Driving assistance device, driving assistance device control method, program, vehicle, and vehicle control method

Abstract

To appropriately assist driving of a driver by communicating with a roadside machine arranged in a peripheral environment of a vehicle and notifying the driver to urge the driver to grip a steering wheel at an appropriate timing on the basis of information on the peripheral environment obtained from the roadside machine.SOLUTION: The driving assistance device includes a grip determiner that detects a state in which a driver grips a steering wheel of a vehicle and acquires grip determination information obtained by determining a result of the detection, a communication controller that communicates with a roadside device and acquires, from the roadside device, surrounding environment information about a surrounding environment monitored by the roadside device, a notifier that notifies the driver of driving assistance information for assisting driving of the vehicle, and a driving controller that controls the driving assistance information output by the notifier based on the surrounding environment information acquired by the communication controller and the grip determination information acquired by the grip determiner.SELECTED DRAWING: Figure 1B

Description

[Technical Field]

[0001] The present invention relates to a driving assistance device, a control method for a driving assistance device, a program, a vehicle, and a control method for a vehicle. [Background technology]

[0002] For example, as a conventional technique, Patent Document 1 proposes a driving assistance device for a vehicle that is steered in response to the driver's steering operation, which alerts the driver to hold the steering wheel if the driver takes their hands off the steering wheel.

[0003] The driving assistance device of the above-mentioned conventional technology uses a camera to capture images of the surroundings of the vehicle and detects obstacles around the vehicle based on the output values ​​of the camera. When the driving assistance device detects using a tactile sensor that the driver has taken their hands off the steering wheel while the vehicle is traveling on a narrow road, it outputs an appropriate steering angle to a steering control unit to prevent the vehicle from hitting an obstacle. The driving assistance device then alerts the driver to hold on to the steering wheel. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2014-196039 Summary of the Invention [Problem to be solved by the invention]

[0005] Here, in the driving assistance device of the above-mentioned conventional technology, it is possible to use a camera to capture images of the surroundings of the vehicle to detect moving objects such as pedestrians and traffic light displays, and to detect the moving objects and traffic light displays around the vehicle based on the output values ​​of the camera.

[0006] Thus, when a camera is used to detect moving objects or traffic light indications, the detection performance deteriorates significantly in environments where sufficient luminance and color difference information cannot be obtained, such as at night, in low light, backlight, halation, etc. Furthermore, while it is possible to detect moving objects and traffic lights by capturing images of the surroundings of a vehicle using a camera, it is not possible to detect moving objects such as pedestrians hidden in blind spots of structures such as buildings and walls, or to predict changes in the display status of traffic lights.

[0007] That is, the driving assistance device of the above-mentioned prior art may not be able to properly acquire information about the display status of moving objects and traffic lights in the vehicle's surrounding environment, which results in the problem that the driving assistance device is unable to notify the driver of the need to grip the steering wheel at an appropriate time, and is therefore unable to properly assist the driver in driving.

[0008] The present invention is based on the inventors' findings, and aims to appropriately assist the driver in driving by communicating with roadside devices placed in the vehicle's surrounding environment and notifying the driver at appropriate times to urge him or her to hold the steering wheel based on information about the surrounding environment obtained from the roadside devices. [Means for solving the problem]

[0009] A driving assistance device according to an embodiment of the present invention comprises: A driving assist device that communicates with roadside devices arranged in a surrounding environment and assists a driver in driving a vehicle based on information obtained from the roadside devices, a grip determination unit that detects a state in which the driver is gripping the steering wheel of the vehicle and acquires grip determination information that determines the detection result; a communication control unit that communicates with the roadside device and acquires, from the roadside device, surrounding environment information relating to the surrounding environment monitored by the roadside device; a notification unit that notifies the driver of driving assistance information for assisting the driver in driving the vehicle; a driving control unit that controls the driving assistance information output by the notification unit based on the surrounding environment information acquired by the communication control unit and the grip determination information acquired by the grip determination unit. It is characterized by:

[0010] In the driving assistance device, The surrounding environment information may include moving object information from the roadside device regarding a moving object moving in the surrounding environment detected by the roadside device.

[0011] In the driving assistance device, The surrounding environment information may include traffic light display information from the roadside device regarding the display status of traffic lights located in the surrounding environment monitored by the roadside device.

[0012] In the driving assistance device, The operation control unit When the communication control unit links up with the roadside device, it executes a connection mode; In the connection mode, the communication control unit acquires the signal display information from the roadside device, determining whether the display state of the roadside device changes within a preset period based on the signal display information; When it is determined based on the signal display information that the display state of the roadside device will change within the set period, the grip determination unit N determines based on the grip determination information acquired whether the driver is not gripping the steering wheel or is not firmly gripping the steering wheel; If it is determined that the driver is not gripping the steering wheel or is not gripping the steering wheel firmly, a notification mode may be executed to cause the notification unit to output the driving assistance information.

[0013] In the driving assistance device, Based on the signal display information, the driving control unit may determine whether the display state of the traffic light will change from no entry to a state indicating passage is permitted, from a state indicating passage will soon be prohibited, or from a state indicating passage will soon be prohibited to a state indicating passage is prohibited.

[0014] In the driving assistance device, The driving assistance information may include information that alerts the driver to grip the steering wheel.

[0015] In the driving assistance device, The driving assistance information may include information about a change in the display state of the traffic light.

[0016] In the driving assistance device, The driving control unit is configured to acquire indicator operation information regarding an operation input by the driver of a direction indicator for instructing a right turn or a left turn of the traveling direction of the vehicle, The operation control unit When the communication control unit links up with the roadside device, it executes a connection mode; In the connection mode, the communication control unit acquires the mobile object information from the roadside device, After acquiring the moving body information, it is determined whether or not the driver has operated the direction indicator based on the indicator operation information; When it is determined based on the indicator operation information that the driver has operated the direction indicator, the grip determination unit determines based on the grip determination information acquired whether the driver is not gripping the steering wheel or is not firmly gripping the steering wheel; If it is determined that the driver is not gripping the steering wheel or is not gripping the steering wheel firmly, a notification mode may be executed to cause the notification unit to output the driving assistance information.

[0017] In the driving assistance device, When the driving control unit determines that the driver has operated the direction indicator based on the indicator operation information, it may control the grip determination unit to smooth the detection of the state in which the driver is gripping the steering wheel of the vehicle after the direction indicator operation input, and acquire the grip determination information by judging this smoothed detection result.

