Driving assistance device, computer program, and recording medium on which the computer program is recorded

Abstract

Provided are a driving assistance device, a computer program, and a recording medium capable of executing appropriate assistance processing according to a state of recognition by a driver of an own vehicle about a situation in which the own vehicle is obstructing a following vehicle. The driving assistance device which assists vehicle driving and executes processing which includes: determining whether or not the situation in which the vehicle is obstructing the travel of the following vehicle is present; if the driving assistance device determines that the situation in which the vehicle is obstructing the travel of the following vehicle exists, determining whether or not the driver of the vehicle is recognizing this situation; and on the basis of the state of the recognition about this situation by the driver, setting an assistance operation for avoiding this situation.

Description

[Technical field]

[0001] The present disclosure relates to a driving assistance device and a computer program that assist driving of a vehicle in a situation where the vehicle is blocking the passage of a vehicle behind, and a recording medium having the computer program recorded thereon. [Background technology]

[0002] Conventionally, various devices have been proposed to assist the driving of a vehicle in a situation where the vehicle is obstructing a vehicle traveling behind the vehicle (hereinafter also referred to as a "rear vehicle"). For example, Patent Document 1 proposes a tailgating elimination system that eliminates tailgating by a following vehicle. Specifically, Patent Document 1 discloses a tailgating elimination system that includes tailgating detection means that detects that a first vehicle is being tailgated by a second vehicle, and tailgating elimination means that eliminates tailgating when tailgating by the second vehicle is detected by the tailgating detection means. When tailgating is detected, this tailgating elimination system causes the first vehicle to change lanes or stop on the shoulder of the road, or transmits an instruction signal to the second vehicle to suppress tailgating.

[0003] Also, Patent Document 2 proposes an evacuation drive support device that quickly causes the host vehicle to evacuate when an emergency vehicle approaches. Specifically, Patent Document 2 discloses an evacuation drive support device that includes a detection unit that detects that an emergency vehicle is approaching, an information acquisition unit that acquires information related to ordinary vehicles and information related to roads, a target evacuation position calculation unit that determines a target evacuation position for the host vehicle based on the information related to ordinary vehicles and the information related to roads to clear a driving path for the emergency vehicle and successively updates the target evacuation position based on at least the information related to ordinary vehicles, and a notification unit that notifies the driver of the host vehicle of the target evacuation position. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2019-119371 A [Patent Document 2] JP 2018-195202 A Summary of the Invention [Problem to be solved by the invention]

[0005] The support devices disclosed in Patent Documents 1 and 2 are both configured to execute a predetermined control regardless of whether the driver of the vehicle is aware of the situation in which the vehicle is obstructing the vehicle behind. If the driver is not aware of the situation in which the vehicle is obstructing the vehicle behind, it is considered that the situation can be resolved by making the driver aware of such a situation. However, for example, if the driver is aware of the situation, it is considered that some drivers can take appropriate driving actions to avoid the situation, and the driver may feel bothered by the processing of driving control, notification, etc. executed by the support device.

[0006] The present disclosure has been made in consideration of the above problems, and an object of the present disclosure is to provide a driving assistance device and a computer program, as well as a recording medium having a computer program recorded thereon, that are capable of executing appropriate assistance processing in accordance with the driver's state of awareness of a situation in which the vehicle is obstructing a rear vehicle. [Means for solving the problem]

[0007] In order to solve the above problems, according to one aspect of the present disclosure, there is provided a driving assistance device that assists in driving a vehicle, the driving assistance device including one or more processors and one or more memories communicatively connected to the one or more processors, the one or more processors determining whether or not the vehicle is in a situation where it is obstructing the passage of a rear vehicle, and if it is determined that the vehicle is in a situation where it is obstructing the passage of a rear vehicle, determining whether or not the driver of the vehicle is aware of the situation, and setting an assistance operation to avoid the situation based on the driver's awareness of the situation.

[0008] In addition, in order to solve the above problem, according to another aspect of the present disclosure, there is provided a driving assistance device that assists in driving a vehicle, the driving assistance device including: a traffic condition determination unit that determines whether or not the vehicle is in a situation where it is obstructing the passage of a rear vehicle; a driver state determination unit that, when it is determined that the vehicle is in a situation where it is obstructing the passage of a rear vehicle, determines whether or not the driver of the vehicle is aware of the situation; and an assistance processing unit that sets an assistance operation to avoid the situation based on the driver's awareness of the situation.

[0009] In addition, in order to solve the above problem, according to another aspect of the present disclosure, there is provided a computer program applied to a driving assistance device that assists in driving a vehicle, the computer program causing one or more processors to execute processing including determining whether or not the vehicle is in a situation where it is obstructing the passage of vehicles behind, and if it is determined that the vehicle is in a situation where it is obstructing the passage of vehicles behind, determining whether or not the driver of the vehicle is aware of the situation, and setting an assistance operation to avoid the situation based on the driver's awareness of the situation, and a recording medium having the computer program recorded thereon. Effect of the Invention

[0010] As described above, according to the present disclosure, it is possible to execute an appropriate assistance process in accordance with the state of awareness of the driver of the own vehicle with respect to a situation in which the own vehicle is obstructing a rear vehicle. [Brief description of the drawings]

[0011] [Figure 1] 1 is a schematic diagram illustrating a configuration example of a vehicle equipped with a driving assistance device according to an embodiment of the present disclosure. [Diagram 2] 2 is a block diagram showing a configuration example of a driving assistance device according to the embodiment; FIG. [Diagram 3] 5 is a flowchart showing a main routine of an avoidance support processing operation performed by the driving support device according to the embodiment; [Figure 4]5 is a flowchart showing a recognition assistance process performed by the driving assistance device according to the embodiment. [Diagram 5] 11 is an explanatory diagram showing an example of setting a determination threshold value for a consciousness level according to the embodiment; FIG. [Figure 6] FIG. 11 is an explanatory diagram showing differences in notification timing due to differences in driving skill levels. [Figure 7] 10 is an explanatory diagram showing an example of determining whether a driver can determine an avoidance action based on a steering angle according to the embodiment; FIG. [Figure 8] 11 is an explanatory diagram showing another example of determining whether the driver can determine whether to take an avoidance action based on the steering angle; FIG. [Figure 9] 5 is a flowchart showing an evacuation support process performed by the driving support device according to the embodiment. [Figure 10] 11 is an explanatory diagram showing an example of an image displayed by the driving assistance device according to the embodiment to notify the driver of a target evacuation position; FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In this specification and the drawings, components having substantially the same functional configurations are denoted by the same reference numerals, and redundant description will be omitted.

[0013] <1. Overall vehicle configuration> First, an example of the overall configuration of a vehicle to which a driving assistance device according to an embodiment of the present disclosure can be applied will be described.

[0014] Fig. 1 is a schematic diagram showing an example of the configuration of a vehicle 1 equipped with a driving support device 50 according to this embodiment. The vehicle 1 shown in Fig. 1 is configured as a four-wheel drive vehicle in which driving torque output from a driving force source 9 that generates driving torque for the vehicle is transmitted to a left front wheel 3LF, a right front wheel 3RF, a left rear wheel 3LR, and a right rear wheel 3RR (hereinafter collectively referred to as "wheels 3" unless a distinction is particularly required). The driving force source 9 may be an internal combustion engine such as a gasoline engine or a diesel engine, may be a driving motor, or may include both an internal combustion engine and a driving motor.

