Driver assistance control device, driver assistance method, and computer program

Abstract

The system is designed to prevent the driver from being prevented from discontinuing driver abnormality response driving assistance during the notification control period. [Solution] The driver assistance control device 6 of the vehicle 100 is configured to provide driver assistance to address driver abnormalities in response to the determination that the driver of the vehicle 100 is in an abnormal state that makes it difficult to continue driving the vehicle 100. If a predetermined cancellation operation is detected multiple times during the driver assistance, the driver assistance is stopped, and the count value of the number of detected cancellation operations is reset to zero at a predetermined timing during the driver assistance. The driver assistance includes notification control, which is started after the determination that the driver is in an abnormal state and notifies the driver, and deceleration control, which is started after a predetermined time has elapsed since the notification was started and decelerates the vehicle 100. The predetermined timing is a timing after the end of the notification control.

Description

Technical Field

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

Background Art

[0002] In Patent Document 1, as a conventional vehicle driving control device, it is configured to determine whether a driver is in an abnormal state, and when the driver is in an abnormal state, perform deceleration stop control to decelerate the host vehicle and hold the host vehicle in a stopped state.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When it is determined that the driver is in an abnormal state, first perform notification control such as warning, and then perform driving support (driving support in case of driver abnormality) that performs deceleration stop control. In such a case, it is desirable to shorten the period of the notification control as much as possible to start the deceleration stop control early and hold the vehicle in a stopped state as soon as possible.

[0005] However, in order to suppress the cancellation of the driving support in case of driver abnormality due to an unintentional cancellation operation by the driver who has fallen into an abnormal state, when multiple cancellation operations are required to cancel the driving support in case of driver abnormality, the shorter the period of the notification control, the more difficult it is to perform multiple cancellation operations during the period of the notification control. Therefore, there is a problem that the driver is inhibited from canceling the driving support in case of driver abnormality during the period of the notification control.

[0006] This invention was made in view of these problems, and aims to prevent the driver from being prevented from discontinuing driver abnormality response driving assistance during the notification control period. [Means for solving the problem]

[0007] To solve the above problems, a vehicle driver assistance control device according to one aspect of the present invention is configured to respond to a determination that the vehicle driver is in an abnormal state that makes it difficult to continue driving the vehicle, to perform driver assistance to address the driver's abnormality, to stop the driver assistance when a predetermined cancellation operation is detected multiple times during the driver assistance, and to reset the count value of the number of detected cancellation operations to zero at a predetermined timing during the driver assistance. The driver assistance includes notification control, which is started after the determination that the driver is in an abnormal state and notifies the driver, and deceleration control, which is started after a predetermined time has elapsed since the start of notification and decelerates the vehicle. The predetermined timing is a timing after the end of the notification control.

[0008] Furthermore, a driving assistance method according to a certain aspect of the present invention is implemented by a vehicle control device and, in response to the determination that the vehicle driver is in an abnormal state where it is difficult to continue driving the vehicle, provides driving assistance to address the driver's abnormality, stops the driving assistance when a predetermined cancellation operation is detected multiple times during the driving assistance, and resets the count value of the number of detected cancellation operations to zero at a predetermined timing during the driving assistance. The driving assistance includes notification control, which is started after the determination that the driver is in an abnormal state and notifies the driver, and deceleration control, which is started after a predetermined time has elapsed since the start of notification and decelerates the vehicle. The predetermined timing is a timing later than the time when the notification control is terminated.

[0009] Furthermore, a computer program according to one aspect of the present invention, in response to a determination that the vehicle driver is in an abnormal state that makes it difficult to continue driving the vehicle, performs driving assistance to address the driver's abnormality, stops the driving assistance when it detects a predetermined cancellation operation multiple times during the driving assistance, and causes the computer to perform a process that resets the count value of the number of detected cancellation operations to zero at a predetermined timing during the driving assistance. The driving assistance includes notification control, which is started after it is determined that the driver is in an abnormal state and notifies the driver, and deceleration control, which is started after a predetermined time has elapsed since the notification started and decelerates the vehicle. The predetermined timing is a timing after the time when the notification control is terminated. [Effects of the Invention]

[0010] According to these aspects of the present invention, the count value of the number of detected cancellation operations is reset to zero at a time later than when the notification control is terminated, so that the driver is not prevented from discouraging the driver abnormality response driving assistance during the notification control period. [Brief explanation of the drawing]

[0011] [Figure 1] This is a schematic diagram of a vehicle according to one embodiment of the present invention. [Figure 2] This is a flowchart illustrating the process for terminating driver abnormality response driving assistance according to one embodiment of the present invention. [Figure 3] This flowchart illustrates the process of resetting a counter value according to one embodiment of the present invention. [Modes for carrying out the invention]

[0012] Embodiments of the present invention will be described in detail below with reference to the drawings. In the following description, similar components will be given the same reference numerals.

