 1 based on the result determined by the determination unit (setting difference determination unit 23).

[0112] According to this, when the vehicle 1 is following a preceding vehicle, by the proposal unit 25 outputting the actual traveling state of the vehicle 1, the passenger of the vehicle 1 can be made aware of the actual traveling state of the vehicle 1. Since the passenger can recognize the current traveling state of the vehicle 1, it is expected that the passenger's anxiety about the traveling state of the vehicle 1 can be suppressed even in a situation where the passenger's anxiety is likely to occur.

[0113] In addition, since the driver can recognize the current traveling state of the vehicle 1, the driver can determine whether the traveling state conforms to the driver's intention. If it does not conform to the driver's intention, the driver can take measures such as switching to manual driving or changing the set speed of the vehicle 1.

[0114] Therefore, according to the present disclosure, it is possible to perform vehicle traveling in accordance with the driver's intention while preventing the passenger's anxiety from occurring in a situation where the passenger's anxiety is likely to occur.

[0115] In addition, in the driving support device 20 of Technology 2 of the present embodiment, the output unit (proposal unit 25) is the driving support device 20 described in Technology 1 that outputs the reason for changing the set speed.

[0116] According to this, since the passenger can recognize the reason for changing the set speed, it is expected that the passenger's anxiety about the traveling state of the vehicle 1 can be suppressed even in a situation where the passenger's anxiety is likely to occur.

[0117] Also, in the driving support device 20 of Technique 3 of the present embodiment, the output unit (proposal unit 25) is the driving support device 20 described in Technique 2 that outputs a proposal to prompt changing the set speed.

[0118] According to this, since the occupant can select whether to agree or reject the proposal, it can be expected that the occupant's anxiety will not occur in a situation where the occupant's anxiety is likely to occur.

[0119] Also, since the driver can select whether to agree or reject the proposal, the vehicle can travel in accordance with the driver's intention.

[0120] Also, in the driving support device 20 of Technique 4 of the present embodiment, the determination unit (set difference determination unit 23) compares the actual traveling speed and the set speed to calculate the speed difference between the actual traveling speed and the set speed, and determines whether the calculated speed difference is equal to or greater than a threshold value. When the determination unit (set difference determination unit 23) determines that the speed difference is equal to or greater than the threshold value, the output unit (proposal unit 25) is the driving support device 20 described in any one of Techniques 1 to 3 that outputs the actual driving state.

[0121] According to this, if the speed difference is equal to or greater than the threshold value, it indicates that the actual traveling speed and the set speed deviate from each other. Therefore, by outputting the actual driving state of Vehicle 1 when the speed difference is equal to or greater than the threshold value, the occupant can be made to recognize the actual driving state of Vehicle 1.

[0122] Also, if the set speed and the speed difference are also output, it becomes easier for the occupant to recognize the degree of deviation between the actual traveling speed and the set speed.

[0123] Also, in the driving support device 20 of Technique 5 of the present embodiment, the output unit (proposal unit 25) is the driving support device 20 described in any one of Techniques 1 to 4 that outputs a proposal to prompt changing the set state related to the set speed of Vehicle 1 according to the information indicating the surrounding environment detected by the detection unit (first detection unit 11) provided in Vehicle 1.

[0124] According to this, since a proposal prompting to change the setting state according to the surrounding environment information is output, the occupant can select whether to agree or reject the proposal. As a result, it is more expectable to prevent the occupant from feeling uneasy in a situation where the occupant is likely to feel uneasy.

[0125] Also, in the driving support device 20 of Technology 6 of the present embodiment, the information indicating the surrounding environment includes a stop line existing in front of the vehicle 1 during automatic driving, and the output unit (proposal unit 25) outputs the actual traveling state of the vehicle 1 with respect to the stop line existing in front of the vehicle 1, and outputs a proposal prompting to change the setting state of the stop line related to the set speed, which is the driving support device 20 described in Technology 5.

[0126] According to this, since a proposal prompting to change the setting state of the vehicle 1 at the stop line is output, the occupant can select whether to agree or reject the proposal. As a result, it is more expectable to prevent the occupant from feeling uneasy in a situation where the occupant is likely to feel uneasy.

[0127] Also, in the driving support device 20 of Technology 7 of the present embodiment, the information indicating the surrounding environment includes a traffic signal existing in front of the vehicle 1 during automatic driving, and the output unit (proposal unit 25) outputs the actual traveling state of the vehicle 1 with respect to the traffic signal existing in front of the vehicle 1, and outputs a proposal prompting to change the setting state of the traffic signal related to the set speed, which is the driving support device 20 described in Technology 5.

[0128] According to this, since a proposal prompting to change the setting state of the vehicle 1 at the traffic signal is output, the occupant can select whether to agree or reject the proposal. As a result, it is more expectable to prevent the occupant from feeling uneasy in a situation where the occupant is likely to feel uneasy.

[0129] Also, in the driving support device 20 of Technology 8 of the present embodiment, the information indicating the surrounding environment includes a sharp curve existing in front of the vehicle 1 during automatic driving, and the output unit (proposal unit 25) outputs the actual driving state of the vehicle 1 with respect to the sharp curve existing in front of the vehicle 1, and outputs a proposal to prompt a change in the setting state of the sharp curve related to the set speed, which is the driving support device 20 described in Technology 5.