[0015] The vehicle 1 may be an electric vehicle equipped with two drive motors, for example a front-wheel drive motor and a rear-wheel drive motor, or an electric vehicle equipped with drive motors corresponding to each of the wheels 3. If the vehicle 1 is an electric vehicle or a hybrid electric vehicle, the vehicle 1 is equipped with a secondary battery that stores power supplied to the drive motors, and a generator such as a motor or fuel cell that generates power to charge the battery.

[0016] The vehicle 1 is equipped with a driving force source 9, an electric steering device 15, and a brake fluid pressure control unit 20 as devices used for driving control of the vehicle 1. The driving force source 9 outputs driving torque that is transmitted to the front wheel drive shaft 5F and the rear wheel drive shaft 5R via a transmission, a front wheel differential mechanism 7F, and a rear wheel differential mechanism 7R (not shown). The driving of the driving force source 9 and the transmission is controlled by a vehicle control device 41 that includes one or more electronic control devices (ECU: Electronic Control Unit).

[0017] The front-wheel drive shaft 5F is provided with an electric steering device 15. The electric steering device 15 includes an electric motor and a gear mechanism (not shown), and is controlled by a vehicle control device 41 to adjust the steering angles of the left front wheel 3LF and the right front wheel 3RF. During manual driving, the vehicle control device 41 controls the electric steering device 15 based on the steering angle of the steering wheel 13 by the driver. During automatic driving, the vehicle control device 41 controls the electric steering device 15 based on a target steering angle set by the driving assistance device 50.

[0018] The brake system of the vehicle 1 is configured as a hydraulic brake system. A brake fluid pressure control unit 20 adjusts the hydraulic pressure supplied to brake calipers 17LF, 17RF, 17LR, and 17RR (hereinafter collectively referred to as "brake calipers 17" unless a distinction is required) provided on the front, rear, left, and right drive wheels 3LF, 3RF, 3LR, and 3RR, respectively, to generate braking force. The drive of the brake fluid pressure control unit 20 is controlled by a vehicle control device 41. When the vehicle 1 is an electric vehicle or a hybrid electric vehicle, the brake fluid pressure control unit 20 is used in conjunction with regenerative braking by a drive motor.

[0019] The vehicle control device 41 includes one or more electronic control devices that control the driving of the driving force source 9 that outputs the driving torque of the vehicle 1, the electric steering device 15 that controls the steering angle of the steering wheel 13 or the steering wheels, and the brake fluid pressure control unit 20 that controls the braking force of the vehicle 1. The vehicle control device 41 may have a function of controlling the driving of a transmission that changes the speed of the output output from the driving force source 9 and transmits it to the wheels 3. The vehicle control device 41 is configured to be able to acquire information transmitted from the driving assistance device 50, and is configured to be able to execute automatic driving control of the vehicle 1. In addition, during manual driving of the vehicle 1, the vehicle control device 41 acquires information on the amount of operation by the driver's driving, and controls the driving of the driving force source 9 that outputs the driving torque of the vehicle 1, the electric steering device 15 that controls the steering angle of the steering wheel 13 or the steering wheels, and the brake fluid pressure control unit 20 that controls the braking force of the vehicle 1.

[0020] The vehicle 1 also has forward-facing cameras 31LF, 31RF, a rear-facing camera 31R, a LiDAR (Light Detection And Ranging) 31S, an in-vehicle camera 33, a biometric sensor 34, a vehicle condition sensor 35, a GPS (Global Positioning System) sensor 37, a vehicle-to-vehicle communication unit 39, a navigation system 40 and an HMI (Human Machine Interface) 43.

[0021] The front photographing cameras 31LF, 31RF, the rear photographing camera 31R, and the LiDAR 31S constitute an ambient environment sensor for acquiring information on the ambient environment of the vehicle 1. The front photographing cameras 31LF, 31RF and the rear photographing camera 31R photograph the front or rear of the vehicle 1 and generate image data. The front photographing cameras 31LF, 31RF and the rear photographing camera 31R are equipped with imaging elements such as CCDs (Charged-Coupled Devices) or CMOSs ​​(Complementary Metal-Oxide-Semiconductors), and transmit the generated image data to the driving assistance device 50.

[0022] 1, the front photographing cameras 31LF, 31RF are configured as a stereo camera including a pair of left and right cameras, and the rear photographing camera 31R is configured as a so-called monocular camera, but each may be either a stereo camera or a monocular camera. In addition to the front photographing cameras 31LF, 31RF and the rear photographing camera 31R, the vehicle 1 may be equipped with cameras that are provided on the side mirrors 11L, 11R, for example, to photograph the left rear or right rear.

[0023] The LiDAR 31S transmits optical waves and receives reflected waves of the optical waves, and detects an object and the distance to the object based on the time from transmitting the optical waves to receiving the reflected waves. The LiDAR 31S transmits the detection data to the driving assistance device 50. The vehicle 1 may be equipped with one or more sensors selected from a radar sensor such as a millimeter wave radar and an ultrasonic sensor as a surrounding environment sensor for acquiring information about the surrounding environment, instead of or in addition to the LiDAR 31S.

[0024] The in-vehicle camera 33 is composed of one or more sensors that detect information about the driver of the vehicle 1. The in-vehicle camera 33 is equipped with an imaging element such as a CCD or CMOS, captures images of the interior of the vehicle, and generates image data. The in-vehicle camera 33 transmits the generated image data to the driving assistance device 50. In this embodiment, the in-vehicle camera 33 is positioned so as to be able to capture an image of the driver of the vehicle 1. Only one in-vehicle camera 33 may be installed, or multiple in-vehicle cameras 33 may be installed.

[0025] The biosensor 34 detects the bioinformation of the driver and transmits the detected data to the driving support device 50. The biosensor 34 may be, for example, a radio wave Doppler sensor for detecting the driver's heartbeat, or a non-wearable pulse sensor for detecting the driver's pulse. The biosensor 34 may be an electrode set embedded in the steering wheel 13 for measuring the driver's heartbeat or electrocardiogram. The biosensor 34 may be a pressure measuring instrument embedded in the driver's seat for measuring the seat pressure distribution in a seated state in which the driver is seated in the seat. The biosensor 34 may be a displacement sensor for detecting a change in the position of a seat belt in order to measure the driver's heartbeat or respiration. The biosensor 34 may be a TOF (Time of Flight) sensor for detecting information on the driver's position. The biosensor 34 may be a thermography for measuring the surface temperature of the driver's skin.

[0026] The biosensor 34 may be a wearable sensor that is worn by the driver to detect the driver's bioinformation. The wearable biosensor 34 may be, for example, a wristwatch type or a head- or arm-worn wearable device. These wearable devices may have a function of detecting the driver's bioinformation such as heart rate, pulse, blood pressure, and body temperature. The wearable biosensor 34 may be connected to the driving assistance device 50 directly or via a communication means such as a Controller Area Network (Controller Area Network) or a Local Inter Net (LIN). Alternatively, the wearable biosensor 34 may be configured to be able to communicate with the driving assistance device 50 via a wireless communication means such as Bluetooth (registered trademark), Near Field Communication (NFC), wireless fidelity (WiFi), or a Local Area Network (LAN).

[0027] The vehicle state sensor 35 is composed of one or more sensors that detect the operation state and behavior of the vehicle 1. The vehicle state sensor 35 includes at least one of a steering angle sensor, an accelerator position sensor, a brake stroke sensor, a brake pressure sensor, and an engine speed sensor, and detects the operation state of the vehicle 1, such as the steering angle of the steering wheel 13 or the steering wheels, the accelerator opening, the brake operation amount, or the engine speed. The vehicle state sensor 35 also includes at least one of a vehicle speed sensor, an acceleration sensor, and an angular velocity sensor, and detects the behavior of the vehicle, such as the vehicle speed, the longitudinal acceleration, the lateral acceleration, and the yaw rate. The vehicle state sensor 35 also includes a sensor that detects the operation of a turn signal, and detects the operation state of the turn signal. The vehicle state sensor 35 transmits a sensor signal including the detected information to the driving assistance device 50.

