Vehicle driving assistance system

Abstract

The objective is to provide a vehicle driving assistance system 10 that can safely achieve the passenger effect even when there is no passenger present. [Solution] A vehicle driving support system 10 comprising a vehicle status detection means (ECU 27) that detects the vehicle status based on the driving behavior of the vehicle 1 and the conditions around the vehicle, and a voice guidance means (speaker 15 and ECU 27) that notifies the driver of the vehicle 1 of voice guidance based on the vehicle status detected by the vehicle status detection means, wherein the light-emitting unit 16 is composed of a plurality of LED elements arranged in the longitudinal direction of the light-emitting unit 16 and is located inside the vehicle in front of the driver's seat, and a light-emitting control means (ECU 27) that controls the emission of light from the light-emitting unit 16 in a light-emitting mode based on the vehicle status, wherein the light-emitting control means is configured to control the emission of light from the light-emitting unit 16 in a normal light-emitting mode M1 which is a single light-emitting color C1 and a light-emitting mode in which the brightness changes with 1 / f fluctuation when the vehicle status is normal.

Description

Technical Field

[0001] This invention relates to a vehicle driving support system that notifies a driver of voice guidance based on, for example, the driving behavior of a vehicle or the situation around the vehicle, and supports the driver's driving operation.

Background Art

[0002] In vehicles such as automobiles, as a vehicle driving support system for supporting a driver's driving operation, for example, an advanced driving support system that partially intervenes in the driver's driving operation, or an automatic driving system that receives a driving operation from the driver under predetermined conditions and performs automatic driving is known.

[0003] In such a vehicle driving support system, for example, various guidance according to the situation around the vehicle and guidance for performing the transfer of driving operations between the driver and the vehicle are notified not only by voice and characters but also through a character that is the avatar of the vehicle.

[0004] For example, in Patent Document 1, a character personifying a vehicle is displayed on a display unit in the vehicle interior, and the self-vehicle situation identified based on the driver's driving operation and the vehicle's driving behavior is transmitted to the driver by changing the expression of the character.

[0005] By the way, in vehicles such as automobiles, when there are passengers other than the driver in the vehicle, due to the driver's mentalizing that pays attention to and understands the mental states of the driver himself and others, the driver's driving tends to be safe driving, and the accident rate is lower than when there are no passengers. The so-called passenger effect is known.

[0006] However, since passengers other than the driver do not always ride in the vehicle, there is a problem that it is difficult to obtain the passenger effect when there are no passengers. Therefore, it is conceivable to make the character displayed on the display unit function as a passenger. However, in this case, there is a risk that the passenger effect cannot be safely obtained because the driver's attention is directed to the expression change and movement of the character. [Prior art documents] [Patent Documents]

[0007] [Patent Document 1] Japanese Patent Publication No. 2003-72488 [Overview of the project] [Problems that the invention aims to solve]

[0008] In view of the above-mentioned problems, the present invention aims to provide a vehicle driving assistance system that can safely obtain the passenger effect even when there is no passenger present. [Means for solving the problem]

[0009] This invention relates to a vehicle driving support system comprising: a vehicle status detection means for detecting the vehicle's status based on the vehicle's driving behavior and the conditions around the vehicle; and a voice guidance means for notifying the driver of the vehicle of voice guidance based on the vehicle status detected by the vehicle status detection means, the system comprising: a light-emitting unit composed of a plurality of light-emitting elements arranged in a predetermined direction and located inside the vehicle in front of the driver's seat; and a light-emitting control means for controlling the emission of light from the light-emitting unit in a light-emitting mode based on the vehicle's status, wherein the light-emitting control means controls the emission of light from the light-emitting unit in a normal light-emitting mode in which the light-emitting color is a single color and the brightness changes with 1 / f fluctuation when the vehicle's status is normal.

[0010] The above-mentioned light-emitting section refers to a light-emitting section composed of linearly arranged light-emitting elements, or a light-emitting section composed of grid-likely arranged light-emitting elements, etc. The above-mentioned "normal vehicle conditions" refer to situations such as when the vehicle is stopped, driving with stable behavior, the surrounding area is safe, or when voice guidance based on the vehicle's condition is not required. The 1 / f fluctuation described above is a fluctuation in which the spectral density is inversely proportional to the frequency f, assuming that the frequency f takes a finite range for f>0.

[0011] According to this invention, while suppressing the driver's attention from being drawn to the light-emitting part that emits light in its normal mode, the driver's mentalizing can be improved by the light-emitting part that emits light in its normal mode, thus allowing the passenger effect to be safely obtained even when there are no passengers.

[0012] Specifically, by using a normal illumination mode that changes brightness with 1 / f fluctuation, the vehicle driving assistance system can make the light-emitting part emit light with a more lifelike movement compared to a light-emitting part that emits light with a constant brightness. Therefore, the vehicle driving assistance system can influence the driver's animacy perception by using a light-emitting mode that exhibits more lifelike movement compared to a light-emitting mode with a constant brightness.

[0013] Furthermore, because the illumination pattern differs from, for example, the illumination pattern that is activated in response to voice guidance, the vehicle driver assistance system can make the driver recognize the illumination pattern as the primary action. Therefore, the vehicle driving assistance system can make the driver, as a passenger in the vehicle, perceive a light-emitting unit that emits light in a normal mode, with a single light color and brightness that changes with 1 / f fluctuation, when the vehicle is in a normal state.

[0014] In this case, the light-emitting part, which emits light in its normal mode, exhibits less behavioral change compared to, for example, a character that moves autonomously within a three-dimensional virtual space, and therefore does not excessively draw the driver's attention.

[0015] This allows the vehicle driver assistance system to improve the driver's mentalization while suppressing the driver's attention from being drawn to the light-emitting part that emits light in its normal mode. Therefore, the vehicle driver assistance system can safely achieve the passenger effect even when there is no passenger present.

[0016] In one aspect of this invention, the light emission control means may be configured to change the brightness of the light-emitting part in response to the change in sound pressure of the voice guidance when the voice guidance is announced in the normal light emission mode.

[0017] With this configuration, when voice guidance is announced, the light-emitting part can be made to emit light with more lifelike movements, allowing the driver to perceive the light-emitting part, which emits light in a single color, as a passenger in the vehicle. This allows the vehicle's driver assistance system to improve the driver's mentalization and enhance the passenger experience.

[0018] Furthermore, in an embodiment of this invention, the light emission control means is configured to select one of the following light emission modes based on the vehicle's condition and control the light emission of the light-emitting unit: the normal light emission mode, which is the light emission mode during normal operation; the preventive light emission mode, which is the light emission mode for preventing accidents; and the favorable light emission mode, which is the light emission mode that shows a favorable response to the driver's actions. The preventive light emission mode is a color scheme in which a group of light emission colors with similar hues are arranged in a predetermined direction, and the brightness changes with 1 / f fluctuation. The favorable light emission mode is a color scheme in which a group of light emission colors with different hues are arranged in a predetermined direction, and the brightness changes with 1 / f fluctuation.

