Vehicle driving assistance device, vehicle driving assistance method, and vehicle driving assistance program

Abstract

To provide a vehicle driving support device which can prevent a driver from having an excess sense of security when a measure for raising travel safety of an own vehicle, such as quickening timing of an alarm when a fatigue degree of the driver becomes high, is performed.SOLUTION: A vehicle driving support device 10 executes safety support control for raising travel safety of an own vehicle 100. The vehicle driving support device raises a safety support level as the level for raising the travel safety of the own vehicle by the safety support control and notifies the driver of a fact that the safety support level is raised when a fatigue degree of the driver of the own vehicle becomes a predetermined fatigue degree or higher, and lowers the safety support level and notifies the driver of a fact that the safety support level is lowered when the own vehicle passes through a rest possible point as the point at which the driver can take a rest after raising the safety support level.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a vehicle driving assistance device, a vehicle driving assistance method, and a vehicle driving assistance program. [Background technology]

[0002] There is known a vehicle driving support device that is configured to issue a warning to make the driver of the vehicle aware that the vehicle may collide with an object. In addition, as such a vehicle driving support device, there is also known a vehicle driving support device that is configured to issue the warning earlier when the driver is tired than when the driver is not tired (for example, see Patent Document 1). According to this conventional vehicle driving support device, when it is detected that the vehicle may collide with an object in a situation where the driver is tired and may not be able to spontaneously recognize in a timely manner that the vehicle may collide with an object, a warning is issued at an early timing. This improves the driving safety of the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-99250 Summary of the Invention

[0004] As described above, in the case where the vehicle driving assistance device is configured to advance the timing of issuing a warning when the driver is fatigued, if a notification is given to inform the driver that the timing of issuing the warning has been advanced, the driver can feel secure, which is beneficial for the driver. However, on the other hand, there is a possibility that the driver may feel overly secure. If the driver feels overly secure in this way, it may lead to a decrease in the driving safety of the vehicle.

[0005] An object of the present invention is to provide a vehicle driving assistance device, a vehicle driving assistance method, and a vehicle driving assistance program that can prevent the driver from feeling overly reassured when measures are taken to improve the driving safety of the vehicle, such as accelerating the timing of an alarm when the driver's level of fatigue becomes high.

[0006] The vehicle driving support device according to the present invention includes a control device that executes safety support control to enhance the driving safety of the host vehicle. The control device is configured to increase a safety support level, which is a level at which the driving safety of the host vehicle is enhanced by the safety support control, and notify the driver that the safety support level has been increased, when the fatigue level of the driver of the host vehicle reaches or exceeds a predetermined fatigue level. The control device is configured to decrease the safety support level and notify the driver that the safety support level has been decreased, when the host vehicle passes a rest possible point where the driver can take a rest after increasing the safety support level.

[0007] According to the vehicle driving support device of the present invention, when the driver's fatigue level increases, the safety support level is increased and the driver is notified of the increased safety support level, but when the vehicle passes a rest point, the safety support level is decreased and the driver is notified of the decreased safety support level. This makes it possible to prevent the driver from feeling overly reassured after passing a rest point without taking a rest at the rest point. In other words, it is possible to prevent the driver from feeling overly reassured when a measure is taken to increase the driving safety of the vehicle.

[0008] In addition, in the vehicle driving assistance device of the present invention, the control device may be configured to notify the driver that the vehicle is approaching the rest point when the distance between the vehicle and the rest point becomes equal to or less than a predetermined distance after the safety assistance level is increased.

[0009] According to the vehicle driving assistance device of the present invention, after the driver's fatigue level increases and the safety assistance level is raised, the driver is notified that his / her vehicle is approaching a rest point, and the driver can be encouraged to take a rest at the rest point.

[0010] Furthermore, in the vehicle driving assistance device according to the present invention, the control device may be configured to, when the safety assistance level is increased, continue to notify the driver that the safety assistance level is in an increased state until the safety assistance level is decreased.

[0011] According to the vehicle driving support device of the present invention, it is easier to make the driver aware that the safety support level has been raised, which makes it easier to make the driver aware of the need to take a rest.

[0012] A vehicle driving support method according to the present invention is a method for executing safety support control to improve driving safety of a host vehicle, and includes the steps of: when a fatigue level of a driver of the host vehicle reaches or exceeds a predetermined fatigue level, raising a safety support level that is a level for improving the driving safety of the host vehicle by the safety support control and notifying the driver that the safety support level has been raised; and when the host vehicle passes a rest possible point where the driver can take a rest after raising the safety support level, lowering the safety support level and notifying the driver that the safety support level has been lowered.