[0018] In the driving assistance device, The operation control unit after acquiring the moving body information, if it is determined based on the indicator operation information that the driver has not operated the direction indicator, it is determined based on the moving body information whether the moving body is relatively close to the vehicle; When it is determined based on the moving body information that the moving body is relatively close to the vehicle, it determines whether the driver is not gripping the steering wheel or is not firmly gripping the steering wheel based on the grip determination information acquired by the grip determination unit; If it is determined based on the grip determination information that the driver is not gripping the steering wheel or is not gripping the steering wheel firmly, a notification mode may be executed to output the driving assistance information from the notification unit.

[0019] In the driving assistance device, The operation control unit a normal mode in which the communication control unit and the grip determination unit are operated in response to an operation input by the driver; In the normal mode, the communication control unit determines whether or not a link is established with the roadside device; When the communication control unit is linked up with the roadside device, the communication control unit transitions from the normal mode to the connection mode; On the other hand, if the communication control unit is not linked up with the roadside unit, the normal mode may be continued.

[0020] In the driving assistance device, The driving control unit may acquire information on the position, size, and / or speed of the moving object based on the moving object information.

[0021] In the driving assistance device, When an obstruction exists between the vehicle and the moving object and the moving object cannot be recognized and / or imaged by the LiDAR device and / or imaging device mounted on the vehicle, the driving control unit may acquire information on the position, size, and / or speed of the moving object based on the moving object information.

[0022] In the driving assistance device, The notification unit may display attention-calling or warning information corresponding to the driving assistance information, vibrate at a period and / or amplitude based on the driving assistance information, or emit voice and / or warning sound.

[0023] In the driving assistance device, The notification unit may notify the driver by transmitting the driving assistance information to the driver in a tactile manner by vibrating the steering wheel.

[0024] In the driving assistance device, The notification unit outputs a notification signal including the driving assistance information to a mobile device connected to the notification unit via wireless communication or wired communication, In response to the notification signal, the portable device may display attention-calling or warning information based on the driving assistance information, vibrate at a period and / or amplitude based on the driving assistance information, or emit a voice and / or a warning sound.

[0025] In the driving assistance device, The grip determination unit may be a HoD (Hands Off Detection) device that detects the state in which the driver is gripping the steering wheel by using a capacitance sensor provided on the steering wheel to detect a change in capacitance in the area of ​​the steering wheel that the driver is gripping.

[0026] In the driving assistance device, The grip determination unit may compare the HoD capacitance sense level detected by the capacitance sensor provided on the steering wheel with a preset capacitance threshold, and acquire the grip determination information based on the comparison result.

[0027] In the driving assistance device, The driving control unit is configured to acquire indicator operation information regarding an operation input by the driver of a direction indicator for instructing a right turn or a left turn of the traveling direction of the vehicle, When the driving control unit determines that the driver has input an operation of the turn indicator based on the indicator operation information, it may control the grip determination unit to smooth the HoD capacity sense level detected after the operation input of the turn indicator.

[0028] In the driving assistance device, The operation control unit may further include a storage unit that stores information and programs for executing predetermined processes.

[0029] In the driving assistance device, The driving control unit may store in the memory unit notification history information indicating the history of the driving assistance information being notified from the notification unit, and gripping history information indicating the history of the gripping judgment information acquired by the gripping judgment unit after notifying the driving assistance information.

[0030] In the driving assistance device, The driving control unit may transmit the notification history information and the gripping history information to the roadside device via the communication control unit.

[0031] A method for controlling a driving assist device according to an embodiment of the present invention includes: A control method for a driving assist device that communicates with roadside devices arranged in a surrounding environment and assists a driver in driving a vehicle based on information obtained from the roadside devices, comprising: The driving assist device includes a grip determination unit that detects a state in which the driver is gripping the steering wheel of the vehicle and acquires grip determination information that determines the detection result, a communication control unit that communicates with the roadside device and acquires from the roadside device surrounding environment information related to the surrounding environment monitored by the roadside device, a notification unit that notifies the driver of driving assistance information to assist in driving the vehicle, and a driving control unit, The driving control unit controls the driving assistance information output by the notification unit based on the surrounding environment information acquired by the communication control unit and the gripping judgment information acquired by the gripping judgment unit.

[0032] A program according to an embodiment of the present invention includes: A program executed by a driving assistance device that communicates with roadside devices arranged in a surrounding environment and assists a driver in driving a vehicle based on information obtained from the roadside devices, The driving assist device includes a grip determination unit that detects a state in which the driver is gripping the steering wheel of the vehicle and acquires grip determination information that determines the detection result, a communication control unit that communicates with the roadside device and acquires from the roadside device surrounding environment information related to the surrounding environment monitored by the roadside device, a notification unit that notifies the driver of driving assistance information to assist in driving the vehicle, and a driving control unit, The driving control unit is characterized by executing a process to control the driving assistance information output by the notification unit based on the surrounding environment information acquired by the communication control unit and the gripping judgment information acquired by the gripping judgment unit.

[0033] A vehicle according to an embodiment of the present invention includes: A vehicle driven by a driver, The steering wheel and a driving assist device that communicates with roadside devices arranged in the surrounding environment and assists the driver in driving the vehicle based on information obtained from the roadside devices; The driving assistance device is a grip determination unit that detects a state in which the driver is gripping the steering wheel of the vehicle and acquires grip determination information that determines the detection result; a communication control unit that communicates with the roadside device and acquires, from the roadside device, surrounding environment information relating to the surrounding environment monitored by the roadside device; a notification unit that notifies the driver of driving assistance information for assisting the driver in driving the vehicle; a driving control unit that controls the driving assistance information output by the notification unit based on the surrounding environment information acquired by the communication control unit and the grip determination information acquired by the grip determination unit. It is characterized by:

[0034] A vehicle control method according to an embodiment of the present invention includes: A method for controlling a driver-operated vehicle, comprising: the vehicle includes a steering wheel and a driving assist device that communicates with roadside devices arranged in a surrounding environment and assists the driver in driving the vehicle based on information obtained from the roadside devices; The driving assist device includes a grip determination unit that detects a state in which the driver is gripping the steering wheel of the vehicle and acquires grip determination information that determines the detection result, a communication control unit that communicates with the roadside device and acquires from the roadside device surrounding environment information related to the surrounding environment monitored by the roadside device, a notification unit that notifies the driver of driving assistance information to assist in driving the vehicle, and a driving control unit, The driving control unit controls the driving assistance information output by the notification unit based on the surrounding environment information acquired by the communication control unit and the grip determination information acquired by the grip determination unit. It is characterized by: [Effects of the Invention]

[0035] According to the present invention, the vehicle communicates with roadside devices placed in the surrounding environment of the vehicle, and based on information about the surrounding environment obtained from the roadside devices, the driver is notified at the appropriate time to urge him or her to hold the steering wheel, thereby appropriately assisting the driver in driving. [Brief explanation of the drawings]

