Driving support apparatus

Abstract

To provide a driving support apparatus capable of reducing the frequency of requesting a driver to perform approval operation, while ensuring the safety of an own vehicle.SOLUTION: A driving support apparatus 10 executes travel control to autonomously control the traveling of a vehicle 100. The driving support apparatus notifies a driver of the vehicle of the contents of voice operation processing which is processing to be executed for the travel control in accordance with contents acquired by the voice recognition of the utterance contents of the driver, and requests the driver to perform approval operation to the contents of which the driver has been notified. When the approval operation has been performed, the driving support apparatus executes the voice operation processing. Depending on whether a road environment where the vehicle is traveling is a predetermined environment where it is possible to determine that the approval operation is required, the driving support apparatus determines whether to request the driver to perform the approval operation.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a driving assistance device. [Background technology]

[0002] There are known driving assistance devices that perform autonomous driving control to control the driving of a vehicle. The driving control is, for example, automatic driving control such as constant speed driving control (so-called cruise control) and adaptive cruise control.

[0003] One such driving assistance device is known to recognize speech from the vehicle driver, notify the driver of the contents of the processing (voice operation processing) that is planned to be performed for driving control according to the contents obtained through the voice recognition (voice recognition contents), and request the driver to perform an approval operation for the notified contents, and if the approval operation is performed, execute the voice operation processing (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-66226 Summary of the Invention

[0005] In order to ensure the driving safety of the vehicle, conventional driving assistance devices require the driver to perform an approval operation to allow the driver to confirm whether the voice recognition content or the voice operation processing content matches what the driver has said. However, since the approval operation places a significant burden on the driver, it is preferable to request the driver to perform the approval operation less frequently.

[0006] An object of the present invention is to provide a driving assistance device that can reduce the frequency with which the driver is requested to perform an approval operation while ensuring the safety of the vehicle.

[0007] One driving assistance device according to the present invention is a device that executes driving control to autonomously control the driving of a vehicle, notifying the driver of the contents of a voice operation process that is a process to be executed for the driving control in accordance with the contents obtained by voice recognition of the contents of an utterance of the driver of the vehicle, requesting the driver to perform an operation to approve the notified contents, and executing the voice operation process if the approval operation is performed. This driving assistance device determines whether to request the driver to perform the approval operation depending on whether the road environment on which the vehicle is traveling is a predetermined environment in which it can be determined that the approval operation is necessary.

[0008] According to the present invention, when the road environment in which the vehicle is traveling does not require an approval operation, the driver is not required to perform an approval operation. Furthermore, when the road environment in which the vehicle is traveling does not require an approval operation, the environment is one in which the safety of the vehicle traveling can be ensured even if the voice operation process is executed without requiring the driver to perform an approval operation. Therefore, the frequency of requiring the driver to perform an approval operation can be reduced while ensuring the safety of the vehicle traveling.

[0009] Furthermore, one driving assistance device according to the present invention is a device that executes driving control that autonomously controls the driving of a vehicle, notifying the driver of the contents of a voice operation process that is a process to be executed for the driving control in accordance with contents obtained by voice recognition of utterances of the driver of the vehicle, requesting the driver to perform an operation to approve the notified contents, and executing the voice operation process when the approval operation is performed. This driving assistance device determines whether to request the driver to perform the approval operation depending on whether the state of the driver is in a predetermined state that can be determined to require the approval operation.

[0010] According to the present invention, when the driver's state is such that an approval operation is not required, the driver is not requested to perform the approval operation. Furthermore, when the driver's state is such that an approval operation is not required, the driving safety of the vehicle can be ensured even if the voice operation process is executed without requiring the driver to perform the approval operation. Therefore, the frequency of requiring the driver to perform the approval operation can be reduced while ensuring the driving safety of the vehicle.

[0011] Furthermore, one driving assistance device according to the present invention is a device that executes driving control that autonomously controls the driving of a vehicle, notifying the driver of the contents of a voice operation process that is a process to be executed for the driving control in accordance with the contents obtained by voice recognition of the contents of an utterance of the driver of the vehicle, requesting the driver to perform an approval operation for the notified contents, and executing the voice operation process when the approval operation is performed. This driving assistance device determines whether to request the driver to perform the approval operation depending on whether the road environment on which the vehicle is traveling is a predetermined environment in which it can be determined that the approval operation is required and whether the state of the driver is a predetermined state in which it can be determined that the approval operation is required.

[0012] According to the present invention, when the road environment in which the vehicle is traveling is an environment that does not require an approval operation and the driver's state is a state that does not require an approval operation, it is possible not to request the driver to perform an approval operation. Furthermore, when the road environment in which the vehicle is traveling is an environment that does not require an approval operation and the driver's state is a state that does not require an approval operation, these environments and states are environments and states in which the driving safety of the vehicle can be ensured even if voice operation processing is executed without requiring the driver to perform an approval operation. Therefore, it is possible to reduce the frequency of requesting the driver to perform an approval operation while ensuring the driving safety of the vehicle.

[0013] Furthermore, one driving assistance device according to the present invention is a device that executes driving control that autonomously controls the driving of a vehicle, notifying the driver of the contents of a voice-operated process that is a process to be executed for the driving control in accordance with contents obtained by voice recognition of utterances of the driver of the vehicle, requesting the driver to perform an approval operation for the notified contents, and executing the voice-operated process if the approval operation is performed. This driving assistance device requests the driver to perform the approval operation if the road environment on which the vehicle is traveling is not a predetermined environment that can be determined not to allow the execution of the voice-operated process, and executes the voice-operated process if the approval operation is performed, and does not request the driver to perform the approval operation or execute the voice-operated process if the road environment on which the vehicle is traveling is the predetermined environment.