[0028] The vehicle-to-vehicle communication unit 39 is an interface for communicating with vehicles traveling around the vehicle 1 (hereinafter also referred to as "other vehicles").

[0029] The navigation system 40 is a known navigation system that sets a driving route to a destination set by a passenger and notifies the driver of the driving route. A GPS sensor 37 is connected to the navigation system 40, and receives satellite signals from GPS satellites via the GPS sensor 37 to obtain position information on the map data of the vehicle 1. Note that an antenna that receives satellite signals from another satellite system that identifies the position of the vehicle 1 may be used instead of the GPS sensor 37.

[0030] The HMI 43 is driven by the driving support device 50 and presents various information to the driver by means of image display, audio output, etc. The HMI 43 includes, for example, a display device provided in an instrument panel and a speaker provided in the vehicle. The display device may have the function of the display device of the navigation system 40. The HMI 43 may also include a head-up display that displays an image on the front window of the vehicle 1.

[0031] <2. Driving support devices> Next, the driving support device 50 according to this embodiment will be described in detail.

[0032] (2-1. Configuration example) FIG. 2 is a block diagram showing an example of the configuration of the driving support device 50 according to this embodiment. The driving support device 50 is connected to a surrounding environment sensor 31, an in-vehicle camera 33, a biosensor 34, and a vehicle state sensor 35 via a dedicated line or communication means such as a controller area network (CAN) or a local inter net (LIN). The driving support device 50 is also connected to an inter-vehicle communication unit 39, a navigation system 40, a vehicle control device 41, and an HMI 43 via a dedicated line or communication means such as a CAN or a LIN. The driving support device 50 is not limited to an electronic control device mounted on the vehicle 1, and may be a terminal device such as a smartphone or a wearable device.

[0033] The driving support device 50 includes a control unit 51 and a storage unit 53. The control unit 51 includes one or more processors such as a central processing unit (CPU). A part or all of the control unit 51 may be configured with an updatable firmware or the like, or may be a program module or the like executed by a command from the CPU or the like. The storage unit 53 includes a recording medium (memory) such as a random access memory (RAM) or a read only memory (ROM). However, the number and type of the storage units 53 are not particularly limited. The storage unit 53 records information such as computer programs executed by the control unit 51, various parameters used in the calculation process, detection data, and calculation results.

[0034] (2-2. Driver database) The driving support device 50 is communicatively connected to a driver database 71. The driver database 71 is composed of a storage element such as a RAM, or an updatable recording medium such as a hard disk drive (HDD), a compact disk (CD), a digital versatile disk (DVD), a solid state drive (SSD), a USB flash, or a storage device. However, the type of recording medium is not particularly limited. One or all of the driver databases 71 may be mounted on the vehicle 1, or may be stored in a server capable of communicating with the driving support device 50 via wireless communication means such as mobile communication.

[0035] The driver database 71 is a database that records information about drivers. In this embodiment, the driver database 71 records feature amount data extracted from the face image of each driver and identification information associated with each feature amount data. The identification information is not particularly limited, and may be data consisting of letters, numbers, and symbols, for example.

[0036] The driver database 71 also records information on the driving skills of each driver in association with the driver's identification information. The driving skill information may include, for example, data on driving operations acquired during past manual driving by each driver. This information may be recorded data collected by a control device mounted on each vehicle while each driver is driving the vehicle. The driving skill information may also include information on the results of a questionnaire collected in advance from each driver. The questionnaire information may include driving history data such as years of driving experience, driving frequency, accident history, and traffic law violation history. The questionnaire information may also include data on thoughts on driving (driving philosophy) such as vehicle speed, vehicle distance, and acceleration / deceleration.

[0037] (2-2. Functional configuration of the control unit) The control unit 51 of the driving support device 50 judges whether or not the vehicle (own vehicle) 1 is in a situation where it is obstructing the passage of a rear vehicle (hereinafter also referred to as a "traffic obstruction situation"), and when it is judged that a traffic obstruction situation exists, judges whether or not the driver of the own vehicle 1 recognizes the traffic obstruction situation. Furthermore, the control unit 51 executes processing including setting a support operation for avoiding the traffic obstruction situation based on the driver's recognition state of the traffic obstruction situation.

[0038] 2, the control unit 51 of the driving support device 50 includes a driver determination unit 61, an acquisition unit 62, a traffic situation determination unit 63, a driver state determination unit 64, and a support processing unit 65. Each of these units may have a function realized by a processor such as a CPU executing a computer program, but may also be configured partially or entirely by analog circuits. Below, the function of each unit of the control unit 51 will be briefly described, and then the processing operation of the control unit 51 will be specifically described.

[0039] (Driver Judgment Unit) The driver determination unit 61 executes a process of identifying the driver of the vehicle 1 in reference to the driver database 71 and determining the driving skill level of the driver based on image data transmitted from the in-vehicle photographing camera 33. The driver determination unit 61 may identify the driver of the vehicle 1 and determine the driving skill level of the driver based on information input by the driver or a passenger via an input device such as a touch panel.

[0040] (Acquisition Department) The acquisition unit 62 executes a process of acquiring various information related to the traffic conditions of the vehicle 1. Specifically, the acquisition unit 62 acquires information on the running state of the vehicle 1 based on a detection signal transmitted from the vehicle state sensor 35, and acquires information on the surrounding environment of the vehicle 1 based on a detection signal transmitted from the surrounding environment sensor 31. The acquisition unit 62 may also acquire position information and running state information of each vehicle from other vehicles capable of vehicle-to-vehicle communication. The acquisition unit 62 records the acquired various information in the storage unit 53 as time-series data.

[0041] (Traffic Condition Judgment Unit) The traffic condition determination unit 63 determines the traffic conditions around the host vehicle 1 based on information on the driving state of the host vehicle 1 and information on the surrounding environment of the host vehicle 1. Specifically, the traffic condition determination unit 63 detects other vehicles driving around the host vehicle 1 based on information on the surrounding environment of the host vehicle 1, and calculates information on the driving state of the other vehicles and information on the relative positions of the host vehicle 1 and the other vehicles. The information on the driving state of the other vehicles includes information on the speed, acceleration and deceleration of the other vehicles, and the lighting state of the headlights of the rear vehicle. Furthermore, the information on the relative positions of the host vehicle 1 and the other vehicles includes information on the positions, relative speed, and vehicle distance of the other vehicles as viewed from the host vehicle 1.

[0042] Further, the traffic condition determination unit 63 executes a process of determining whether or not the host vehicle 1 is obstructing the passage of a rear vehicle based on information on the traveling state of the host vehicle 1, information on the surrounding environment of the host vehicle 1, information on the traveling state of other vehicles, and information on the relative positions of the host vehicle 1 and other vehicles. Traffic obstruction situations in which the host vehicle 1 is obstructing the passage of a rear vehicle include a situation in which the host vehicle 1 is being tailgated by a rear vehicle, a situation in which the host vehicle 1 is obstructing an emergency vehicle approaching from behind, and a situation in which a traffic jam is occurring behind the host vehicle 1 due to the host vehicle 1.