[0036] [Figure 1A] FIG. 1A is a diagram showing an example of the configuration of a vehicle to which a driving assistance device according to an embodiment is applied. [Figure 1B] FIG. 1B is a diagram showing an example of a specific configuration of the driving assistance device shown in FIG. 1A. [Figure 2] FIG. 2 is a diagram showing an example of the relationship between the HoD capacitance sense level of the grip determination unit, each capacitance threshold, and the grip state of the steering wheel. [Figure 3] FIG. 3 is a diagram showing an example of division of the area where the steering wheel is gripped. [Figure 4A] FIG. 4A is a diagram for conceptually explaining an example in which a vehicle makes a right turn at an intersection in the surrounding environment where a roadside unit is installed. [Figure 4B] FIG. 4B is a diagram for conceptually explaining an example in which a vehicle turns left at an intersection in the surrounding environment where a roadside unit is installed. [Figure 5A] FIG. 5A is a diagram showing an example of a state in which chattering occurs in the HoD capacitance sense level of the grip determination unit N after an operation input of a direction indicator. [Figure 5B] FIG. 5B is a diagram showing an example of a state in which the HoD capacitance sense level of the grip determination unit N is smoothed after an operation input of the direction indicator. [Figure 6] FIG. 6 is a diagram showing an example of the flow of a control method for a driving assist device according to the embodiment. [Figure 7] FIG. 7 is a diagram showing an example of the configuration of a vehicle to which a driving assistance device according to the first modification is applied. DETAILED DESCRIPTION OF THE INVENTION

[0037] An embodiment of the present disclosure will be described below with reference to the drawings. In the drawings accompanying this specification, the scale and aspect ratios have been appropriately changed and exaggerated from those of the actual objects for ease of understanding. Configurations shown in some drawings may be omitted in other drawings. The scale and aspect ratios may differ between the drawings.

[0038] In this specification, terms that specify shapes, geometric conditions, and their degrees, such as "parallel," "orthogonal," and "identical," as well as values ​​of lengths and angles, are not limited to their strict meanings, but are interpreted to include a range within which similar functions can be expected.

[0039] In the following embodiments, a driving assist device that assists a driver in driving and a vehicle to which the driving assist device is applied will be described.

[0040] [vehicle] FIG. 1A is a diagram showing an example of the configuration of a vehicle to which a driving assistance device according to an embodiment is applied.

[0041] 1A, for example, vehicle 200 according to this embodiment is configured to be driven by a driver DR, and travels in a direction of travel along a travel path R in a surrounding environment Z of vehicle 200. Note that travel path R is an area in which vehicle 200 can travel, including roads, parking lots, sidewalks, vacant lots, etc., on which vehicle 200 is expected to travel.

[0042] In this embodiment, the vehicle 200 includes a steering wheel S, a direction indicator J, and a driving assistance device 100, as shown in FIG. 1A, for example.

[0043] The steering wheel S is configured to be manually operated by the driver DR to control the steering angle of the tires (not shown) of the vehicle 200, thereby controlling the traveling direction of the vehicle 200. The turn indicator J is configured to indicate whether the vehicle 200 is turning right or left. The traveling direction and speed of the vehicle 200 are controlled by the operation of the steering wheel S and turn indicator J by the driver DR's hands, as well as the operation of the accelerator (not shown) and brake (not shown), etc., and the vehicle 200 can travel along the traveling path in the surrounding environment Z.

[0044] The driving assist device 100 is a device that assists the driver DR in driving the vehicle by operating the steering wheel S and turn signals J, or by operating the accelerator and brakes, as described above. In particular, in this embodiment, the driving assist device 100 communicates with, for example, a roadside unit RSU disposed in the surrounding environment Z of the vehicle 200, and sends a notification to the driver DR urging him or her to grip the steering wheel S at an appropriate timing based on surrounding environment information about the surrounding environment Z obtained from the roadside unit RSU.

[0045] Then, for example, the driver DR can operate the steering wheel S by hand based on this driving assistance information to avoid moving objects MV present in the surrounding environment Z of the vehicle 200 and pass through intersections and the like according to the indications of traffic lights SV, thereby enabling the vehicle to travel appropriately along the roads in the surrounding environment Z. In this way, the driving assist device 100 appropriately assists the driver DR in driving the vehicle.

[0046] The moving object MV is assumed to be, for example, a human, an animal, or an object moving in the surrounding environment Z, such as a vehicle, but is not limited to these and may also be any other object moving in the surrounding environment Z that can be detected by the roadside unit RSU.

[0047] Furthermore, the roadside unit RSU is arranged, for example, near an intersection, a crosswalk, or the like in the surrounding environment Z. In particular, the roadside unit RSU is arranged alongside a traffic light SV arranged in the surrounding environment Z. When the roadside unit RSU is arranged alongside the traffic light SV and cooperates with the traffic light SV in this way, the roadside unit RSU transmits information such as display status information of the traffic light SV to the driving assistance device 100.

[0048] The roadside unit RSU is, for example, a server that stores average data during normal times. When differential information such as that from a mobile unit MV occurs due to an interruption, the roadside unit RSU activates a warning function.

[0049] In this way, the roadside unit RSU is configured to transmit surrounding environment information to the linked driving assistance device 100, including, for example, mobile object information regarding mobile objects moving in the surrounding environment detected by the roadside unit RSU, and traffic information regarding traffic, such as signal display information regarding the display status of traffic lights SV located in the surrounding environment Z monitored by the roadside unit RSU.

[0050] Hereinafter, the configuration of the vehicle 200 shown in FIG. 1A will be described in detail, and a method for controlling the vehicle 200 will be described.

[0051] [Driving assistance device] Here, FIG. 1B is a diagram showing an example of a specific configuration of the driving assistance device shown in FIG. 1A.

[0052] As described above, the driving assistance device 100 of this embodiment is a device that communicates with roadside units RSUs arranged in the surrounding environment Z and assists the driver DR in driving the vehicle 200 based on information obtained from the roadside units RSUs. The driving assist device 100 includes, for example, a communication control unit TCU, a notification unit T, a grip determination unit N, a driving control unit CON, and a storage unit M, as shown in FIG. 1B.

[0053] [Communication Control Unit] The communication control unit TCU is a client to the roadside unit RSU, which is a server, and is configured to have a client function for each vehicle 200. Then, if the communication control unit TCU is within the communication range of the roadside unit RSU, it is configured to execute periodic communication after linking up with the roadside unit RSU.