[0014] According to the present invention, when the road environment in which the vehicle is traveling is an environment in which the execution of a voice operation process cannot be permitted, the environment is an environment in which the driving safety of the vehicle may not be ensured if the voice operation process is executed. According to the present invention, when the road environment in which the vehicle is traveling is such an environment, the voice operation process is not executed. Therefore, the driving safety of the vehicle can be ensured. Furthermore, when the road environment in which the vehicle is traveling is an environment in which the execution of a voice operation process cannot be permitted, the driver is not requested to perform an approval operation. When the road environment in which the vehicle is traveling is an environment in which the execution of a voice operation process cannot be permitted, the voice operation process is not executed, so there is no need to request the driver to perform an approval operation, and the driver is not requested to perform an approval operation. Therefore, the driver is not unnecessarily requested to perform an approval operation, and as a result, the frequency with which the driver is requested to perform an approval operation can be reduced.

[0015] Furthermore, one driving assistance device according to the present invention is a device that executes driving control that autonomously controls the driving of a vehicle, notifying the driver of the contents of a voice-operated process that is a process to be executed for the driving control in accordance with contents obtained by voice recognition of utterances of the driver of the vehicle, requesting the driver to perform an approval operation for the notified contents, and executing the voice-operated process if the driver performs the approval operation. This driving assistance device requests the approval operation if the driver's state is not a predetermined state for determining that the execution of the voice-operated process cannot be permitted, and executes the voice-operated process if the driver's state is the predetermined state, and does not request the approval operation or execute the voice-operated process if the driver's state is the predetermined state.

[0016] According to the present invention, when the driver's state is such that execution of a voice-operated process cannot be permitted, the state is one in which the vehicle's driving safety may not be ensured if the voice-operated process is executed. According to the present invention, when the driver's state is such that execution of a voice-operated process cannot be permitted, the voice-operated process is not executed. Therefore, the vehicle's driving safety can be ensured. Furthermore, when the driver's state is such that execution of a voice-operated process cannot be permitted, the driver is not requested to perform an approval operation. When the driver's state is such that execution of a voice-operated process cannot be permitted, the voice-operated process is not executed, so there is no need to request the driver to perform an approval operation, and the driver is not requested to perform an approval operation. Therefore, the driver is not unnecessarily requested to perform an approval operation, and as a result, the frequency with which the driver is requested to perform an approval operation can be reduced.

[0017] Furthermore, a driving assistance method according to the present invention is a method for executing driving control that autonomously controls the driving of a vehicle, which notifies the driver of the contents of a voice operation process that is a process to be executed for the driving control in accordance with contents obtained by voice recognition of utterances of the driver of the vehicle, requests the driver to perform an approval operation for the notified contents, and executes the voice operation process if the approval operation is performed. The driving assistance method according to the present invention includes a step of determining whether to request the driver to perform the approval operation depending on whether a road environment on which the vehicle is traveling is a predetermined environment in which it can be determined that the approval operation is necessary.

[0018] Furthermore, a driving assistance program according to the present invention is a program that executes driving control that autonomously controls the driving of a vehicle, notifying the driver of the contents of a voice operation process that is a process to be executed for the driving control in accordance with contents obtained by voice recognition of utterances of the driver of the vehicle, requesting the driver to perform an approval operation for the notified contents, and executing the voice operation process when the approval operation is performed. The driving assistance program according to the present invention is configured to determine whether or not to request the driver to perform the approval operation depending on whether or not the road environment on which the vehicle is traveling is a predetermined environment in which it can be determined that the approval operation is necessary.

[0019] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, features, and attendant advantages of the present invention will be easily understood from the description of the embodiments of the present invention. [Brief explanation of the drawings]

[0020] [Figure 1] FIG. 1 is a diagram showing a driving assistance device according to an embodiment of the present invention and a vehicle (host vehicle) on which the driving assistance device is installed. [Figure 2] FIG. 2A is a diagram showing a situation in which the host vehicle is traveling under constant speed cruise control, and FIG. 2B is a diagram showing a situation in which the host vehicle is traveling under follow-up cruise control. [Figure 3] FIG. 3 is a flowchart showing a routine executed by the driving assistance device according to the embodiment of the present invention. [Figure 4] FIG. 4 is a flowchart showing a routine executed by the driving assistance device according to the embodiment of the present invention. [Figure 5] FIG. 5 is a flowchart showing a routine executed by the driving assistance device according to the embodiment of the present invention. [Figure 6] FIG. 6 is a flowchart showing a part of a routine executed by the driving assistance device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0021] A driving assistance device according to an embodiment of the present invention will be described below with reference to the drawings. As shown in Fig. 1, a driving assistance device 10 according to an embodiment of the present invention is mounted on a vehicle 100 (hereinafter referred to as "host vehicle 100").

[0022] The driving assistance device 10 includes an ECU 90, a vehicle driving device 21, an alarm device 22, a display device 23, a driving control operator 31, a set speed setting operator 32, a vehicle distance setting operator 33, a surrounding information detection device 34, a voice recognition operator 35, a voice acquisition device 36, an approval operator 37, and a driver monitoring device 38.