[0043] (Driver state determination unit) When the traffic condition determination unit 63 determines that the vehicle 1 is blocking the passage of a vehicle behind, the driver state determination unit 64 executes a process of determining whether or not the driver of the vehicle 1 is aware of the blocking situation. The driver state determination unit 64 determines whether or not the driver is aware of the blocking situation based on at least the driver's line of sight information. The driver state determination unit 64 may further determine whether or not the driver is aware of the blocking situation using information on the consciousness awakening state.

[0044] The driver's line of sight is detected based on image data generated by the in-vehicle camera 33, and is used to determine whether the driver is looking toward the rearview mirror, side mirror, or the evacuation space in front of the vehicle 1. When the driver is looking toward the rearview mirror or side mirror, it is determined that the driver is looking at the situation in which the vehicle 1 is being tailgated by the vehicle behind. When the driver is looking toward the evacuation space, it is determined that the driver is trying to move the vehicle 1 to the evacuation space and is aware of the situation in which the vehicle 1 is being tailgated by the vehicle behind. The driver's state of consciousness is calculated based on the detection signal of the biosensor 34 or the image data generated by the in-vehicle camera 33, and is used to estimate the driver's concentration or fatigue level. When the driver's state of consciousness is low, it is considered that the driver's ability to recognize the traffic obstruction situation is reduced, so the driver state determination unit 64 may use information on the state of consciousness to determine whether the driver is aware of the traffic obstruction situation.

[0045] In this embodiment, the driver state determination unit 64 executes a process for determining whether or not the driver himself can determine what driving operation should be performed to avoid the traffic obstruction situation when the vehicle 1 is being tailgated. Specifically, the driver state determination unit 64 determines whether or not the driver himself can determine what driving operation should be performed to avoid the traffic obstruction situation based on at least one piece of information of the driver's driving operation or the driver's driving skill level. The driver's driving operation is detected based on the detection signal of the vehicle state sensor 35, and is used to determine whether or not the driver has started a driving operation required to avoid the traffic obstruction situation. Information on the driver's driving skill level is calculated based on the accumulated data of the driver database 71, and is used to estimate whether or not the driver can quickly perform evasive action.

[0046] (Support Processing Unit) The support processing unit 65 executes a process of setting a support operation for avoiding a traffic obstruction situation based on the driver's recognition state of the traffic obstruction situation. In this embodiment, when it is determined that the vehicle 1 is in a traffic obstruction situation where the vehicle 1 is being tailgated, the support processing unit 65 executes a process of setting a support operation for avoiding the traffic obstruction situation based on the driver's recognition state of the traffic obstruction situation. For example, when the driver does not recognize the traffic obstruction situation, the support processing unit 65 executes a recognition support process for making the driver recognize the traffic obstruction situation, while when the driver recognizes the traffic obstruction situation, the support processing unit 65 executes an evacuation support process for supporting the driver's evacuation action. In addition, in this embodiment, the support processing unit 65 is configured to be able to execute a recognition support process and an evacuation support process according to the driver's consciousness and awakening state.

[0047] <3. Operation of driving support device> Next, an example of the processing operation by the control unit 51 of the driving support device 50 according to the present embodiment will be specifically described. In the following description, a situation in which the host vehicle 1 is being tailgated by a vehicle behind will be described as an example of a traffic obstruction situation.

[0048] FIG. 3 is a flowchart showing a main routine of the processing executed by the control unit 51. As shown in FIG. First, when the in-vehicle system including the driving assistance device 50 is started (step S11), the driver determination unit 61 of the control unit 51 executes a process of identifying the driver of the vehicle 1 (step S13). For example, the driver determination unit 61 executes a process of recognizing the face of the driver sitting in the driver's seat based on image data transmitted from the in-vehicle photographing camera 33. The driver determination unit 61 also executes a process of extracting features of the recognized driver's face and determines whether or not information on the driver that matches the extracted features is recorded in the driver database 71. If information on the driver that matches the extracted features is not recorded in the driver database 71, the driver determination unit 61 assigns identification information to each recognized driver and records the data on the features in the driver database 71 and the identification information in the storage unit 53. On the other hand, if information on the driver that matches the extracted features is recorded in the driver database 71, the driver determination unit 61 records identification information for identifying the detected driver in the storage unit 53.

[0049] Next, the driver judgment unit 61 of the control unit 51 judges the driving skill level of the driver (step S15). Specifically, the driver judgment unit 61 refers to the driver database 71, reads out the driving skill information of the identified driver, and judges the driving skill level comprehensively. For example, the driver judgment unit 61 standardizes each item of the recorded driving skill information with an evaluation score of 0 to 10, and judges the driving skill level as "low", "medium", or "high" according to the average value. However, the method of judging the driving skill level is not particularly limited.

[0050] Next, the acquisition unit 62 acquires information on the running state of the host vehicle 1 and information on the surrounding environment (step S17). The information on the running state of the host vehicle 1 includes at least information on the vehicle speed, acceleration / deceleration, steering angle of the steering wheel or steering wheels, the on / off state of the direction indicators, and the on / off state of the hazard lights of the host vehicle 1 detected by the vehicle state sensor 35. The information on the surrounding environment includes information on other vehicles, pedestrians, bicycles, obstacles, lanes, etc. detected by the surrounding environment sensor 31, as well as information on the relative positions of the host vehicle 1 and other vehicles, pedestrians, etc. The information on the relative positions includes information on the direction, relative distance, and relative speed of other vehicles, etc. as viewed from the host vehicle 1. The acquisition unit 62 may acquire information on other vehicles via vehicle-to-vehicle communication.

[0051] Next, the traffic condition determination unit 63 determines the traffic condition of the host vehicle 1 based on the acquired information on the driving state of the host vehicle 1 and the surrounding environment information (step S19). Specifically, the traffic condition determination unit 63 determines the driving position of the host vehicle 1 based on the acquired information on the surrounding environment. The traffic condition determination unit 63 also executes a process of detecting a rear vehicle based on the acquired information on the surrounding environment. When a rear vehicle is detected, the traffic condition determination unit 63 calculates the driving state of the rear vehicle and the relative position between the host vehicle 1 and the rear vehicle. The information on the driving state of the rear vehicle includes information on the vehicle speed, acceleration / deceleration, and headlight illumination state of the rear vehicle. The information on the relative position between the host vehicle 1 and the rear vehicle includes information on the position, relative speed, and inter-vehicle distance of the rear vehicle as viewed from the host vehicle 1.

[0052] Further, the traffic condition determination unit 63 performs a process of determining whether or not the host vehicle 1 is being tailgated by the rear vehicle based on information on the running state of the host vehicle 1, information on the running state of the rear vehicle, and information on the relative position between the host vehicle 1 and the rear vehicle. For example, the traffic condition determination unit 63 determines that the host vehicle 1 is being tailgated by the rear vehicle when the rear vehicle repeatedly accelerates and decelerates while the inter-vehicle distance between the host vehicle 1 and the rear vehicle is within a predetermined range, when the inter-vehicle distance between the host vehicle 1 and the rear vehicle continues to be close to each other within a preset range for a predetermined period of time or more, when the rear vehicle repeatedly flashes its lights, or when the rear vehicle continues to have its headlights in high beam for a predetermined period of time or more. However, the method of determining whether or not the host vehicle 1 is being tailgated is not limited to the above example, and any known determination method may be used as appropriate.

