Driving Support Devices

Abstract

To provide a drive assist device that can notify a driver during driving of information on an evaluation of a driving operation of the driver in real time by a method that can suppress a decrease in attention.SOLUTION: A drive assist device includes a control unit that acquires data indicating behavior of a vehicle body during traveling of a vehicle and controls sounds varying with the behavior, to be continuously output. The control unit sets based on driving conditions of the vehicle a predetermined threshold to a value that indicates magnitude of the behavior, varies the sounds with the value indicating the magnitude of the behavior when the value indicating the magnitude of the behavior is below the threshold, and performs a predetermined control when the value indicating the behavior is threshold or larger.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a driving assistance device that aims to improve vehicle driving operation skills. [Background technology]

[0002] Drivers have different skill levels when it comes to driving a vehicle. The skill level of a driver affects ride comfort and road safety. In response to this, various devices have been proposed that judge the driving operation of a vehicle, notify the driver of the judgment result, and provide advice.

[0003] For example, Patent Document 1 proposes a driving support device that accurately judges the driving operation state and allows the driver to know information about the overall evaluation of the driving operation state in the current drive, thereby improving the driving operation technique in the next drive. Specifically, Patent Document 1 discloses a driving support device that includes a change amount calculation unit that calculates a first related value related to the change amount of acceleration, a jerk calculation unit that calculates a second related value related to the jerk, a state determination unit that determines whether the driving state is smooth or shaky from the first and second related values ​​according to a previously set determination criterion using a vibration model, and a comprehensive determination unit that calculates a score for the determination result by the state determination unit in the current drive, calculates a first evaluation index by dividing the score by the number of determinations by the state determination unit in the current drive, and calculates a comprehensive evaluation score of the driving operation state in the current drive based on the first evaluation index. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2012-198344 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, since the driving support device described in Patent Document 1 evaluates a series of driving operations performed during the current drive, it is difficult for the driver to understand at what point in time the driving operations were evaluated. In contrast, if the evaluation result and advice on driving operations are presented to the driver while driving by voice text or image display, there is a risk that the driver's attention to the surroundings of the vehicle will decrease when checking the evaluation result or the content of the advice.

[0006] The present invention has been made in consideration of the above problems, and an object of the present invention is to provide a driving assistance device that can notify a driver while driving of information regarding an evaluation of the driver's driving operation in real time and in a manner that can suppress a decrease in attention. [Means for solving the problem]

[0007] In order to solve the above problem, according to one aspect of the present invention, a driving assistance device is provided that includes a control unit that acquires data indicating the behavior of the vehicle body while the vehicle is traveling and controls the continuous output of a sound that changes according to the behavior, wherein the control unit sets a predetermined threshold value for a value indicating the magnitude of the behavior based on the driving conditions of the vehicle, and when the value indicating the magnitude of the behavior is less than the predetermined threshold value, changes the sound according to the value indicating the magnitude of the behavior, and when the value indicating the magnitude of the behavior is equal to or greater than the predetermined threshold, executes the predetermined control.

[0008] In the driving assistance device described above, the control unit may output a sound that changes continuously with a change in the value indicating the magnitude of the behavior when the value indicating the magnitude of the behavior is less than a predetermined threshold value.

[0009] In the driving assistance device, the control unit may set the predetermined threshold value based on attributes of the driver of the vehicle.

[0010] In the driving assistance device, the control unit may set the predetermined threshold to be smaller as the driving skill of the driver increases.

[0011] In the driving assistance device, the control unit may set the predetermined threshold value based on a driving environment that affects the stability of the vehicle behavior. Effect of the Invention

[0012] As described above, according to the present invention, it is possible to notify a driver while driving of information relating to the evaluation of the driver's driving performance in real time and in a manner that can suppress a decrease in attention. [Brief description of the drawings]

[0013] [Figure 1] 1 is a block diagram showing an example of the configuration of a driving assistance device according to an embodiment of the present invention; [Diagram 2] 4 is an explanatory diagram showing an example of condition setting by the driving assistance device according to the embodiment; FIG. [Diagram 3] FIG. 2 is an explanatory diagram showing data processing by the driving assistance device according to the embodiment; [Figure 4] 4 is an explanatory diagram showing a sound conversion process performed by the driving assistance device according to the embodiment. FIG. [Diagram 5] FIG. 11 is an explanatory diagram showing a change in an output sound caused by changing a threshold value. [Figure 6] 4 is a flowchart of a control process performed by the driving assistance device according to the embodiment. [Figure 7] 4 is a flowchart of a condition setting process performed by the driving assistance device according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, preferred embodiments of the present invention 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 designated by the same reference numerals, and duplicated explanations will be omitted.

[0015] <1. Overview of driving support device> First, the outline of the driving support device according to the present embodiment will be briefly described. The driving support device acquires data showing the behavior of the vehicle body while the vehicle is traveling, and continuously outputs sounds that change according to the behavior. The behavior of the vehicle body mainly reflects the steering operation state, accelerator operation state, and brake operation state of the driver, so that the driver can intuitively recognize the evaluation of his / her own driving operation state in real time through auditory stimulation.

[0016] The sound continuously output from the driving assistance device changes continuously with the change in the value indicating the magnitude of the behavior of the vehicle body when the value indicating the magnitude of the behavior is less than a predetermined threshold (upper limit). In this way, the driving assistance device allows the driver to intuitively recognize the change in the behavior of the vehicle body in real time through auditory stimulation. In addition, the driving assistance device continuously outputs a constant sound when the value indicating the magnitude of the behavior is equal to or greater than a predetermined threshold (upper limit). In this way, the driving assistance device allows the driver to recognize that the driving operation state is one in which the stability of the vehicle body's behavior has decreased, and guides the driving operation state to a good state.

[0017] In this embodiment, the driving assistance device sets the above-mentioned predetermined threshold value (upper limit value) based on the driving conditions of the vehicle. The information on the driving conditions of the vehicle used to set the threshold value (upper limit value) is information on driving conditions that may affect the behavior stability of the vehicle body. In the embodiment described below, information on the driver's attributes related to the driver's driving skills and information related to conditions that affect the stability of the vehicle's behavior are used as the information on the driving conditions of the vehicle. As a result, the range in which the output sound changes continuously with the change in the value indicating the magnitude of the vehicle body's behavior, or the degree of change in the sound with respect to the change in the value indicating the magnitude of the vehicle body's behavior, and further the upper limit of the value indicating the magnitude of the behavior at which the output sound becomes constant are adjusted according to the driving conditions of the vehicle. As a result, the driving operation state of the driver is guided to an appropriate driving operation state according to the conditions that affect the driver's driving skills and the stability of the vehicle's behavior.

[0018] Hereinafter, a driving assistance device according to an embodiment of the present invention will be specifically described.

[0019] <2. Configuration of driving support device> First, the configuration of the driving support device according to this embodiment will be described. Fig. 1 is a block diagram showing an example of the configuration of a driving support device 1 according to this embodiment.

[0020] The driving assistance device 1 includes an information processing device 50. The information processing device 50 includes, for example, a processor such as a CPU (Central Processing Unit), an electric circuit, and a storage element such as a RAM (Random Access Memory) and a ROM (Read Only Memory). A part or the whole of the information processing device 50 may be configured with updatable elements such as firmware, or may be a program module executed by a command from the CPU or the like.