[0023] ECU is an abbreviation for Electronic Control Unit. The ECU 90 has a microcomputer as its main component. The microcomputer includes a CPU, ROM, RAM, non-volatile memory, and an interface. The CPU executes instructions, programs, or routines stored in the ROM to realize various functions.

[0024] In this example, the driving assistance device 10 includes only one ECU 90, but may include a plurality of ECUs, each of which may be configured to perform a predetermined function.

[0025] The vehicle driving device 21 is a device that applies a driving force (or driving torque), a braking force (or braking torque), and a steering force (or steering torque) to the host vehicle 100. The vehicle driving device 21 is electrically connected to the ECU 90, and the ECU 90 can control the operation of the vehicle driving device 21.

[0026] The notification device 22 is a device that outputs sound, and in this example, is a speaker 221. The speaker 221 is electrically connected to the ECU 90, and the ECU 90 can output various sounds from the speaker 221. The speaker 221 is installed in a position where the driver of the vehicle 100 can hear the sounds.

[0027] The display device 23 is a device that displays images, and in this example, is a display 231. The display 231 is electrically connected to the ECU 90, and the ECU 90 can display various images on the display 231. The display 231 is installed in a position where the driver of the vehicle 100 can view the display 231.

[0028] The cruise control operating device 31 is a device such as a button or switch that is operated by the driver to request the ECU 90 to execute or terminate cruise control, and is provided on the steering wheel of the host vehicle 100, for example.

[0029] Cruise control is a control executed on the host vehicle 100, and is a control that autonomously controls the traveling of the host vehicle 100, and in particular, is a control that autonomously changes (controls) the motion of the host vehicle 100. In this example, the cruise control is constant speed cruise control and follow-up cruise control. Constant speed cruise control is a control that autonomously accelerates or decelerates the host vehicle 100 so that the traveling speed V of the host vehicle 100 is maintained at a constant speed (set speed Vset). On the other hand, follow-up cruise control is a control that autonomously accelerates or decelerates the host vehicle 100 so that the distance between the host vehicle 100 and the preceding vehicle 200 (inter-vehicle distance D) is maintained at a constant distance (target inter-vehicle distance Dtgt). The inter-vehicle distance D is acquired based on surrounding detection information IS.

[0030] The cruise control operator 31 is electrically connected to the ECU 90. When operated, the cruise control operator 31 transmits a signal to the ECU 90. When the ECU 90 receives a signal from the cruise control operator 31 while cruise control is not being executed, the ECU 90 determines that execution of cruise control has been requested. On the other hand, when the ECU 90 receives a signal from the cruise control operator 31 while cruise control is being executed, the ECU 90 determines that termination of cruise control has been requested.

[0031] When it is determined that execution of cruise control has been requested and a predetermined condition (cruise control precondition) is satisfied, the ECU 90 executes constant speed cruise control if there is no preceding vehicle 200, as shown in Fig. 2A. The cruise control precondition is a precondition for properly driving the host vehicle 100 through cruise control, and is, for example, a condition that devices such as the vehicle driving device 21 and the surrounding information detection device 34 are operating normally. Whether there is a preceding vehicle 200 is determined based on surrounding detection information IS.

[0032] On the other hand, when it is determined that execution of cruise control has been requested and a predetermined condition (cruise control precondition) is satisfied, the ECU 90 executes follow cruise control if a preceding vehicle 200 is present, as shown in (B) of Fig. 2. Note that the preceding vehicle 200 is a vehicle traveling in the host vehicle 100's lane LN ahead of the host vehicle 100, and is present within a predetermined distance from the host vehicle 100, as shown in (B) of Fig. 2. Note that in Fig. 2, the symbol LML denotes a left-hand lane marking that divides the host vehicle LN, and the symbol LMR denotes a right-hand lane marking that divides the host vehicle LN.

[0033] The set speed setting operator 32 is a device operated by the driver to set the set speed Vset in constant speed cruise control, and is provided, for example, on the steering wheel of the vehicle 100. In this example, the set speed setting operator 32 includes an increase speed button 321 and a decrease speed button 322. The increase speed button 321 is a device operated by the driver to increase the set speed Vset, and the decrease speed button 322 is a device operated by the driver to decrease the set speed Vset.

[0034] The speed increase button 321 and the speed decrease button 322 are electrically connected to the ECU 90. When the speed increase button 321 and the speed decrease button 322 are operated, they transmit signals to the ECU 90. When the ECU 90 receives a signal from the speed increase button 321 while constant speed cruise control is being executed, the ECU 90 increases the set speed Vset. On the other hand, when the ECU 90 receives a signal from the speed decrease button 322 while constant speed cruise control is being executed, the ECU 90 decreases the set speed Vset.

[0035] The inter-vehicle distance setting operation device 33 is a device operated by the driver to set a target inter-vehicle distance Dtgt in adaptive cruise control, and is provided, for example, on the steering wheel of the host vehicle 100. In this example, the inter-vehicle distance setting operation device 33 includes an inter-vehicle distance increase button 331 and an inter-vehicle distance decrease button 332. The inter-vehicle distance increase button 331 is a device operated by the driver to increase the target inter-vehicle distance Dtgt, and the inter-vehicle distance decrease button 332 is a device operated by the driver to decrease the target inter-vehicle distance Dtgt.