[0013] (First Embodiment) Figure 1 is a schematic diagram of a vehicle 100 according to a first embodiment of the present invention.

[0014] Vehicle 100 includes a peripheral sensor 1, a vehicle sensor 2, a driver sensor 3, an HMI (Human Machine Interface) 4, an actuator 5, and a control device 6. The peripheral sensor 1, vehicle sensor 2, driver sensor 3, HMI 4, actuator 5, and control device 6 are each connected to communicate via an in-vehicle network 9 that conforms to standards such as a controller area network.

[0015] The surrounding sensor 1 is a sensor for generating surrounding data that represents the conditions around the vehicle 100. In this embodiment, the vehicle 100 is equipped with one or more external cameras 11 as the surrounding sensor 1 for capturing images of the area around the vehicle 100. The external cameras 11 capture images of the area around the vehicle 100 at a predetermined frame rate (for example, 10 Hz to 40 Hz) and generate surrounding images of the area around the vehicle 100. Each time the external cameras 11 generate surrounding images, they transmit the generated surrounding images to the control device 6 as surrounding data.

[0016] In addition to the external camera 11, the vehicle 100 may also be equipped with a distance measuring sensor as a surrounding sensor 1 to measure the distance to targets and features in its vicinity. Examples of distance measuring sensors include LiDAR (Light Detection and Ranging), which measures distance based on the reflected light emitted by radar, and millimeter-wave radar sensors, which measure distance based on the reflected waves emitted by radio waves.

[0017] Vehicle sensor 2 is a sensor for acquiring vehicle data representing the state of vehicle 100. Vehicle 100 according to this embodiment includes, as vehicle sensor 2, a speed sensor 21 that acquires speed data indicating the vehicle's speed, a positioning sensor 22 that acquires current position data indicating the vehicle's current position such as latitude and longitude, a steering sensor 23 that acquires data related to steering operations such as steering grip, steering torque, and steering angle, an accelerator sensor 24 that acquires data related to accelerator operations such as the amount the accelerator pedal is depressed, and a brake sensor 25 that acquires data related to brake operations such as the detection of brake pedal input. However, vehicle sensor 2 is not limited to these sensors. The data acquired by each of the sensors 21 to 25 is transmitted to the control device 6 as vehicle data.

[0018] The driver sensor 3 is a sensor for generating driver data that represents the driver's state. In this embodiment, the vehicle 100 includes a driver monitor camera 31 as the driver sensor 3 for capturing the driver's appearance, including the driver's face. The driver monitor camera 31 captures the driver's appearance at a predetermined frame rate (for example, 10 Hz to 40 Hz) and generates an appearance image showing the driver's appearance. Each time the driver monitor camera 31 generates an appearance image of the driver, it transmits the generated appearance image to the control device 6 as driver data.

[0019] HMI4 is a user interface for exchanging information between the vehicle 100 and its occupants. HMI4 includes output devices 41 for notifying the vehicle occupants through their bodily senses (e.g., sight, hearing, and touch) and input devices 42 for the vehicle occupants to perform input and response operations. Output devices 41 include, for example, displays (e.g., meter displays, center displays, head-up displays, etc.) and speakers. Input devices 42 include, for example, touch panels and microphones.

[0020] The HMI 4 notifies the vehicle occupants of information according to the output signal received from the control device 6 via the output device 41, and transmits data input by the vehicle occupants via the input device 42 to the control device 6.

[0021] The HMI 4 may be pre-mounted on the vehicle 100, or may be a terminal such as a smartphone owned by the vehicle occupants (driver and passengers). In the latter case, for example, information exchange may be performed by performing communication via short-range wireless between the vehicle 100 and the terminal of the vehicle occupants, or communication may be performed between the terminal of the vehicle occupants and an external server (not shown), and information exchange may be performed indirectly via the server.

