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

Abstract

The system is designed to allow a competent driver to cancel the deceleration / stop control at an appropriate stage before the deceleration / stop control is actually initiated. [Solution] The driver assistance control device 6 of the vehicle 100 performs driver assistance to respond to the driver's 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. The driver assistance includes notification control, which is started after it is determined that an abnormal state has occurred and notifies the driver for a predetermined period of time, and deceleration control, which is started after the notification control and decelerates the vehicle 100. When the driver assistance control device 6 detects a predetermined operation during the notification control, it extends the predetermined time compared to when the predetermined operation is not detected.

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 travel 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] However, in the above-described conventional vehicle travel control device, when the driver is actually in a normal state but is erroneously determined to be in an abnormal state, before the deceleration stop control is actually started, that is, at an appropriate stage before the driving intervention by the system is actually started, there is a problem that a normal driver cannot cancel the deceleration stop control.

[0005] The present invention has been made paying attention to such problems, and an object thereof is to enable a normal driver to cancel deceleration stop control at an appropriate stage before the deceleration stop control is actually started when the driver is erroneously determined to be in an abnormal state despite being in a normal state.

Means for Solving the Problems

[0006] To solve the above problems, a vehicle driving assistance control device according to one aspect of the present invention provides driving assistance to respond to an abnormality in the driver when it is determined that the vehicle driver is in an abnormal state that makes it difficult to continue driving the vehicle. This driving assistance includes notification control, which is started after it is determined that an abnormal state has occurred and notifies the driver for a predetermined period of time, and deceleration control, which is started after the notification control and decelerates the vehicle. When a predetermined operation is detected during the notification control, the predetermined period is made longer than when the predetermined operation is not detected.

[0007] 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 that makes it difficult to continue driving the vehicle, provides driving assistance to address the driver's abnormality. This driving assistance includes notification control, which is started after the determination of an abnormal state and provides notification to the driver for a predetermined period of time, and deceleration control, which is started after the notification control and decelerates the vehicle. If a predetermined operation is detected during the notification control, the predetermined period is made longer than in the case where the predetermined operation is not detected.

[0008] Furthermore, a computer program according to one aspect of the present invention provides driving assistance to address driver abnormalities in response to a determination that the vehicle driver is in an abnormal state that makes it difficult to continue driving the vehicle. This driving assistance includes notification control, which is started after an abnormal state is determined and provides notification to the driver for a predetermined period of time, and deceleration control, which is started after the notification control and slows down the vehicle. If a predetermined operation is detected during the notification control, the computer is instructed to perform a process that extends the predetermined time compared to when the predetermined operation is not detected. [Effects of the Invention]

[0009] According to these aspects of the present invention, if the driver is functioning normally, the driver assistance can be stopped at the notification control stage before deceleration control is initiated, and it is also possible to make this stopping easier. [Brief explanation of the drawing]

[0010] [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 notification control extension process for driver abnormality response driving assistance according to one embodiment of the present invention. [Modes for carrying out the invention]

[0011] 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.

[0012] Figure 1 is a schematic diagram of a vehicle 100 according to one embodiment of the present invention.

[0013] 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.

[0014] 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.

[0015] 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.

[0016] 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 operation, including at least one of steering grip, steering torque and steering angle, an accelerator sensor 24 that acquires data related to accelerator operation, such as the amount the accelerator pedal is depressed, and a brake sensor 25 that acquires data related to brake operation, such as the detection of brake pedal input. However, vehicle sensor 2 is not limited to these sensors. Each data acquired by each sensor 21 to 25 is transmitted to the control device 6 as vehicle data.

[0017] 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.

[0018] HMI4 is a user interface for information exchange between the vehicle 100 and its occupants. The HMI4 includes an output device 41 for notifying the vehicle occupants through the physical sensations of the vehicle occupants (such as vision, hearing, and touch), and an input device 42 for the vehicle occupants to perform input operations and response operations. The output device 41 is, for example, displays (such as a meter display, a center display, a head-up display, etc.) or a speaker. The input device 42 is, for example, a touch panel or a microphone.

[0019] The HMI4 notifies the vehicle occupants of information according to the output signal received from the control device 6 via the output device 41, and transmits the data input by the vehicle occupants via the input device 42 to the control device 6.