[0036] The inter-vehicle distance increase button 331 and the inter-vehicle distance decrease button 332 are electrically connected to the ECU 90. When operated, the inter-vehicle distance increase button 331 and the inter-vehicle distance decrease button 332 send a signal to the ECU 90. When the ECU 90 receives a signal from the inter-vehicle distance increase button 331 while follow-up cruise control is being executed, the ECU 90 increases the target inter-vehicle distance Dtgt. On the other hand, when the ECU 90 receives a signal from the inter-vehicle distance decrease button 332 while follow-up cruise control is being executed, the ECU 90 decreases the target inter-vehicle distance Dtgt.

[0037] The surrounding information detection device 34 is a device that detects information about the surroundings of the vehicle 100, and in this example, includes a radio wave sensor 341 and an image sensor 342. The radio wave sensor 341 is, for example, a radar sensor (such as a millimeter wave radar). The image sensor 342 is, for example, a camera. The surrounding information detection device 34 may also include a sonic sensor such as an ultrasonic sensor (clearance sonar) or an optical sensor such as a laser radar (LiDAR).

[0038] The radio wave sensor 341 is electrically connected to the ECU 90. The radio wave sensor 341 transmits radio waves to the outside of the vehicle 100 and receives radio waves (reflected waves) reflected by objects present in the vicinity of the vehicle 100. The radio wave sensor 341 transmits information (detection results) relating to the transmitted radio waves and the received radio waves (reflected waves) to the ECU 90. In other words, the radio wave sensor 341 detects objects present in the vicinity of the vehicle 100 and transmits information (detection results) relating to the detected objects to the ECU 90. The ECU 90 acquires information relating to objects present in the vicinity of the vehicle 100 as vicinity detection information IS based on the information (radio wave information). In this example, the objects are vehicles, motorcycles, bicycles, people, etc.

[0039] The image sensor 342 is also electrically connected to the ECU 90. The image sensor 342 captures (takes pictures of) the periphery of the vehicle 100 and transmits information related to the captured images (captured images, photographed images, camera images) to the ECU 90. The ECU 90 acquires information related to the periphery of the vehicle 100 as periphery detection information IS based on the information (captured image information, photographed image information, camera image information).

[0040] The voice recognition operation device 35 is a device that the driver operates to cause the ECU 90 to execute a voice recognition process, which will be described later, and in this example is a voice recognition switch 351. The voice recognition switch 351 is electrically connected to the ECU 90, and when operated, transmits a signal to the ECU 90. When the ECU 90 receives the signal, it determines that the voice recognition switch 351 has been operated.

[0041] The voice acquisition device 36 is a device that detects sound, and in this example, is a microphone 361. The microphone 361 is electrically connected to the ECU 90, and when it detects sound, it transmits a signal corresponding to the detected sound to the ECU 90. When the ECU 90 receives the signal, it can acquire the sound based on the signal. The microphone 361 is installed in a position where it can detect the voice of the driver of the vehicle 100.

[0042] The approval operation device 37 is a device that the driver operates to approve the execution of a process (voice-operated process) according to the content obtained by voice recognition of the driver's utterance content acquired via the microphone 361, as will be described later, and in this example, is an approval button 371. The approval button 371 is electrically connected to the ECU 90. When the approval button 371 is operated, it transmits a signal to the ECU 90. After the ECU 90 has voice-recognized the driver's utterance content, if the ECU 90 receives a signal from the approval button 371 while waiting for the execution of the voice-operated process, the ECU 90 determines that an approval operation has been performed.

[0043] In addition, the ECU 90 may be configured to display on the display 231 an image (approval image) that the driver operates to approve the execution of the voice operation processing, and after voice recognition of the driver's speech content, determine that an approval operation has been performed if the approval image is touched while waiting for the execution of the voice operation processing.

[0044] The driver monitoring device 38 is one of the devices that monitors the state of the driver of the vehicle 100, and in this example, is a driver monitor camera 381. The driver monitor camera 381 is a device that photographs the driver and outputs image data of the driver that has been photographed. The driver monitor camera 381 is installed in the vehicle 100 so that it can photograph the driver. The driver monitor camera 381 is electrically connected to the ECU 90. The driver monitor camera 381 transmits the photographed image data of the driver to the ECU 90. The ECU 90 acquires information about the driver (driver information ID) based on the image data.

[0045] <Outline of operation of driving assistance devices> Next, an outline of the operation of the driving assistance device 10 will be described.

[0046] The driving assistance device 10 starts the voice recognition process when the voice recognition switch 351 is operated while the voice recognition process is not being executed. On the other hand, the driving assistance device 10 ends the voice recognition process when the voice recognition switch 351 is operated while the voice recognition process is being executed.

[0047] The voice recognition process is a process for recognizing the speech content of the driver of the vehicle 100 and obtaining the speech content as the voice recognition content. In this example, the voice recognition process is a process for recognizing the speech content of the driver acquired via the microphone 361 and obtaining the speech content as the voice recognition content.

[0048] While constant speed cruise control is being executed, the driver can set the set speed Vset by operating the speed increase button 321 or the speed decrease button 322, but when voice recognition processing is being executed, the driver can set the set speed Vset by speaking the set speed Vset.

[0049] Similarly, while adaptive cruise control is being performed, the driver can set the target inter-vehicle distance Dtgt by operating the inter-vehicle distance increase button 331 or the inter-vehicle distance decrease button 332, but if voice recognition processing is being performed, the driver can change the target inter-vehicle distance Dtgt by speaking about the target inter-vehicle distance Dtgt.