[0053] Next, the traffic condition determination unit 63 determines whether or not the host vehicle 1 is being tailgated by the rear vehicle based on the determination result of step S19 (step S21). If it is not determined that the host vehicle 1 is being tailgated by the rear vehicle (S21 / No), the process returns to step S17 to repeat the process of acquiring information on the running state of the host vehicle 1 and information on the surrounding environment, and the process of determining whether or not the host vehicle 1 is being tailgated by the rear vehicle. On the other hand, if it is determined that the host vehicle 1 is being tailgated by the rear vehicle (S21 / Yes), the driver state determination unit 64 executes a process of determining whether or not the driver of the host vehicle 1 is aware of the traffic obstruction situation in which the host vehicle 1 is being tailgated by the rear vehicle (step S23). For example, the driver state determination unit 64 determines whether or not the driver is aware of the traffic obstruction situation by any one or a combination of a plurality of determination criteria shown below.

[0054] First, the driver state determination unit 64 may determine that the driver is aware of a traffic obstruction situation when the time or frequency that the driver directs his / her gaze to the rearview mirror or side mirror is equal to or greater than a preset threshold. The direction of the driver's gaze can be determined based on image data generated by the in-vehicle photographing camera 33. The driver state determination unit 64 may also determine that the driver is aware of a traffic obstruction situation when the driver directs his / her gaze to an evacuation space in front of the host vehicle 1. Information on the evacuation space is determined based on detection signals transmitted from the front photographing cameras 31LF, 31RF and the LiDAR 31S, for example. It may also be determined based on position information acquired from the navigation system 40.

[0055] The threshold value for the judgment based on the driver's line of sight may be variable depending on the driver's state of consciousness. For example, when the driver's concentration is low or the driver's fatigue level is high, the driver may not accurately recognize the traffic obstruction situation even when the driver is looking at the rearview mirror or the side mirror. For this reason, the driver state judgment unit 64 may adjust the judgment threshold value so that the lower the driver's consciousness level (to be described later) is, the less likely it is to be judged that the driver is aware of the traffic obstruction situation. This can improve the accuracy of judging whether the driver is aware that the vehicle 1 is being tailgated.

[0056] Next, the support processing unit 65 determines whether or not the driver of the vehicle 1 recognizes the traffic obstruction situation based on the determination result of step S23 (step S25). If it is not determined that the driver of the vehicle 1 recognizes the traffic obstruction situation (S25 / No), the support processing unit 65 executes a recognition support process according to the consciousness and alertness state of the driver of the vehicle 1 (step S27).

[0057] FIG. 4 is a flowchart showing a routine of a recognition assistance process according to the driver's consciousness / alertness state. First, the support processing unit 65 sets a judgment threshold for the consciousness level (step S41). The judgment threshold for the consciousness level determines a lower limit of the consciousness level required for making the notification, since if the driver is notified that the vehicle 1 is being tailgated when the driver's consciousness is low, the driver may become anxious and the behavior of the vehicle 1 may become unstable. However, it is considered that whether the driver becomes anxious due to the notification varies depending on the driving skill level of the driver. For this reason, in this embodiment, the judgment threshold for the consciousness level is set according to the driving skill level of the driver. In addition, the narrower the width of the road on which the vehicle 1 is traveling, the more likely it is that the behavior of the vehicle 1 will become unstable and fall into a dangerous state due to the sudden notification. For this reason, in this embodiment, the judgment threshold for the consciousness level is set according to the width of the road on which the vehicle 1 is traveling.

[0058] FIG. 5 is an explanatory diagram showing an example of setting a judgment threshold for the driver's awareness level. FIG. 5 shows an example of a judgment threshold for the awareness level set according to the driver's driving skill level and the width of the road on which the vehicle 1 is traveling. The judgment threshold is set to a larger value as the driver's driving skill level is lower and as the road width is narrower. In other words, the lower the driver's driving skill level, the higher the driver's awareness level is notified that the driver is being tailgated. Also, the narrower the road width, the higher the driver's awareness level is notified that the driver is being tailgated.

[0059] The determination threshold of the driver's consciousness level may be a constant value regardless of the driver, or may be set based on the consciousness level during normal driving calculated while the driver is driving the vehicle 1 in a state where the driver is not being tailgated or is not causing a traffic jam. For example, 70% of the consciousness level during normal driving may be set as the determination threshold. By setting the determination threshold based on the normal consciousness level, it is possible to accurately determine the deterioration of the driver's consciousness according to the consciousness level of each driver while driving. Therefore, it is possible to suppress the driver from feeling annoyed or the reliability of the system from decreasing due to the notification process being executed even though the driver is aware of the traffic obstruction situation.

[0060] Next, the driver state determination unit 64 calculates the consciousness level indicating the level of the driver's consciousness awakening state (step S43). For example, the driver state determination unit 64 estimates the driver's concentration or fatigue level based on the detection signal transmitted from the biosensor 34, and calculates the consciousness awakening state. Specifically, the driver state determination unit 64 may determine that the driver is sleepy or has low concentration based on the detection signal transmitted from the biosensor 34 when the driver's heart rate or pulse rate is lower than a preset drowsiness determination threshold and the change is small. The driver state determination unit 64 may also determine that the driver is in a poor physical condition based on the detection signal transmitted from the biosensor 34 when the driver's body temperature is higher than a preset physical condition determination threshold. Alternatively, the driver state determination unit 64 may determine the driver's degree of drowsiness by determining the degree of opening of the eyes and the number or frequency of blinks based on image data generated by the in-vehicle photographing camera 33. In this embodiment, the driver state determination unit 64 converts the estimated consciousness awakening state of the driver into a consciousness level of, for example, 0 to 100%. The driver state determination unit 64 calculates the driver's awareness level for each calculation processing cycle of the control unit 51.

[0061] Next, the support processing unit 65 judges whether the driver's consciousness level is equal to or higher than the judgment threshold (step S45). If the consciousness level is equal to or higher than the judgment threshold (S45 / Yes), the support processing unit 65 executes a process of notifying the driver that the host vehicle 1 is being tailgated by a vehicle behind (step S47). For example, the support processing unit 65 outputs a command signal to the HMI 45, and notifies the driver by voice and / or display on the display screen. After executing the process of notifying the driver, the support processing unit 65 returns to step S23 in FIG. 3.

[0062] On the other hand, if the consciousness level is less than the judgment threshold (S45 / No), the support processing unit 65 outputs a command signal to the HMI 45 or the audio device to generate a preliminary notification sound (step S49). The preliminary notification sound to be generated is a sound effect that does not include information that the vehicle 1 is being tailgated, and is output for the purpose of raising the driver's lowered consciousness level. Note that a preliminary notification may be performed by lighting an LED lamp or the like instead of or together with the preliminary notification sound.

[0063] After generating the preliminary notification sound, the support processing unit 65 again calculates the driver's consciousness level according to the procedure of steps S43 and S45, and determines whether the consciousness level is equal to or higher than the judgment threshold (steps S51 to S53). If the consciousness level is equal to or higher than the judgment threshold (S53 / Yes), the support processing unit 65 executes a process of notifying the driver that the host vehicle 1 is being tailgated by the rear vehicle (step S47). This notifies the driver that the host vehicle 1 is being tailgated when the driver's consciousness level is equal to or higher than a predetermined level, and it is possible to prevent the behavior of the host vehicle 1 from becoming unstable due to a sudden notification. In addition, since the judgment threshold is set according to the driver's driving skill level, the notification is performed at a timing according to the driver's driving skill level without making the driver feel annoyed. After executing the notification process for the driver, the support processing unit 65 returns to step S23 in FIG. 3.

[0064] Fig. 6 is an explanatory diagram showing the difference in notification timing depending on the driving skill level. In Fig. 6, the horizontal axis indicates time, and the vertical axis indicates the driver's awareness level. The judgment threshold thr_L for a driver with a "low" driving skill level is set to a value larger than the judgment threshold thr_M for a driver with a "medium" driving skill level, and the judgment threshold thr_M for a driver with a "medium" driving skill level is set to a value larger than the judgment threshold thr_H for a driver with a "high" driving skill level.