[0020] The HMI4 may be pre-installed in 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 short-range wireless communication between the vehicle 100 and the vehicle occupants' terminal, or communication may be performed between the vehicle occupants' terminal and an external server (not shown), and information exchange may be performed indirectly via the server.

[0021] 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 for performing acceleration control of the vehicle 100 (for example, at least one of an engine and a motor), a brake actuator 52 for performing brake control of the vehicle 100 (for example, a hydraulic actuator), and a steering actuator 53 for performing steering control of the vehicle 100 (for example, a steering motor).

[0022] The control device 6 is an ECU (Electronic Control Unit) including a communication unit 61, a storage unit 62, and a processing unit 63.

[0023] 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. Also, the communication unit 61 outputs various signals output from the processing unit 63 to the outside.

[0024] 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.

[0025] The processing unit 63 has one or more CPUs (Central Processing Units) and their peripheral circuits, and executes various computer programs stored in the storage 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 arithmetic unit, a numerical arithmetic unit, or a graphic processing unit. By executing processing according to a 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 explaining the processing with the main subject being each functional unit 71 to 73, it indicates that the processing unit 63 is executing a program that realizes each functional unit 71 to 73.

[0026] Hereinafter, the content of specific processing performed in the control device 6 will be described. That is, the content of each functional unit 71 to 73 realized by the processing unit 63 executing processing according to a computer program will be described.

[0027] The abnormal state determination unit 71 determines, for example, whether the driver has fallen into an abnormal state (hereinafter simply referred to as an "abnormal state") in which it is difficult to continue driving due to a sudden change in physical condition or the like. In the present embodiment, the abnormal state determination unit 71 determines that the driver has fallen into an abnormal state when a predetermined abnormal estimated state continues for a predetermined determination time T1 [s].

[0028] An abnormal state is a condition in which the driver can be considered to be in an abnormal state. Examples of abnormal states 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 in the driver may include, for example, 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, or a state in which the driver is arching their back due to rigidity caused by epilepsy, etc.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] The driver assistance unit 73, as one of the driver assistance functions involving vehicle 100 driving control, implements driver abnormality response driver assistance 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 implements notification control for a predetermined period of time, notifying the driver via the HMI 4 of control warnings and alerts. After the notification control, it then implements deceleration and stop control (more specifically, deceleration control and stop-hold control) to decelerate the vehicle 100 and hold the vehicle 100 in a stopped state. In other words, driver abnormality response driver assistance includes notification control and deceleration and stop control (deceleration control and stop-hold control).

[0033] 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.

[0034] Furthermore, in this embodiment, if a predetermined termination condition is met during driver abnormality response driving assistance, the driving assistance is terminated. The termination condition is a condition in which it can be determined that the driver's state is a normal state in which driving can continue. For example, in this embodiment, each time any of the steering, accelerator, or brake operations is performed (i.e., each time an override is performed), it is determined that a cancellation operation of the driver abnormality response driving assistance has been performed once, and the termination condition of the driver abnormality response driving assistance is set when the number of detected cancellation operations N becomes equal to or greater than a predetermined termination determination threshold NTH. In this embodiment, the value of the termination determination threshold NTH is set to 2, but the termination determination threshold NTH can be any value of 1 or greater. Also, in this embodiment, whether or not each of the steering, accelerator, and brake operations 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.

[0035] 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 driving assistance is activated, the driver can perform a cancellation operation to meet the termination conditions and stop the driver abnormality response driving assistance.

[0036] On the other hand, if the driver is in a normal state but is judged to be in an abnormal state and deceleration / stop control is actually initiated, the vehicle 100 will be decelerated against the driver's will. Therefore, if the driver is in a normal state but is judged to be in an abnormal state, it is desirable that the driver be able to meet the cancellation condition at the notification control stage before the deceleration / stop control is actually initiated, that is, before the system actually intervenes in the driving operation.

[0037] Therefore, in this embodiment, when a predetermined operation that can be performed by the driver is detected during notification control, the notification control period is extended because there is a possibility that the driver is in a normal state. This makes it easier to satisfy the conditions for discontinuing driver abnormality response driving support during the notification control period before entering deceleration stop control, if the driver is in a normal state. On the other hand, if the driver is actually in an abnormal state, deceleration stop control is started without extending the notification control period, so the vehicle can be decelerated and stopped as soon as the driver abnormality is detected. The details of driver abnormality response driving support according to this embodiment will be described below with reference to Figures 2 and 3.