[0050] When the driving assistance device 10 acquires the driver's speech content as the voice recognition content during execution of the voice recognition process, if the approval request condition described later is met, it outputs a voice (first voice) from the speaker 221 to inform the driver of the content of the process (voice operation process) that is planned to be executed for driving control in accordance with the voice recognition content.

[0051] Furthermore, following the first voice, the driving assistance device 10 outputs from the speaker 221 a voice (second voice) requesting the driver to perform an operation to approve the content of the voice operation process notified by the first voice.

[0052] That is, during execution of the voice recognition process, the driving assistance device 10 outputs the first voice and the subsequent second voice only if the approval request condition described below is met when the driver's speech content is voice recognized.

[0053] The driving assistance device 10 may be configured to output the first voice and the subsequent second voice only if a vehicle motion control condition is met when the driver's utterance is voice-recognized during execution of the voice recognition process and an approval request condition, which will be described later, is also met. The vehicle motion control condition is a condition that the content of the voice operation process is content that changes the motion of the host vehicle 100. Here, content that changes the motion of the host vehicle 100 is content that requires, for example, acceleration or deceleration of the host vehicle 100 or steering of the host vehicle 100. Therefore, content that changes the motion of the host vehicle 100, such as turning on or off an interior lamp of the host vehicle 100, is not included in content that changes the motion of the host vehicle 100.

[0054] If an approval operation is performed before a predetermined time (predetermined waiting time Tw) has elapsed since the second voice was output from the speaker 221, the driving assistance device 10 executes a voice operation process.

[0055] For example, when the driver speaks the desired speed as the set speed Vset, the driving assistance device 10 outputs from the speaker 221 a first voice informing the user of the content of the speech (voice recognition content) of the processing (voice operation processing) to be performed for driving control, and a second voice requesting the user to perform an approval operation, and then, if the approval operation is performed before the predetermined waiting time Tw has elapsed, executes the voice operation processing (in this case, a process of setting the set speed Vset to the set speed Vset spoken by the driver).

[0056] Alternatively, when the driver speaks the distance desired as the target inter-vehicle distance Dtgt, the driving assistance device 10 outputs from the speaker 221 a first voice informing the driver of the content of the speech (voice recognition content) of the processing (voice operation processing) to be performed for driving control, and a second voice requesting the driver to perform an approval operation, and then, if the approval operation is performed before the predetermined waiting time Tw has elapsed, executes the voice operation processing (in this case, a process of setting the target inter-vehicle distance Dtgt to the target inter-vehicle distance Dtgt spoken by the driver).

[0057] If the approval operation is not performed before the predetermined waiting time Tw has elapsed, that is, if the predetermined waiting time Tw has elapsed without the approval operation being performed, the driving assistance device 10 outputs a sound indicating that the voice operation process will not be executed from the speaker 221. In this case, the driving assistance device 10 does not execute the voice operation process.

[0058] Incidentally, when the content of the voice operation process is to change the motion of the vehicle 100, it is preferable in principle to execute the voice operation process only when the content of the voice operation process is approved by the driver, in consideration of the driving safety of the vehicle 100. However, when the vehicle 100 is traveling on a road with little environmental change, even if the voice operation process is executed without the driver's approval of the content of the voice operation process, there is little possibility that the driving safety of the vehicle 100 will be significantly impaired.

[0059] Therefore, the driving assistance device 10 determines whether the approval request condition is met when it recognizes the driver's speech content, and if the approval request condition is met, outputs the first voice and the second voice, and if an approval operation is performed, executes voice operation processing.

[0060] On the other hand, if the approval request condition is not met when the driving assistance device 10 performs voice recognition of the driver's utterance, the driving assistance device 10 executes the voice operation process without outputting the first voice and the second voice. That is, if the approval request condition is not met, the driving assistance device 10 executes the voice operation process without requiring an approval operation. In this case, the driving assistance device 10 may be configured to execute the voice operation process by outputting the first voice but without outputting the second voice. Alternatively, the driving assistance device 10 may be configured to execute the voice operation process without outputting the first voice and the second voice, and then output a voice that notifies the driver of the content of the executed voice operation process.

[0061] In this example, the approval request condition is a condition that the road environment on which the vehicle 100 is traveling is a specified environment in which it can be determined that an approval operation is required, and in particular, a condition that the traveling safety of the vehicle 100 can be ensured to a certain extent even if voice operation processing is executed.In this example, the approval request condition is a condition (road environment condition) that the environmental change of the road on which the vehicle 100 is traveling is to a certain extent large due to the type of road.

[0062] As the road environment conditions, for example, one or more of the following conditions are adopted.