[0065] If the vehicle 1 starts being tailgated at time t1, when the driver's driving skill level is "high", the driver's consciousness level exceeds the judgment threshold thr_H, so the support processing unit 65 notifies the driver that the vehicle 1 is being tailgated without generating a preliminary notification sound. On the other hand, when the driver's driving skill level is "medium" or "low", the driver's consciousness level is below the judgment thresholds thr_M and thr_L, so the support processing unit 65 generates a preliminary notification sound instead of suddenly notifying the driver, and tries to raise the driver's consciousness level. Then, when the driver's driving skill level is "medium", the support processing unit 65 notifies the driver that the vehicle 1 is being tailgated at time t2 when the driver's consciousness level reaches the judgment threshold thr_M. Also, when the driver's driving level is "low", the support processing unit 65 notifies the driver that the vehicle 1 is being tailgated at time t3 when the driver's consciousness level reaches the judgment threshold thr_L. In this way, notification is given at a timing appropriate to the driver's driving skill level, without bothering the driver, in accordance with the judgment threshold set for each driver's driving skill level.

[0066] On the other hand, if the consciousness level is less than the judgment threshold (S53 / No), since the driver's consciousness level does not increase despite the generation of the preliminary notification sound, the support processing unit 65 performs a process of making an emergency stop of the host vehicle 1, assuming an emergency (step S55). For example, the support processing unit 65 sets an evacuation space in front of the host vehicle 1, sets the steering angle and deceleration of the host vehicle 1 to automatically stop the host vehicle 1 in the evacuation space, and transmits information on the driving conditions to the vehicle control device 41. This allows the host vehicle 1 to be safely stopped in the evacuation space, for example, when the driver is in poor physical condition or unconscious. When the host vehicle 1 is brought to an emergency stop, the control unit 51 ends the support process.

[0067] In order to ensure time for the driver's awareness level to increase after generating the preliminary notification sound in step S49, the support processor 65 may proceed to the process of step S51 after a preset time has elapsed. Also, the support processor 65 may gradually increase the volume of the preliminary notification sound generated in step S49.

[0068] Returning to Fig. 3, after the recognition support process in step S27 is executed, the process returns to step S23 and the process of determining the driver's recognition state is repeated. On the other hand, if it is determined in step S25 that the driver of the vehicle 1 recognizes the road obstruction situation (S25 / Yes), the support processor 65 determines whether the driver himself can determine how to take an evacuation action (step S29). For example, the support processor 65 may determine that the driver himself can determine how to take an evacuation action when the driver is performing a driving operation to avoid the road obstruction situation.

[0069] For example, when the driver operates the steering wheel to move the vehicle 1 to the side of the road or when the hazard lamp is turned on, it can be determined that the driver himself can determine how to perform the evacuation action. However, when the steering angle is excessively large, the driver may be in a hurry and may be in a state where normal driving is impossible. For this reason, as shown in FIG. 7, the support processing unit 65 learns data on the steering angle of the steering wheel while the driver is driving the vehicle 1 in a state where the driver is not being tailgated or is not causing a traffic jam, and sets, for example, the average value of the steering angle to the judgment threshold value str_thr. When a steering angle exceeding the judgment threshold value str_thr is input, the support processing unit 65 determines that the driver himself cannot determine how to perform the evacuation action.

[0070] In addition, when the driver is about to change lanes based on information on the steering angle and the illumination state of the direction indicator, it may be determined that the driver himself can determine how to perform the evacuation action. In addition, when the driver is decelerating the vehicle 1, it may be determined that the driver himself can determine how to perform the evacuation action. In addition, when the driver is accelerating the vehicle 1 based on information on the vehicle speed, acceleration / deceleration, or the operation amount of the accelerator pedal, it may be determined that the driver himself can determine how to perform the evacuation action. For example, when the driver accelerates the vehicle 1 from a state in which the vehicle speed of the vehicle 1 is slower than the legal speed, it may be determined that the driver himself can determine how to perform the evacuation action. Furthermore, as shown in FIG. 8, when the steering angle is significantly deviating from the curvature of the road obtained based on the image data and map data transmitted from the in-vehicle photographing camera 33 and the reference driving line T set on the road, it may be determined that the driver himself cannot determine how to perform the evacuation action.

[0071] The threshold value for determining whether or not the driver himself can determine how to perform evacuation action may be variable according to the driver's driving skill level. For example, a driver with a low driving skill level may not know what specific driving operation to perform even if he or she has the intention to perform evacuation action. In this case, the lower the driving skill level, the more likely it is that the driver is to recognize the traffic obstruction situation, so that evacuation action support can be started as soon as possible.

[0072] In addition, even if the driver does not perform a driving operation to avoid a traffic obstruction situation, if the driver has a high driving skill level, the support processing unit 65 may determine that the driver himself can determine how to take an evacuation action. On the other hand, if the support processing unit 65 determines that the driver's heart rate or pulse rate is high based on the detection signal transmitted from the biosensor 34, or determines that the driver is in a hurry based on facial expression analysis based on the driver's facial image data transmitted from the in-vehicle photographing camera 33, the support processing unit 65 may determine that the driver himself cannot determine how to take an evacuation action.

[0073] When it is determined that the driver himself can determine how to perform the evacuation action (S29 / Yes), the support processing unit 65 determines that the driver himself can perform the evacuation action and proceeds to step S33. This stops the execution of the evacuation support process, and prevents the driver from feeling annoyed or the reliability of the system from decreasing due to the evacuation support process being executed even though the driver himself is performing a driving operation to avoid tailgating. On the other hand, when it is not determined that the driver himself can determine how to perform the evacuation action (S29 / No), the support processing unit 65 executes the evacuation support process according to the consciousness and alertness state of the driver of the vehicle 1 (step S31).

[0074] FIG. 9 is a flowchart showing a routine of an evacuation support process according to the consciousness and alertness state of the driver. First, the driver state determination unit 64 calculates the consciousness level indicating the level of the driver's consciousness awakening state in the same procedure as in step S43 (step S61). Next, the support processing unit 65 sets a target evacuation position according to the consciousness level (step S63). For example, the support processing unit 65 searches for a target evacuation position in an area of ​​a width according to the consciousness level that exists ahead of the host vehicle 1 in the traveling direction based on the map data recorded in the navigation system 40 and the information on the current position of the host vehicle 1. For example, it is considered that the higher the consciousness level is, the closer the host vehicle 1 can be brought to the road edge, and the behavior of the host vehicle 1 is less likely to become unstable even if a rear vehicle to be overtaken passes closer to the host vehicle 1. Therefore, the lower the driver's consciousness level is, the wider the area set as the target evacuation position, and the support processing unit 65 continues searching until the corresponding evacuation position is detected. As a result, when the driver's consciousness level is low, the rear vehicle can be made to overtake while securing a distance to the side of the host vehicle 1.

[0075] In addition, the support processing unit 65 may vary the width of the road at the position set as the target evacuation position according to the driving skill level of the driver. Specifically, for example, when driving on an unfamiliar narrow road such as a road traveled for the first time, a speed reduction may occur due to the difference in the driving skill of the driver. In that case, if the driving skill level of the driver is high, the vehicle 1 can be stopped or driven slowly closer to the edge of the road to safely give way to the vehicle behind. On the other hand, if the driving skill level of the driver is low, the driver may not be able to safely give way to the vehicle behind on a narrow road while being under mental pressure from being tailgated from behind or having a traffic jam behind due to the slowdown of the vehicle 1. Therefore, when compared with the same consciousness level, it is preferable to widen the width of the road at the position set as the target evacuation position as the driving skill level of the driver is low. This allows a driver with a low driving skill level to safely take action to avoid tailgating, while allowing a driver with a high driving skill level to quickly avoid tailgating.