[0019] The above-mentioned preventative and favorable emission modes refer to emission modes in which all of the multiple emission colors emit light simultaneously, emission modes in which each of the multiple emission colors emits light separately, or emission modes in which multiple emission colors emit light sequentially along a predetermined direction.

[0020] With this configuration, the brightness in the preventative and friendly illumination modes is varied with 1 / f fluctuations. This allows the driver to perceive the light-emitting part in the preventative and friendly illumination modes as a passenger in the vehicle, without excessively drawing attention to the driver, similar to the normal illumination mode.

[0021] This allows the vehicle driver assistance system to improve driver mentalization while suppressing the driver's attention from being drawn to light-emitting parts that emit light in preventative and benevolent modes.

[0022] Therefore, even when the light emitting unit emits light to prevent an accident or when the light emitting unit emits light to respond favorably to the driver's actions, the vehicle driving support system can safely obtain the co-rider effect.

[0023] As an aspect of the present invention, the light emission control means may be configured to change the luminance of the light emitting unit in accordance with a change in the sound pressure of the voice guidance when the voice guidance is notified in the preventive light emission mode and the favorable light emission mode.

[0024] According to this configuration, when the voice guidance is notified, the light emitting unit can be made to emit light with a more lifelike movement, so that the light emitting unit that emits light in the light emission color of the preventive light emission mode and the light emission color of the favorable light emission mode can be recognized by the driver as a co-rider of the vehicle. Thereby, the vehicle driving support system can improve the driver's mentalizing and improve the co-rider effect.

[0025] As an aspect of the present invention, the light emission control means may be configured to cause the light emission color in the preventive light emission mode or / and the light emission color in the favorable light emission mode to flow along the predetermined direction.

[0026] Causing the light emission color to flow along the predetermined direction means, for example, causing the light emitting elements to emit light one by one in sequence in the preventive light emission mode, or causing the light emitting elements to emit light for each group of light emission colors having different hues.

[0027] According to this configuration, in the preventive light emission mode or / and the favorable light emission mode, the light emitting unit can be made to emit light with a more lifelike movement, so that the light emitting unit that emits light in the preventive light emission mode or / and the light emitting unit that emits light in the favorable light emission mode can be recognized by the driver as a co-rider of the vehicle.

[0028] Furthermore, in an embodiment of this invention, the light emission control means may be configured to control the light emission of the light-emitting unit in the preventative light emission mode when the vehicle's situation includes a blind spot, and to control the light emission of the light-emitting unit in the favorable light emission mode when the driver safely avoids the blind spot situation through their driving operation.

[0029] With this configuration, when the vehicle is in a situation with blind spots, the illumination of the light-emitting part can be controlled in a preventative illumination manner. This allows the illumination of the light-emitting part to embody a simulated psychological state of the vehicle, which is asking the driver to deal with blind spots that the vehicle cannot assist the driver with.

[0030] Furthermore, if a situation with a blind spot is safely avoided through the driver's driving maneuvers, the vehicle's driver assistance system can control the illumination of the light-emitting part in a favorable illumination mode. This allows the system to embody, through the illumination of the light-emitting part, a simulated psychological state of gratitude from the vehicle for the driver responding to the assistance request that was made to the driver in a preventative illumination mode.

[0031] This allows the vehicle's driver assistance system to express emotions to the driver, enabling the driver, as a passenger, to recognize the light-emitting parts that emit light in both preventative and positive modes.

[0032] Furthermore, in an embodiment of this invention, the light emission control means may be configured to control the light emission of the light-emitting unit in the preventative light emission mode when the driving behavior based on the vehicle's condition is unstable, and to control the light emission of the light-emitting unit in the favorable light emission mode when the driving behavior based on the vehicle's condition is stable.

[0033] With this configuration, if the vehicle's driving behavior is unstable, the light-emitting unit emits light in a preventative mode to alert the driver to their driving actions, and if the vehicle's driving behavior is stable, the light-emitting unit emits light in a favorable mode to praise the driver's driving actions.

[0034] This allows the vehicle's driver assistance system to express emotions to the driver, enabling the driver, as a passenger, to recognize the light-emitting parts that emit light in both preventative and positive modes. Furthermore, the vehicle driver assistance system can communicate feedback on the driver's driving actions to the driver through the illumination of a light-emitting part, thereby supporting the improvement of the driver's driving skills.

[0035] Furthermore, in an embodiment of this invention, the device may include a driver detection means for detecting the driver seated in the driver's seat, and the light emission control means may be configured to control the light emission of the light emission unit in the favorable light emission mode when the driver is detected.

[0036] This configuration allows the vehicle's simulated psychological state of welcoming the driver to operate to be embodied through the illumination of the light-emitting parts. This allows the vehicle's driver assistance system to make the driver aware of the presence of a passenger from the moment driving begins, thereby improving the passenger effect.

[0037] In addition, in this embodiment of the invention, the emission color of the normal emission mode may consist of one green color with high brightness and low saturation, the emission color of the preventive emission mode may consist of two orange and yellow colors with higher saturation than the normal emission mode, and the emission color of the favorable emission mode may consist of three pink, yellow and yellow-green colors with higher brightness than the normal emission mode.

[0038] This configuration allows for improved identification of light-emitting parts that emit light in normal, preventative, and positive modes using different color tones, and also allows for different impressions to be given to the driver.

[0039] This allows the vehicle driver assistance system to make it easier for the driver to recognize changes in the illumination pattern, thus keeping the driver constantly aware of the presence of a passenger. Therefore, the vehicle driver assistance system can reliably achieve the passenger effect even when there is no passenger present. [Effects of the Invention]

[0040] The present invention provides a vehicle driving assistance system that can safely achieve the passenger effect even when there is no passenger present. [Brief explanation of the drawing]

[0041] [Figure 1] A front view showing the exterior of the vehicle's driver assistance system as seen from inside the vehicle. [Figure 2] A block diagram showing the internal configuration of a vehicle driver assistance system. [Figure 3] An explanatory diagram illustrating the general outline of behavioral data. [Figure 4] An explanatory diagram illustrating the general light emission pattern of the light-emitting section. [Figure 5] An explanatory diagram illustrating the general effect of the passenger in this invention. [Figure 6] A flowchart showing the ECU's processing operation flow related to the light emission of the light-emitting part. [Figure 7] A flowchart showing the detailed operation process flow. [Modes for carrying out the invention]

[0042] One embodiment of this invention will be described below with reference to the drawings. This embodiment describes a vehicle driving assistance system 10 that supports the driver's driving operations by providing voice guidance to the driver based on the driving behavior of the vehicle 1 and the conditions around the vehicle, using Figures 1 to 5.