[0063] (1) The condition that the vehicle 100 is traveling on a road in a residential area. Whether or not this condition is met is determined, for example, based on the surrounding detection information IS, but may also be determined based on the current position information of the vehicle 100 acquired from a GPS signal and map information. The map information may be stored in the ROM of the ECU 90, or may be acquired from outside the vehicle 100 via wireless communication or the like. (2) The condition that the vehicle 100 is traveling on a road that is not provided with a dividing line such as a white line. Whether or not this condition is met is determined, for example, based on the surrounding detection information IS, but may also be determined based on the current position information of the vehicle 100 acquired from a GPS signal and map information. (3) The vehicle 100 is traveling at an intersection where a traffic light is installed. Whether or not this condition is met is determined based on, for example, the surrounding detection information IS, but may also be determined based on the current position information of the vehicle 100 acquired from a GPS signal and map information. (4) The condition that the vehicle 100 is traveling on a road where there is no guardrail or curb between the sidewalk and the roadway. In other words, the condition that the vehicle 100 is traveling on a road where the sidewalk and the roadway are not physically separated. Whether or not this condition is met is determined, for example, based on the surroundings detection information IS, but it may also be determined based on the current position information of the vehicle 100 acquired from a GPS signal and map information. (5) The condition that the host vehicle 100 is traveling on a highway that does not have a strong structure such as a median strip. In other words, the condition that the host vehicle 100 is traveling on a highway that does not have a strong structure such as a median strip separating the lane in which the host vehicle 100 is traveling from the oncoming lane. Whether or not this condition is met is determined, for example, based on the surrounding detection information IS, but may also be determined based on the current position information of the host vehicle 100 acquired from a GPS signal and map information.

[0064] It should be noted that when the vehicle 100 is traveling on a highway with a strong structure such as a median strip, the approval request condition is not met.

[0065] Moreover, the determination as to whether the road environment conditions are met is made based on the surroundings detection information IS.

[0066] According to this, when the road environment in which the vehicle 100 is traveling does not require an approval operation, the driver is not required to perform an approval operation. Furthermore, when the road environment in which the vehicle 100 is traveling does not require an approval operation, the environment is an environment in which the traveling safety of the vehicle 100 can be ensured even if the voice operation process is executed without requiring the driver to perform an approval operation. Therefore, the traveling safety of the vehicle 100 can be ensured while reducing the frequency with which the driver is required to perform an approval operation.

[0067] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention.

[0068] For example, when the driver is distracted while driving, the driver may be in an inappropriate state for executing the voice operation process. In such a case, it is preferable to execute the voice operation process only when an approval operation is performed.

[0069] Therefore, as an approval request condition, a condition (driver state condition) that the driver is not in a state where he or she can properly operate the vehicle 100 may be adopted.In this case, for example, one or more of the following conditions may be adopted.

[0070] (1) The driver is distracted while driving. (2) The driver is asleep at the wheel. (3) The driver's driving posture is poor. (4) The driver's eyes must be closed.

[0071] The determination as to whether the driver state condition is met is made based on the driver information ID.

[0072] According to this, when the driver's state is such that an approval operation is not required, the driver is not requested to perform the approval operation. Also, when the driver's state is such that an approval operation is not required, the driving safety of the vehicle 100 can be ensured even if the voice operation process is executed without requiring the driver to perform the approval operation. Therefore, the driving safety of the vehicle 100 can be ensured while reducing the frequency with which the driver is requested to perform the approval operation.

[0073] Furthermore, if the environment of the road on which the vehicle 100 is traveling or the state of the driver is inappropriate for executing the voice operation process, it may be preferable not to execute the voice operation process.

[0074] Therefore, the driving assistance device 10 may be configured not to execute the voice operation process if a predetermined condition (first non-permission condition) is met when the contents of the driver's utterance are voice-recognized. Of course, in this case, the driving assistance device 10 is configured not to output the first voice and the second voice. In other words, the driving assistance device 10 does not request the driver to perform an approval operation.

[0075] In this example, the same conditions as the road environment conditions and / or driver state conditions described above are adopted as the first non-permission conditions.

[0076] According to this, when the road environment in which the vehicle 100 is traveling is an environment in which the execution of the voice operation process cannot be permitted, or when the driver's state is such that the execution of the voice operation process cannot be permitted, the driver is not requested to perform an approval operation. Furthermore, when the road environment in which the vehicle 100 is traveling is an environment in which the execution of the voice operation process cannot be permitted, the environment is an environment in which the driving safety of the vehicle may not be ensured if the voice operation process is executed, or when the driver's state is such that the execution of the voice operation process cannot be permitted, the state is a state in which the driving safety of the vehicle 100 may not be ensured if the voice operation process is executed. According to the driving assistance device 10, when the road environment in which the vehicle 100 is traveling is such an environment, the voice operation process is not executed. Therefore, the driving safety of the vehicle 100 can be ensured.

[0077] In this case, if the first non-permission condition is met when the driving assistance device 10 performs voice recognition on the contents of the driver's utterance, the driving assistance device 10 may be configured to output a sound (third sound) notifying the user that the voice operation process will not be executed from the speaker 221. The third sound may also include a sound notifying the user of the reason why the voice operation process will not be executed.

[0078] In this case, if the first non-permission condition is not met when the driving assistance device 10 performs voice recognition of the driver's speech, it outputs the first voice and the second voice, and executes voice operation processing when an approval operation is performed.

[0079] <Specific operation of the driving assistance device> Next, a specific operation of the driving assistance device 10 will be described. The CPU of the ECU 90 of the driving assistance device 10 is configured to execute the routine shown in Fig. 3 at a predetermined calculation cycle while executing the voice recognition process. Therefore, at a predetermined timing, the CPU starts processing from step S300 of the routine shown in Fig. 3, and proceeds to step S305, where it determines whether the value of the processing in progress flag X1 is "0".

[0080] If the CPU determines "Yes" in step S305, the process proceeds to step S310, where it determines whether or not it has performed voice recognition on the driver's speech and acquired the voice recognition content.