[0076] The width of the road at the position to be set as the target evacuation position according to the driver's awareness level or driving skill level may be set in advance according to the criteria exemplified in Fig. 5. If an evacuation space exists on the side of the road ahead of the host vehicle 1, the support processing unit 65 may set the evacuation space as the target evacuation position. The evacuation space may be information recorded in advance in the map data, for example. Alternatively, the support processing unit 65 may detect an evacuation space existing ahead in the traveling direction of the host vehicle 1 based on detection data transmitted from the surrounding environment sensor 31.

[0077] Next, the support processing unit 65 determines whether the distance from the vehicle 1 to the determined target evacuation position is equal to or less than a threshold (step S65). The distance threshold may be a preset value, but may be variable depending on the driver's driving skill level. When the driver's driving skill level is high, even if the distance from the vehicle 1 to the target evacuation position is relatively short, the driver can execute a driving operation to evacuate the vehicle 1 to the target evacuation position. Therefore, it is preferable to increase the distance threshold as the driver's driving skill level is lower. This allows a driver with a low driving skill level to take action to avoid tailgating with plenty of time, while allowing a driver with a high driving skill level to quickly avoid tailgating.

[0078] If the distance from the host vehicle 1 to the determined target evacuation position is not equal to or less than the threshold (S65 / No), the support processing unit 65 repeats the determination in step S65 until the distance from the host vehicle 1 to the determined target evacuation position becomes equal to or less than the threshold. If the distance from the host vehicle 1 to the determined target evacuation position is equal to or less than the threshold (S65 / Yes), the support processing unit 65 notifies the driver of the target evacuation position (step S67). Specifically, the support processing unit 65 drives the HMI 45 to notify the driver that the host vehicle 1 has come within a predetermined distance of the target evacuation position. The support processing unit 65 may simply generate a preset notification sound, or may notify the driver by voice.

[0079] Next, the support processing unit 65 presents the traffic situation in which the host vehicle 1 is located to the driver (step S69). Specifically, the support processing unit 65 drives the HMI 45 to display information on the target evacuation position ahead of the host vehicle 1 and the distance from the host vehicle 1 to the target evacuation position as an image, and notifies the driver by voice.

[0080] Fig. 10 shows an example of an image display for notifying the driver of the target evacuation position S. In the image display example shown in Fig. 10, information on the target evacuation position S present in front of the host vehicle 1 is displayed together with text data indicating the distance from the host vehicle 1 to the target evacuation position S, and icons of the rear vehicles 101a, 10ab, the oncoming vehicles 103a, 103b, the pedestrian 107, and the bicycle 109. Therefore, the driver can know the number of rear vehicles 101a, 101b whose travel is being hindered by the host vehicle 1, and can safely move the host vehicle 1 to the target evacuation position S while paying attention to the pedestrian 107, the bicycle 109, and the oncoming vehicles 103a, 103b.

[0081] Next, the support processing unit 65 determines whether the host vehicle 1 has approached the target evacuation position (step S71). Here, the support processing unit 65 determines whether the distance from the host vehicle 1 to the target evacuation position is equal to or less than a second threshold value that is set in advance to a value smaller than the threshold value (first threshold value) used in step S65. For example, the second threshold value is set to a value within a range of 10 to 20 m. The second threshold value may be variable depending on the vehicle speed or the driver's driving skill level.

[0082] When it is not determined that the host vehicle 1 has approached the target evacuation position (S71 / No), the support processing unit 65 repeats the determination of step S71 until it is determined that the host vehicle 1 has approached the target evacuation position. When it is determined that the host vehicle 1 has approached the target evacuation position (S71 / Yes), the support processing unit 65 executes evacuation guidance processing to guide the host vehicle 1 to the target evacuation position (step S73). The evacuation guidance processing is executed by at least one of image display, audio output, and automatic driving control, for example. When executing evacuation guidance processing by image display or audio output, the support processing unit 65 outputs a drive signal to the HMI 45. When executing evacuation guidance processing by automatic driving control, the support processing unit 65 sets driving conditions such as a target steering angle and acceleration / deceleration of the host vehicle 1, and transmits information on the driving conditions to the vehicle control device 41.

[0083] The content of the evacuation guidance process may differ depending on the driving skill level of the driver. For example, when the driving skill level of the driver is high, the evacuation guidance process may be executed by at least one of image display and audio output, and when the driving skill level of the driver is low, the evacuation guidance process may be executed by automatic driving control in addition to at least one of image display and audio output. This allows the host vehicle 1 to be safely moved to the target evacuation position when a driver with a low driving skill level is driving the host vehicle 1.

[0084] When executing the evacuation guidance process, the support processing unit 65 may notify the rear vehicle that an evacuation action will be started. For example, the support processing unit 65 may turn on the hazard lights or brake lights of the host vehicle 1. In addition, when the host vehicle 1 is capable of vehicle-to-vehicle communication with the rear vehicle, the support processing unit 65 may notify the rear vehicle that an evacuation action will be started or the distance from the host vehicle 1 to the evacuation position via the vehicle-to-vehicle communication.

[0085] Next, the traffic condition determination unit 63 determines the traffic condition of the host vehicle 1 in the same procedure as steps S19 to S21 (steps S75 to S77). Next, the support processing unit 65 determines whether or not the host vehicle 1 has been able to avoid being subjected to tailgating (step S79). If the avoidance of tailgating has not been completed (S79 / No), the support processing unit 65 returns to step S29 and executes the processing of each step described above. On the other hand, if the avoidance of tailgating has been completed (S79 / Yes), the support processing unit 65 ends the evacuation support processing and proceeds to step S33.

[0086] In addition, the evacuation support process may be stopped by the driver's will during execution of the evacuation support process. For example, if the driver chooses not to give way to the vehicle behind, the driver may be able to instruct the evacuation support process to be stopped by means of a switch, a touch panel, voice input, or the like. In this case, the control unit 51 stops the evacuation support process or all support processes for avoiding tailgating.

[0087] When the evacuation support process is completed (S79 / Yes), or when it is determined in step S29 that the driver himself can perform evacuation action (S29 / Yes), the support processing unit 65 determines whether the in-vehicle system has stopped (step S33). When the in-vehicle system has stopped (S33 / Yes), the control unit 51 ends the processing operation. On the other hand, when the in-vehicle system has not stopped (S33 / No), the process returns to step S17, and the control unit 51 executes the processing of each step described above.

[0088] As described above, when the driving support device 50 according to this embodiment determines that the vehicle 1 is being tailgated by a vehicle behind, it determines whether the driver of the vehicle 1 recognizes the traffic obstruction situation, and sets a support operation for avoiding the traffic obstruction situation based on the recognition state of the traffic obstruction situation. Therefore, when the driver does not recognize the traffic obstruction situation, a notification is promptly given to the driver, whereas when the driver recognizes the traffic obstruction situation, the notification process is not performed. This makes it possible to prevent the driver who recognizes the traffic obstruction situation from feeling annoyed by the notification.