[0021] The driving assistance device 1 also includes a vehicle body behavior measurement device 11, a vehicle surroundings detection device 13, a weather information detection device 15, a vehicle position information detection device 17, an input unit 19, and a sound output device 31. The vehicle body behavior measurement device 11, the vehicle surroundings detection device 13, the weather information detection device 15, the vehicle position information detection device 17, the input unit 19, and the sound output device 31 are communicatively connected to an information processing device 50 directly or via a communication bus such as a CAN (Controller Area Network).

[0022] (2-1. Vehicle behavior measurement device) The vehicle body behavior measuring device 11 is a device that measures data indicating the behavior of the vehicle. The vehicle body behavior measuring device 11 includes at least one of a vehicle speed sensor, an acceleration sensor, and an angular velocity sensor, for example. The vehicle speed sensor detects, for example, the rotation speed of a drive shaft of the vehicle. The acceleration sensor detects at least longitudinal acceleration, which is acceleration in the longitudinal direction of the vehicle body, and lateral acceleration, which is acceleration in the vehicle width direction. The acceleration sensor may further detect vertical acceleration, which is acceleration in the vehicle height direction. The angular velocity sensor detects the rate of change of each of the rotation angle (roll angle) around an axis in the longitudinal direction of the vehicle body, the rotation angle (pitch angle) around an axis in the vehicle width direction, and the rotation angle (yaw angle) around an axis in the vehicle height direction. The angular velocity sensor may be a yaw rate sensor that detects the rate of change of the yaw angle.

[0023] The data measured by the vehicle body behavior measurement device 11 is data that may change due to the steering operation, accelerator operation, and brake operation by the driver, and is input to the information processing device 50 as data indicating the behavior of the vehicle body. The information processing device 50 is configured to be able to acquire information indicating the data measured by the vehicle body behavior measurement device 11. The vehicle body behavior measurement device 11 may include a sensor capable of measuring data reflecting the vehicle behavior, in addition to a vehicle speed sensor, an acceleration sensor, and an angular velocity sensor.

[0024] (2-2. Vehicle Surroundings Detection Device) The vehicle surroundings detection device 13 is a device that detects information about the surroundings of the vehicle. The vehicle surroundings detection device 13 includes at least one of a stereo camera, a monocular camera, a LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), and a radar sensor. The vehicle surroundings detection device 13 detects objects around the vehicle, such as other vehicles, bicycles, pedestrians, road signs, and other obstacles, based on the acquired data, and detects the distance to these objects and the relative speed. The vehicle surroundings detection device 13 also detects information about the surroundings, such as the road width, based on the acquired data.

[0025] The information detected by the vehicle surroundings detection device 13 is input to the information processing device 50. The information processing device 50 is configured to be able to acquire the information detected by the vehicle surroundings detection device 13. The vehicle surroundings detection device 13 may include a device capable of detecting information on the surroundings of the vehicle, in addition to a stereo camera, a monocular camera, a LiDAR, and a radar sensor.

[0026] (2-3. Weather Information Detection Device) The weather information detection device 15 is a device that detects information about the weather in the driving area of ​​the vehicle. The weather information detection device 15 is configured to include at least one of a stereo camera, a monocular camera, a rain sensor, an anemometer, and an acceleration sensor, for example. The weather information detection device 15 can detect rainfall, snowfall, snow accumulation, and road surface ice based on imaging data from the stereo camera or the monocular camera. The weather information detection device 15 can also estimate the amount of rainfall based on detection data from the rain sensor. The weather information detection device 15 can also detect wind speed and wind direction based on detection data from the anemometer. The weather information detection device 15 can also estimate wind speed and wind direction based on a sensor signal from an acceleration sensor.

[0027] The information detected by the weather information detection device 15 is input to the information processing device 50. The information processing device 50 is configured to be able to acquire the information detected by the weather information detection device 15. The weather information detection device 15 may include devices capable of detecting information related to the weather in the driving area of ​​the vehicle, in addition to a stereo camera, a monocular camera, a rain sensor, an anemometer, and an acceleration sensor. The weather information detection device 15 may also receive information from an external system, such as telematics, to acquire information related to the weather in the driving area. The information processing device 50 is configured to be able to acquire the information detected by the weather information detection device 15.

[0028] (2-4. Vehicle position information detection device) The vehicle position information detection device 17 receives a positioning signal transmitted from a Global Navigation Satellite System (GNSS) such as a Global Positioning System (GPS) to measure the position of the vehicle. The vehicle position information detection device 17 may receive a positioning signal transmitted from another system such as a Quasi-Zenith Satellite System instead of or in addition to the GNSS to measure the position of the vehicle. Information on the vehicle position detected by the vehicle position information detection device 17 is input to the information processing device 50. The information processing device 50 is configured to be able to acquire the position information detected by the vehicle position information detection device 17.

[0029] (2-5. Input section) The input unit 19 accepts operation input from the user and transmits it to the information processing device 50. The input unit 19 may be, for example, a touch panel display or a dial-type operation device. Alternatively, the input unit 19 may be a voice recognition device that accepts input by the voice of the occupant or an image recognition device that accepts input by gestures.

[0030] In this embodiment, the input unit 19 accepts input of information related to the attributes of the driver. The information related to the attributes of the driver is information related to the driving skills of the driver, and includes at least one of the following information: the driver's age, the number of years since obtaining a license, driving frequency, the number of years since the last driving, etc. Furthermore, other information that can estimate the driving skills of the driver may be included. This information may be input in the form of a questionnaire in which the driver or the like answers questions presented by the information processing device 50, or data that has been determined or accumulated in advance may be input.

[0031] The input unit 19 may also receive input of information on a sound desired as an output sound. For example, the input unit 19 may be configured to allow the driver or the like to select a desired sound from among the tones or types of sounds presented by the information processing device 90. Specifically, the type of musical instrument sound or sound effect to be output may be selectable. Data on the selected sound is stored in advance in the storage unit 55 of the information processing device 50, but the sound data may be updated or added by communicating with an external server or the like.

[0032] (2-6. Sound output device) The sound output device 31 is a device that outputs a sound that can be recognized by the driver. The sound output device 31 may be a speaker provided in the vehicle, or may be a speaker dedicated to the driving assistance device 1. The output of the sound output device 31 is controlled by the information processing device 50, and the sound output device 31 makes the driver recognize the evaluation of the driving operation state through auditory stimulation.

[0033] (2-7. Information processing device) The information processing device 50 includes a communication unit 51, a control unit 53, and a storage unit 55. The control unit 53 includes an acquisition unit 61, a data processing unit 63, a sound conversion processing unit 65, an output control unit 67, and a condition setting unit 69. The control unit 53 is a processor such as a CPU, and each of the acquisition unit 61, the data processing unit 63, the sound conversion processing unit 65, the output control unit 67, and the condition setting unit 69 may be a function realized by the execution of a program by the processor.

[0034] (2-7-1. Storage section) The storage unit 55 includes one or more storage elements such as a RAM or a ROM. The storage unit 55 stores programs executed by the control unit 53, various parameters used in executing the programs, acquired data, data of calculation results, and the like.

[0035] (2-7-2. Communications Department) The communication unit 51 is an interface for transmitting and receiving data and signals to and from the vehicle body behavior measurement device 11, the vehicle surroundings detection device 13, the weather information detection device 15, the vehicle position information detection device 17, the input unit 19, and the sound output device 31.

[0036] (2-7-3. Acquisition Department) The acquisition unit 61 of the control unit 53 acquires information output from the vehicle body behavior measurement device 11, the vehicle surroundings detection device 13, the weather information detection device 15, the vehicle position information detection device 17, and the input unit 19 via the communication unit 51. The information acquired by the acquisition unit 61 includes data indicating the behavior of the vehicle body output from the vehicle body behavior measurement device 11. The acquisition unit 61 acquires information at a predetermined calculation period, and stores the acquired data in the memory unit 55.

