Driving assistance device, vehicle, method and program

Abstract

To improve usability of a vehicle having a driving support function.SOLUTION: An on-vehicle driving support device includes: determination means for determining propriety of use of a driving support function based on a travel environment of a vehicle; notification means for notifying a driver of the vehicle of a guide for recommending the use of the driving support function when the determination means determines that the driving support function can be used; recording means for recording a reaction from the driver with respect to a notification by the notification means as a reaction history; and decision means for deciding a mode of the notification by the notification means based on the reaction history recorded in the recording means.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates primarily to a driving assistance device. [Background technology]

[0002] Some vehicles are equipped with a driving assistance function in which an ECU performs all or part of the driving operation on behalf of the driver (see Patent Document 1). In such vehicles, a predetermined operation unit is provided at the driver's seat, and the driver can use the driving assistance function by inputting operations to the operation unit. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-106863 A Summary of the Invention [Problem to be solved by the invention]

[0004] In general, there may be areas where the use of the driving assistance function is permitted and areas where it is not permitted. Therefore, when the vehicle enters an area where the use of the driving assistance function is permitted, a configuration may be considered in which the driver is notified that the use of the driving assistance function is recommended. On the other hand, repeated notifications of this kind may increase the burden on the driver.

[0005] The present invention was made in response to the inventor's recognition of the above-mentioned problems, and has an exemplary object to improve the usability of vehicles equipped with driving assistance functions. [Means for solving the problem]

[0006] One aspect of the present invention relates to a driving assistance device, An in-vehicle driving assistance device, A determination means for determining whether or not a driving assistance function can be used based on a driving environment of a vehicle; a notification means for notifying a driver of the vehicle of a guide recommending use of the driving assistance function when the determination means determines that the driving assistance function is available; and A recording means for recording a reaction from the driver to the notification by the notification means as a reaction history; a determination means for determining a mode of notification by the notification means based on the reaction history recorded in the recording means; a receiving means for receiving an operation input from the driver in response to the notification by the notifying means; Equipped with 、 The recording means is When the reception means receives an operation input indicating a decision to use the driving assistance function, the first value is cumulatively measured, When the receiving means receives an operation input indicating a decision not to use the driving assistance function, the second value is cumulatively measured, Recording the first value and the second value as a reaction history; The determining means determines a manner of execution of notification by the notifying means based on a comparison result between the first value and the second value. R It is characterized by: Effect of the Invention

[0007] According to the present invention, the usability of a vehicle can be improved. [Brief description of the drawings]

[0008] [Figure 1] 1 is a perspective view of a structural example of a vehicle according to an embodiment; [Diagram 2] 4 is a flowchart showing an example of control performed by the driving support device. [Diagram 3] FIG. 13 is a diagram showing an example of a list of reaction histories. [Figure 4] 4 is a flowchart showing an example of control performed by the driving support device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more features among the multiple features described in the embodiments may be arbitrarily combined. In addition, the same reference numbers are used for the same or similar configurations, and duplicated descriptions are omitted.

[0010] First Embodiment <Vehicle configuration> 1 is a perspective view of the structure of a vehicle 1 according to the first embodiment. The vehicle 1 includes wheels 11, a driving operation device 12, a driving environment acquisition device 13, and a driving support device 14. In this embodiment, the vehicle 1 is a four-wheeled vehicle including a pair of left and right front wheels and a pair of left and right rear wheels as the wheels 11, but the number of wheels is not limited to this example, and the vehicle 1 may be a two-wheeled vehicle or a three-wheeled vehicle, for example.

[0011] The driving operation device 12 includes an acceleration operator 12a, a braking operator 12b, and a steering operator 12c. The acceleration operator 12a is an operator for accelerating or maintaining the vehicle 1, and an accelerator pedal is typically used. The braking operator 12b is an operator for decelerating or stopping the vehicle 1, and a brake pedal is typically used. The steering operator 12c is an operator for changing the traveling direction of the vehicle 1, and a steering wheel is typically used. Incidentally, other methods such as levers may be adopted for the operation elements 12a, etc.