[0054] In this way, the communication control unit TCU communicates with the roadside unit RSU to acquire from the roadside unit RSU surrounding environment information relating to the surrounding environment Z monitored by the roadside unit RSU.

[0055] In addition, this surrounding environment information includes, for example, mobile object information from the roadside unit RSU regarding mobile objects moving in the surrounding environment detected by the roadside unit RSU, and traffic information from the roadside unit RSU regarding the display status of traffic lights SV located in the surrounding environment Z monitored by the roadside unit RSU.

[0056] The driving control unit CON may decode the warning information received from the roadside unit RSU via the communication control unit TCU and notify the warning / attention calling function in the vehicle 200 of the information.

[0057] The communication control unit TCU may also upload, for example, a screenshot of SFM photogrammetry using the LiDAR function to the roadside unit RSU. In this case, the roadside unit RSU may have a function of storing and creating a database of attention-calling spots for each vehicle 200.

[0058] Here, as described above, the roadside unit RSU is arranged, for example, near an intersection, a crosswalk, or the like in the surrounding environment Z. In particular, the roadside unit RSU is arranged alongside a traffic light SV arranged in the surrounding environment Z. When the roadside unit RSU is arranged alongside the traffic light SV and cooperates with the traffic light SV in this way, it notifies the communication control unit TCU of the display state information of the traffic light SV.

[0059] [Grip judgment section]

[0060] The grip determination unit N detects a state in which the driver DR is gripping the steering wheel S of the vehicle 200 (so-called hands-off detection), and acquires grip determination information that determines the detection result.

[0061] This grip determination unit N is, for example, a HoD (Hands Off Detection) device that detects the state in which the driver DR is gripping the steering wheel S by detecting the change in capacitance of the area gripped by the driver DR using a capacitance sensor provided on the steering wheel S.

[0062] 2 is a diagram showing an example of the relationship between the HoD capacitance sense level of the grip determination unit, each capacitance threshold, and the grip state of the steering wheel, and FIG. 3 is a diagram showing an example of the division of the region where the steering wheel is gripped.

[0063] For example, the grip determination unit N compares a HoD capacitance sense level (FIG. 2) detected by a capacitance sensor (not shown) provided on the steering wheel S with preset capacitance thresholds Cth1 and Cth2. Based on the comparison result, the grip determination unit N acquires grip determination information indicating, for example, a state in which the driver DR is not gripping the steering wheel S (the period from time t0 to t1 in FIG. 2), a state in which the driver DR is not firmly gripping the steering wheel S, such as when the driver DR is gripping the steering wheel S with one hand or gripping the inside of the steering wheel S (the period from time t1 to t2 in FIG. 2), or a state in which the driver DR is firmly gripping the steering wheel S with both hands (the period from time t2 to t3 in FIG. 2). Then, as described below, the driving control unit CON determines whether the driver DR is not gripping the steering wheel S or is not firmly gripping the steering wheel S with both hands based on the grip determination information acquired by the grip determination unit N.

[0064] 3, the sensitivity of the capacitance sensor may be set to have a gradation in areas A to H of the steering wheel S that are gripped. For example, the grip determination information acquired by the grip determination unit N may include information indicating the area gripped by the driver DR. Based on this grip determination information, the driving control unit CON may control the notification unit T to output driving assistance information including a warning to encourage gripping of areas B, C, F, and G of the steering wheel S, as will be described later.

[0065] Here, Fig. 4A is a diagram conceptually illustrating an example of a vehicle turning right at an intersection in the surrounding environment where a roadside unit is installed. Fig. 4B is a diagram conceptually illustrating an example of a vehicle turning left at an intersection in the surrounding environment where a roadside unit is installed. Fig. 5A is a diagram illustrating an example of a state in which chattering occurs in the HoD capacity sense level of the grip determination unit N after a direction indicator operation input. Fig. 5B is a diagram illustrating an example of a state in which the HoD capacity sense level of the grip determination unit N is smoothed after a direction indicator operation input.

[0066] 4A and 4B, when the vehicle 200 enters an intersection and turns right or left, the roadside unit RSU observes a moving object MV in the surrounding area. However, since the roadside unit RSU does not monitor the grip of the steering wheel S by the driver DR of the vehicle 200, it cannot effectively alert the driver DR of the vehicle 200.

[0067] Therefore, as described above, the driving control unit CON according to the embodiment communicates with a roadside unit RSU located in the surrounding environment Z of the vehicle 200, and based on the surrounding environment information regarding the surrounding environment Z obtained from the roadside unit RSU, notifies the driver DR to grip the steering wheel S at an appropriate timing.

[0068] On the other hand, the rotation operation of the steering wheel S by the driver DR varies from person to person, with each driver DR using a forward steering wheel, a counter steering wheel, a one-handed steering wheel, etc. In particular, when the vehicle 200 turns right or left, the state of the driver DR's grip on the steering wheel S changes from moment to moment after the operation input of the turn signal J, which can cause chattering of the HoD capacitance sense level due to the driver DR's grip (FIG. 5A). Therefore, the grip determination unit N is configured to smooth the HoD capacitance sense level detected after the operation input of the direction indicator J in response to a control instruction from the driving control unit CON (FIG. 5B). As a result, the grip determination unit N can reduce the influence of chattering of the HoD capacitance sense level due to the driver DR gripping the steering wheel S, which may occur after the driver DR operates the turn signal J. In other words, the grip determination unit N smoothes the HoD capacitance sense level detected after the operation input of the turn signal J, thereby obtaining grip determination information in which the influence of chattering is reduced.

[0069] [Notification Department] The notification unit T is configured to notify the driver DR of driving assistance information for assisting the driving of the vehicle 200 in response to a command from the driving control unit CON.

[0070] This notification unit T is configured to, for example, display attention or warning information corresponding to the driving assistance information, vibrate at a period and / or amplitude based on the driving assistance information, or emit voice and / or warning sounds.

[0071] This notification unit T may be, for example, a display device that displays attention-calling or warning information based on the driving assistance information to the driver DR.

[0072] In this way, when the notification unit T is a display device, the driving assistance information is, for example, an image that displays the attention or warning information, but instead of the image, or may include text information including information indicating the attention or warning information. Furthermore, the attention or warning information is not limited to the image or text information, but may include audio information or other information that means the attention or warning information.

[0073] The notification unit T may also notify the driver DR of the driving assistance information by vibrating the steering wheel S, for example.

[0074] [Operation control unit] The driving control unit CON is configured to control the operation of the vehicle 200 in response to, for example, an operation input by the driver DR. In particular, in this embodiment, the driving control unit CON is configured to control the driving assistance information output by the notification unit T based on the surrounding environment information acquired by the communication control unit TCU and the grip determination information acquired by the grip determination unit N.