[0038] 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.

[0039] 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.

[0040] In step S2, the control device 6 determines whether the conditions for discontinuing driver abnormality response driving assistance have been met. 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 conditions for discontinuing driver abnormality response driving assistance have not been met, the control device 6 proceeds to the process in step S4.

[0041] In step S3, the control device 6 discontinues the driver abnormality response driving assistance.

[0042] In step S4, the control device 6 continues to provide driver abnormality response driving support.

[0043] Figure 3 is a flowchart illustrating the notification control extension process for 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.

[0044] 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.

[0045] In step S12, the control device 6 determines whether the notification control extension flag F is 0. The notification control extension flag F is a flag that is set to 1 when the notification control is extended (when the notification control time TA is set to the second implementation time TA2, as described later), and its initial value is 0. If the notification control extension flag F is 0, the control device 6 proceeds to the process in step S13. On the other hand, if the notification control extension flag F is 1, the control device 6 proceeds to the process in step S17.

[0046] In step S13, the control device 6 determines whether a predetermined operation that can be performed by the driver has been detected. If the predetermined operation has been detected, the control device 6 proceeds to the process in step S14. On the other hand, if the predetermined operation has not been detected, the control device 6 proceeds to the process in step S15.

[0047] For example, as in this embodiment, if the cancellation determination threshold NTH is set to a value of 2 or more so that the driver abnormality response driving support is stopped when multiple cancellation operations are detected, the first cancellation operation can be designated as a predetermined operation.

[0048] In step S14, the control device 6 sets the notification control time (the period during which notification control is continued) TA[s] to a second implementation time TA2 which is longer than the normal first implementation time TA1.

[0049] In step S15, the control device 6 sets the notification control time TA to the normal first execution time TA1.

[0050] In step S16, the control device 6 sets the notification control extension flag F to 1.

[0051] In step S17, the control device 6 determines whether the elapsed time T[s] since the start of the notification control is equal to or greater than the notification control time TA. If the elapsed time T is equal to or greater than the notification control time TA, the control device 6 proceeds to the process in step S18. On the other hand, if the elapsed time T is less than the notification control time TA, the control device 6 proceeds to the process in step S19.

[0052] In step S18, the control device 6 resets the notification control extension flag F to 0, terminates the notification control, and starts deceleration stop control.

[0053] In step S19, the control device 6 continues the notification control.

[0054] The control device 6 (driving support control device) of the vehicle 100 according to this embodiment, as described above, implements driver abnormality response driving support to respond to 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. The driver abnormality response driving support includes notification control, which is started after the determination of an abnormal state and notifies the driver for a predetermined time, and deceleration control, which is started after the notification control and decelerates the vehicle. If a predetermined operation is detected during the notification control, the predetermined time is made longer than when the predetermined operation is not detected.

[0055] As described above, according to this embodiment, when a predetermined operation is detected during notification control, that is, when there is a possibility that the driver is normal, the notification control period is extended. Therefore, if the driver is normal, it becomes easy for the driver to perform a cancellation operation for driver abnormality response driving assistance during the notification control period before deceleration control begins, thereby fulfilling the termination condition. On the other hand, if the driver is actually in an abnormal state, deceleration and stopping control is started without extending the notification control period, so the vehicle can be stopped early after detecting a driver abnormality.

[0056] Furthermore, in this embodiment, the control device 6 is configured to discontinue the driver abnormality response driving support when a predetermined cancellation operation is performed multiple times, and the first cancellation operation is the predetermined operation.

[0057] In this way, by requiring multiple cancellation operations to halt the driver abnormality response driving assistance system, the system will not be terminated even if a driver experiencing an abnormal state such as tension, rigidity, or weakness unintentionally performs a pedal or steering operation (i.e., override) once. Therefore, it is possible to prevent the driver abnormality response driving assistance system from being terminated due to unintentional override, even when the driver is in an abnormal state.