[0012] The driving environment acquisition device 13 is configured to be able to acquire the driving environment of the vehicle 1. The concept of the driving environment includes information necessary for realizing and maintaining appropriate driving of the vehicle, such as the road environment and the presence or absence of objects. An example of the road environment typically includes lanes on the road on which the vehicle is currently traveling, but other examples further include attribute information indicating the type of road, such as a general road or an expressway. Examples of objects include other vehicles, buildings, installations, and other obstacles that should be avoided from contacting with the vehicle. A camera constituted by a CCD / CMOS image sensor or the like is typically used for the driving environment acquisition device 13, but a millimeter wave radar, LiDAR (Light Detection And Ranging), etc. may be used instead / additionally. The driving environment acquisition device 13 detects or monitors the driving environment, and therefore may be expressed as a detection device, a monitoring device, etc. The attribute information indicating the type of road may be acquired based on road markings or road signs detected by a camera, or may be acquired by other means. For example, the driving environment acquisition device 13 may further include a GPS (Global Positioning System) sensor, in which case the attribute information may be acquired based on map information.

[0013] The driving assistance device 14 can control the driving operation device 12 on behalf of the driver, thereby providing driving assistance. The driving assistance here refers to the driving assistance device 14 performing at least a part of the driving operations (i.e., acceleration operations, braking operations, and steering operations) on behalf of the driver. Such a driving assistance function can be used in a specific driving environment (for example, a highway, etc.), and driving assistance by the driving assistance device 14 can be started in response to an operation input by the driver instructing the start of driving assistance.

[0014] For ease of explanation, among the operating modes of a vehicle 1 equipped with such a driving assistance function, a state in which the driving assistance function is used is referred to as a driving assistance mode, and a state in which the driving assistance function is not used is referred to as a manual driving mode.

[0015] The driving assistance device 14 is typically composed of one or more ECUs (electronic control units). The functions of each ECU are realized by a CPU (Central Processing Unit) executing a predetermined program while expanding it in memory. Note that some or all of the functions of the ECU may be realized by an ASIC (application-specific integrated circuit), that is, the driving assistance function can be realized by either hardware or software.

[0016] <Notifications regarding driving assistance functions> 2 is a flowchart showing an example of the control contents by the driving assistance device 14. This flowchart is started, for example, when the vehicle 1 is started, and can be typically performed while the driving environment of the vehicle 1 is acquired by the driving environment acquisition device 13. In summary, the decision as to whether or not to issue a notification recommending the use of a driving assistance function is changed based on the reaction history of the driver (or user).

[0017] In step S1010 (hereinafter simply referred to as "S1010"; the same applies to other steps described below), it is determined whether or not the driving assistance function can be used. The use of the driving assistance function is generally permitted in a certain driving environment (e.g., a highway). Therefore, this determination can be made based on the driving environment of the vehicle 1 (e.g., attribute information indicating the type of road). If the driving assistance function is available, proceed to S1020; if the driving assistance function is not available, return to S1010.

[0018] In S1020, the system refers to the driver's reaction history (described later) and judges whether the reaction history meets a standard. For example, if the amount of the reaction history meets the standard amount (mainly if the reaction history is sufficiently accumulated), the system proceeds to S1310, and if not, the system proceeds to S1030.

[0019] In S1030, a notification (hereinafter, "guidance notification") is issued regarding a guide recommending the use of the driving assistance function. The guidance notification may display, for example, a message saying "The driving assistance function is available. Do you want to execute it?" along with "YES" or "NO" that the driver can selectively input. Such a display may be realized, for example, by a touch panel display disposed near the driving operation device 12 or provided as a part of the driving operation device 12.

[0020] In S1040, the content of the operation input by the driver is judged. Here, it is judged whether the driver selected "YES" or "NO" by the operation input. If "YES" is input, the process proceeds to S1110, and if "NO" is input, the process proceeds to S1210.

[0021] In S1110, the operation input indicating the decision to use the driving support function is assumed to have been performed, and the operation input is cumulatively measured (the measured value is set as a value CT1). That is, the measured value CT1 corresponds to the cumulative number of times "YES" was selected in the determination of S1040. The measured value CT1 is recorded as part of the reaction history.

[0022] In S1120, the operation mode of the vehicle 1 is shifted to the driving assistance mode, which allows the driver to use the driving assistance function.

[0023] In S1130, it is determined whether or not the driving support function can be used, similarly to S1010. If the driving support function can be used, the process proceeds to S1140, and if the driving support function cannot be used, the process proceeds to S1150.