[0075] As mentioned above, the surrounding environment information includes, for example, moving object information from the roadside unit RSU regarding moving objects moving in the surrounding environment detected by the roadside unit RSU, and traffic information from the roadside unit RSU regarding the display status of traffic lights SV located in the surrounding environment Z monitored by the roadside unit RSU.

[0076] Based on the signal display information, the driving control unit CON determines, for example, whether the display state of the traffic light SV will change from no entry (red light) to a state indicating passage is permitted (green light), or whether it will change from a state indicating passage is permitted (green light) to a state indicating that passage will soon be prohibited (yellow light), or whether it will change from a state indicating that passage is soon prohibited (yellow light) to a state indicating that passage will soon be prohibited (red light).

[0077] The driving assistance information includes information to alert the driver DR to grip the steering wheel S. Furthermore, the driving assistance information may include information about a change in the display state of the traffic light SV.

[0078] Furthermore, the driving control unit CON acquires information on the position, size, and / or speed of the moving body MV based on the moving body information.

[0079] In particular, when an obstruction (e.g., a structure such as a building, fence, or parked vehicle) exists between the vehicle 200 and the moving body MV and the moving body MV cannot be recognized and / or imaged by a LiDAR device (not shown) and / or an imaging device (not shown) such as a camera mounted on the vehicle 200, the driving control unit CON acquires information on the position, size, and / or speed of the moving body MV based on the moving body information. As a result, the driving control unit CON can determine whether a moving body MV is approaching vehicle 200 by obtaining information on the position, size, and / or speed of a moving body MV located in a blind spot from vehicle 200 in the surrounding environment Z.

[0080] In addition, the driving control unit CON may store in the memory unit M notification history information indicating the history of notification of driving assistance information from the notification unit T, and gripping history information indicating the history of gripping judgment information acquired by the gripping judgment unit N after notifying the driving assistance information.

[0081] Furthermore, the driving control unit CON may transmit the notification history information and the gripping history information to the road-side unit RSU via the communication control unit TCU.

[0082] The driving control unit CON also acquires indicator operation information relating to an operation input by the driver DR of a direction indicator J for indicating whether the traveling direction of the vehicle 200 is to turn right or left.

[0083] Then, when the driving control unit CON determines that the driver DR has input an operation input (e.g., a right turn or a left turn) of the direction indicator J based on the indicator operation information, it may control the grip determination unit N to smooth the detection of the state in which the driver DR is gripping the steering wheel S of the vehicle 200 after the operation input of the direction indicator J, and acquire the grip determination information by judging this smoothed detection result (Figure 5B).

[0084] As a result, the grip determination unit N can reduce the influence of chattering of the HoD capacitance sense level due to the driver DR gripping the steering wheel S, which may occur after the driver DR operates the turn signal J. In other words, the grip determination unit N smoothes the HoD capacitance sense level detected after the operation input of the turn signal J, thereby obtaining grip determination information in which the influence of chattering is reduced.

[0085] As a result, the driving control unit CON can determine whether the driver DR is not gripping the steering wheel S or is not gripping the steering wheel S firmly based on the grip determination information in which the influence of chattering at the HoD capacity sense level is reduced.

[0086] Furthermore, as described above, the grip determination information acquired by the grip determination unit N may include information indicating the area gripped by the driver DR. Based on this grip determination information, the driving control unit CON may control the notification unit T to output driving assistance information including a warning to encourage gripping areas B, C, F, and G of the steering wheel S. In this way, the driving control unit CON may control the notification unit T to change the content of the driving assistance information to be output, for example, in accordance with the grip determination information acquired by the grip determination unit N.

[0087] Based on this driving assistance information, the driver DR can recognize whether the vehicle 200 is moving straight when passing through a narrow road, and the wheel alignment (whether the tires are straight or rotating), and can control the direction of travel of the vehicle 200 when passing through an intersection, etc.

[0088] The operation control unit CON is configured with hardware such as a CPU, etc. At least a part of the operation control unit CON may be configured with software.

[0089] [Storage] The storage unit M stores information for the operation control unit CON to execute predetermined processes. The storage unit M is, for example, a nonvolatile memory such as a NAND flash memory.

[0090] More specifically, the memory unit M stores a program for processing executed by the driving control unit CON of the driving assist device 100, and data required for the processing. In particular, the memory unit M stores, for example, information about the vehicle 200, information acquired from the roadside unit RSU, gripping determination information, driving assistance information, notification history information indicating a history of notification of driving assistance information from the notification unit T, and gripping history information indicating a history of gripping determination information acquired by the gripping determination unit after notifying the driving assistance information.

[0091] The above-mentioned program is a program executed by the driving assistance device 100 which has at least a computer (driving control unit CON), and which has a gripping judgment unit N which detects the state in which the driver DR is gripping the steering wheel S of the vehicle 200 and acquires gripping judgment information that judges this detection result, a communication control unit TCU which communicates with the roadside unit RSU and acquires from the roadside unit RSU surrounding environment information regarding the surrounding environment Z monitored by the roadside unit RSU, a notification unit T which notifies the driver DR of driving assistance information to assist in driving the vehicle 200, and the driving control unit CON, and which causes the computer (driving control unit CON) to execute a process of controlling the driving assistance information output by the notification unit T based on the surrounding environment information acquired by the communication control unit TCU and the gripping judgment information acquired by the gripping judgment unit N.

[0092] [Vehicle control method (driving assistance device control method)] Next, an example of a control method for the vehicle 200 according to this embodiment having the above-described configuration and functions will be described, focusing on a specific example of a control method for the driving assistance device 100.

[0093] 6 is a diagram showing an example of a flow of a control method for a driving assist device according to an embodiment. The processing of steps S1 to S13 shown in FIG. 6 is mainly performed by the driving control unit CON of the driving assist device 100 executing a program that is prepared in advance and stored in the memory unit M.

[0094] First, for example, in response to an operation input from the driver DR, the driving control unit CON executes a normal mode that operates the communication control unit TCU and the grip determination unit N (step S1). As a result, the communication control unit TCU becomes capable of connecting via wireless communication with the roadside unit RSU located in the surrounding environment Z, and the grip determination unit N becomes capable of acquiring the state of grip of the steering wheel S by the driver DR.

[0095] Next, the operation control unit CON determines whether or not the communication control unit TCU is linked up with the roadside unit RSU in this normal mode (step S2).

[0096] Then, when the communication control unit TCU is linked up with the roadside unit RSU, the driving control unit CON transitions from normal mode to connection mode in which the communication control unit TCU and the roadside unit RSU send and receive specified information via wireless communication (step S3).