[0022] The actuator 5 is a device used for the driving control of the vehicle 100. The vehicle 100 according to the present embodiment includes, as the actuator 5, an acceleration actuator 51 that performs acceleration control of the vehicle 100 (for example, at least one of an engine and a motor), a brake actuator 52 that performs brake control of the vehicle 100 (for example, a hydraulic actuator), and a steering actuator 53 that performs steering control of the vehicle 100 (for example, a steering motor).

[0023] The control device 6 is an ECU (Electronic Control Unit) including a communication unit 61, a storage unit 62, and a processing unit 63.

[0024] The communication unit 61 includes an interface circuit for connecting the control device 6 to the in-vehicle network 9. The communication unit 61 supplies various data received from the outside to the processing unit 63. The communication unit 61 also outputs various signals output from the processing unit 63 to the outside.

[0025] The storage unit 62 has a storage medium such as an HDD (Hard Disk Drive), an SSD (Solid Disk Drive), or a semiconductor memory, and stores various computer programs and data used in the processing by the processing unit 63.

[0026] The processing unit 63 has one or more CPUs (Central Processing Units) and their peripheral circuits, and executes various computer programs stored in the memory unit 62. The processing unit 63 is, for example, a processor. The processing unit 63 may further have other arithmetic circuits such as a logical operation unit, a numerical operation unit, or a graphics processing unit. By executing processing according to the computer program, the processing unit 63 functions as an abnormal state determination unit 71, a recognition unit 72, and a driving support unit 73, and operates as a functional unit (module) that realizes a predetermined function. In the following description, when describing the processing with each functional unit 71 to 73 as the subject, it means that the processing unit 63 is executing the program that realizes each functional unit 71 to 73.

[0027] The following describes the specific processes performed by the control device 6. Specifically, it describes the contents of each functional unit 71 to 73, which are realized by the processing unit 63 executing processes according to the computer program.

[0028] The abnormal state determination unit 71 determines whether the driver is in an abnormal state (hereinafter simply referred to as "abnormal state") that makes it difficult to continue driving, for example, due to a sudden change in physical condition. In this embodiment, the abnormal state determination unit 71 determines that the driver is in an abnormal state if a predetermined abnormal estimated state continues for a predetermined determination time T1[s].

[0029] An abnormal condition is a state in which the driver can be considered to be in an abnormal state. Examples of abnormal conditions include the driver having their eyes closed, the driver having poor posture, and, unless a hands-free driving assistance system is in place, the driver not operating the steering wheel. Poor posture of the driver refers to a state in which the driver is slumped over, looking down, leaning backward, or has their head or upper body tilted or fallen to the side due to muscle relaxation caused by loss of consciousness, etc., or a state in which the driver is arching their back due to rigidity caused by epilepsy, etc.

[0030] Whether the driver has their eyes closed, their posture is poor, or the steering wheel is not being operated can be determined, for example, from the driver's appearance based on the image from the driver monitoring camera 31. Furthermore, whether the steering wheel is not being operated can be determined, for example, based on data acquired by the steering sensor 23, or based on that data and the image from the driver monitoring camera 31.

[0031] The recognition unit 72 recognizes objects and features around the vehicle 100. For example, the recognition unit 72 sequentially inputs the surrounding image received from the external camera 11 into a classifier to recognize objects such as other vehicles, motorcycles, and pedestrians, as well as features such as curbs, fences, and other similar structures (hereinafter referred to as "boundary structures") and road markings (e.g., lane markings defining driving lanes) within the surrounding image. The classifier can be, for example, a convolutional neural network (CNN) having multiple convolutional layers connected in series from the input side to the output side. The recognition unit 72 also calculates the distance from the vehicle 100 to the objects and features and calculates the position of the objects and features by using, for example, the standard size of the objects and features stored in the memory unit 62 for each type of object and feature, and the size of the objects and features recognized in the surrounding image. Note that the method of recognizing objects and features is not limited to this method, and various known methods may be used for recognition.

[0032] The driver assistance unit 73 controls the actuators 5 based on the targets and features recognized by the recognition unit 72, and provides driver assistance that includes vehicle driving control of the vehicle 100. In this embodiment, the driver assistance unit 73 can provide driver assistance that includes vehicle driving control of the vehicle 100 at a driving control level of Level 3 as defined by the Society of Automotive Engineers (SAE), that is, at a driving control level that does not require the driver to operate each actuator 51 to 53 or monitor the surroundings. The driver assistance unit 73 can also provide driver assistance that includes vehicle driving control of the vehicle 100 at a driving control level in which the driver is involved in driving the vehicle 100, for example, at a driving control level of Level 1 or Level 2 as defined by the SAE.