[0130] According to this, since a proposal is output to prompt a change in the setting state of the vehicle 1 at a sharp curve, the occupant can select whether to agree or reject the proposal. As a result, it is more expected that the occupant's anxiety will not occur in a situation where the occupant's anxiety is likely to occur.

[0131] Also, in the driving support device 20 of Technology 9 of the present embodiment, the information indicating the surrounding environment includes a toll road toll gate existing in front of the vehicle 1 during automatic driving, and the output unit (proposal unit 25) outputs the actual driving state of the vehicle 1 with respect to the toll road toll gate existing in front of the vehicle 1, and outputs a proposal to prompt a change in the setting state of the toll road toll gate related to the set speed, which is the driving support device 20 described in Technology 5.

[0132] According to this, since a proposal is output to prompt a change in the setting state of the vehicle 1 at the toll road toll gate, the occupant can select whether to agree or reject the proposal. As a result, it is more expected that the occupant's anxiety will not occur in a situation where the occupant's anxiety is likely to occur.

[0133] Also, in the driving support device 20 of Technology 10 of the present embodiment, the information indicating the surrounding environment includes a broken-down vehicle existing in front of the vehicle 1 during automatic driving, and the output unit (proposal unit 25) outputs the actual driving state of the vehicle 1 with respect to the broken-down vehicle existing in front of the vehicle 1, and outputs a proposal to prompt a change in the setting state of the broken-down vehicle related to the set speed, which is the driving support device 20 described in Technology 5.

[0134] According to this, a proposal is output to prompt the change of the setting state of Vehicle 1 in the failed vehicle, so that the occupant can select whether to agree or reject the proposal. As a result, it is more expectable to prevent the occupant from feeling uneasy in a situation where the occupant is likely to feel uneasy.

[0135] Moreover, the driving support device 20 of Technology 11 of the present embodiment further includes a passenger information acquisition unit 24 that acquires information about passengers other than the driver, and a storage unit 27 that registers information about passengers as users. When information about passengers is registered, the output unit (proposal unit 25) is the driving support device 20 described in any one of Technologies 3 to 10 that outputs a proposal to the driver and passengers.

[0136] According to this, since a proposal can be presented not only to the driver but also to the registered passengers, opinions from a plurality of occupants riding in Vehicle 1 can be obtained. As a result, the opinions of the occupants regarding driving support can be reflected.

[0137] Moreover, the driving support device 20 of Technology 12 of the present embodiment is the driving support device 20 described in Technology 11, in which, if it is regarded as consent based on the response results of the driver and passengers to the proposal, the output unit (proposal unit 25) outputs to the in-vehicle ECU mounted on Vehicle 1 a change in the setting state indicated by the proposal.

[0138] According to this, the in-vehicle ECU can execute the setting state indicated by the proposal.

[0139] Moreover, the driving support method of Technology 13 of the present embodiment is a driving support method used for Vehicle 1 having an automatic driving support function, including that an acquisition unit (setting state acquisition unit 21) acquires the set speed of Vehicle 1 during automatic driving, the actual traveling speed of Vehicle 1 during automatic driving is acquired, and a determination unit (setting difference determination unit 23) compares the acquired actual traveling speed with the set speed acquired by the acquisition unit (setting state acquisition unit 21), and an output unit (proposal unit 25) outputs the actual traveling state of Vehicle 1 based on the result determined by the determination unit (setting difference determination unit 23).

[0140] This method also has the same operational effects as described above.

[0141] Also, the program of Technology 14 in this embodiment is a program for a computer to execute the driving support method described in Technology 13.

[0142] This program also has the same operational effects as described above.

[0143] (Other variations, etc.) As described above, the present disclosure has been described based on the embodiments. However, the present disclosure is not limited to these embodiments.

[0144] For example, in the driving support device and the like in this embodiment, navigation information such as the current position of the car navigation system and route guidance to the destination may be input to the driving support system 2. In this case, the driving support system 2 may specify the traveling speed of the preceding vehicle and the traveling state of Vehicle 1 using the navigation information corresponding to the surrounding environment information.

[0145] Also, each component included in the driving support device and the like in this embodiment is typically realized as an LSI which is an integrated circuit. These may be individually formed into one chip, or may be formed into one chip so as to include part or all of them.

[0146] Also, the integration into an integrated circuit is not limited to an LSI, and it may be realized by a dedicated circuit or a general-purpose processor. An FPGA (Field Programmable Gate Array) that can be programmed after manufacturing the LSI, or a reconfigurable processor that can reconfigure the connection and setting of circuit cells inside the LSI may also be used.

[0147] In the above embodiments, each component may be implemented by dedicated hardware or by executing a software program suitable for each component. Each component may also be implemented by a program execution unit such as a CPU or a processor reading and executing a software program recorded on a storage medium such as a hard disk or a semiconductor memory.