[0097] On the other hand, if the communication control unit TCU is not linked up with the roadside unit RSU, the operation control unit CON returns to step S1 to continue the normal mode, and executes step S2 again to determine whether the communication control unit TCU is linked up with the roadside unit RSU.

[0098] Then, when the communication control unit TCU links up with the roadside unit RSU in the above-mentioned step S3, the driving control unit CON executes the connection mode, and then enters a state in which it receives surrounding environment information from the roadside unit RSU at any time via the communication control unit TCU.

[0099] For example, in the connection mode, the communication control unit TCU acquires from the roadside unit RSU, as surrounding environment information, signal display information regarding the display state of a traffic light SV located in the surrounding environment Z monitored by the roadside unit RSU (step S4).

[0100] In this case, the operation control unit CON determines, based on the signal display information, whether the display state of the roadside unit RSU will change within a preset period (e.g., a few seconds) (i.e., whether the display state of the roadside unit RSU will change soon) (step S5).

[0101] As described above, the driving control unit CON determines, based on the signal display information, for example, whether the display state of the traffic light SV will change from no entry (red light) to a state indicating passage is permitted (green light), or from a state indicating passage is permitted (green light) to a state indicating passage will soon be prohibited (yellow light), or from a state indicating passage will soon be prohibited (yellow light) to a state indicating passage will soon be prohibited (red light).

[0102] Then, in step S5, if the driving control unit CON determines based on the signal display information that the display state of the roadside unit RSU will change within the set period, it determines based on the grip determination information acquired by the grip determination unit N whether the driver DR is not gripping the steering wheel S or is not gripping the steering wheel S firmly (step S6).

[0103] If the driving control unit CON determines in step S6 that the driver DR is not gripping the steering wheel S or is not gripping the steering wheel firmly, it proceeds to step S7, executes the notification mode, and causes the notification unit T to output driving assistance information.

[0104] Then, when the driver DR recognizes the driving assistance information notified from the notification unit T and takes action such as firmly gripping the steering wheel S, the driving control unit CON may be configured to end the notification. Also, when the driver DR operates the notification unit T to cancel the notification, the driving control unit CON may be configured to end the notification. Then, when the notification from the notification unit T is completed, the driving control unit CON maintains the connection mode (step S8).

[0105] On the other hand, if the operation control unit CON determines in the above-mentioned step S5 based on the signal display information that the display state of the roadside unit RSU will not change within the set period, it proceeds to step S8 and maintains the connection mode.

[0106] Furthermore, in the above-mentioned step S6, if the driving control unit CON determines based on the grip determination information that the driver DR is firmly gripping the steering wheel S, the process proceeds to step S8 and the connection mode is maintained.

[0107] Here, in the connection mode shown in step S3 described above, if a moving object MV exists in the surrounding environment Z monitored by the roadside unit, the communication control unit TCU acquires moving object information from the roadside unit RSU as surrounding environment information (step S11).

[0108] In this case, after acquiring the moving body information, the driving control unit CON determines whether or not there is an operation input of the direction indicator J by the driver DR based on the indicator operation information (step S12).

[0109] Then, in step S12, if the driving control unit CON determines, based on the indicator operation information, that the driver DR has input an operation of the direction indicator J, it determines, based on the grip determination information acquired by the grip determination unit N, whether the driver DR is not gripping the steering wheel S or is not gripping the steering wheel S firmly (step S6a).

[0110] If the driving control unit CON determines in step S6a that the driver DR is not gripping the steering wheel S or is not gripping the steering wheel S firmly, it proceeds to step S7a, executes the notification mode, and causes the notification unit T to output driving assistance information.

[0111] As already mentioned, in this step S6a, if the driving control unit CON determines that the driver DR has operated the direction indicator J based on the indicator operation information, it may control the grip determination unit N to smooth the detection of the state in which the driver DR is gripping the steering wheel S of the vehicle 200 after the operation input of the direction indicator J, and acquire the grip determination information by judging this smoothed detection result.

[0112] As a result, the grip determination unit N can reduce the influence of chattering of the HoD capacitance sense level due to the driver DR gripping the steering wheel S, which may occur after the driver DR operates the turn signal J. In other words, the grip determination unit N smoothes the HoD capacitance sense level detected after the operation input of the turn signal J, thereby obtaining grip determination information in which the influence of chattering is reduced.

[0113] As a result, in step S6a, the driving control unit CON can determine whether the driver DR is not gripping the steering wheel S or is not firmly gripping the steering wheel S based on the grip determination information in which the influence of chattering at the HoD capacity sense level has been reduced.

[0114] On the other hand, if the driving control unit CON determines in the above-mentioned step S6a based on the grip determination information that the driver DR is firmly gripping the steering wheel S, the process proceeds to step S8 and maintains the connection mode.

[0115] Here, after acquiring the moving body information, if the driving control unit CON determines in the aforementioned step S12 based on the indicator operation information that the driver DR has not input operation of the direction indicator J, it determines based on the moving body information whether the moving body MV is relatively close to the vehicle 200 (step S13).

[0116] Then, in this step S13, if the driving control unit CON determines based on the moving body information that the moving body MV is relatively close to the vehicle 200, it determines based on the grip determination information acquired by the grip determination unit N whether the driver DR is not gripping the steering wheel S or is not gripping the steering wheel S firmly (step S6b).

[0117] Then, in step S6b, if the driving control unit CON determines based on the grip determination information that the driver DR is not gripping the steering wheel S or is not gripping the steering wheel S firmly, it proceeds to step S7b, executes the notification mode, and causes the notification unit T to output driving assistance information.

[0118] On the other hand, if the driving control unit CON determines in the above-mentioned step S13 based on the moving body information that the moving body MV is not relatively close to the vehicle 200, the process proceeds to step S8 and the connection mode is maintained.

[0119] Furthermore, in the above-described step S6b, if the driving control unit CON determines based on the grip determination information that the driver DR is firmly gripping the steering wheel S, the process proceeds to step S8, where the connection mode is maintained.

[0120] Then, in the connection mode shown in step S8 described above, when the vehicle 200 passes through an intersection, for example, and the communication control unit TCU goes out of the communication range of the roadside unit RSU, causing the link-up to be released (step S9), the driving control unit CON releases the connection mode and executes the normal mode (step S10).

[0121] Then, the driving control unit CON changes the operation mode to the normal mode in step S10, thereby completing the series of control flows. If the vehicle 200 continues traveling, the driving control unit CON returns to step S1, and when the communication control unit TCU links up with the roadside unit RSU, repeats the same control flows from step S2 onwards.