[0037] (2-7-4. Data processing unit) The data processing unit 63 of the control unit 53 performs a predetermined data processing on the data indicating the behavior of the vehicle body acquired by the acquisition unit 61. Specifically, the data processing unit 63 performs at least one of smoothing processing, absolute value conversion processing, and differentiation processing on the acquired measurement data of the vehicle speed, acceleration (longitudinal acceleration, lateral acceleration, and vertical acceleration), or angular velocity (angular velocity of yaw angle, roll angle, and pitch angle), and calculates an evaluation value that is a value indicating the magnitude of the behavior of the vehicle body.

[0038] For example, the data processing unit 63 performs smoothing, absolute value conversion, and differentiation on the measurement data of the vehicle speed, acceleration, or angular velocity to calculate the absolute value of the acceleration, the jerk of the absolute value of the acceleration (jerk: jerk), or the jerk of the absolute value of the angular velocity (angular acceleration). The data processing unit 63 may use the calculated absolute value of the acceleration, angular velocity, jerk, or angular acceleration as the evaluation value as it is. In particular, by using the absolute value of the jerk or angular acceleration as the evaluation value, the influence of changes in the vehicle speed, acceleration, or angular velocity due to the trajectory of the road or the acceleration / deceleration of other vehicles is reduced, and changes in the behavior of the vehicle body due to the driving operation state of the driver can be evaluated more accurately.

[0039] Furthermore, the data processing unit 63 may calculate one evaluation value using a plurality of data items among the acceleration, the angular velocity, the jerk, or the absolute value of the angular acceleration. In this case, the data processing unit 63 may replace the values ​​of the individual data items used with the same index (for example, an index value of 0 to 100) and set the average value of the index values ​​of all the data items used as the evaluation value. In this embodiment, the data processing unit 63 calculates the evaluation value using a number (type) of data items that are set by the condition setting unit 69, which will be described later, based on the driving conditions of the vehicle.

[0040] The acceleration and jerk are calculated individually for at least one of longitudinal acceleration, lateral acceleration, and vertical acceleration. The angular velocity and angular acceleration are calculated individually for at least one of yaw angle, roll angle, and pitch angle. The evaluation value calculated by the data processing unit 63 is larger as the behavior of the vehicle body becomes larger, and is smaller as the behavior becomes smaller.

[0041] (2-7-5. Sound conversion processing unit) The sound conversion processing unit 65 of the control unit 53 converts the evaluation value calculated by the data processing unit 63 into information on the sound to be output. The sound conversion processing unit 65 determines the area in which the output sound is continuously changed based on the upper limit value set by the condition setting unit 69, and then converts the evaluation value into information on the output sound. Specifically, the area in which the output sound is continuously changed with the change in the evaluation value (hereinafter also referred to as the "output sound change area") changes depending on the upper limit value set by the condition setting unit 69. The lower limit value of the output sound change area may be zero or a positive value exceeding zero. The sound conversion processing unit 65 assigns an evaluation value to an element of the output sound (hereinafter also referred to as the "change element") that is continuously changed with the change in the evaluation value based on the output sound change area determined by the set upper limit value, and sets the output sound corresponding to the evaluation value. The change element of the output sound can be, for example, at least one of pitch, frequency, volume, pitch, or the number of tones to be generated, but is not limited to this example.

[0042] The state in which the output sound changes continuously with the change in the evaluation value refers to a state in which the variable elements of the output sound, such as pitch, frequency, volume, pitch, or the number of tones to be generated, are assigned stepwise or steplessly according to the magnitude of the evaluation value, and a sound corresponding to the calculated evaluation value is output. Furthermore, the state in which the output sound is output continuously refers to a state in which the sound continues to be output regardless of whether the sound changes continuously or is constant.

[0043] In this embodiment, when the evaluation value is within the output sound change region, the sound continuously output from the sound output device 31 changes continuously with the change in the evaluation value. For example, when the type of the output sound is the sound of a musical instrument having a scale, the pitch of the output sound is set to be stepwise and continuously higher as the evaluation value increases. In addition, when the type of the output sound is not a musical instrument sound or is the sound of a musical instrument without a scale, the frequency of the output sound may be set to be steplessly and continuously higher as the evaluation value increases. Alternatively, the volume of the output sound may be set to be continuously higher as the evaluation value increases, or the pitch of the output sound may be set to be continuously faster as the evaluation value increases. Furthermore, the number of tones generated as the output sound may be set to be stepwise and continuously reduced as the evaluation value increases. This allows the driver to intuitively recognize the change in the stability of the behavior of the vehicle body. In particular, when the evaluation value is set to be higher as the pitch or frequency of the output sound becomes higher, the volume becomes larger, the pitch becomes faster, or the number of tones generated becomes smaller as the evaluation value increases, the driver can further intuitively recognize that the stability of the behavior of the vehicle body is decreasing.

[0044] Also, when the evaluation value is equal to or greater than the upper limit, a predetermined control set in advance is executed. In this embodiment, when the evaluation value is equal to or greater than the upper limit, the sound output continuously from the sound output device 31 is set to a constant sound. For example, when the pitch or frequency of the output sound becomes higher as the evaluation value increases in the output sound change area, when the evaluation value is equal to or greater than the upper limit, the pitch or frequency of the output sound may be fixed to the highest pitch or frequency among the continuously changing pitches or frequencies. Similarly, when the volume of the output sound becomes higher as the evaluation value increases in the output sound change area, when the evaluation value is equal to or greater than the upper limit, the volume of the output sound may be fixed to the highest volume among the continuously changing volumes. Also, when the pitch of the output sound becomes faster as the evaluation value increases in the output sound change area, when the evaluation value is equal to or greater than the upper limit, the pitch of the output sound may be fixed to the fastest pitch among the continuously changing pitches. Also, when the number of tones of the output sound decreases as the evaluation value increases in the output sound change area, when the evaluation value is equal to or greater than the upper limit, the number of tones of the output sound may be fixed to the smallest number among the continuously changing tones. This allows the driver to intuitively recognize that the vehicle behavior is becoming less stable.

[0045] In addition, in this embodiment, when the lower limit value of the output sound change area is set to a value exceeding zero, when the evaluation value is equal to or less than the lower limit value, the sound output continuously from the sound output device 31 is set to a constant sound. For example, when the pitch or frequency of the output sound increases as the evaluation value increases in the output sound change area, when the evaluation value is equal to or less than the lower limit value, the pitch or frequency of the output sound may be fixed to the lowest pitch or frequency among the continuously changing pitches or frequencies. Similarly, when the volume of the output sound increases as the evaluation value increases in the output sound change area, when the evaluation value is equal to or less than the lower limit value, the volume of the output sound may be fixed to the lowest volume among the continuously changing volumes. Furthermore, when the pitch of the output sound increases as the evaluation value increases in the output sound change area, when the evaluation value is equal to or less than the lower limit value, the pitch of the output sound may be fixed to the slowest pitch among the continuously changing pitches. Furthermore, when the number of tones of the output sound increases as the evaluation value increases in the output sound change area, when the evaluation value is equal to or less than the lower limit value, the number of tones of the output sound may be fixed to the smallest number among the continuously changing tones. This allows the driver to intuitively recognize that the vehicle behavior is in a highly stable state.