[0024] In S1140, it is determined whether or not an operation input for instructing the end of the driving support has been performed. If the operation input has been performed, the process proceeds to S1150, and if not, the process returns to S1130.

[0025] In S1150, the driving assistance mode is notified to be ended, and the operation mode of the vehicle 1 is shifted to the manual driving mode, for example, in response to a driving operation being input to the driving operation device 12. If no driving operation is input to the driving operation device 12 even after a predetermined time has elapsed, the driving assistance device 14 can stop the vehicle 1 at a predetermined position on the edge of a road, for example, a road shoulder. After that, for example, when the driving environment becomes one in which the driving assistance function is newly permitted, this flowchart can be resumed.

[0026] In S1210, assuming that an operation input indicating a decision not to use the driving support function has been performed, the operation input is cumulatively measured (the measured value is set as a value CT2). That is, the measured value CT2 corresponds to the cumulative number of times "NO" was selected in the determination of S1040. The measured value CT2 is recorded as another part of the reaction history. Then, the process returns to S1010.

[0027] Here, the sum of the measured values ​​CT1 and CT2 substantially coincides with the number of times that an operation input indicating a decision to use or not use the driving support function has been performed. Therefore, S1020 for determining whether the reaction history satisfies a criterion may be performed, for example, based on whether the sum of the measured values ​​CT1 and CT2 satisfies a criterion value. The reaction history may be recorded in a non-volatile memory built into the ECU, or may be recorded in an external recording device such as a hard disk drive (HDD) or a solid state drive (SSD).

[0028] In S1310, it is determined whether or not to execute the notification based on the reaction history. If the notification is to be executed, the process proceeds to S1030, and if not, the process returns to S1010 and the notification is not executed (the execution of the notification is suppressed). This determination can be made based on a comparison of the magnitudes of the measured values ​​CT1 and CT2. For example, if CT1>CT2 (if there is a strong tendency for an operation input indicating the decision to use the driving support function to be performed), the process can proceed to S1030. As another example, the magnitude comparison between the measured values ​​CT1 and CT2 may be performed based on a calculation process using a predetermined coefficient. For example, weighting coefficients a1 and a2 may be used, and the process may proceed to S1030 if (CT1×a1)>(CT2×a2). As yet another example, when the measured value CT1 exceeds the reference value and is greater than the measured value CT2, the driving assistance function may be used without executing the guidance notification, in which case the process may proceed to S1120 instead of S1030.

[0029] According to this embodiment, the operation input from the driver in response to the guidance notification is accepted, the contents of the operation input are cumulatively measured as the driver's reaction, and the measurement result is recorded as a reaction history. Whether or not to execute the guidance notification is determined based on the reaction history recorded in this manner. Therefore, in a driving environment in which the driving assistance function can be used, the guidance notification is executed or the execution is suppressed based on the reaction history, making it possible to prevent the guidance notification from being sent to the driver unnecessarily, thereby reducing the burden on the driver. The burden on the driver here may include not only the work burden of performing the operation input itself, but also mental burdens such as discomfort and annoyance that the driver may feel at that time. As described above, according to this embodiment, it is advantageous to improve the usability of the vehicle 1 equipped with a driving assistance function.

[0030] In this example, whether or not to issue a guidance notification is determined based on the reaction history (see S1310), but alternatively, the notification mode may be changed based on the reaction history. As an example, the guidance notification may include a plurality of modes with different contents (e.g., the amount of description of the driving support function), and for example, a simple guidance notification and a detailed guidance notification may be selectively issued. In such a case, the guidance notification may be issued in a form in which one of the simple description and the detailed description is selected based on the reaction history. Such a configuration is also advantageous in improving usability.

[0031] Second Embodiment Since the vehicle 1 can be used by any user, the above-mentioned reaction history may be managed for each individual user. In the second embodiment, the reaction history is recorded for each user, and when determining whether or not to execute the guidance notification, the reaction history for the user who will be the driver of the vehicle 1 is referenced.

[0032] 3 shows an example of a list of reaction histories recorded in database DB1. According to database DB1, multiple users U1, U2, U3, etc. are registered, and measurement values ​​CT1 and CT2 are recorded for each user.