[0089] In addition, the driving support device 50 according to the present embodiment sets a support operation for making the driver recognize the traffic obstruction situation based on the driver's consciousness awakening state when the driver does not recognize the traffic obstruction situation. Specifically, when the driver's consciousness level is low, the driving support device 50 generates a simple preliminary notification sound to raise the consciousness level to a predetermined level, and then issues a notification to make the driver recognize the traffic obstruction situation. This makes it possible to prevent the driver from becoming anxious due to receiving a sudden notification, which causes the behavior of the vehicle 1 to become unstable.

[0090] In addition, the driving support device 50 according to the present embodiment sets a support operation for making the driver recognize the traffic obstruction situation based on the driver's consciousness awakening state and further on the driving skill level when the driver does not recognize the traffic obstruction situation. Specifically, the driving support device 50 notifies the driver that the driver is being tailgated in a state where the driver's consciousness level is higher, as the driver's driving skill level is lower. This can enhance the effect of preventing the behavior of the vehicle 1 from becoming unstable due to the driver becoming panicked upon receiving a sudden notification by a driver with a low driving skill level.

[0091] In addition, the driving support device 50 according to the present embodiment sets a support operation for avoiding the traffic obstruction situation when the driver is aware of the traffic obstruction situation and is unable to determine the driving operation for avoiding the traffic obstruction situation. Therefore, when the driver is able to perform the driving operation for avoiding the traffic obstruction situation, the support operation can be prevented from being performed. This makes it possible to prevent the driver who is able to perform the avoidance operation from feeling bothered by the support operation.

[0092] Although the preferred embodiment of the present disclosure has been described in detail above with reference to the accompanying drawings, the present disclosure is not limited to such examples. It is clear that a person having ordinary knowledge in the technical field to which the present disclosure belongs can conceive of various modified or amended examples within the scope of the technical ideas described in the claims, and it is understood that these also naturally belong to the technical scope of the present disclosure.

[0093] For example, in the above embodiment, all the functions of the driving support device are installed in the vehicle, but the present disclosure is not limited to such an example. For example, some of the functions of the driving support device may be provided in a server device capable of communicating via a mobile communication means, and the driving support device may be configured to transmit and receive data to and from the server device. Furthermore, the driving support device may be a server device capable of communicating with an on-board vehicle control device and HMI.

[0094] In the above embodiment, the situation where the vehicle 1 is tailgated by a rear vehicle is taken as an example, but the present disclosure is not limited to such an example. The technology of the present disclosure can also be applied to a situation where a traffic jam occurs behind the vehicle 1. For example, when traveling on an unfamiliar narrow road, the vehicle 1 may travel at a low speed, causing a traffic jam behind the vehicle 1. In such a case, the control unit 51 acquires information about other vehicles, for example, via vehicle-to-vehicle communication, and determines that a traffic jam has occurred behind the vehicle 1 when, for example, a number of rear vehicles set in advance or more are following the vehicle 1, and executes the above-mentioned recognition support process and evacuation support process. In this way, even when the vehicle 1 is causing a traffic jam, a support operation for avoiding a traffic obstruction situation is set based on the driver's recognition state, and the driver can give way to the rear vehicle without feeling annoyed.

[0095] The technology of the present disclosure can also be applied to a situation where an emergency vehicle is approaching from behind the vehicle 1. Even in such a situation, a support operation for avoiding a traffic obstruction situation is set based on the driver's recognition state, and the driver can give way to the emergency vehicle without feeling annoyed. [Explanation of symbols]

[0096] 1: vehicle (own vehicle), 31: surrounding environment sensor, 33: in-vehicle camera, 34: biosensor, 35: vehicle state sensor, 37: GPS sensor, 39: vehicle-to-vehicle communication unit, 40: navigation system, 41: vehicle control device, 50: driving support device, 51: control unit, 53: memory unit, 61: driver determination unit, 62: acquisition unit, 63: traffic condition determination unit, 64: driver state determination unit, 65: support processing unit, 71: driver database

Claims

1. A driving assistance device that assists driving of a vehicle, one or more processors; and one or more memories communicatively coupled to the one or more processors; the one or more processors: determining whether the vehicle is obstructing the passage of a rear vehicle; When it is determined that the vehicle is in a state where the vehicle is obstructing the passage of the rear vehicle, it is determined whether or not the driver of the vehicle is aware of the state; If the driver recognizes the situation, determining whether the driver is capable of determining a driving operation to avoid the situation; When it is not determined that the driver is capable of determining a driving operation to avoid the situation, a driving assistance device executes processing including: setting a target evacuation position to avoid the situation by specifying a wider area of ​​the road the lower the level of the driver's state of consciousness is, based on the driver's state of consciousness and the width of the road on which the driver is traveling.

2. the one or more processors:

2. The driving assistance device according to claim 1, wherein, when the driver is not aware of the situation, an assistance operation for making the driver aware of the situation is set based on the driver's state of consciousness and alertness, and after the driver recognizes the situation, it is determined whether the driver is capable of determining a driving operation to avoid the situation, and when it is determined that the driver is not capable of determining a driving operation to avoid the situation, the target evacuation position is set.

3. the one or more processors:

3. The driving assistance device according to claim 2, further comprising: a driver assistance action for causing the driver to recognize the situation based on a driving skill level of the driver when the driver is not aware of the situation, such that the lower the driving skill level, the higher the level of the consciousness alertness state in which the driver recognizes the situation.

4. the one or more processors: The driving assistance device according to claim 1 , further comprising: determining a timing for notifying the driver of the target evacuation position based on a driving skill level of the driver such that the lower the driving skill level is, the farther the distance from the vehicle to the target evacuation position becomes.

5. A driving assistance device that assists driving of a vehicle, a traffic situation determination unit that determines whether the vehicle is obstructing the passage of a rear vehicle; a driver state determination unit that, when it is determined that the vehicle is in a situation where it is obstructing the passage of the rear vehicle, determines whether or not a driver of the vehicle is aware of the situation, and, when the driver is aware of the situation, determines whether or not the driver is capable of determining a driving operation to avoid the situation; a support processing unit that, when it is determined that the driver is not capable of determining a driving operation for avoiding the situation, sets a target evacuation position for avoiding the situation based on the driver's state of consciousness and a width of a road on which the driver is traveling, by designating an area of ​​the road that is wider as the level of the state of consciousness is lower; A driving assistance device comprising:

6. A computer program applied to a driving assistance device that assists driving of a vehicle, One or more processors, determining whether the vehicle is obstructing the passage of a rear vehicle; When it is determined that the vehicle is in a state where the vehicle is obstructing the passage of the rear vehicle, determining whether or not a driver of the vehicle is aware of the state; If the driver recognizes the situation, determining whether the driver can determine a driving operation to avoid the situation; When it is not determined that the driver is capable of determining a driving operation for avoiding the situation, a target evacuation position for avoiding the situation is set based on the driver's state of consciousness and a width of a road on which the vehicle is traveling, the lower the level of the state of consciousness, the wider the road area is designated; A computer program for causing a computer to execute a process including the steps of:

7. A recording medium having a computer program applied to a driving assistance device that assists driving of a vehicle, One or more processors, determining whether the vehicle is obstructing the passage of a rear vehicle; When it is determined that the vehicle is in a state where the vehicle is obstructing the passage of the rear vehicle, determining whether or not the driver of the vehicle is aware of the state; If the driver recognizes the situation, determining whether the driver can determine a driving operation to avoid the situation; When it is not determined that the driver is capable of determining a driving operation for avoiding the situation, a target evacuation position for avoiding the situation is set based on the driver's state of consciousness and a width of a road on which the vehicle is traveling, the lower the level of the state of consciousness, the wider the road area is designated; A recording medium on which a computer program for executing a process including the steps of:

Images