[0046] The output sound may be a sound of one tone or type, or may be a chord in which a plurality of different pitches, tones, or types of sounds are generated simultaneously. For example, the number of tones or types of the output sound may be increased or decreased in accordance with an increase or decrease in the number of types of data used to evaluate the magnitude of the vehicle body's behavior. When evaluating the magnitude of the vehicle body's behavior using a plurality of data, an evaluation value may be calculated for each data, and a sound corresponding to each evaluation value may be output. In this case, the sounds corresponding to each evaluation value may be the same tone or type, or may be different tone or type. When the output sound is a chord, depending on the pitch, tone, or number of sounds used, the sound can be made to sound pleasant to the driver, or it can be made to sound as a sound that gives a negative impression.

[0047] Here, the sound conversion processing unit 65 sets the output sound change area according to the upper limit value set by the condition setting unit 69, and assigns a change element of the output sound for each evaluation value. For example, when the sound of an instrument having a scale is selected as the timbre of the output sound, the sound conversion processing unit 65 assigns an evaluation value for each scale of the instrument sound used. Specifically, when the sound of a piano is used as the output sound, in an area where the evaluation value is equal to or less than the lower limit value of the output sound change area, the sound conversion processing unit 65 sets the pitch of the output sound to the lowest scale. On the other hand, in an area where the evaluation value is equal to or more than the upper limit value of the output sound change area, the sound conversion processing unit 65 sets the pitch of the output sound to the highest scale. Also, when the evaluation value is within the output sound change area, the sound conversion processing unit 65 assigns an evaluation value for each scale corresponding to each key between the lowest scale and the highest scale.

[0048] Furthermore, when a sound effect without a scale is selected as the type of output sound, the sound conversion processing unit 65 sets a frequency band as a variable element of the output sound within the frequency range of the human audible band (for example, 20 to 20,000 Hz), and assigns an evaluation value to the frequency. Similarly in such a case, in a region where the evaluation value is equal to or lower than the lower limit of the output sound change region, the sound conversion processing unit 65 sets the frequency of the output sound to the minimum value of the band. On the other hand, in a region where the evaluation value is equal to or higher than the upper limit of the output sound change region, the sound conversion processing unit 65 sets the frequency of the output sound to the maximum value of the band. Furthermore, when the evaluation value is within the output sound change region, the sound conversion processing unit 65 assigns an evaluation value steplessly between the minimum value and the maximum value of the frequency band.

[0049] Similarly, in cases where the volume, pitch, or number of tones of the output sound is changed instead of or in addition to changing the pitch or frequency of the output sound, the sound conversion processing unit 65 assigns evaluation values ​​to the change elements in a stepwise or stepless manner.

[0050] Here, it is preferable that the range in which the variable elements that change continuously in the output sound change area change, that is, the fluctuation range of the pitch or frequency, volume, pitch or number of timbres, is the same regardless of the upper limit value. In other words, it is preferable that the range in which the variable elements of the output sound change is the same regardless of the width of the output sound change area. This allows the driver to intuitively recognize how close the magnitude of the behavior of the vehicle body is to the current upper limit value regardless of the width of the output sound change area. Also, if the range in which the variable elements of the output sound change is the same regardless of the width of the output sound change area, the narrower the output sound change area, the more the output sound can be changed in response to subtle changes in the behavior of the vehicle body, allowing the driver to recognize more subtle changes in behavior.

[0051] In this way, the sound conversion processing unit 65 sets the tone or type of the output sound to the tone or type selected by a user such as a driver, assigns evaluation values ​​to the variable elements of the output sound according to the setting of the output sound change area, and sets the variable elements corresponding to the evaluation values ​​calculated by the data processing unit 63. In this way, the evaluation values ​​calculated by the data processing unit 63 are converted into information on the output sound.

[0052] (2-7-6. Output control section) The output control unit 67 of the control unit 53 controls the driving of the sound output device 31 based on the information on the output sound calculated by the sound conversion processing unit 65, and generates the output sound. In this embodiment, the output control unit 67 outputs the sound of the tone or type set by the sound conversion processing unit 65 according to variable factors such as the set pitch, frequency, volume, pitch, or number of tones.

[0053] (2-7-7. Condition setting section) The condition setting unit 69 of the control unit 53 sets conditions for the sound conversion process by the sound conversion processing unit 65. The condition setting unit 69 sets an upper limit value that determines an output sound change region based on the driving conditions of the vehicle. In this embodiment, the condition setting unit 69 sets the upper limit value based on the information on the driver's attributes input from the input unit 19 and the driving environment that affects the stability of the vehicle's behavior as the driving conditions of the vehicle.

[0054] Specifically, the condition setting unit 69 sets the upper limit value to a smaller value as the estimated driving skill is higher, and sets the upper limit value to a larger value as the estimated driving skill is lower, based on information related to the driving skill of the driver acquired as information on the driver's attributes. As a result, for example, in the case of a driver with high driving skill and stable vehicle behavior, the upper limit value is lowered, and the driver can recognize more subtle changes in the vehicle behavior than a driver with low driving skill. Therefore, a driver with high driving skill can be guided to further stabilize the vehicle behavior. On the other hand, a driver with low driving skill can be guided to an appropriate level of stability of behavior according to the driver's driving skill.

[0055] As the information of the driver's attributes related to the driver's driving skills, at least one of the following information is used: the driver's age, the number of years since obtaining a license, driving frequency, the number of years since the last driving, etc., acquired via the input unit 19. In other words, if the driver's age is elderly, the driving skills are likely to have deteriorated, so the upper limit value is increased. In addition, the longer the number of years since obtaining a license, the higher the driving skills are presumed to be, so the upper limit value is decreased. In addition, the more frequently the driver drives, the higher the driving skills are presumed to be, so the upper limit value is decreased. In addition, the longer the number of years since the last driving (number of blank years), the higher the possibility that the driving skills have deteriorated, so the upper limit value is increased.

[0056] Furthermore, the condition setting unit 69 may adjust the upper limit value based on the data of the evaluation value during past driving by the same driver, in addition to the information acquired via the input unit 19. For example, the condition setting unit 69 may use information on the number or frequency of the evaluation value calculated by the data processing unit 63 exceeding the upper limit value during past driving by the same driver. In this case, the upper limit value is reduced because the driving skill is estimated to be higher the fewer the number or frequency of the evaluation value exceeding the upper limit value.

[0057] The condition setting unit 69 may set the upper limit value based on the driving environment that affects the stability of the vehicle's behavior. For example, the condition setting unit 69 sets the upper limit value to a small value in a driving environment in which it is desirable to increase the stability of the vehicle's behavior because the risk caused by the traffic environment is high, and sets the upper limit value to a large value in a driving environment in which the risk caused by the traffic environment is low. This allows the driver's driving operation to be guided to a driving operation state that can stabilize the vehicle body's behavior when driving in a driving environment in which the risk caused by the traffic environment is high, and leads the vehicle to safe driving.

[0058] Driving environments with a high degree of danger due to the traffic environment include driving scenes with a high risk of accidents, etc., due to the traffic environment, such as driving scenes with a large number of pedestrians and bicycles, driving scenes with a high volume of vehicular traffic, driving scenes on school routes during school hours, driving scenes on narrow roads, etc. For example, the condition setting unit 69 can determine driving environments with a high degree of danger due to the traffic environment based on information on the situation around the vehicle input from the vehicle surroundings detection device 13, and the vehicle position information and map data detected by the vehicle position information detection device 17.