[0043] Figure 1 shows a front view of the vehicle driving support system 10 as seen from inside the vehicle 1, Figure 2 shows a block diagram of the vehicle driving support system 10, Figure 3 shows an explanatory diagram illustrating the outline of the speech and behavior data 28, Figure 4 shows an explanatory diagram illustrating the outline of the light emission mode of the light-emitting unit 16, and Figure 5 shows an explanatory diagram illustrating the outline of the passenger effect in the present invention.

[0044] First, as shown in Figure 1, the interior of vehicle 1 includes an instrument panel 2 extending in the width direction (not shown), a steering wheel 3 positioned in front of the driver's seat (not shown) and receiving steering input from the occupant seated in the driver's seat, and a meter panel 4 positioned in front of the steering wheel 3 and displaying vehicle speed and other information.

[0045] As shown in Figure 2, the vehicle driving assistance system 10 in such a vehicle 1 includes an engine 11, a brake system 12, and a steering system 13 located outside the passenger compartment, a display unit 14 located approximately in the center of the instrument panel 2 in the vehicle width direction, a speaker 15 located inside the passenger compartment, and a pair of light-emitting units 16 located in front of the driver's seat.

[0046] Furthermore, as shown in Figure 2, the vehicle driving assistance system 10 includes an accelerator pedal position sensor 17, a brake pedal stroke sensor 18, a vehicle speed sensor 19, a steering angle sensor 20, an acceleration sensor 21, and a yaw rate sensor 22 for detecting the vehicle's driving behavior.

[0047] In addition, as shown in Figure 2, the vehicle driving assistance system 10 includes an external camera 23 and a millimeter-wave radar 24 for acquiring information in front of the vehicle, an internal camera 25 and a microphone 26 for detecting the driver's state, and an electronic control unit (ECU) 27 for controlling the operation of each of the above-mentioned parts.

[0048] More specifically, the engine 11 consists of the engine body (details omitted from the illustration) and a fuel injection system that supplies fuel to the engine body. The engine output and engine speed of the engine 11 are controlled based on output signals from the ECU 27.

[0049] The brake system 12 is composed of brake calipers, brake actuators, and other components, which are not shown in detail in the illustration. This brake system 12 is controlled to generate braking force based on the output signal from the ECU 27.

[0050] Furthermore, the steering device 13 consists of the aforementioned steering wheel 3 and an electric motor (not shown) that assists the driver's steering operation. This steering device 13 is controlled to change the direction of travel of the vehicle based on the output signal from the ECU 27.

[0051] Furthermore, the display unit 14 is composed of, for example, a liquid crystal display and has the function of displaying various information based on control signals from the ECU 27 to the occupant, such as the driver seated in the driver's seat. Furthermore, the speaker 15 is located inside the vehicle and has the function of notifying occupants by outputting warning sounds and voices based on notification signals from the ECU 27. For example, the speaker 15 outputs voice information associated with the vehicle's status.

[0052] Furthermore, as shown in Figure 1, the pair of light-emitting units 16 are arranged opposite each other in the vehicle width direction, with a meter hood (not shown) covering the meter panel 4 in between. Each light-emitting unit 16 is a strip-shaped body extending in a predetermined direction, and is constructed by arranging multiple LED elements that emit light based on a control signal from the ECU 27 in a linear fashion.

[0053] The light-emitting unit 16 with this configuration functions as a status lamp that notifies the driver that the vehicle 1 is intervening in the driver's operation, and its illumination is controlled by the ECU 27 so that it behaves as a part of the vehicle 1.

[0054] Furthermore, the accelerator pedal position sensor 17 is a sensor integrally provided with the accelerator pedal operated by the driver. This accelerator pedal position sensor 17 has the function of detecting the displacement angle of the accelerator pedal due to the driver's operation and the function of outputting the detected displacement angle as an accelerator pedal position signal to the ECU 27.

[0055] Furthermore, the brake pedal stroke sensor 18 is a sensor integrally provided with the brake pedal operated by the driver. This brake pedal stroke sensor 18 has the function of detecting the displacement angle of the brake pedal due to the driver's operation and the function of outputting the detected displacement angle as a brake signal to the ECU 27.

[0056] Furthermore, the vehicle speed sensor 19 has the function of detecting the rotational speed of, for example, a drive shaft connected to a wheel, and the function of outputting the detected rotational speed as a rotational speed signal to the ECU 27. Furthermore, the steering angle sensor 20 has the function of detecting the steering angle of the steering wheel 3 as operated by the driver, and the function of outputting the detected steering angle as a steering angle signal to the ECU 27.

[0057] Furthermore, the acceleration sensor 21 is located, for example, inside the center console and has the function of detecting longitudinal acceleration along the front-rear direction of the vehicle 1 and lateral acceleration along the vehicle width direction of the vehicle 1, and the function of outputting the detected longitudinal and lateral accelerations as acceleration signals to the ECU 27.

[0058] Furthermore, the yaw rate sensor 22 is located, for example, inside the center console and has the function of detecting the yaw rate of the vehicle 1 and outputting the detected yaw rate as a yaw rate signal to the ECU 27. Furthermore, the external camera 23 is positioned, for example, on the upper side of the front windshield on the passenger compartment side, and has the function of capturing images of the area in front of the vehicle and the function of outputting the captured video images to the ECU 27.

[0059] Furthermore, the millimeter-wave radar 24 is positioned, for example, in the front bumper and has the function of emitting millimeter waves as illumination waves toward the front of the vehicle, the function of receiving reflected waves reflected by preceding vehicles, parked vehicles, and pedestrians, and the function of outputting the information obtained from the illumination waves and reflected waves as a radar signal to the ECU 27.

[0060] Furthermore, the in-vehicle camera 25 is installed, for example, on the instrument panel 2 or the front pillar (reference numerals omitted) and is directed towards the driver seated in the driver's seat. This in-vehicle camera 25 has the function of capturing images centered on the head of the driver seated in the driver's seat, and the function of outputting the captured video image to the ECU 27.

[0061] Furthermore, the microphone 26 is positioned, for example, on top of the steering column cover and has the function of detecting the voice emitted by the driver seated in the driver's seat, and outputting the detected voice as an audio signal to the ECU 27.

[0062] Furthermore, the ECU27 consists of a hardware configuration including a CPU, memory, and a memory unit for storing various information, and a software configuration including programs and data. This ECU 27 has the function of acquiring various signals output by the aforementioned sensors, the external camera 23, the millimeter-wave radar 24, the internal camera 25, and the microphone 26, and the function of performing various information processing based on the acquired signals. Furthermore, the ECU27 has functions to control the operation of the display unit 14, the speaker 15, and the light-emitting unit 16, as well as functions to control the operation of the engine 11, the brake system 12, and the steering system 13.

[0063] More specifically, the ECU27 works in cooperation with the accelerator pedal position sensor 17, brake pedal stroke sensor 18, vehicle speed sensor 19, steering angle sensor 20, acceleration sensor 21, and yaw rate sensor 22 to realize the function of detecting the driving behavior of vehicle 1. Furthermore, the ECU27 works in cooperation with the accelerator pedal position sensor 17, the brake pedal stroke sensor 18, and the steering angle sensor 20 to enable the detection of driving operations by the driver.