[0081] If the CPU determines "Yes" in step S310, it proceeds to step S315 and determines whether the vehicle motion control conditions are met.

[0082] If the CPU determines "Yes" in step S315, it proceeds to step S317 and determines whether the approval request condition is met.

[0083] If the CPU determines "Yes" in step S317, it proceeds to step S320 and sets the value of the in-process flag X1 to "1." This causes the first sound and the second sound to be output according to the routine shown in Fig. 4. Next, the CPU proceeds to step S395 and temporarily ends the processing of this routine.

[0084] On the other hand, if the CPU determines "No" in step S317, it proceeds to step S325 and executes the voice operation process. That is, the CPU executes the voice operation process without outputting the first voice and the second voice, and even if an approval operation is not performed. Next, the CPU proceeds to step S395 and temporarily ends the processing of this routine.

[0085] If the CPU determines "No" in step S315, the CPU proceeds to step S325 to execute the voice operation process. Next, the CPU proceeds to step S395 to temporarily end the processing of this routine.

[0086] If the CPU determines "No" in step S305 or step S310, the CPU proceeds directly to step S395 and temporarily ends the processing of this routine.

[0087] Furthermore, the CPU is configured to execute the routine shown in Fig. 4 at a predetermined calculation cycle during the execution of the speech recognition process. Therefore, at a predetermined timing, the CPU starts the process from step S400 of the routine shown in Fig. 4, and proceeds to step S405, where it determines whether the value of the processing in progress flag X1 is "1".

[0088] If the CPU determines "Yes" in step S405, the process proceeds to step S410, where it determines whether or not an approval operation has been performed.

[0089] If the CPU determines "Yes" in step S410, it proceeds to step S420, where it stops outputting the first sound from the speaker 221 if that sound is currently being output, and stops outputting the second sound if that sound is currently being output from the speaker 221. Note that when the CPU stops outputting the first sound from the speaker 221, it also halts outputting the second sound from the speaker 221. Next, the CPU proceeds to step S430, where it executes voice operation processing. Next, the CPU proceeds to step S435, where it sets the value of the in-process flag X1 to "0." Next, the CPU proceeds to step S495, where it temporarily ends the processing of this routine.

[0090] On the other hand, if the CPU determines "No" in step S410, it proceeds to step S505 of the routine shown in FIG. 5, where it determines whether or not the output of the first sound has been completed.

[0091] If the CPU determines "Yes" in step S505, it proceeds to step S510 and determines whether or not the output of the second sound has been completed.

[0092] If the CPU determines "Yes" in step S510, it proceeds to step S515 and determines whether a predetermined waiting time Tw has elapsed since the output of the second sound was completed.

[0093] If the CPU determines "Yes" in step S515, it proceeds to step S520 and outputs a fourth sound from speaker 221. The fourth sound is a sound that notifies the user that the voice operation process will not be executed. The fourth sound may also include a sound that notifies the user of the reason for not executing the voice operation process. Next, the CPU proceeds to step S525 and sets the value of the in-process flag X1 to "0." Next, the CPU proceeds to step S495 of the routine shown in FIG. 4 and temporarily ends the processing of this routine.

[0094] On the other hand, if the CPU determines "No" in step S515, it proceeds to step S530 and determines whether a second non-permission condition is established. The second non-permission condition is a condition that the situation related to the traveling of the vehicle 100 (vehicle traveling situation) is a predetermined situation in which it can be determined that the execution of the voice operation process cannot be permitted, for example, a condition that when the voice operation process is a process of setting or changing the set speed Vset, the set speed Vset set by the voice operation process exceeds the speed limit applied to the vehicle 100.

[0095] If the CPU determines "Yes" in step S530, it proceeds to step S535 and outputs a fifth sound from speaker 221. The fifth sound is a sound that notifies that execution of the voice operation process is not permitted. The fifth sound may also include a sound that notifies the reason why execution of the voice operation process is not permitted. Next, the CPU proceeds to step S540 and sets the value of the in-process flag X1 to "0." Next, the CPU proceeds to step S495 of the routine shown in FIG. 4 and temporarily ends the processing of this routine.

[0096] On the other hand, if the CPU determines "No" in step S530, it proceeds directly to step S495 of the routine shown in FIG. 4 and temporarily ends the processing of this routine.

[0097] If the CPU determines "No" in step S505, the process proceeds to step S545, where it executes or continues outputting the first sound from the speaker 221. Next, the CPU proceeds to step S495 of the routine shown in Fig. 4, where it temporarily ends the processing of this routine.

[0098] If the CPU determines "No" in step S510, the process proceeds to step S550, where it executes or continues outputting the second sound from the speaker 221. Next, the CPU proceeds to step S495 of the routine shown in Fig. 4, where it temporarily ends the processing of this routine.

[0099] Alternatively, the CPU executes the routine shown in Fig. 6 instead of the routine shown in Fig. 3. In this case, at a predetermined timing, the CPU starts the processing from step S600 of the routine shown in Fig. 6, proceeds to step S605, and determines whether the value of the processing in progress flag X1 is "0".

[0100] If the CPU determines "Yes" in step S605, the process proceeds to step S610, where it determines whether or not it has performed voice recognition on the driver's speech and acquired the voice recognition content.

[0101] If the CPU determines "Yes" in step S610, it proceeds to step S615 and determines whether the vehicle motion control conditions are met.