[0059] Specifically, the condition setting unit 69 can specify a driving scene with a large number of pedestrians or bicycles or a driving scene with a large volume of vehicle traffic based on the number of pedestrians, bicycles, and other vehicles recognized from the vehicle surroundings input from the vehicle surroundings detection device 13. The condition setting unit 69 can also specify a scene of driving on a school route during school hours based on road sign information recognized from the vehicle surroundings input from the vehicle surroundings detection device 13, vehicle position information detected by the vehicle position information detection device 17, map data, and time information. The condition setting unit 69 can also specify a scene of driving on a narrow road based on the road width recognized from the vehicle surroundings input from the vehicle surroundings detection device 13.

[0060] In addition, the condition setting unit 69 may set the upper limit value to a small value in a driving environment in which the stability of the vehicle's behavior is likely to decrease as a driving environment that affects the stability of the vehicle's behavior, and may set the upper limit value to a large value in a driving environment in which the stability of the vehicle's behavior is unlikely to decrease. This allows the driver's driving operation to be guided to a driving operation state that can stabilize the vehicle body's behavior when driving in a driving environment in which the stability of the vehicle's behavior is likely to decrease. Examples of driving environments in which the stability of the vehicle's behavior is likely to decrease include driving scenes in which the risk of accidents, etc. is high due to the weather environment, such as when there is a lot of rainfall, when there is a lot of snowfall, during a storm, when there is snow, when the road surface is frozen, etc. The condition setting unit 69 can estimate a driving environment in which the stability of the vehicle's behavior is likely to decrease due to weather conditions, based on information about the weather in the driving area of ​​the vehicle detected by the weather information detection device 15.

[0061] Furthermore, in this embodiment, the condition setting unit 69 sets conditions for data processing by the data processing unit 63 based on at least one of the above-mentioned information on the driver's attributes and the information on the vehicle's running environment. Specifically, in this embodiment, the condition setting unit 69 sets the number of types of data to be used when the data processing unit 63 calculates an evaluation value indicating the magnitude of the vehicle body behavior based on at least one of the above-mentioned information on the driver's attributes and the information on the vehicle's running environment.

[0062] For example, the condition setting unit 69 increases the number of types of data used to calculate the evaluation value as the driving skill of the driver estimated from the information on the driver's attributes increases, and decreases the number of types of data used to calculate the evaluation value as the driving skill of the driver estimated decreases. As a result, for example, in the case of a driver with high driving skill and stable vehicle behavior, the driving operation state is evaluated based on more types of data, and the driver can be guided to further stabilize the vehicle behavior. On the other hand, for a driver with low driving skill, the driving operation state is evaluated based on a relatively small number of data, so that the driver can be guided to an appropriate level of behavior stability according to the driver's driving skill.

[0063] In addition, the condition setting unit 69 increases the number of types of data used to calculate the evaluation value as the vehicle is in a driving environment where it is desirable to improve the stability of the vehicle's behavior, or as the vehicle is more likely to deteriorate in the driving environment. As a result, when driving in a driving environment where the risk caused by the traffic environment is high and it is desirable to improve the stability of the vehicle's behavior, the driving operation state is evaluated based on more types of data, and the driver's driving operation can be guided to a driving operation state that can stabilize the vehicle body's behavior, leading to safe driving of the vehicle. In addition, when driving in a driving environment where the stability of the vehicle's behavior is likely to deteriorate, such as when there is a lot of rainfall or snowfall or a storm, the driving operation state is evaluated based on more types of data, and the driver's driving operation can be guided to a driving operation state that can stabilize the vehicle body's behavior.

[0064] Even when the types of data used to calculate the evaluation value are increased or decreased, regardless of the number of types of data used, the driver's steering operation state is easily evaluated by preferentially using the data on the lateral jerk or the angular acceleration of the yaw angle. Also, the driver's accelerator operation and brake operation states are easily evaluated by preferentially using the data on the longitudinal jerk or the angular acceleration of the roll angle.

[0065] FIG. 2 is an explanatory diagram showing an example of a method for setting an upper limit value based on information on driver attributes and information related to the driving environment that affects the stability of the vehicle behavior, and a method for increasing or decreasing the type of data used to calculate an evaluation value.

[0066] As shown in Fig. 2, when the driver's age is older than a preset age, the upper limit of the evaluation value is increased by a predetermined number and the types of data used to calculate the evaluation value are reduced. Also, the longer the number of years since obtaining a driver's license, the smaller the upper limit of the evaluation value is, and the more types of data used to calculate the evaluation value are. On the other hand, the shorter the number of years since obtaining a driver's license, the larger the upper limit of the evaluation value is, and the more types of data used to calculate the evaluation value are.

[0067] In addition, the more frequently the driver drives, the smaller the upper limit of the evaluation value is, and the more types of data used to calculate the evaluation value are. On the other hand, the less frequently the driver drives, the larger the upper limit of the evaluation value is, and the more types of data used to calculate the evaluation value are. In addition, the longer the number of years since the last driver drove (the number of blank years), the larger the upper limit of the evaluation value is, and the more types of data used to calculate the evaluation value are.

[0068] Furthermore, in relation to the information on the vehicle's driving environment, in driving scenes with many pedestrians and bicycles, driving scenes with heavy traffic, driving scenes on school routes during school hours, and driving scenes on narrow roads, it is desirable to increase the stability of the vehicle's behavior, so the upper limit of the evaluation value is reduced by a predetermined number and the types of data used to calculate the evaluation value are increased. Also, in situations with heavy rainfall or snowfall, high wind speeds, snow accumulation, and icy road conditions, the stability of the vehicle's behavior is likely to decrease, so the upper limit of the evaluation value is reduced by a predetermined number and the types of data used to calculate the evaluation value are increased.

[0069] The condition setting unit 69 increases or decreases the upper limit value and increases or decreases the types of data based on the information on the driver's attributes and the information on the vehicle's driving environment, relative to a preset reference value of the upper limit value. For example, when the evaluation value is calculated as an index value of 0 to 100, the upper limit value may be calculated by adding or subtracting 10 based on each piece of information, with the reference value of the upper limit being 50. Alternatively, when the data usable for calculating the evaluation value are 12, namely, longitudinal acceleration, lateral acceleration, vertical acceleration, angular velocity of the yaw angle, angular velocity of the pitch angle, angular velocity of the roll angle, longitudinal jerk, lateral jerk, vertical jerk, angular acceleration of the yaw angle, angular acceleration of the pitch angle, and angular acceleration of the roll angle, the number of data to be used may be set by increasing or decreasing the number of data by one each based on each piece of information, with the number of reference data being five. However, the upper limit value and the number of types of data are increased or decreased within the ranges of the maximum and minimum values ​​preset, respectively. In this way, the conditions for data processing by the data processing unit 63 and sound conversion processing by the sound conversion processing unit 65 are set.

[0070] In addition, the amount of increase or decrease when increasing or decreasing the upper limit value, and the amount of increase or decrease when increasing or decreasing the number of data types, may be constant regardless of the information, or may be weighted according to the information.

[0071] Hereinafter, the data conversion process, sound conversion process, and condition setting process performed by the control unit 53 will be described along with specific examples with reference to FIGS.

[0072] 3 and 4 are explanatory diagrams showing an example of the data conversion process by the data processing unit 63 and the sound conversion process by the sound conversion processing unit 65. Fig. 3 and Fig. 4 show an example in which the pitch of the piano sound to be output is set using the value of the lateral jerk (lateral jerk) obtained from the measurement data of the lateral acceleration detected by an acceleration sensor as one of the vehicle body behavior detection devices 11 as an evaluation value. In the example shown in Fig. 4, the lower limit value of the output sound change region in which the output sound is continuously changed according to the change in the evaluation value is set to zero.