[0013] According to the vehicle driving assistance method of the present invention, for the same reasons as described above, it is possible to prevent the driver from having an excessive sense of security when measures have been taken to improve the driving safety of the vehicle.

[0014] A vehicle driving assistance program according to the present invention is a program for executing safety assistance control for improving the driving safety of the host vehicle. The vehicle driving assistance program according to the present invention is configured to, when a fatigue level of a driver of the host vehicle reaches or exceeds a predetermined fatigue level, increase a safety assistance level that is a level for improving the driving safety of the host vehicle by the safety assistance control and notify the driver that the safety assistance level has been increased, and, when the host vehicle passes a rest possible point where the driver can take a rest after the safety assistance level has been increased, decrease the safety assistance level and notify the driver that the safety assistance level has been decreased.

[0015] According to the vehicle driving assistance program of the present invention, for the same reasons as described above, it is possible to prevent the driver from having an excessive sense of security when measures are taken to improve the driving safety of the vehicle.

[0016] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, other features and associated advantages of the present invention will be easily understood from the description of the embodiments of the present invention. [Brief description of the drawings]

[0017] [Figure 1] FIG. 1 is a diagram showing a vehicle driving support device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. [Diagram 3] FIG. 3 is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing a display device of the vehicle driving support device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, a vehicle driving support device according to an embodiment of the present invention will be described with reference to the drawings. In this example, the vehicle driving support device 10 according to the embodiment of the present invention is mounted on a host vehicle 100 as shown in Fig. 1. Hereinafter, the vehicle driving support device 10 will be described with reference to a case where the operator of the host vehicle 100 is a person who gets in the host vehicle 100 and drives the host vehicle 100 (i.e., the driver of the host vehicle 100).

[0019] However, the operator of the vehicle 100 may be a person who drives the vehicle 100 remotely without being in the vehicle 100 (i.e., a remote operator of the vehicle 100). When the operator of the vehicle 100 is a remote operator, the vehicle driving assistance device 10 is mounted on the vehicle 100 and on a remote operation facility installed outside the vehicle 100 in order to remotely drive the vehicle 100, and the functions of the vehicle driving assistance device 10 described below are shared between the vehicle driving assistance device 10 mounted on the vehicle 100 and the vehicle driving assistance device 10 mounted on the remote operation facility.

[0020] As shown in FIG. 1, the vehicle driving assistance device 10 includes an ECU 90 as a control device. The ECU 90 is an electronic control unit (electronic control device). The ECU 90 includes a microcomputer as a main part. The microcomputer includes a CPU, a ROM, a RAM, a non-volatile memory, an interface, and the like. The CPU executes instructions, programs, or routines stored in the ROM to realize various functions. In this example, the vehicle driving assistance device 10 includes one ECU, but as described later, the vehicle driving assistance device 10 may include multiple ECUs and be configured to share and execute various processes described later among the ECUs.

[0021] The operation of the vehicle driving support device 10 will be described below. The vehicle driving support device 10 executes the routine shown in Fig. 2 at a predetermined calculation cycle. Therefore, at a predetermined timing, the vehicle driving support device 10 starts processing from step S200 of the routine shown in Fig. 2, advances the processing to step S205, and determines whether or not a safety support system for executing safety support control is in operation.

[0022] The safety support control is a control for enhancing the driving safety of the host vehicle 100, and examples thereof include deviation prevention control, lane keeping control, collision damage mitigation control, following driving control, and surrounding situation notification control.

[0023] The deviation prevention control is one of the automatic driving controls, and is a control for preventing the host vehicle 100 from deviating from the lane or road. According to the deviation prevention control, a notification (alarm) is issued to the driver when the distance between the host vehicle 100 and the lane edge or road edge becomes small to a predetermined distance (first end distance). This notification is intended to inform the driver that the host vehicle 100 is about to deviate from the lane or road, for example. Furthermore, according to the deviation prevention control, when the distance between the host vehicle 100 and the lane edge or road edge becomes small to a predetermined distance (second end distance) that is shorter than the first end distance, the host vehicle 100 is autonomously steered back to the center of the lane.