[0148] Moreover, all the numbers used above are for illustration purposes to specifically explain the present disclosure, and the embodiments of the present disclosure are not limited to the illustrated numbers.

[0149] Also, the division of functional blocks in the block diagram is an example, and a plurality of functional blocks may be realized as one functional block, one functional block may be divided into a plurality, or some functions may be transferred to other functional blocks. Further, the functions of a plurality of functional blocks having similar functions may be processed by a single piece of hardware or software in parallel or in a time-sharing manner.

[0150] In addition, the order in which each step in the flowchart is executed is for illustrative purposes to specifically explain the present disclosure, and may be in an order other than the above. Also, some of the above steps may be executed simultaneously (in parallel) with other steps.

[0151] Furthermore, forms obtained by making various modifications that can be conceived by those skilled in the art to the embodiments, and forms realized by arbitrarily combining the components and functions in the embodiments without departing from the spirit of the present disclosure are also included in the present disclosure.

[0152] The features of the driving support device, the driving support method, and the program described based on the above embodiments are shown below.

Industrial Applicability

[0153] The present disclosure can be used, for example, in an autonomously drivable vehicle having an automatic driving support function.

Explanation of Signs

[0154] 1 Vehicle 11 First Detection Unit (detection unit) 20 Driving Support Device 21 Setting State Acquisition Unit (acquisition unit) 23 Setting Difference Determination Unit (determination unit) 24 Occupant Information Acquisition Unit 25 Proposal Unit (output unit) 27 Memory Unit

Claims

1. A driving support device mounted on a vehicle having an automatic driving support machine, an acquisition unit that acquires a set speed of the vehicle during automatic driving, a determination unit that acquires an actual traveling speed of the vehicle during automatic driving and compares the acquired actual traveling speed with the set speed acquired by the acquisition unit, and an output unit that outputs an actual traveling state of the vehicle based on a result determined by the determination unit Driving support device.

2. The output unit outputs a reason for changing the set speed The driving support device according to claim 1.

3. The output unit outputs a proposal to prompt changing the set speed The driving support device according to claim 2.

4. The determination unit compares the actual traveling speed with the set speed to calculate a speed difference between the actual traveling speed and the set speed, and determines whether the calculated speed difference is equal to or greater than a threshold value. When the determination unit determines that the speed difference is equal to or greater than the threshold value, the output unit outputs the actual traveling state The driving support device according to any one of claims 1 to 3.

5. The output unit outputs a proposal to prompt changing a setting state related to the set speed according to information indicating a surrounding environment detected by a detection unit provided in the vehicle The driving support device according to any one of claims 1 to 3.

6. The information indicating the surrounding environment includes a stop line existing in front of the vehicle during automatic driving, The output unit, outputs an actual traveling state of the vehicle with respect to a stop line existing in front of the vehicle, and outputs a proposal to prompt changing a setting state of the stop line related to the set speed The driving support device according to claim 5.

7. The information indicating the surrounding environment includes a traffic signal existing in front of the vehicle during automatic driving, The output unit, outputs an actual traveling state of the vehicle with respect to a traffic signal existing in front of the vehicle, and outputs a proposal to prompt changing a setting state of the traffic signal related to the set speed The driving support device according to claim 5.

8. The information indicating the surrounding environment includes a sharp curve existing in front of the vehicle during automatic driving, The output unit, outputs an actual traveling state of the vehicle with respect to a sharp curve existing in front of the vehicle, and outputs a proposal to prompt changing a setting state of the sharp curve related to the set speed The driving support device according to claim 5.

9. The information indicating the surrounding environment includes a toll road toll gate existing in front of the vehicle during automatic driving, The output unit, outputs the actual driving state of the vehicle with respect to the toll road toll gate existing in front of the vehicle, and outputs a proposal to prompt a change in the setting state of the toll road toll gate related to the set speed The driving support device according to claim 5.

10. The information indicating the surrounding environment includes a breakdown vehicle existing in front of the vehicle during automatic driving, The output unit, outputs the actual driving state of the vehicle with respect to the breakdown vehicle existing in front of the vehicle, and outputs a proposal to prompt a change in the setting state of the breakdown vehicle related to the set speed The driving support device according to claim 5.

11. Furthermore, it includes a passenger information acquisition unit that acquires information about passengers other than the driver, and a storage unit that registers the information about the passengers as user information. When the information about the passengers is registered, the output unit outputs the proposal to the driver and the passengers. The driving support device according to claim 3.

12. If it is regarded as consent based on the response results of the driver and the passengers to the proposal, the output unit outputs to the in-vehicle ECU (Electronic Control Unit) mounted on the vehicle a change in the setting state indicated by the proposal. The driving support device according to claim 11.

13. A driving support method used for a vehicle having an automatic driving support machine, including: an acquisition unit acquiring the set speed of the vehicle during automatic driving; acquiring the actual driving speed of the vehicle during automatic driving, and a determination unit comparing the acquired actual driving speed with the set speed acquired by the acquisition unit; and an output unit outputting the actual driving state of the vehicle based on the result determined by the determination unit. Driving support method.

14. A program for a computer to execute the driving support method according to claim 13. Program.

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