[0064] In addition, the ECU 27 works in cooperation with the external camera 23 and millimeter-wave radar 24 to identify the situation in front of the vehicle, and works in cooperation with the internal camera 25 and microphone 26 to identify the driver seated in the driver's seat and to identify the driver's condition.

[0065] Such an ECU 27 controls the operation of the engine 11, brake system 12, and steering system 13 to provide driver assistance, and is configured to provide warnings to the driver and notifications of driver assistance interventions according to the driving behavior and the situation in front of the vehicle, through voice guidance via speaker 15 and illumination of light-emitting unit 16.

[0066] Therefore, the ECU 27 stores speech data 28 that is registered in association with flags indicating driving behavior and the situation in front of the vehicle, along with the content of the voice guidance notified to the driver and the lighting pattern of the light-emitting unit 16.

[0067] This behavioral data 28 is registered in association with the classification of the voice guidance, the content of the voice guidance, and the emission pattern of the light-emitting unit 16, as shown in Figure 3, for example. Furthermore, although detailed illustrations are omitted, the speech and behavior data 28 includes flags indicating the vehicle's status, such as driving behavior and the situation in front of the vehicle, which are registered in association with the content of the voice guidance.

[0068] Specifically, as shown in Figure 3, the behavioral data 28 includes three classifications for voice guidance: "Normal," which indicates voice guidance output when the current vehicle situation is normal; "Preventive," which indicates voice guidance aimed at preventing accidents; and "Favorable Response," which indicates voice guidance that provides a favorable response to the driver's actions. In addition, "normal conditions" refer to situations where Vehicle 1 is stationary, driving with stable behavior, or the area around the vehicle is safe.

[0069] Furthermore, the behavioral data 28 includes messages such as "advice when passing through intersections" and "advice when merging" as the content of voice guidance corresponding to "normal times" in the classification column, and "normal times illumination pattern" is registered as the illumination pattern corresponding to "normal times" in the classification column.

[0070] In addition, the behavioral data 28 includes messages such as "request for driver assistance," "pointing out unstable driving behavior," and "pointing out near misses" as voice guidance content corresponding to "prevention" in the classification column, and "preventive lighting mode" is registered as a lighting mode corresponding to "prevention" in the classification column.

[0071] Furthermore, the behavioral data 28 includes messages such as "welcome to the driver," "thanks to the driver," and "evaluation of stable driving behavior" as associated voice guidance content corresponding to "favorable response" in the classification column, and "favorable illumination pattern" is registered as an associated illumination pattern corresponding to "favorable response" in the classification column.

[0072] To elaborate on the light-emitting unit 16 mentioned above, the light-emitting unit 16 is a virtual avatar of the vehicle 1 with simulated emotions, and is controlled by the ECU 27 to emit light in different patterns depending on the driving behavior and the situation in front of the vehicle.

[0073] Specifically, as shown in Figure 4, the light-emitting unit 16 is controlled to emit light in one of the following modes depending on the vehicle's situation: normal illumination mode M1, which is the illumination mode when the vehicle is in normal conditions; preventive illumination mode M2, which is the illumination mode for accident prevention; and favorable illumination mode M3, which is the illumination mode that shows a favorable response to the driver's actions.

[0074] Furthermore, when voice guidance is announced, the light-emitting unit 16 is controlled to change its brightness in response to changes in the sound pressure of the voice guidance. Furthermore, the light-emitting unit 16 is controlled so that all LED elements light up or blink simultaneously.

[0075] More specifically, the normal emission mode M1 is an emission mode in which the light emits a bluish-green color C1 with high brightness and low saturation, as shown in Figure 4. The bluish-green light color C1 is set to an RGB ratio of 1:4:1.

[0076] Furthermore, as shown in Figure 4, the preventative light emission mode M2 ​​is a light emission mode that emits a yellowish-orange light color C2 and a yellow light color C3, which have higher saturation than the normal light emission mode M1, and the yellowish-orange light color C2 and the yellow light color C3 are alternately arranged along the longitudinal direction of the light-emitting unit 16. The yellowish-orange emission color C2 is set to an RGB ratio of 3:2:0.3, while the yellow emission color C3 is set to an RGB ratio of 4:3:0.4.

[0077] Furthermore, as shown in Figure 4, the favorable emission mode M3 is an emission mode in which a pink emission color C4, a cream emission color C5, and a yellow-green emission color C6, which have higher brightness than the normal emission mode M1, are emitted, and the pink emission color C4, cream emission color C5, and yellow-green emission color C6 are repeatedly arranged in this order along the longitudinal direction of the light-emitting unit 16.

[0078] The pink light color C4 is set to an RGB ratio of 2:1:1, the cream light color C5 is set to an RGB ratio of 5:5:1, and the yellow-green light color C6 is set to an RGB ratio of 2:4:1.

[0079] The light-emitting unit 16, which emits light in the above-described light emission modes, embodies lifelike movement by being controlled by the ECU 27 so that its brightness changes with 1 / f fluctuation in the normal emission mode M1, the preventative emission mode M2, and the favorable emission mode M3.

[0080] 1 / f fluctuation is an unpredictable rhythm that can be seen, for example, in the interval between human heartbeats or the way flames flicker. When humans perceive it through their five senses, it produces effects such as feeling comfortable, relaxed, or energized. This 1 / f fluctuation is defined as having a spectral density inversely proportional to the frequency f, where f > 0 and the range is finite, for example, 2 Hz.

[0081] The lifelike luminescence of the light-emitting unit 16 allows the vehicle driving support system 10 of this embodiment to make the driver perceive the light-emitting unit 16 as a passenger, thereby achieving a passenger effect even when there are no other occupants besides the driver.

[0082] To elaborate, the applicant's extensive experiments and verifications revealed that when there are passengers other than the driver, the driver perceives the other passengers' agency and emotional expression abilities, thereby recognizing them as "passengers."

[0083] Furthermore, according to the applicant, they believe that the driver's mPFC (medial prefrontal cortex) is activated by the passenger's perception, thereby improving the driver's mentalization and resulting in the passenger effect.

[0084] Therefore, the present invention invented by the applicant, as shown in Figure 5, controls the emission of light from the light-emitting unit 16 so that it is perceived by the driver as having agency and the ability to express emotions, thereby causing the driver to recognize the light-emitting unit 16 as a passenger.

[0085] For example, in this invention, when the driver is seated in the driver's seat, the illumination of the light-emitting unit 16 is controlled in a favorable illumination mode M3 that welcomes the driver's driving, thereby making the light-emitting unit 16 recognized as a passenger.

[0086] As a result, the present invention aims to improve the driver's mentalization by activating the driver's mPFC (medial prefrontal cortex), similar to when other passengers are present. In this way, the present invention indirectly inputs changes in the vehicle 1's condition and surrounding conditions to the driver through the light emitted by the light-emitting unit 16, and encourages the driver to drive safely on their own initiative, thereby achieving the passenger effect.