[0033] Which of the multiple users U1, etc., is the driver may be identified by performing a predetermined authentication when starting the vehicle 1. According to the example of Fig. 3, for example, a guidance notification is provided to the user U1, and a guidance notification is not provided to the user U2 (see S1310).

[0034] According to this embodiment, the vehicle 1 is configured to be able to register one or more users in the database DB1, and the reaction history is recorded for each user. With this configuration, it becomes possible to refer to the reaction history for any user individually, and therefore it becomes possible to individually determine whether or not to execute a guidance notification, which is advantageous for further improving the usability of the vehicle 1.

[0035] Third Embodiment It is considered that the driving assistance function is updated by updating the application program, etc. In such a case, it is considered preferable that the contents of the update are notified to the driver or user, and at least a part of the reaction history may be initialized as necessary.

[0036] 4 is a flowchart showing an example of the control contents by the driving support device 14. This flowchart is started when the vehicle 1 is started, and the outline thereof is to determine whether or not the driving support function has been updated, and if an update has been made, to initialize the reaction history.

[0037] In S3010, it is determined whether or not the driving assistance function has been updated. As an example, the driving assistance function may be updated by reinstalling a program stored in the memory of the driving assistance device 14, but as another example, it may be updated by wireless communication. If the driving assistance function has been updated, the process proceeds to S3020, and if not, the process ends.

[0038] In S3020, the reaction history recorded in the database DB1 is initialized. Here, it is assumed that the entire reaction history is initialized. After that, this flowchart is ended, and the flowchart in FIG. 2 can be started.

[0039] Here, the following modified examples are possible for initializing the reaction history. - First example It is also considered that the reference value of relatively old reaction histories decreases. Therefore, reaction histories for which a predetermined time has passed (for example, cumulatively measured values ​​CT1 and CT2 for which a predetermined period has passed) may be initialized. This period may be preset to, for example, one month, one week, one day, etc., or may be arbitrarily changed by the owner of the vehicle 1, etc.

[0040] - Second Example On the other hand, when the reaction history is initialized, the determination in S1020 may be performed for a considerable period of time until the amount of the reaction history meets the reference amount (until the reaction history is sufficiently accumulated). Therefore, when the driving assistance function is updated, a notification indicating that the driving assistance function has been updated (hereinafter, "update notification") may be sent to each user only the first predetermined number of times thereafter (for example, once), and the flowchart in FIG. 2 may be executed otherwise.

[0041] - Third Example The driving assistance function generally includes multiple functions. Examples of such functions include sub-functions such as a distance maintenance function that provides driving assistance to maintain the distance between the vehicle 1 and the vehicle ahead, a lane departure prevention function that provides driving assistance to prevent the vehicle 1 from deviating from the lane, and auxiliary functions such as a UI (user interface) and voice guidance. When only some of the multiple functions are updated, it may not be necessary to initialize the entire reaction history. Therefore, for example, the reaction history may be recorded while being managed for each function, and only a part of the reaction history related to the updated contents may be initialized. Alternatively, the update notification may be performed only a predetermined number of times (for example, once) for the updated contents, and the flowchart of FIG. 2 may be executed for the rest of the updated contents.

[0042] As described above, according to this embodiment, in addition to obtaining the same effects as the first and second embodiments described above, an update notification is provided when a driving assistance function is updated, which is advantageous for further improving the usability of the vehicle 1.

[0043] According to the above embodiment, it is possible to further improve not only the usability of the vehicle 1 but also the social environment, such as providing a safer traffic environment.

[0044] In the above description, for ease of understanding, each element is indicated by a name related to its function, but each element is not limited to having the content described in the embodiment as its main function, and may have it as an auxiliary function. Therefore, each element is not strictly limited to the expression, and the expression can be replaced with a similar expression. In the same spirit, the expression "apparatus" may be replaced with "unit," "component, piece," "member," "structure," "assembly," etc., or may be omitted or added.