[0122] In the connection mode shown in step S8, if the communication control unit TCU acquires the signal display information of the traffic light SV from the roadside unit RSU, the flow from step S4 onwards is executed. On the other hand, in the connection mode shown in step S8, if the communication control unit TCU acquires the moving object information of the moving object MV from the roadside unit RSU, the flow from step S11 onwards is executed.

[0123] In this embodiment, based on the control flow of steps S1 to S13 described above, the driving control unit CON controls the driving assistance information output from the notification unit T based on the surrounding environment information acquired by the communication control unit TCU and the gripping judgment information acquired by the gripping judgment unit N.

[0124] As a result, the driver DR can recognize the driving assistance information output from the notification unit T of the driving assistance device 100, and by holding and operating the steering wheel S based on the driving assistance information, can properly drive along driving routes including intersections and the like in the surrounding environment Z.

[0125] As described above, the driving assistance device 100 of this embodiment communicates with the roadside unit RSU located in the surrounding environment Z of the vehicle 200, and based on information about the surrounding environment Z obtained from the roadside unit RSU, notifies the driver DR to grip the steering wheel S at an appropriate time, thereby appropriately assisting the driver DR in driving.

[0126] [First Modification] In the above-described embodiment, an example has been described in which the notification unit T provided in the driving assist device 100 directly notifies the driver DR of the driving assist information. However, this is not limited to this, and for example, the notification unit T may notify the driver DR of the driving assist information via a mobile device other than the driving assist device carried by the driver DR.

[0127] Therefore, in this first modified example, an example will be described in which the notification unit T notifies the driver DR of driving assistance information via a portable device separate from the driving assistance device carried by the driver DR. Here, FIG. 7 is a diagram showing an example of the configuration of a vehicle to which the driving assistance device according to the first modified example is applied. Note that the portable device P does not necessarily have to be carried by the driver DR, but may be disposed in the vehicle 200 so that the driver DR can recognize the driving assistance information output from the portable device P.

[0128] 7, for example, the notification unit T outputs a notification signal including driving assistance information to a portable device P carried by the driver DR via wireless or wired communication. In response to the notification signal, the portable device P displays attention-calling or warning information based on the driving assistance information, vibrates with a period and / or amplitude based on the driving assistance information, or emits a voice and / or a warning sound.

[0129] The mobile device P is, for example, a wireless communication device such as a smart watch or a smartphone, but may also be another device having similar functions.

[0130] The driver DR can recognize the driving assistance information output from the mobile device P and, by holding and operating the steering wheel S based on the driving assistance information, appropriately drive along the driving path in the surrounding environment Z.

[0131] Other configurations and functions of the driving assist device 100 according to this first modification are the same as those of the driving assist device 100 according to the previously described embodiment. That is, according to this first modification, the driving assist device 100 communicates with a roadside unit RSU disposed in the surrounding environment Z of the vehicle 200, and based on information about the surrounding environment Z obtained from the roadside unit RSU, sends a notification to the driver DR urging him or her to grip the steering wheel S at an appropriate timing, thereby appropriately assisting the driver DR in driving.

[0132] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, as well as within the scope of the invention described in the claims and their equivalents. [Explanation of symbols]

[0133] 100 Driving assistance device 200 vehicles DR Driver S steering J direction indicator Z Surrounding environment M storage section TCU communication control unit CON Operation control unit N Grip determination unit T Notification section RSU roadside unit

Claims

1. A driving assist device that communicates with roadside devices arranged in a surrounding environment and assists a driver in driving a vehicle based on information obtained from the roadside devices, a grip determination unit that detects a state in which the driver is gripping the steering wheel of the vehicle and acquires grip determination information that determines the detection result; a communication control unit that communicates with the roadside device and acquires, from the roadside device, surrounding environment information relating to the surrounding environment monitored by the roadside device; a notification unit that notifies the driver of driving assistance information for assisting the driver in driving the vehicle; a driving control unit that controls the driving assistance information output by the notification unit based on the surrounding environment information acquired by the communication control unit and the grip determination information acquired by the grip determination unit. A driving assistance device characterized by:

2. The surrounding environment information includes moving object information from the roadside device regarding a moving object moving in the surrounding environment detected by the roadside device.

2. The driving assistance device according to claim 1.

3. The surrounding environment information includes signal display information from the roadside device regarding the display status of traffic lights located in the surrounding environment monitored by the roadside device.

3. The driving assistance device according to claim 1 or 2.

4. The operation control unit When the communication control unit links up with the roadside device, it executes a connection mode; In the connection mode, the communication control unit acquires the signal display information from the roadside device, determining whether the display state of the roadside device changes within a preset period based on the signal display information; when it is determined based on the signal display information that the display state of the roadside device will change within the set period, determining whether the driver is not gripping the steering wheel or is not firmly gripping the steering wheel based on the grip determination information acquired by the grip determination unit; When it is determined that the driver is not gripping the steering wheel or is not gripping the steering wheel firmly, a notification mode is executed and the driving assistance information is output from the notification unit.

4. The driving assistance device according to claim 3.

5. The driving control unit determines, based on the signal display information, that the display state of the traffic light will change from no passage to a state indicating passage is permitted, from a state indicating passage will soon be prohibited, or from no passage soon to a state indicating passage is prohibited.

4. The driving assistance device according to claim 3.

6. The driving assistance information includes information to alert the driver to grip the steering wheel.

2. The driving assistance device according to claim 1.

7. The driving assistance device according to claim 3, wherein the driving assistance information includes information on a change in the display state of the traffic light.

8. The driving control unit is configured to acquire indicator operation information regarding an operation input by the driver of a direction indicator for instructing a right turn or a left turn of the traveling direction of the vehicle, The operation control unit When the communication control unit links up with the roadside device, it executes a connection mode; In the connection mode, the communication control unit acquires the mobile object information from the roadside device, After acquiring the moving body information, it is determined whether or not the driver has operated the direction indicator based on the indicator operation information; When it is determined based on the indicator operation information that the driver has operated the direction indicator, the grip determination unit determines based on the grip determination information acquired whether the driver is not gripping the steering wheel or is not firmly gripping the steering wheel; When it is determined that the driver is not gripping the steering wheel or is not gripping the steering wheel firmly, a notification mode is executed and the driving assistance information is output from the notification unit.

3. The driving assistance device according to claim 2.

9. 9. The driving assist device according to claim 8, wherein, when the driving control unit determines, based on the indicator operation information, that the driver has input an operation of the direction indicator, the driving control unit controls the grip determination unit to smooth a detection of a state in which the driver is gripping the steering wheel of the vehicle after the operation input of the direction indicator, and acquires the grip determination information by judging the smoothed detection result.