[0087] Next, the processing operation of the ECU 27 in the vehicle driving support system 10 with the above configuration will be explained using Figures 6 and 7. Figure 6 shows a flowchart of the processing operation of the ECU 27 related to the light emission of the light-emitting unit 16, and Figure 7 shows a flowchart of the detailed operation processing.

[0088] First, when power is supplied to the ECU27 from the battery, the ECU27 executes a predetermined stored program and starts a process to control the emission of light from the light-emitting unit 16. The ECU 27, which has started a processing operation to control the emission of light from the light-emitting unit 16, identifies the driver seated in the driver's seat based on the video image from the in-vehicle camera 25 and the audio signal from the microphone 26, as shown in Figure 6 (step S101).

[0089] Upon identifying the driver, the ECU 27 illuminates the light-emitting unit 16 in a friendly illumination mode M3 (step S102), and then outputs a voice message to the speaker 15 welcoming the driver seated in the driver's seat, such as "Hello! I'm glad you're riding with us again today."

[0090] In this case, the ECU27, in the favorable light emission mode M3, flashes the brightness of the LED elements that emit light in pink color C4, the LED elements that emit light in cream color C5, and the LED elements that emit light in yellow-green color C6 in accordance with the change in sound pressure of the voice guidance (step S103).

[0091] Subsequently, the ECU27 determines whether the voice guidance notification has finished (step S104). If the voice guidance notification has not finished (step S104: No), it changes the brightness according to the sound pressure change until the voice guidance notification finishes.

[0092] On the other hand, when the voice guidance notification ends (step S104: Yes), the ECU 27 switches from the favorable illumination mode M3 to the normal illumination mode M1 and illuminates the light-emitting part 16 with a bluish-green light color C1 (step S105).

[0093] When the light-emitting unit 16 is made to emit light in the normal emission mode M1, the ECU 27 determines whether the current vehicle speed is greater than 0 km / h (step S106). If the current vehicle speed is 0 km / h (Step S106: No), the ECU 27 maintains the illumination of the light-emitting part 16 in the normal illumination mode M1 until the current vehicle speed exceeds 0 km / h.

[0094] On the other hand, if the current vehicle speed is greater than 0 km / h (Step S106: Yes), the ECU27 determines whether or not it is time to notify the driver of the vehicle's condition via voice guidance (Step S107).

[0095] For example, the ECU27 determines when it is time to provide voice guidance to the driver based on the vehicle's situation, whether it is related to "normal conditions," "prevention," or "favorable response" among the classifications of the behavioral data 28.

[0096] If it is not time to notify the driver of the voice guidance (step S107: No), the ECU27 returns to step S105 and repeats the process from step S105 to step 107 until it is time to notify the driver of the voice guidance.

[0097] On the other hand, if it is time to notify the driver of voice guidance (step S107: Yes), the ECU 27 starts detailed operation processing to control the illumination of the light-emitting unit 16 during driving according to the content of the voice guidance (step S108). When detailed operation processing is initiated, the ECU27 determines whether the content of the voice guidance to be communicated to the driver is intended to prevent accidents, as shown in Figure 7 (step S121).

[0098] For example, the ECU27 determines that voice guidance is aimed at preventing accidents if it is, for instance, a voice guidance requesting assistance from the driver, a voice guidance pointing out unstable driving behavior caused by the driver's actions, or a voice guidance pointing out a near-miss.

[0099] In the case of voice guidance aimed at preventing accidents (Step S121: Yes), the ECU 27 illuminates the light-emitting unit 16 in the preventative light-emitting mode M2, as shown in Figure 7 (Step S122), and then outputs voice guidance aimed at preventing accidents to the speaker 15.

[0100] For example, in the case of voice guidance to warn drivers of blind spots when turning left or right, the ECU27 outputs a voice message to the speaker15 asking the driver for assistance, such as, "We cannot fully detect motorcycles or other objects hidden behind the car, so please check carefully." Furthermore, in the case of voice guidance pointing out a near-miss incident, the ECU27 outputs a voice guidance to the speaker15 that empathizes with the driver's psychological state, such as "That was a shock, wasn't it!" Furthermore, in the case of voice guidance that warns of unstable driving behavior, the ECU27 outputs a voice guidance to the speaker15 that points out the driver's driving actions, such as, "You swerved a little."

[0101] Furthermore, when the output of voice guidance to speaker 15 is started, as shown in Figure 7, the ECU 27 causes the brightness of the LED elements emitting a yellowish-orange light color C2 and the LED elements emitting a yellow light color C3 to blink in response to the change in sound pressure of the voice guidance in the preventative light emission mode M2 ​​(step S123).

[0102] Then, after the voice guidance notification ends, the ECU27 changes the brightness of the LED element that emits a yellowish-orange light color C2 and the LED element that emits a yellow light color C3 with 1 / f fluctuation to return to the preventative light emission mode M2 ​​(step S124). Subsequently, the ECU27 determines whether a predetermined time has elapsed since the end of the voice guidance notification (step S125).

[0103] If the time elapsed since the end of the voice guidance notification is not the predetermined time (step S125: No), the ECU 27 maintains the emission of light from the light-emitting unit 16 in a preventative light-emitting mode M2 ​​in which the brightness changes with 1 / f fluctuation until the predetermined time has elapsed, as shown in Figure 7.

[0104] On the other hand, if a predetermined time has elapsed since the end of the voice guidance notification (step S125: Yes), the ECU 27 terminates the detailed operation processing as shown in Figure 7 and proceeds to step S105 in Figure 6.

[0105] Subsequently, as shown in Figure 6, the ECU 27 switches from the preventative light emission mode M2 ​​to the normal light emission mode M1, emitting light from the light-emitting unit 16 with a bluish-green light emission color C1, and then repeats the process from step S105 to step S108 until the power supply is interrupted.

[0106] Furthermore, in step S121 of Figure 7, if the content of the voice guidance is not intended to prevent accidents (step S121: No), the ECU 27 determines whether the content of the voice guidance is favorable to the driver's actions (step S126).

[0107] For example, the ECU27 determines that the voice guidance is favorable to the driver's actions when it alerts the driver to safely pass through an intersection that previously issued a voice guidance warning about blind spots when turning left or right, or when it alerts the driver to smoothly pass through a situation where the vehicle's behavior is likely to be unstable without disrupting its driving.

[0108] If the content of the voice guidance is favorable to the driver's actions (step S126: Yes), the ECU 27 illuminates the light-emitting unit 16 in a favorable illumination mode M3, as shown in Figure 7 (step S127), and then outputs voice guidance with favorable content to the driver's actions to the speaker 15.

[0109] For example, if a driver safely navigates an intersection that has been alerted with voice guidance to pay attention to blind spots when turning left or right, the EUC27 will output a voice message to speaker 15 thanking the driver for covering the blind spots, saying, "Thank you for covering the parts I couldn't see."