[0058] On the other hand, requiring multiple cancellation operations to stop the driver abnormality response driving assistance increases the effort and time required to complete the cancellation operations. Therefore, if the driver is in a normal state, it becomes relatively difficult to complete multiple cancellation operations during the notification control to stop the driver abnormality response driving assistance. In contrast, according to this embodiment, the notification control period is extended by performing the first operation, making it easier to perform the cancellation operation for the driver abnormality response driving assistance during the notification control period before deceleration control begins and to satisfy the termination conditions.

[0059] Furthermore, since the first cancellation operation is detected, it is highly likely that the driver is functioning correctly. Therefore, the notification control period can be extended in appropriate scenarios where the driver is likely to be functioning correctly.

[0060] 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.

[0061] For example, in the above embodiment, in addition to or instead of the first cancellation operation, an input operation that can be performed by the driver other than steering, accelerating, and braking (i.e., an input operation that can be performed by the driver other than driving operations related to steering, acceleration, and braking) may be designated as a predetermined operation. Examples of such input operations include, but are not limited to, the operation of various switches provided on the instrument panel or steering wheel (hazard switches, ON / OFF switches for various driving assistance systems, driving mode select switches, air conditioning operation switches, audio system operation switches, etc.) and the operation of the shift lever.

[0062] Furthermore, in the above embodiment, if, for example, it is determined that an operation has been performed when the amount of change in each operation—steering, accelerator, and brake—exceeds a predetermined amount, then in addition to or instead of the first cancellation operation, a cancellation operation in which the amount of change in operation is less than the predetermined amount may be designated as the predetermined operation.

[0063] This allows the driver to be considered likely to be functioning correctly even when some input operation, such as operating switches, is performed, or when a small cancellation operation with an operation change amount less than a predetermined amount is detected. Therefore, the notification control period can be extended in appropriate scenes where the driver is likely to be functioning correctly.

[0064] Furthermore, if the value of the cancellation judgment threshold NTH is set to 1 so that the driver abnormality response driving assistance is stopped when a cancellation operation is detected once, then input operations that can be performed by the driver other than steering, accelerator, and brake operations may be designated as designated operations, or cancellation operations where the amount of change in operation is less than a predetermined amount may be designated as designated operations, or both may be designated as designated operations.

[0065] Furthermore, in the above embodiment, the notification control period was extended only once when a predetermined operation was detected. However, the notification control period may be extended each time a predetermined operation is detected until the number of times the predetermined operation is detected reaches a predetermined upper limit.

[0066] 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]

[0067] 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. The aforementioned driving assistance includes notification control, which is initiated after an abnormal condition is determined and provides notification to the driver for a predetermined period of time, and deceleration control, which is initiated after the notification control and slows down the vehicle. When a predetermined operation is detected during the notification control, the predetermined time is configured to be longer than when the predetermined operation is not detected. Driver assistance control system.

2. If a predetermined cancellation operation is performed multiple times during the aforementioned driving assistance, the aforementioned driving assistance will be terminated. The aforementioned predetermined operation is the first operation of the cancellation operation. The driver assistance control device according to claim 1.

3. When a predetermined cancellation operation is performed once or multiple times during the aforementioned driving assistance, the aforementioned driving assistance is stopped. When the amount of change in the operation of the cancellation operation exceeds a predetermined amount, it is determined that the cancellation operation has been performed. The predetermined operation is the cancellation operation in which the amount of change in the operation is less than the predetermined amount. The driver assistance control device according to claim 1.

4. The aforementioned predetermined operation is an input operation performed by the driver other than driving operations related to acceleration, steering, and braking. A driver assistance control device according to any one of claims 1 to 3.

5. A method of 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. The aforementioned driving assistance includes notification control, which is initiated after determining that an abnormal condition exists and provides notification to the driver for a predetermined period of time, and deceleration control, which is initiated after the notification control and causes the vehicle to decelerate. When a predetermined operation is detected during the notification control, the predetermined time is made longer compared to the case when the predetermined operation was not detected. Driving assistance methods.

6. 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. The aforementioned driving assistance includes notification control, which is initiated after determining that an abnormal condition exists and provides notification to the driver for a predetermined period of time, and deceleration control, which is initiated after the notification control and causes the vehicle to decelerate. When a predetermined operation is detected during the notification control, the predetermined time is made longer compared to the case when the predetermined operation was not detected. A computer program that instructs a computer to perform a process.

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