[0073] As shown in FIG. 3, the data processing unit 63 performs smoothing processing and absolute value conversion processing on the measurement data of the lateral acceleration to convert it into data of the absolute value of the lateral acceleration, and further performs time differentiation processing to convert the measurement data of the lateral acceleration into data of the absolute value of the lateral jerk.

[0074] As shown in Fig. 4, the sound conversion processing unit 65 sets the pitch of the output sound according to the absolute value (evaluation value) of the lateral jerk. Specifically, when the evaluation value is less than the upper limit value lim set by the condition setting unit 69, the sound conversion processing unit 65 assigns an evaluation value to each scale within a preset range of scales such that the pitch increases as the evaluation value increases. In other words, the sound conversion processing unit 65 sets a state where the evaluation value is zero as the lowest scale, and a state where the evaluation value is the upper limit value lim as the highest scale, and assigns evaluation values ​​between zero and the upper limit value lim to each scale. Also, the sound conversion processing unit 65 assigns all evaluation values ​​equal to or greater than the upper limit value lim to the highest scale.

[0075] Then, the sound conversion processing unit 65 sets the tone of the output sound to a piano sound, and sets the pitch of the output sound to a scale corresponding to the value of the lateral jerk calculated by the data processing unit 63. In this way, a piano sound with a pitch corresponding to the evaluation value reflecting the behavior of the vehicle body is output. As a result, a change in the behavior of the vehicle body is output as a change in sound, and the driver can recognize the evaluation of his / her own driving operation state in real time while the vehicle is traveling, and in a manner that can suppress a decrease in attention.

[0076] Next, a change in the pitch of the output sound due to differences in the upper limit value will be described with reference to Fig. 4 and Fig. 5. Fig. 5 is an explanatory diagram showing an example in which the upper limit value is reduced according to the driving skill of the driver. Fig. 4 shows the absolute value of the lateral jerk obtained from the driving operation of a driver with low driving skill, and Fig. 5 shows the absolute value of the lateral jerk obtained from the driving operation of a driver with high driving skill. The upper limit value lim_a in Fig. 5 corresponds to the upper limit value lim shown in Fig. 4.

[0077] As shown in Fig. 4, the absolute value (evaluation value) of the lateral jerk is relatively large in driving operations by a driver with low driving skills, so the upper limit value lim_a is set to a relatively large value. In this case, the sound conversion processing unit 65 assigns an evaluation value between zero and the upper limit value lim_a to each scale, with a state in which the evaluation value is zero being the lowest scale and a state in which the evaluation value is the upper limit value lim_a being the highest scale, within a range of scales set in advance.

[0078] 5, the absolute value (evaluation value) of the lateral jerk is relatively small in driving operations by a driver with high driving skills, so the upper limit value lim_b is set to a relatively small value. Even in this case, the sound conversion processing unit 65 assigns an evaluation value between zero and the upper limit value lim_b to each scale, with the evaluation value of zero being the lowest scale and the evaluation value of the upper limit value lim_b being the highest scale in the range of the scale set in advance.

[0079] At this time, regardless of the set upper limit values ​​lim_a and lim_b, the range of the scale and the number of scales as the change factor are fixed. As a result, the narrower the output sound change range, the more the output sound can be changed in response to a finer change in the lateral jerk within the output sound change range. Therefore, the higher the stability of the vehicle body's behavior, the more the driver can recognize the finer changes in behavior, and the more the driver can be guided to a driving operation state that further improves the stability of the behavior.

[0080] In addition, in the output sound change region, the evaluation value may be divided into equal intervals from the lower limit (zero) to the upper limit values ​​lim_a and lim_b by the number of scales, and the intervals of the evaluation values ​​assigned to each scale may be equal, or the intervals of the evaluation values ​​assigned to each scale may be different. For example, the intervals of the evaluation values ​​assigned to each scale may be large in the region where the evaluation value is close to the lower limit, and the intervals of the evaluation values ​​assigned to each scale may be small in the region where the evaluation value is close to the upper limit. This makes it possible to suppress changes in the output sound in the region where the evaluation value is close to the lower limit.

[0081] Alternatively, the interval of the evaluation value assigned to each scale may be made small in the region where the evaluation value is close to the lower limit. This allows the driver to recognize small changes in the behavior of the vehicle body in the region where the evaluation value is small. In other words, when the upper limit value lim_b is set to a small value, the change in the pitch of the output sound is larger even if the change in the evaluation value is small, compared to when the upper limit value lim_a is set to a large value. Also, when the upper limit value lim_b is set to a small value, the pitch of the output sound is fixed at the highest scale at the upper limit value lim_b smaller than the upper limit value lim_a, compared to when the upper limit value lim_a is set to a large value. This allows drivers with high driving skills to be guided to a driving operation state in which the stability of the vehicle body behavior is further improved.

[0082] In addition, when the upper limit values ​​lim_a and lim_b are considered as the danger level of the vehicle's driving environment, the higher the danger level, the smaller the upper limit value lim_b is set, so that the driver's driving operation can be guided to a driving operation state in which the stability of the vehicle's behavior is improved. Therefore, the driver will be more careful in his driving operation, and accidents and the danger and fear felt by surrounding traffic participants can be suppressed.

[0083] In addition, the condition setting unit 69 may set not only an upper limit value but also a lower limit value when setting the output sound change region. In other words, the lower limit of the range in which the sound is continuously changed with the change in the evaluation value does not have to be zero. For example, since slight fluctuations in the behavior of the vehicle body may occur regardless of the driving skill of the driver, the lower limit value of the evaluation value may be set to a value exceeding zero, and the output sound may be continuously changed in a predetermined range in which the evaluation value is equal to or greater than the lower limit value. In this case, the output of the sound may be stopped when the evaluation value falls below the lower limit value. This allows the driver to recognize that the behavior of the vehicle body has become unstable to a degree that exceeds the usual fluctuations in the behavior of the vehicle body.

[0084] In addition, the condition setting unit 69 may change the tone or type of the output sound to a tone or type that gives a negative impression to the driver when the vehicle is traveling on a school route during school commuting hours. The tone or type of sound that gives a negative impression to the driver may be, for example, a tone or type of sound that does not match the driver's preferences that is set in advance. Alternatively, the output sound during normal times may be a chord consisting of multiple sounds with different pitches, while being changed to only one sound when traveling on a school route during school commuting hours. This can guide the driver to avoid traveling on the school route.

[0085] The driving environment in which the tone or type of the output sound is changed to one that gives the driver a negative impression is not limited to a school route. When the driving environment is likely to be one in which the danger level due to a preset traffic environment is high, such as when driving through a crowded shopping district, the tone or type of the output sound may be changed to one that gives the driver a negative impression. The driving environment in which the danger level due to the traffic environment is high can be specified based on, for example, the position information input from the vehicle position information detection device 17, map data from the navigation system, and time information. In addition, the driving environment in which the danger level due to the traffic environment is high may be specified from the number of pedestrians or bicycles estimated based on the detection data by the vehicle surroundings detection device 13.