[0110] Alternatively, if the driver smoothly navigates a situation where the vehicle's behavior is likely to become unstable without disrupting its driving, the ECU27 will output a voice message to the speaker15 praising the driver's actions, such as "You made a smooth turn."

[0111] Furthermore, when the output of voice guidance to speaker 15 is started, as shown in Figure 7, ECU 27 causes the brightness of the LED elements emitting pink light C4, the LED elements emitting cream light C5, and the LED elements emitting yellow-green light C6 to blink in response to the change in sound pressure of the voice guidance (step S128).

[0112] Then, after the voice guidance notification ends, the ECU27 changes the brightness of the LED elements emitting pink light color C4, the LED elements emitting cream light color C5, and the LED elements emitting yellow-green light color C6 with 1 / f fluctuation to return to the favorable light emission mode M3 (step S129).

[0113] When the light-emitting unit 16 is illuminated in the favorable illumination mode M3, the ECU 27 proceeds to step S125 in Figure 7. If the time elapsed since the end of the voice guidance notification has not been a predetermined time (step S125: No), the light-emitting unit 16 is kept emitting light in the favorable illumination mode M3, where the brightness changes with 1 / f fluctuation, until the predetermined time has elapsed.

[0114] On the other hand, if a predetermined time has elapsed since the end of the voice guidance notification (step S125: Yes), the ECU 27 terminates the detailed operation processing as shown in Figure 7 and proceeds to step S105 in Figure 6.

[0115] Subsequently, as shown in Figure 6, the ECU 27 switches from the favorable light emission mode M3 to the normal light emission mode M1, emitting light from the light-emitting unit 16 with a bluish-green light emission color C1, and then repeats the process from step S105 to step S108 until the power supply is interrupted.

[0116] Furthermore, in step S126 of Figure 7, if the content of the voice guidance is not favorable to the driver's actions (step S126: No), the ECU 27 determines that the voice guidance is to be announced in the normal illumination mode M1, and flashes the brightness of the LED element that emits a bluish-green light color C1 in response to the change in sound pressure of the voice guidance (step S130).

[0117] The voice guidance provided in this case would include, for example, a voice message advising drivers to "check the pedestrian crossing beforehand when you reach the intersection," which is given before the intersection.

[0118] Then, after the voice guidance notification is finished, the ECU27 changes the brightness of the LED element, which emits a bluish-green light color C1, with 1 / f fluctuation to return to the normal light emission mode M1 (step S131), and then finishes the detailed operation processing and proceeds to step S105 in Figure 6. Subsequently, as shown in Figure 6, the ECU27 repeats the process from step S105 to step S108 until the power supply is interrupted.

[0119] In this way, by illuminating the light-emitting unit 16 in a manner based on the vehicle's status and the content of the voice guidance, the vehicle driving support system 10 gives the light-emitting unit 16 a lifelike appearance, making it easier for the driver to recognize the light-emitting unit 16 as a passenger.

[0120] As described above, the vehicle driving support system 10 of this embodiment includes a vehicle status detection means (ECU 27) that detects the vehicle's status based on the vehicle's driving behavior and the conditions around the vehicle, and a voice guidance means (speaker 15 and ECU 27) that notifies the driver of the vehicle 1 of voice guidance based on the vehicle status detected by the vehicle status detection means.

[0121] Furthermore, the vehicle driving support system 10 comprises a light-emitting unit 16 composed of multiple LED elements arranged in the longitudinal direction and located inside the vehicle in front of the driver's seat, and a light-emitting control means (ECU 27) that controls the illumination of the light-emitting unit 16 in a manner based on the vehicle's conditions.

[0122] Furthermore, the light emission control means is configured to control the light emission of the light emission unit 16 in a normal emission mode M1, which is a single light emission color C1 and a light emission mode in which the brightness changes with 1 / f fluctuation when the vehicle is in a normal state.

[0123] With this configuration, the driver's attention is not drawn to the light-emitting unit 16 which emits light in the normal emission mode M1, while the driver's mentalizing is improved by the light-emitting unit 16 which emits light in the normal emission mode M1. Therefore, the passenger effect can be safely obtained even when there are no passengers.

[0124] Specifically, by using the normal emission mode M1, which changes the brightness with 1 / f fluctuation, the vehicle driving support system 10 can make the light-emitting part 16 emit light with a more lifelike movement compared to a light-emitting part that emits light with a constant brightness. Therefore, the vehicle driving support system 10 can influence the driver's animacy perception by using a light-emitting mode with a more lifelike movement compared to a light-emitting mode with a constant brightness.

[0125] Furthermore, because the illumination pattern differs from, for example, the illumination pattern that is synchronized with voice guidance, the vehicle driving support system 10 can make the driver recognize the illumination in the normal illumination pattern M1 as the primary action. Therefore, the vehicle driving support system 10 can make the driver, as a passenger in the vehicle 1, recognize the light-emitting unit 16, which emits light in a single light-emitting color C1 and in a normal emission mode M1 in which the brightness changes with 1 / f fluctuation, when the vehicle is in a normal state.

[0126] In this case, the light-emitting unit 16, which emits light in the normal emission mode M1, exhibits less behavioral change compared to a character operating in a mode that autonomously moves within a three-dimensional virtual space, and therefore does not excessively draw the driver's attention.

[0127] As a result, the vehicle driving support system 10 can improve the driver's mentalization while suppressing the driver's attention from being drawn to the light-emitting unit 16 that emits light in the normal emission mode M1. Therefore, the vehicle driving assistance system 10 can safely obtain the passenger effect even when there is no passenger present.

[0128] Furthermore, the light emission control means (ECU27) is configured to change the brightness of the light emission unit 16 in response to changes in the sound pressure of the voice guidance when voice guidance is announced in the normal light emission mode M1. With this configuration, when voice guidance is announced, the light-emitting unit 16 can be made to emit light with more lifelike movements, so that the driver can perceive the light-emitting unit 16, which emits light in a single color C1, as a passenger in the vehicle 1. As a result, the vehicle driving support system 10 can improve the driver's mentalization and enhance the passenger experience.

[0129] Furthermore, the light emission control means (ECU27) is configured to control the light emission of the light emission unit 16 by selecting one of the following light emission modes based on the vehicle's situation: normal light emission mode M1, which is the light emission mode during normal operation; preventive light emission mode M2, which is the light emission mode for preventing accidents; and favorable light emission mode M3, which is the light emission mode that shows a favorable response to the driver's actions.

[0130] Furthermore, the preventative light emission mode M2 ​​is a color scheme in which multiple groups of light emission colors C2 and C3 with similar hues are arranged in the longitudinal direction of the light emission unit 16, and the brightness changes with 1 / f fluctuation. On the other hand, the favorable emission mode M3 is a color scheme in which a group of emission colors C4, C5, and C6 with different hues are arranged in a series along the longitudinal direction of the light-emitting section 16, and the brightness changes with 1 / f fluctuation.