[0102] If the CPU determines "Yes" in step S615, it proceeds to step S617 and determines whether the first non-permission condition is met.

[0103] If the CPU determines "No" in step S617, it proceeds to step S620, where it sets the value of the in-process flag X1 to "1." This causes the first sound and the second sound to be output from the speaker 221 according to the routine shown in Fig. 4. Next, the CPU proceeds to step S695, where it temporarily ends the processing of this routine.

[0104] On the other hand, if the CPU determines "Yes" in step S617, it proceeds to step S622 and executes output of the third sound from the speaker 221. In this case, the first sound and the second sound are not output from the speaker 221, and the voice operation process is not executed. Next, the CPU proceeds to step S695 and temporarily ends the processing of this routine.

[0105] If the CPU determines "No" in step S615, the CPU proceeds to step S625 to execute the voice operation process. Next, the CPU proceeds to step S695 to temporarily end the processing of this routine.

[0106] If the CPU determines "No" in step S605 or step S610, the CPU proceeds directly to step S695 and temporarily ends the processing of this routine.

[0107] The specific operation of the driving assistance device 10 has been described above.

[0108] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention. [Explanation of symbols]

[0109] 10...driving assistance device, 21...vehicle driving device, 22...alarm device, 221...speaker, 31...driving control operation device, 35...voice recognition operation device, 351...voice recognition switch, 36...voice acquisition device, 361...microphone, 37...approval operation device, 371...approval button, 38...driver monitoring device, 381...driver monitor camera, 90...ECU, 100...vehicle (host vehicle), 200...preceding vehicle

Claims

1. A driving assistance device that performs driving control to autonomously control vehicle driving, a driving assistance device that notifies the driver of a voice operation process that is a process to be executed for the driving control in accordance with a content obtained by voice recognition of an utterance of a driver of the vehicle, and requests the driver to perform an approval operation for the notified content, and executes the voice operation process when the approval operation is performed, determining whether to request the driver to perform the approval operation based on whether the road environment on which the vehicle is traveling is a predetermined environment that can be determined to require the approval operation; Driving assistance device.

2. A driving assistance device that performs driving control to autonomously control vehicle driving, a driving assistance device that notifies the driver of a voice operation process that is a process to be executed for the driving control in accordance with a content obtained by voice recognition of an utterance of a driver of the vehicle, and requests the driver to perform an approval operation for the notified content, and executes the voice operation process when the approval operation is performed, determining whether to request the driver to perform the approval operation based on whether the state of the driver is a predetermined state that can be determined to require the approval operation; Driving assistance device.

3. A driving assistance device that performs driving control to autonomously control vehicle driving, a driving assistance device that notifies the driver of a voice operation process that is a process to be executed for the driving control in accordance with a content obtained by voice recognition of an utterance of a driver of the vehicle, and requests the driver to perform an approval operation for the notified content, and executes the voice operation process when the approval operation is performed, determining whether to request the driver to perform the approval operation based on whether the road environment on which the vehicle is traveling is a predetermined environment that can be determined to require the approval operation and whether the state of the driver is a predetermined state that can be determined to require the approval operation; Driving assistance device.

4. A driving assistance device that performs driving control to autonomously control vehicle driving, a driving assistance device that notifies the driver of a voice operation process that is a process to be executed for the driving control in accordance with a content obtained by voice recognition of an utterance of a driver of the vehicle, and requests the driver to perform an approval operation for the notified content, and executes the voice operation process when the approval operation is performed, If the road environment on which the vehicle is traveling is not a predetermined environment that can determine that execution of the voice operation processing cannot be permitted, a request is made to perform the approval operation, and if the approval operation is performed, the voice operation processing is executed; When the road environment on which the vehicle is traveling is the predetermined environment, the approval operation is not requested and the voice operation processing is not executed. Driving assistance device.

5. A driving assistance device that performs driving control to autonomously control vehicle driving, a driving assistance device that notifies the driver of a voice operation process that is a process to be executed for the driving control in accordance with a content obtained by voice recognition of an utterance of a driver of the vehicle, and requests the driver to perform an approval operation for the notified content, and executes the voice operation process when the approval operation is performed, If the state of the driver is not a predetermined state in which it can be determined that the execution of the voice operation process cannot be permitted, the approval operation is requested, and if the approval operation is performed, the voice operation process is executed; When the state of the driver is the predetermined state, the approval operation is not requested and the voice operation process is not executed. Driving assistance device.

6. A driving assistance method for performing driving control that autonomously controls driving of a vehicle, comprising: A driving assistance method comprising: notifying the driver of a voice operation process to be executed for the driving control in accordance with a content obtained by voice recognition of an utterance of a driver of the vehicle; requesting the driver to perform an approval operation for the notified content; and executing the voice operation process when the approval operation is performed, and determining whether to request the driver to perform the approval operation depending on whether the road environment on which the vehicle is traveling is a predetermined environment that can be determined to require the approval operation. Driving assistance methods.

7. A driving assistance program that executes driving control to autonomously control vehicle driving, a driving assistance program that notifies the driver of a voice operation process that is a process to be executed for the driving control in accordance with a content obtained by voice recognition of an utterance of a driver of the vehicle, and requests the driver to perform an approval operation for the notified content, and executes the voice operation process when the approval operation is performed, and determining whether to request the driver to perform the approval operation based on whether the road environment on which the vehicle is traveling is a predetermined environment that can be determined to require the approval operation. Driver assistance programs.

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