[0045] Summary of the embodiment Some features exemplified in the embodiments are as follows: [1] An in-vehicle driving assistance device (14), A determination means (S1010) for determining whether or not a driving assistance function can be used based on a driving environment of a vehicle (1); a notification means (S1030) for notifying a driver of the vehicle of a guide recommending use of the driving assistance function when the determination means determines that the driving assistance function is available; A recording means (S1110, S1210) for recording a response from the driver to the notification by the notification means as a response history; and a determination means (S1310) for determining the mode of notification by the notification means based on the reaction history recorded in the recording means. This reduces the burden on the driver that may be unnecessarily caused by the above guidance, and improves the usability of the vehicle. [2] The vehicle driver is further provided with a receiving means for receiving an operation input from the driver in response to the notification by the notifying means, The recording means is When the reception means receives an operation input indicating a decision to use the driving assistance function, the first value (CT1) is cumulatively measured, When the receiving means receives an operation input indicating a decision not to use the driving assistance function, the second value (CT2) is cumulatively measured, Recording the first value and the second value as a reaction history; The determining means determines a manner of execution of the notification by the notifying means based on a result of the comparison between the first value and the second value. The driving assistance device according to the present invention is characterized in that the above-mentioned determination can be made relatively easily. [3] The vehicle further includes a registration means for registering a user who will be the driver, the registration means being capable of registering one or more users, The recording means records a reaction history for each user, The determining means determines, for each user, a mode of execution of notification by the notifying means. The driving assistance device according to [1] is characterized in that the vehicle can be used by a variety of users. [4] The determining means determines whether or not to notify the user based on the reaction history recorded in the recording means. The driving assistance device according to the present invention is characterized in that it is possible to prevent unnecessary guidance from being given to the driver. [5] An update means for updating the driving assistance function; and an initialization means for initializing the reaction history recorded in the recording means when the driving assistance function is updated by the update means. The driving assistance device according to the present invention is characterized in that, when the driving assistance function is updated, the notification is appropriately performed. [6] The initialization means initializes the reaction history recorded by the recording means after a predetermined period of time has elapsed. The driving assistance device according to the present invention is characterized in that the notification is appropriately given. [7] The driving assistance function includes a plurality of functions, When a part or all of the plurality of functions are updated by the update means, the notification means notifies a guide recommending use of the updated function in a predetermined manner regardless of the reaction history recorded by the recording means. The driving assistance device according to the present invention is characterized in that the notification is appropriately given. [8] A driving assistance device (14) according to any one of [1] to [7], An operation device (12); Wheels (11) and That is, the driving assistance device described above can be generally installed in a vehicle equipped with a driving assistance function. [9] A method for providing driving assistance, comprising: A step (S1010) of determining whether or not a driving assistance function can be used based on a driving environment of the vehicle (1); a step (S1030) of notifying a driver of the vehicle of a guide recommending use of the driving assistance function when it is determined that the driving assistance function is available; A step of recording a response from the driver to the notification as a response history (S1110, S1210); and determining the manner of the notification based on the reaction history (S1310). This is a method characterized by the above, which makes it possible to achieve the same thing as [1] above.

[10] This is a program for causing a computer to execute each step of the method described in [9], thereby making it possible to achieve the same as [1] above.

[0046] The invention is not limited to the above-described embodiment, and various modifications and variations are possible within the scope of the gist of the invention. [Explanation of symbols]

[0047] 1: Vehicle, 14: Driving assistance device.

Claims

1. An in-vehicle driving assistance device, A determination means for determining whether or not a driving assistance function can be used based on a driving environment of a vehicle; a notification means for notifying a driver of the vehicle of a guide recommending use of the driving assistance function when the determination means determines that the driving assistance function is available; and A recording means for recording a reaction from the driver to the notification by the notification means as a reaction history; a determining means for determining a mode of notification by the notifying means based on the reaction history recorded in the recording means; a receiving means for receiving an operation input from the driver in response to the notification by the notifying means, The recording means is When the reception means receives an operation input indicating a decision to use the driving assistance function, the first value is cumulatively measured, When the reception means receives an operation input indicating a decision not to use the driving assistance function, the second value is cumulatively measured, Recording the first value and the second value as a reaction history; The determining means determines a manner of execution of the notification by the notifying means based on a result of the comparison between the first value and the second value. A driving assistance device comprising:

2. An in-vehicle driving assistance device, A determination means for determining whether or not a driving assistance function can be used based on a driving environment of a vehicle; a notification means for notifying a driver of the vehicle of a guide recommending use of the driving assistance function when the determination means determines that the driving assistance function is available; and A recording means for recording a reaction from the driver to the notification by the notification means as a reaction history; a determining means for determining a mode of notification by the notifying means based on the reaction history recorded in the recording means; A registration means for registering a user who will be the driver, the registration means being capable of registering one or more users, The recording means records a reaction history for each user, The determining means determines, for each user, a mode of execution of notification by the notifying means. A driving assistance device comprising:

3. The determining means determines whether or not to notify the user based on the reaction history recorded in the recording means.