[0033] The driver assistance unit 73, as one of the driver assistance functions that involves driving control of the vehicle 100, performs driver abnormality response driving assistance to respond to the driver abnormality when it is determined that the driver is in an abnormal state. Specifically, when the driver assistance unit 73 determines that the driver is in an abnormal state, it first performs notification control, such as a control warning (alarm), to notify the driver via the HMI 4. Then, after a predetermined time T2[s] has elapsed since the notification started, it performs deceleration stop control to decelerate the vehicle 100 and keep the vehicle 100 in a stopped state. In other words, driver abnormality response driving assistance includes notification control and deceleration stop control consisting of deceleration control and stop hold control.

[0034] The method by which vehicle 100 is decelerated and stopped is not particularly limited, as long as the risk of contact with road users outside the vehicle during deceleration and stopping control is taken into consideration. For example, if the vehicle can recognize the lane markings of its own driving lane, it can decelerate and maintain a stopped state along the lane markings of its own driving lane. If the vehicle cannot recognize the lane markings of its own driving lane, it can decelerate and maintain a stopped state along the trajectory of the vehicle in front. If neither the lane markings of its own driving lane nor the vehicle in front can be recognized, it can decelerate and maintain a stopped state while driving straight. In addition, for example, considering the safety of driver rescue and passenger disembarkation, the vehicle may change lanes and move to a lane on the road side or to the shoulder.

[0035] Furthermore, the driver assistance unit 73 will discontinue driver assistance if a predetermined discontinuation condition is met during driver abnormality response driver assistance. The discontinuation condition is defined as a condition under which it can be determined that the driver's condition is normal and capable of continuing to drive.

[0036] For example, in this embodiment, each time a steering operation, accelerator operation, or brake operation is performed (i.e., each time a driver override is performed), it is determined that a cancellation operation for driver abnormality response driving assistance has been performed once, and the detection of multiple such cancellation operations is set as a condition for discontinuing driver abnormality response driving assistance. Specifically, in this embodiment, the condition for discontinuing driver abnormality response driving assistance is that the count value N of the number of detected cancellation operations becomes equal to or greater than a predetermined discontinuation threshold NTH. In this embodiment, the value of the discontinuation threshold NTH is set to 2, but the discontinuation threshold NTH can be any value greater than or equal to 2. In this embodiment, whether or not a steering operation, accelerator operation, or brake operation has been performed may be determined, for example, when the amount of change in each operation becomes equal to or greater than a predetermined amount, or simply when the operation input for each operation is detected.

[0037] This means that even if the driver is in a normal state but is mistakenly identified as being in an abnormal state and driver abnormality response assistance is activated, the driver can stop the driver abnormality response assistance by fulfilling the termination conditions. Furthermore, since stopping the driver abnormality response assistance requires multiple cancellation operations, even if a driver in an abnormal state such as tension, rigidity, or weakness unintentionally performs a steering or pedal operation (i.e., override) once, the driver abnormality response assistance will not be stopped. Therefore, it is possible to prevent the driver abnormality response assistance from being stopped due to unintentional override, even when the driver is in an abnormal state.

[0038] However, if multiple cancellation operations are requested to stop the driver abnormality response driving assistance, and the count value N of the number of detected cancellation operations is maintained throughout the driver abnormality response driving assistance, there is a problem that the driving assistance will be more likely to be stopped by unintentional cancellation operations as the driver abnormality response driving assistance progresses.

[0039] One possible solution to this problem is to reset the count value N, which represents the number of times a cancellation operation has been detected, to zero at a predetermined timing during driver abnormality response driving assistance. However, if the timing for resetting the count value N is not set appropriately, the following secondary problems may occur.