[0131] With this configuration, the brightness in the preventative illumination mode M2 ​​and the favorable illumination mode M3 is changed with 1 / f fluctuation, so that the light-emitting unit 16 emitting in the preventative illumination mode M2 ​​and the favorable illumination mode M3 can be perceived by the driver as a passenger in the vehicle 1 without excessively appealing to the driver's presence, similar to the normal illumination mode M1.

[0132] As a result, the vehicle driving assistance system 10 can improve the driver's mentalization while suppressing the driver's attention from being drawn to the light-emitting unit 16 that emits light in the preventive emission mode M2 ​​and the favorable emission mode M3.

[0133] Therefore, the vehicle driving assistance system 10 can safely obtain the passenger effect even when the light-emitting unit 16 is illuminated to prevent accidents, and when the light-emitting unit 16 is illuminated to give a favorable response to the driver's actions.

[0134] Furthermore, the light emission control means (ECU27) is configured to change the brightness of the light-emitting unit 16 in accordance with the change in sound pressure of the voice guidance when voice guidance is announced in the preventive light emission mode M2 ​​and the favorable light emission mode M3.

[0135] With this configuration, when voice guidance is announced, the light-emitting unit 16 can be made to emit light with more lifelike movements, so that the driver can perceive the light-emitting unit 16, which emits light in the colors C2 and C3 of the preventive emission mode M2 ​​and the colors C4, C5 and C6 of the favorable emission mode M3, as a passenger in the vehicle 1. As a result, the vehicle driving support system 10 can improve the driver's mentalization and enhance the passenger experience.

[0136] Furthermore, the light emission control means (ECU27) is configured to control the illumination of the light-emitting unit 16 in a preventative illumination mode M2 ​​when the vehicle is in a situation with a blind spot, and to control the illumination of the light-emitting unit 16 in a favorable illumination mode M3 when the driver safely avoids the blind spot situation through driving operations.

[0137] With this configuration, if the vehicle's situation involves blind spots, the illumination of the light-emitting unit 16 can be controlled in preventative illumination mode M2. This allows the illumination of the light-emitting unit 16 to embody a simulated psychological state of the vehicle 1, which requests the driver to address blind spots that the vehicle 1 cannot assist the driver with.

[0138] Furthermore, if a situation with a blind spot is safely avoided through the driver's driving operation, the vehicle driving support system 10 can control the illumination of the light-emitting unit 16 in a favorable illumination mode M3, thereby embodying a simulated psychological state of the vehicle 1, which is grateful that the driver responded to the support request made to the driver in the preventative illumination mode M2, through the illumination of the light-emitting unit 16.

[0139] As a result, the vehicle driving assistance system 10 can express emotions to the driver, allowing the driver to recognize the light-emitting unit 16, which emits light in preventative mode M2 ​​and favorable mode M3, as a passenger.

[0140] Furthermore, the light emission control means (ECU27) is configured to control the light emission of the light emission unit 16 in a preventative light emission mode M2 ​​when the driving behavior based on the vehicle's conditions is unstable, and to control the light emission of the light emission unit 16 in a favorable light emission mode M3 when the driving behavior based on the vehicle's conditions is stable.

[0141] With this configuration, if the driving behavior is unstable, the light-emitting unit 16 emits light in a preventative emission mode M2 ​​to draw the driver's attention to driving operations, and if the driving behavior is stable, the light-emitting unit 16 emits light in a favorable emission mode M3 to praise the driver's driving operations.

[0142] As a result, the vehicle driving assistance system 10 can express emotions to the driver, allowing the driver to recognize the light-emitting unit 16, which emits light in preventative mode M2 ​​and favorable mode M3, as a passenger. Furthermore, the vehicle driving support system 10 can communicate feedback on the driver's driving operations to the driver through the illumination of the light-emitting unit 16, thereby supporting the improvement of the driver's driving skills.

[0143] Furthermore, the vehicle driving assistance system 10 is equipped with driver detection means (in-vehicle camera 25, microphone 26, and ECU 27) for detecting a driver seated in the driver's seat. Furthermore, the light emission control means (ECU27) is configured to control the light emission of the light emission unit 16 in a favorable light emission mode M3 when it detects a driver.

[0144] With this configuration, the simulated psychological state of vehicle 1 welcoming the driver's input can be embodied by the illumination of the light-emitting unit 16. As a result, the vehicle driving assistance system 10 can make the driver aware of the presence of a passenger from the moment driving begins, thereby improving the passenger effect.

[0145] Furthermore, the emission color of the normal emission mode M1 consists of a single green color (a bluish-green emission color C1) with high brightness and low saturation. Furthermore, the emission color of the preventative emission mode M2 ​​consists of two colors with higher saturation than the normal emission mode M1: an orange-based color C2 and a yellow-based color C3. Furthermore, the emission colors of the favorable emission mode M3 consist of three colors (pink emission color C4, cream emission color C5, and yellow-green emission color C6) that have higher brightness than the normal emission mode M1.

[0146] This configuration improves the discriminability of the light-emitting unit 16, which emits light in normal mode M1, preventative mode M2, and favorable mode M3 by using different colored emission tones, and also allows for different impressions to be given to the driver.

[0147] As a result, the vehicle driving assistance system 10 makes it easier for the driver to recognize changes in the illumination pattern, thus keeping the driver constantly aware of the presence of a passenger. Therefore, the vehicle driving assistance system 10 can reliably obtain the passenger effect even when there is no passenger present.

[0148] In the correspondence between the structure of this invention and the embodiments described above, The vehicle status detection means and light emission control means of this invention correspond to the ECU27 of the embodiment, The same applies to the following: The voice guidance system corresponds to speaker 15 and ECU 27. The predetermined direction corresponds to the longitudinal direction. The light-emitting element corresponds to an LED element. The single emission color and the emission color in the normal emission mode correspond to the green emission color C1. A group of emission colors with similar hues, and emission colors for preventative emission modes, correspond to the yellowish-orange emission color C2 and the yellow emission color C3. A group of emission colors with different hues, and emission colors with favorable emission patterns, correspond to the pink emission color C4, the cream emission color C5, and the yellow-green emission color C6. The driver detection means corresponds to the in-vehicle camera 25, microphone 26, and ECU 27, This invention is not limited to the configuration of the embodiments described above, and many other embodiments can be obtained.

[0149] For example, the vehicle driving assistance system 10 is not limited to the configuration described above, and may include, for example, cameras, millimeter-wave radar, or sensors that detect the situation behind or to the sides of the vehicle. Furthermore, the vehicle driving assistance system 10 may include, for example, a navigation system to assist the driver's driving operations based on the vehicle's position and map data.

[0150] Furthermore, although the pair of light-emitting units 16 are arranged facing each other in the vehicle width direction with the meter hood (reference numeral omitted) in between, the configuration is not limited to this, and any number and arrangement may be appropriate as long as they are visible to the driver seated in the driver's seat.