[0086] The condition setting unit 69 may stop the output of the sound in a driving environment where the stability of the vehicle body behavior is reduced. For example, in a scene where the vehicle is driving on an unpaved road such as a gravel road, or in a scene where the vehicle is driving while avoiding other vehicles during a crowded traffic, the stability of the vehicle body behavior is likely to be reduced regardless of the driver's driving skill, so the condition setting unit 69 stops the output of the sound. This makes it possible to avoid presenting an inaccurate evaluation to the driver. It is also possible to prevent the driver's driving operation from being guided to an inappropriate operating state based on an inaccurate evaluation. The driving environment where the stability of the vehicle body behavior is reduced is identified, for example, from the road surface condition of the driving road and the number of other vehicles estimated based on the detection data by the vehicle surroundings detection device 13. In addition, an unpaved road may be identified based on a change in the acceleration in the vertical direction of the vehicle body included in the measurement data input from the vehicle behavior measurement device 11.

[0087] <3. Operation of driving support device> Next, an example of control processing by the information processing device 50 will be described as an operation of the driving support device according to this embodiment. Fig. 6 is a flowchart showing a main routine of the control processing by the control unit 53 of the information processing device 50, and Fig. 7 is a flowchart showing a routine of a condition setting processing by the control unit 53.

[0088] First, the control unit 53 determines whether to start execution of a control for presenting an evaluation of the driver's driving operation state to the driver through an auditory stimulus (hereinafter, also referred to as "auditory stimulus control") (step S11). The condition for starting execution of the auditory stimulus control is not particularly limited. For example, when the auditory stimulus control is always executed while the driving system of the vehicle is activated, the control unit 53 may determine to start execution of the auditory stimulus control when the driving system is activated. Alternatively, the control unit 53 may determine to start execution of the auditory stimulus control when it is detected that the driver is seated in the driver's seat based on an output signal from a driver shooting camera or a load sensor installed in the driver's seat. In addition, when an occupant such as a driver can switch on and off the execution of the auditory stimulus control, the control unit 53 may determine to start execution of the auditory stimulus control when the execution of the auditory stimulus control is switched from off to on.

[0089] When it is determined that the execution of auditory stimulation control is not to be started (S11 / No), the control unit 53 repeatedly executes the determination process of step S11. When it is determined that the execution of auditory stimulation control is to be started (S11 / Yes), the control unit 53 executes a condition setting process (step S13).

[0090] As shown in FIG. 7, in the condition setting process, first, the acquisition unit 61 acquires information on the driver's attributes transmitted from the input unit 19 (step S31). For example, the acquisition unit 61 acquires at least one of the following information: the driver's age, the number of years since license acquisition, driving frequency, the number of years since the last driving, and the like. These pieces of information may be information input in the form of a questionnaire in which the driver answers questions presented by the information processing device 50, or may be information in which data obtained by determining or accumulating these pieces of information in advance is input. Furthermore, the acquisition unit 61 may acquire data on evaluations of past driving operation states of the same driver from the storage unit 55.

[0091] Next, the acquisition unit 61 acquires information on the surroundings of the vehicle input from the vehicle surroundings detection device 13 (step S33). For example, the acquisition unit 61 acquires information on other vehicles, bicycles, pedestrians, road signs, other obstacles, etc. around the vehicle, as well as information on the distances to these objects and relative speeds. The acquisition unit 61 may also acquire information on the road width.

[0092] Next, the acquisition unit 61 acquires information on the weather in the driving area of ​​the vehicle output from the weather information detection device 15 (step S35). For example, the acquisition unit 61 acquires information on the amount of rainfall, the amount of snowfall, the wind speed, the wind direction, and the icy condition of the road surface.

[0093] Next, the condition setting unit 69 sets the number and type of data to be used for calculating an evaluation value reflecting the magnitude of the behavior of the vehicle body based on the acquired information on the driver's attributes, information on the situation around the vehicle, and information on the weather in the driving area of ​​the vehicle (step S37). In this embodiment, the number of data to be used for calculating the evaluation value is set according to the setting example shown in Fig. 2. For example, the available data is set to 12, namely, longitudinal acceleration, lateral acceleration, vertical acceleration, angular velocity of the yaw angle, angular velocity of the pitch angle, angular velocity of the roll angle, longitudinal jerk, lateral jerk, vertical jerk, angular acceleration of the yaw angle, angular acceleration of the pitch angle, and angular acceleration of the roll angle, and the number of data to be used for calculating the evaluation value is set among these data.

[0094] According to the setting example shown in FIG. 2, the number of data to be used is increased as the driver's driving skill is estimated to be high based on the information on the driver's attributes, while the number of data to be used is decreased as the driver's driving skill is estimated to be low. Also, according to the setting example shown in FIG. 2, the number of data to be used is increased as the driving environment estimated based on the information on the surroundings of the vehicle and the information on the weather is a driving environment in which it is desirable to improve the stability of the vehicle's behavior or a driving environment in which the stability of the vehicle's behavior is likely to decrease. For example, the condition setting unit 69 sets the number of data to be used by adding or subtracting 1 for each piece of information with 5 as a reference value, with the minimum number being 1 and the maximum number being 12. At this time, the condition setting unit 69 sets the longitudinal jerk, lateral jerk, angular acceleration of the yaw angle, and angular acceleration of the pitch angle as data to be used with priority, which more strongly reflect the influence of the driver's driving operation state. Alternatively, the condition setting unit 69 may set data corresponding to the behavior of the vehicle to be evaluated, either the longitudinal behavior or the lateral behavior of the vehicle body, as the data to be used.

[0095] Next, the condition setting unit 69 sets the upper limit lim of the output sound change range based on the acquired information on the driver's attributes, the information on the surrounding conditions of the vehicle, and the information on the weather in the driving area of ​​the vehicle (step S39). In this embodiment, the upper limit lim of the output sound change range is set according to the setting example shown in FIG. 2. In this embodiment, in order to evaluate the magnitude of the behavior of the vehicle body using one or more pieces of data, each piece of data used is replaced with the same index (for example, an index value of 0 to 100), and the average value of all the data used is set as the evaluation value. Therefore, the upper limit lim is set from five levels, for example, 30, 40, 50, 60, and 70, by adding or subtracting 10 for each piece of information with a reference value of 50. However, the method of obtaining the evaluation value when using multiple pieces of data and the setting value of the upper limit Lim are not limited to this example.

[0096] According to the setting example shown in Fig. 2, the higher the driving skill of the driver is estimated to be based on the information on the driver's attributes, the smaller the upper limit value lim is set to, whereas the lower the driving skill of the driver is estimated to be, the larger the upper limit value lim is set to. Also, according to the setting example shown in Fig. 2, the lower the upper limit value lim is set to, the more the driving environment estimated based on the information on the surroundings of the vehicle and the information on the weather is a driving environment in which it is desirable to increase the stability of the vehicle's behavior or a driving environment in which the stability of the vehicle's behavior is likely to decrease.

[0097] 6, after performing the condition setting process in step S13, the acquisition unit 61 acquires data indicating the behavior of the vehicle body transmitted from the vehicle body behavior measurement device 11 (step S15). In this embodiment, the acquisition unit 61 acquires data on the vehicle speed, longitudinal acceleration, lateral acceleration, vertical acceleration, angular velocity of the roll angle, angular velocity of the pitch angle, and angular velocity of the yaw angle.

[0098] Next, the data processing unit 63 performs smoothing, absolute value conversion, and differentiation on each of the acquired data, and calculates an evaluation value indicating the magnitude of the behavior of the vehicle body (step S17). At this time, the data processing unit 63 may perform data processing only on the number and type of data set in the condition setting process of step S13, and calculate the evaluation value. Alternatively, the data processing unit 63 may perform data processing on all data indicating the magnitude of the behavior of the vehicle body, and calculate the evaluation value using only the number and type of data set in the condition setting process of step S13. Furthermore, in this embodiment, the data processing unit 63 replaces each data used with the same index (for example, an index value of 0 to 100), and takes the average value of all the data used as the evaluation value.