[0040] In other words, as in this embodiment, when it is determined that the driver is in an abnormal state, notification control is performed first, followed by deceleration and stop control. In such cases, it is desirable to shorten the notification control period to the minimum necessary time, start the deceleration and stop control as early as possible, and maintain the vehicle in a stopped state as quickly as possible. Furthermore, if the driver is in a normal state but is determined to be in an abnormal state and deceleration and stop control is actually started, the vehicle will decelerate against the driver's will. Therefore, if the driver is in a normal state but is determined to be in an abnormal state, it is desirable to ensure that the notification control period before the deceleration and stop control is actually started does not prevent the driver from fulfilling the stop conditions.

[0041] However, if the timing for resetting the count value N is set to the notification control period, the shorter the notification control period, the more difficult it becomes for the driver to meet the termination condition, thus hindering the driver from meeting the termination condition during the notification control period.

[0042] Therefore, in this embodiment, when multiple cancellation operations are required to stop the driver abnormality response driving assistance, the timing of resetting the count value N is set to a later timing than when the notification control is terminated, in order to avoid hindering the driver from fulfilling the termination conditions during the notification control period.

[0043] This makes it possible to suppress the likelihood of the driver abnormality response driver assistance being discontinued in the latter half of the driver abnormality response driver assistance system, without preventing the driver from fulfilling the conditions for discontinuing the driver abnormality response driver assistance system during the notification control period.

[0044] Figure 2 is a flowchart illustrating the process for terminating driver abnormality response driving support according to this embodiment, which is performed by the driving support unit 73 and, consequently, the control device 6. The control device 6 repeatedly executes this routine at a predetermined calculation cycle.

[0045] In step S1, the control device 6 determines whether or not driver abnormality response driving support is in operation. If driver abnormality response driving support is in operation, the control device 6 proceeds to the process in step S2. On the other hand, if driver abnormality response driving support is not in operation, the control device 6 terminates the current process.

[0046] In step S2, the control device 6 determines whether the conditions for discontinuing driver abnormality response driving assistance have been met. Specifically, as described above, the control device 6 determines whether the count value N of the number of detected cancellation operations has become equal to or greater than the discontinuation determination threshold NTH. If the count value N is equal to or greater than the discontinuation determination threshold NTH, that is, if the conditions for discontinuing driver abnormality response driving assistance have been met, the control device 6 proceeds to the process in step S3. On the other hand, if the count value N is less than the discontinuation determination threshold NTH, that is, if the conditions for discontinuing driver abnormality response driving assistance have not been met, the control device 6 proceeds to the process in step S4.

[0047] In step S3, the control device 6 discontinues the driver abnormality response driving assistance.

[0048] In step S4, the control device 6 continues to provide driver abnormality response driving support.

[0049] Figure 3 is a flowchart illustrating the reset process of the counter value N according to this embodiment, which is performed by the driving support unit 73 and, consequently, the control device 6. The control device 6 repeatedly executes this routine at a predetermined calculation cycle.

[0050] In step S11, the control device 6 determines whether or not it is in the process of providing a driver abnormality response driving assistance notification control. If it is in the process of providing a notification control, the control device 6 proceeds to the process in step S12. On the other hand, if it is not in the process of providing a notification control, the control device 6 terminates the current process.

[0051] In step S12, the control device 6 determines whether it is the predetermined reset timing during deceleration control after notification control. If it is the reset timing, the control device 6 proceeds to the process in step S13. On the other hand, if it is not the reset timing, the control device 6 terminates the current process.

[0052] In this embodiment, the reset timing is set to, for example, an early point in the deceleration control (for example, when the elapsed time since the start of deceleration control is within a predetermined time, or when the amount of speed change since the start of deceleration control has exceeded a predetermined amount).

[0053] As a result of the inventors' diligent research, it has been found that a typical example of a situation in which multiple unintentional cancellation operations are performed during driver abnormality response driving assistance is when the driver loses consciousness while holding the steering wheel and enters an abnormal state, and steering operation is detected as the first cancellation operation at the notification control stage, and then, due to shocks and vibrations caused by deceleration during deceleration control, steering or pedal operations are performed accidentally, and these operations are detected as the second cancellation operation.

[0054] Therefore, by setting an arbitrary point in the early stages of deceleration control as the reset timing, the detection of unintentional steering or pedal operations during deceleration control as a second cancellation operation is suppressed. This further reduces the likelihood of driver abnormality response driving assistance being terminated due to unintentional cancellation operations, even when the driver is in an abnormal state.

[0055] In step S13, the control device 6 resets the count value N of the number of detected cancellation operations to zero.