[0151] Furthermore, although the light-emitting section 16 is configured by arranging multiple LED elements in a linear fashion, it may also be configured by arranging multiple LED elements in a grid pattern. Furthermore, although the light-emitting unit 16 is described as a status lamp that indicates intervention in the driver's driving operations, it is not limited to this, and may be a separate light-emitting unit 16 from the status lamp related to driving assistance.

[0152] Furthermore, the emission color C1 of the normal emission mode M1, the emission colors C2 and C3 of the preventative emission mode M2, and the emission colors C4, C5, and C6 of the favorable emission mode M3 are merely examples, and the system is not limited to the embodiments described above. It may also be an emission mode in which an appropriate number of colors and an appropriate arrangement of emission colors are emitted.

[0153] Furthermore, while we have described preventative and positive light emission modes M2 and M3 as in which all LED elements light up or blink simultaneously, we are not limited to these, and light emission modes in which each LED element emits light from among multiple light colors may also be used.

[0154] For example, in the case of preventative emission mode M2, a yellowish-orange emission color C2 and a yellow emission color C3 may be emitted alternately, and in the case of favorable emission mode M3, a pink emission color C4, a cream emission color C5, and a yellowish-green emission color C6 may be emitted in sequence.

[0155] Furthermore, the preventative light emission mode M2 ​​may be a light emission mode in which the LED elements emit light sequentially along the longitudinal direction so that the light emission colors C2 and C3 flow from one side to the other in the longitudinal direction of the light-emitting section 16. Similarly, the favorable light emission mode M3 may be a light emission mode in which the LED elements emit light sequentially along the longitudinal direction such that the light emission colors C4, C5, and C6 flow from one side to the other in the longitudinal direction of the light-emitting section 16.

[0156] In this case, the favorable emission mode M3 may be either an emission mode in which three colors arranged in a longitudinal direction are emitted sequentially in sets from one side to the other in the longitudinal direction, or an emission mode in which each color is emitted from one side to the other in the longitudinal direction.

[0157] With this configuration, in the preventative luminescence mode M2 ​​and / or the favorable luminescence mode M3, the light-emitting part 16 can be made to emit light with more lifelike movements, so that the light-emitting part 16 emitting light in the preventative luminescence mode M2 ​​and / or the light-emitting part 16 emitting light in the favorable luminescence mode M3 can be perceived by the driver as a passenger in the vehicle 1.

[0158] Furthermore, while the brightness of the light-emitting unit 16 was changed in response to the change in sound pressure of the voice guidance when announcing voice guidance, the system is not limited to this, and the brightness of the light-emitting unit 16 may also be changed with 1 / f fluctuation while the voice guidance is being announced. Furthermore, the processing flow in the ECU27's processing operation shown in Figure 6, and the processing flow in the detailed operation processing shown in Figure 7, are merely examples and are not limited to these; any appropriate processing flow may be used. [Explanation of symbols]

[0159] 1…Vehicle 10…Vehicle driving assistance systems 15…Speaker 16…Light-emitting part 25...In-car camera 26... Mike 27…ECU C1…Green light color C2…A yellowish-orange luminescence. C3... Yellow light color C4... Pink light color C5... Cream-colored light C6…Emits a yellowish-green light. M1...Normal illumination mode M2…Preventive emission mode M3… Favorable emission mode

Claims

1. A vehicle driving support system comprising: a vehicle status detection means for detecting the vehicle's status based on the vehicle's driving behavior and the conditions around the vehicle; and a voice guidance means for informing the driver of the vehicle of voice guidance based on the vehicle status detected by the vehicle status detection means, It consists of multiple light-emitting elements arranged in a predetermined direction, and the light-emitting unit is located inside the vehicle in front of the driver's seat, The system includes a light-emitting control means that controls the emission of light from the light-emitting section in a light-emitting mode based on the vehicle's conditions, The light emission control means is When the vehicle's condition is normal, the light emission of the light-emitting part is controlled in a normal emission mode, which is a single light color with a brightness that changes with 1 / f fluctuation. Vehicle driver assistance system.

2. The aforementioned light emission control means is In the normal illumination mode, when the voice guidance is announced, the brightness of the light-emitting part is changed in response to the change in sound pressure of the voice guidance. The vehicle driving assistance system according to claim 1.

3. The aforementioned light emission control means is The configuration controls the illumination of the light-emitting unit by selecting one of the following illumination modes based on the vehicle's condition: the normal illumination mode, which is the illumination mode used during normal times; the preventive illumination mode, which is the illumination mode used to prevent accidents; and the favorable illumination mode, which is the illumination mode that shows a favorable response to the driver's actions. The aforementioned preventative light emission mode is, The color scheme consists of multiple groups of emission colors with similar hues arranged in the predetermined direction, and the emission mode is such that the brightness changes with 1 / f fluctuation. The aforementioned favorable emission mode is, This is a color scheme in which a group of emission colors with different hues are arranged in a predetermined direction, and the emission mode is such that the brightness changes with 1 / f fluctuation. The vehicle driving assistance system according to claim 1.

4. The aforementioned light emission control means is In the aforementioned preventative and positive illumination modes, when the voice guidance is announced, the brightness of the light-emitting part is configured to change in response to the change in sound pressure of the voice guidance. The vehicle driving assistance system according to claim 3.

5. The aforementioned light emission control means is The configuration is such that the emitted color in the preventative emission mode and / or the emitted color in the favorable emission mode flows along the predetermined direction. The vehicle driving assistance system according to claim 3.

6. The aforementioned light emission control means is The configuration is such that when the vehicle's situation includes a blind spot, the light emission of the light-emitting unit is controlled in the preventative light emission mode, and when the blind spot is safely avoided by the driver's driving operation, the light emission of the light-emitting unit is controlled in the favorable light emission mode. The vehicle driving assistance system according to claim 3.

7. The aforementioned light emission control means is The configuration is such that when the driving behavior based on the vehicle's condition is unstable, the light emission of the light-emitting part is controlled in the preventative light emission mode, and when the driving behavior based on the vehicle's condition is stable, the light emission of the light-emitting part is controlled in the favorable light emission mode. The vehicle driving assistance system according to claim 3.

8. The system includes a driver detection means for detecting the driver seated in the driver's seat, The aforementioned light emission control means is When the aforementioned driver is detected, the configuration controls the emission of light from the light-emitting part in the aforementioned favorable emission mode. The vehicle driving assistance system according to claim 3.

9. The emission color in the normal emission mode is composed of a single green color with high brightness and low saturation. The light-emitting color of the preventative light-emitting mode is composed of two colors, orange and yellow, which have higher saturation than the normal light-emitting mode. The light-emitting colors of the aforementioned favorable light-emitting mode consist of three colors with higher brightness than the aforementioned normal light-emitting mode: pink, yellow, and yellow-green. The vehicle driving assistance system according to claim 3.

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