2. The driving support device according to claim 1.

4. An in-vehicle driving assistance device, A determination means for determining whether or not a driving assistance function can be used based on a driving environment of a vehicle; a notification means for notifying a driver of the vehicle of a guide recommending use of the driving assistance function when the determination means determines that the driving assistance function is available; and A recording means for recording a reaction from the driver to the notification by the notification means as a reaction history; a determining means for determining a mode of notification by the notifying means based on the reaction history recorded in the recording means; An update means for updating the driving assistance function; An initialization means for initializing the reaction history recorded in the recording means when the driving assistance function is updated by the update means. A driving assistance device comprising:

5. The initialization means initializes the reaction history recorded by the recording means after a predetermined period of time has elapsed.

5. The driving support device according to claim 4.

6. The driving assistance function includes a plurality of functions, When a part or all of the plurality of functions are updated by the update means, the notification means notifies the user of a guide recommending use of the updated function in a predetermined manner regardless of the reaction history recorded by the recording means.

5. The driving support device according to claim 4.

7. An in-vehicle driving assistance device, A determination means for determining whether or not a driving assistance function can be used based on a driving environment of a vehicle; a notification means for notifying a driver of the vehicle of a guide recommending use of the driving assistance function when the determination means determines that the driving assistance function is available; and A recording means for recording a reaction from the driver to the notification by the notification means as a reaction history; A determination means for determining a mode of notification by the notification means based on the reaction history recorded in the recording means, The driving assistance function includes a plurality of functions, and the recording means records the reaction history in a manageable manner for each function. A driving assistance device comprising:

8. A driving assistance device according to any one of claims 1 to 7; A driving operation device; Wheels; A vehicle characterized by:

9. A method for providing driving assistance, comprising: determining whether or not a driving assistance function is available based on a driving environment of a vehicle; when it is determined that the driving assistance function is available, notifying a driver of the vehicle of a guide recommending use of the driving assistance function; A step of recording a reaction from the driver to the notification as a reaction history; determining a manner of the notification based on the reaction history; receiving an operation input from the driver in response to the notification, In the recording step, When an operation input indicating a decision to use the driving assistance function is received in the receiving step, the first value is cumulatively measured, When an operation input indicating a decision not to use the driving assistance function is received in the receiving step, the second value is cumulatively measured; Recording the first value and the second value as a reaction history; In the determining step, a manner of execution of the notification is determined based on a comparison result between the first value and the second value. A method comprising:

10. A method for providing driving assistance, comprising: determining whether or not a driving assistance function is available based on a driving environment of a vehicle; when it is determined that the driving assistance function is available, notifying a driver of the vehicle of a guide recommending use of the driving assistance function; A step of recording a reaction from the driver to the notification as a reaction history; determining a manner of the notification based on the reaction history; A step of registering a user who will be the driver, the step being capable of registering one or more users; In the recording step, a reaction history is recorded for each user, In the step of determining, a mode of execution of the notification is determined for each user. A method comprising:

11. A method for providing driving assistance, comprising: determining whether or not a driving assistance function is available based on a driving environment of a vehicle; when it is determined that the driving assistance function is available, notifying a driver of the vehicle of a guide recommending use of the driving assistance function; A step of recording a reaction from the driver to the notification as a reaction history; determining a manner of the notification based on the reaction history; updating the driving assistance function; and initializing the recorded reaction history when the driving assistance function is updated. A method comprising:

12. A method for providing driving assistance, comprising: determining whether or not a driving assistance function is available based on a driving environment of a vehicle; when it is determined that the driving assistance function is available, notifying a driver of the vehicle of a guide recommending use of the driving assistance function; A step of recording a reaction from the driver to the notification as a reaction history; determining a manner of the notification based on the reaction history; The driving assistance function includes a plurality of functions, and in the recording step, the reaction history is recorded in a manner that allows management for each function. A method comprising:

13. A program for causing a computer to execute each step of the method according to any one of claims 9 to 12.

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