[0056] The control device 6 (driving support control device) of the vehicle 100 according to this embodiment, as described above, is configured to respond to a driver abnormality when it is determined that the driver of the vehicle 100 is in an abnormal state that makes it difficult to continue driving the vehicle 100, and to stop the driving support when a predetermined cancellation operation is detected multiple times during the driver abnormality response, and to reset the count value of the number of detected cancellation operations to zero at a predetermined reset timing during the driver abnormality response. The driver abnormality response includes notification control, which is started after it is determined that the driver is in an abnormal state and notifies the driver, and deceleration control, which is started after a predetermined time has elapsed since the notification started and decelerates the vehicle 100. The reset timing is later than the time when the notification control is terminated.

[0057] Thus, according to this embodiment, the count value of the number of detected cancellation operations is reset to zero at a time later than when the notification control is terminated. Therefore, it is possible to suppress the tendency for the driver abnormality response driving assistance to be discontinued in the latter half of the driver abnormality response driving assistance, without hindering the driver from fulfilling the conditions for discontinuing the driver abnormality response driving assistance during the notification control period.

[0058] In particular, as in this embodiment, by setting an arbitrary point in the early stages of deceleration control as the reset timing, the detection of unintentional steering or pedal operations during deceleration control as a second cancellation operation is suppressed. This further reduces the likelihood of driver abnormality response driving assistance being terminated due to unintentional cancellation operations, even when the driver is in an abnormal state.

[0059] Although embodiments of the present invention have been described above, these embodiments only represent a part of the application examples of the present invention, and are not intended to limit the technical scope of the present invention to the specific configurations of the above embodiments.

[0060] Furthermore, in the above embodiment, for example, the computer program executed in the control device 6 may be provided in the form of a computer-readable portable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium, or it may be provided as a computer program product. [Explanation of Symbols]

[0061] 6. Control Device (Driving Assistance Control Device) 100 vehicles

Claims

1. A vehicle driver assistance control device, In response to the determination that the driver of the vehicle is in an abnormal state that makes it difficult to continue driving the vehicle, the system provides driving assistance to address the driver's abnormality. If a predetermined cancellation operation is detected multiple times during the aforementioned driving assistance, the driving assistance will be stopped. The system is configured to reset the count value of the number of times the cancellation operation has been detected to zero at a predetermined timing during the aforementioned driving assistance. The aforementioned driving assistance includes notification control, which is initiated after the driver has determined to be in an abnormal state and provides notification to the driver, and deceleration control, which is initiated after a predetermined time has elapsed since the notification was initiated and decelerates the vehicle. The predetermined timing is a timing later than the time when the notification control is terminated. Driver assistance control system.

2. The predetermined timing is the initial point in time of the deceleration control. The driver assistance control device according to claim 1.

3. The cancellation operation includes steering the vehicle and pedal operation of the vehicle. The driver assistance control device according to claim 1 or claim 2.

4. A method for assisting the driving of a vehicle, In response to the determination that the driver of the vehicle is in an abnormal state that makes it difficult to continue driving the vehicle, the system provides driving assistance to address the driver's abnormality. If a predetermined cancellation operation is detected multiple times during the aforementioned driving assistance, the driving assistance will be stopped. At a predetermined timing during the aforementioned driving assistance, the count value of the number of times the cancellation operation has been detected is reset to zero. The aforementioned driving assistance includes notification control, which is initiated after the driver has determined to be in an abnormal state and provides notification to the driver, and deceleration control, which is initiated after a predetermined time has elapsed since the notification was initiated and decelerates the vehicle. The predetermined timing is a timing later than the time when the notification control is terminated. Driving assistance methods.

5. It is a computer program, In response to a determination that the vehicle's driver is in an abnormal state that makes it difficult to continue driving the vehicle, the system provides driving assistance to address the driver's abnormality. If a predetermined cancellation operation is detected multiple times during the aforementioned driving assistance, the driving assistance will be stopped. At a predetermined timing during the aforementioned driving assistance, the count value of the number of times the cancellation operation has been detected is reset to zero. Let the computer perform the process, The aforementioned driving assistance includes notification control, which is initiated after the driver has determined to be in an abnormal state and provides notification to the driver, and deceleration control, which is initiated after a predetermined time has elapsed since the notification was initiated and decelerates the vehicle. The predetermined timing is a timing later than the time when the notification control is terminated. Computer program.

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