[0099] Next, the sound conversion processing unit 65 converts the calculated evaluation value into information on the sound to be output (step S19). Specifically, the sound conversion processing unit 65 sets an output sound change area according to the upper limit value lim set in the condition setting process of step S13, and assigns a setting of an output sound change element for each evaluation value. In this embodiment, a piano sound is used as the tone color of the output sound, and the sound conversion processing unit 65 assigns an evaluation value for each scale set in advance. More specifically, in an area where the evaluation value is equal to or lower than the lower limit value of the output sound change area, the sound conversion processing unit 65 sets the pitch of the output sound to the lowest scale. On the other hand, in an area where the evaluation value is equal to or higher than the upper limit value of the output sound change area, the sound conversion processing unit 65 sets the pitch of the output sound to the highest scale. Also, when the evaluation value is within the output sound change area, the sound conversion processing unit 65 assigns an evaluation value for each scale corresponding to each key between the lowest scale and the highest scale. Then, the sound conversion processing unit 65 sets the pitch corresponding to the evaluation value calculated in step S17 as the pitch of the piano sound to be output.

[0100] Next, the output control unit 67 controls the driving of the sound output device 31 based on the information of the output sound set in step S19, and causes the device to output a piano sound of the set pitch (step S21). As a result, the evaluation of the driving operation state is presented to the driver as an audible sound in real time. Since the output sound does not include voice or text information displayed, the driver can intuitively recognize the evaluation of the driving operation state. Therefore, a decrease in attention can be suppressed.

[0101] Next, the control unit 53 determines whether or not driving of the vehicle has ended (step S23). If driving of the vehicle has not ended (S23 / No), the control unit 53 returns to step S13 and repeats the processing of each of the above-mentioned steps. While driving of the vehicle continues, the processing of steps S13 to S21 is repeated at predetermined calculation intervals, so that the driver can always recognize the evaluation of the driving operation state in real time. If driving of the vehicle has ended (S23 / Yes), the control unit 53 ends the auditory stimulation control (step S25).

[0102] 4. Effects of this embodiment As described above, the driving support device 1 according to this embodiment acquires data indicating the behavior of the vehicle body while the vehicle is traveling, and continuously outputs a sound that changes according to the behavior. At that time, the driving support device 1 sets an upper limit (threshold) for an evaluation value indicating the magnitude of the behavior based on the driving conditions of the vehicle, and when the evaluation value is less than the upper limit, the device continuously changes the sound according to the evaluation value, and when the evaluation value is equal to or greater than the upper limit, the device outputs a constant sound. Therefore, the driver who is driving can be made to recognize the evaluation of the driving operation state in real time. In addition, since the output sound does not include text information of display or voice, the driver can be made to intuitively recognize the information on the driving operation state through auditory stimulation, and a decrease in attention can be suppressed.

[0103] In addition, in the driving support device 1 according to the present embodiment, in the output sound change region, the variable element of the output sound changes according to the change in the evaluation value, so that the driver can intuitively recognize the change in the stability of the vehicle body's behavior. In particular, in the output sound change region, the pitch or frequency of the output sound is raised, the volume is increased, the pitch is made faster, or the number of tones constituting the chord is reduced as the evaluation value increases, so that the driver can intuitively recognize the decrease in the stability of the vehicle body. In addition, in the driving support device 1 according to the present embodiment, when the evaluation value is equal to or greater than the upper limit value, a constant sound is output, so that the driver can intuitively recognize that the stability of the vehicle body's behavior is decreased.

[0104] In addition, in the driving assistance device 1 according to the present embodiment, the upper limit value is set based on information on attributes related to the driving skills of the driver. In particular, the higher the driving skills of the driver, the smaller the upper limit value is set, and the lower the driving skills of the driver, the larger the upper limit value is set. Therefore, for drivers with high driving skills, it is possible to guide them to a driving operation state in which the stability of the vehicle's behavior is improved. Also, for drivers with low driving skills, it is possible to guide them to an appropriate level of behavior stability according to the driving skills of the driver.

[0105] Furthermore, in the driving assistance device 1 according to this embodiment, the upper limit value is set based on information about the driving environment that affects the stability of the vehicle's behavior. In particular, the upper limit value is set smaller in a driving environment in which it is desirable to improve the stability of the vehicle's behavior or in which the stability of the vehicle's behavior is more likely to decrease. This makes it possible to guide the driver's driving operation state to a driving operation state in which the stability of the vehicle's behavior is improved.

[0106] In addition, in the driving support device 1 according to the present embodiment, the auditory stimulation control is stopped in a driving environment where the stability of the vehicle's behavior is reduced. This makes it possible to avoid presenting an inaccurate evaluation to the driver. It is also possible to prevent the driver's driving operation from being guided to an inappropriate operating state based on an inaccurate evaluation.

[0107] Although the preferred embodiment of the present invention has been described in detail above with reference to the accompanying drawings, the present invention is not limited to such an example. It is clear that a person having ordinary knowledge in the technical field to which the present invention pertains can conceive of various modified or altered 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 invention.

[0108] For example, in the above embodiment, as the predetermined control performed when the evaluation value is equal to or greater than the upper limit value, the control to make the output sound constant is executed, but the control is not limited to the above example. In the driving support device 1 according to the above embodiment, the output sound changes in accordance with the change in the behavior of the vehicle body in the output sound change region, and the driver can intuitively recognize that the behavior of the vehicle body is deteriorating. Therefore, when the evaluation value exceeds the output sound change region, a certain control is executed in addition to making the output sound constant, so that the driver can easily recognize that the stability of the behavior of the vehicle body is deteriorating. For example, when the evaluation value exceeds the output sound change region, instead of or in addition to the output of the constant sound, a display may be performed at a position within the driver's field of vision, and a driving operation may be intervened to stabilize the behavior of the vehicle. [Explanation of symbols]

[0109] 1...driving assistance device, 11...vehicle body behavior measuring device, 13...vehicle surroundings condition detecting device, 15...weather information detecting device, 17...vehicle position information detecting device, 19...input unit, 31...sound output device, 50...information processing device, 53...control unit, 61...acquisition unit, 63...data processing unit, 65...sound conversion processing unit, 67...output control unit, 69...condition setting unit

Claims

1. A control unit is provided that acquires data indicating a behavior of a vehicle body while the vehicle is traveling and performs control to continuously output a sound that changes according to the behavior, The control unit sets a predetermined threshold value for a value indicating a magnitude of the behavior based on an attribute of a driver of the vehicle, A driving assistance device that changes the sound according to the value indicating the magnitude of the behavior when the value indicating the magnitude of the behavior is less than the predetermined threshold, and executes a predetermined control when the value indicating the magnitude of the behavior is equal to or greater than the predetermined threshold.

2. The driving assistance device according to claim 1 , wherein the control unit is configured to set the predetermined threshold value to be smaller as the driving skill of the driver is higher.

3. A control unit is provided that acquires data indicating a behavior of a vehicle body while the vehicle is traveling and performs control to continuously output a sound that changes according to the behavior, The control unit is setting a predetermined threshold value for a value indicating the magnitude of the behavior based on a running environment that affects the stability of the behavior of the vehicle; A driving assistance device that changes the sound according to the value indicating the magnitude of the behavior when the value indicating the magnitude of the behavior is less than the predetermined threshold, and executes a predetermined control when the value indicating the magnitude of the behavior is equal to or greater than the predetermined threshold.

Images