10. The operation control unit after acquiring the moving body information, if it is determined based on the indicator operation information that the driver has not operated the direction indicator, it is determined based on the moving body information whether the moving body is relatively close to the vehicle; When it is determined based on the moving body information that the moving body is relatively close to the vehicle, it determines whether the driver is not gripping the steering wheel or is not firmly gripping the steering wheel based on the grip determination information acquired by the grip determination unit; When it is determined based on the grip determination information that the driver is not gripping the steering wheel or is not gripping the steering wheel firmly, a notification mode is executed and the driving assistance information is output from the notification unit.

9. The driving assistance device according to claim 8.

11. The operation control unit a normal mode in which the communication control unit and the grip determination unit are operated in response to an operation input by the driver; In the normal mode, the communication control unit determines whether or not a link is established with the roadside device; When the communication control unit is linked up with the roadside device, the communication control unit transitions from the normal mode to the connection mode; On the other hand, if the communication control unit is not linked up with the roadside device, the normal mode is continued.

5. The driving assistance device according to claim 4.

12. The driving control unit acquires information on the position, size, and / or speed of the moving object based on the moving object information.

3. The driving assistance device according to claim 2.

13. When an obstruction exists between the vehicle and the moving object and the moving object cannot be recognized and / or imaged by the LiDAR device and / or the image capturing device mounted on the vehicle, the driving control unit acquires information on the position, size, and / or speed of the moving object based on the moving object information.

3. The driving assistance device according to claim 2.

14. The notification unit displays attention-calling or warning information corresponding to the driving assistance information, vibrates at a period and / or amplitude based on the driving assistance information, or emits voice and / or warning sound.

2. The driving assistance device according to claim 1.

15. The notification unit notifies the driver by transmitting the driving assistance information to the driver tactilely by vibrating the steering wheel.

2. The driving assistance device according to claim 1.

16. The notification unit outputs a notification signal including the driving assistance information to a mobile device connected to the notification unit via wireless communication or wired communication, In response to the notification signal, the portable device displays attention-calling or warning information based on the driving assistance information, vibrates with a period and / or amplitude based on the driving assistance information, or emits a voice and / or a warning sound.

2. The driving assistance device according to claim 1.

17. The grip determination unit is a hands-off detection (HoD) device that detects a state in which the driver is gripping the steering wheel by detecting a change in capacitance of an area of ​​the steering wheel gripped by the driver using a capacitance sensor provided on the steering wheel.

2. The driving assistance device according to claim 1.

18. The grip determination unit compares the HoD capacitance sense level detected by the capacitance sensor provided on the steering wheel with a preset capacitance threshold, and acquires the grip determination information based on the comparison result.

18. A driving assistance device according to claim 17.

19. The driving control unit is configured to acquire indicator operation information regarding an operation input by the driver of a direction indicator for instructing a right turn or a left turn of the traveling direction of the vehicle, When the driving control unit determines that the driver has operated the direction indicator based on the indicator operation information, the driving control unit controls the grip determination unit to smooth the HoD capacity sense level detected after the operation input of the direction indicator.

19. The driving assistance device according to claim 18.

20. The operation control unit further includes a storage unit for storing information and a program for executing a predetermined process. The driving assist device according to claim 1 .

21. The driving control unit stores, in the storage unit, notification history information indicating a history of notifications of the driving assistance information from the notification unit and gripping history information indicating a history of the gripping determination information acquired by the gripping determination unit after notifying the driving assistance information.

21. The driving assistance device according to claim 20.

22. The driving control unit transmits the notification history information and the holding history information to the roadside device via the communication control unit.

22. The driving assistance device according to claim 21.

23. A control method for a driving assist device that communicates with roadside devices arranged in a surrounding environment and assists a driver in driving a vehicle based on information obtained from the roadside devices, comprising: The driving assist device includes a grip determination unit that detects a state in which the driver is gripping the steering wheel of the vehicle and acquires grip determination information that determines the detection result, a communication control unit that communicates with the roadside device and acquires from the roadside device surrounding environment information related to the surrounding environment monitored by the roadside device, a notification unit that notifies the driver of driving assistance information to assist in driving the vehicle, and a driving control unit, The driving control unit controls the driving assistance information output by the notification unit based on the surrounding environment information acquired by the communication control unit and the grip determination information acquired by the grip determination unit. A control method for a driving assistance device.

24. A program executed by a driving assistance device that communicates with roadside devices arranged in a surrounding environment and assists a driver in driving a vehicle based on information obtained from the roadside devices, The driving assist device includes a grip determination unit that detects a state in which the driver is gripping the steering wheel of the vehicle and acquires grip determination information that determines the detection result, a communication control unit that communicates with the roadside device and acquires from the roadside device surrounding environment information related to the surrounding environment monitored by the roadside device, a notification unit that notifies the driver of driving assistance information to assist in driving the vehicle, and a driving control unit, A program characterized by causing the driving control unit to execute a process of controlling the driving assistance information output by the notification unit based on the surrounding environment information acquired by the communication control unit and the grip determination information acquired by the grip determination unit.

25. A vehicle driven by a driver, The steering wheel and a driving assist device that communicates with roadside devices arranged in the surrounding environment and assists the driver in driving the vehicle based on information obtained from the roadside devices; The driving assistance device is a grip determination unit that detects a state in which the driver is gripping the steering wheel of the vehicle and acquires grip determination information that determines the detection result; a communication control unit that communicates with the roadside device and acquires, from the roadside device, surrounding environment information relating to the surrounding environment monitored by the roadside device; a notification unit that notifies the driver of driving assistance information for assisting the driver in driving the vehicle; a driving control unit that controls the driving assistance information output by the notification unit based on the surrounding environment information acquired by the communication control unit and the grip determination information acquired by the grip determination unit. A vehicle characterized by:

26. A method for controlling a driver-operated vehicle, comprising: the vehicle includes a steering wheel and a driving assist device that communicates with roadside devices arranged in a surrounding environment and assists the driver in driving the vehicle based on information obtained from the roadside devices; The driving assist device includes a grip determination unit that detects a state in which the driver is gripping the steering wheel of the vehicle and acquires grip determination information that determines the detection result, a communication control unit that communicates with the roadside device and acquires from the roadside device surrounding environment information related to the surrounding environment monitored by the roadside device, a notification unit that notifies the driver of driving assistance information to assist in driving the vehicle, and a driving control unit, The driving control unit controls the driving assistance information output by the notification unit based on the surrounding environment information acquired by the communication control unit and the grip determination information acquired by the grip determination unit. A vehicle control method comprising:

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