[0024] Moreover, lane keeping control is one of the automatic driving controls, and is a control for making the host vehicle 100 travel in the center of the lane. According to the lane keeping control, when the distance between the host vehicle 100 and the center line of the lane becomes large to a predetermined distance (first center line distance), a notification (alarm) is issued to the driver. This notification is intended to inform the driver that the host vehicle 100 is traveling away from the center of the lane, for example. Furthermore, according to the lane keeping control, when the distance between the host vehicle 100 and the center line of the lane becomes large to a predetermined distance (second center line distance) that is longer than the first center line distance, the host vehicle 100 is autonomously steered back to the center of the lane.

[0025] The collision damage mitigation control is one of the automatic driving controls, and is a control for mitigating damage caused by a collision between the host vehicle 100 and an object ahead of the host vehicle 100 by avoiding a collision between the host vehicle 100 and the object ahead of the host vehicle 100. According to the collision damage mitigation control, for example, when the distance between the host vehicle 100 and the object ahead of the host vehicle 100 becomes small to a predetermined distance (first object distance), a notification (alarm) is issued to the driver. This notification is intended to inform the driver that the host vehicle 100 is about to collide with the object ahead of the host vehicle 100. Furthermore, according to the collision damage mitigation control, when the distance between the host vehicle 100 and the object ahead of the host vehicle 100 becomes small to a predetermined distance (second object distance) that is shorter than the first object distance, the host vehicle 100 is autonomously braked and stopped in front of the object.

[0026] The following running control is one of the automatic driving controls, and is a control for autonomously accelerating and decelerating the host vehicle 100 so that the host vehicle 100 runs following the preceding vehicle. According to the following running control, for example, when the distance between the host vehicle 100 and the preceding vehicle becomes larger than a predetermined distance (target distance), the host vehicle 100 is autonomously accelerated, and when the distance between the host vehicle 100 and the preceding vehicle becomes smaller than the target distance, the host vehicle 100 is autonomously decelerated.

[0027] The surrounding condition notification control is a control for notifying the driver of the conditions around the vehicle 100 that the driver cannot see with his / her own eyes. According to the surrounding condition notification control, a notification (alarm) is issued when the distance between the vehicle 100 and another vehicle approaching the vehicle 100 from a blind spot becomes small to a predetermined distance (predetermined other vehicle distance). This notification is intended to notify the driver that another vehicle is approaching the vehicle 100 from a blind spot, for example.

[0028] If the vehicle driving assistance device 10 judges "Yes" in step S205, the process proceeds to step S210, where it judges whether or not the fatigue condition C1 is satisfied. The fatigue condition C1 is a condition that the fatigue level F of the driver of the host vehicle 100 is equal to or higher than a predetermined fatigue level (predetermined fatigue level Fth).

[0029] 1, the vehicle 100 is equipped with a fatigue level acquisition device 20. The fatigue level acquisition device 20 is a device for acquiring biometric information of the driver and / or behavior information of the vehicle 100, and includes, for example, a driver monitor camera that captures an image of the face of the driver of the vehicle 100 and / or a front camera that captures an image in front of the vehicle 100.

[0030] The biological information is, for example, information on whether the driver of the vehicle 100 is dozing off, and can be acquired based on image data provided from a driver monitor camera. The behavior information of the vehicle 100 is, for example, information on whether the number of times or distance the vehicle 100 deviated from the center of the lane while traveling a certain distance is a predetermined number of times or a predetermined distance or more, and can be acquired based on image data provided from a front camera.

[0031] The fatigue level acquisition device 20 is electrically connected to the ECU 90, and the vehicle driving assistance device 10 acquires the driver's biometric information and / or behavior information of the vehicle 100 using the fatigue level acquisition device 20, and acquires the driver's fatigue level F using a known method based on the driver's biometric information and / or the behavior information of the vehicle 100.

[0032] When the vehicle driving assistance device 10 judges "Yes" in step S210, the process proceeds to step S215, and executes a rest suggestion notification and a setting change suggestion notification.

[0033] The rest suggestion notification is a notification that suggests to the driver to take a rest. The setting change suggestion notification is a notification that suggests to implement a measure to increase the safety support level by the safety support control (safety support level increase measure). In other words, the setting change suggestion notification is a notification that asks the driver whether or not to allow the implementation of the safety support level increase measure. The safety support level is a level at which the driving safety of the vehicle 100 can be ensured by the safety support control, and the higher the safety support level, the higher the driving safety of the vehicle 100 can be ensured by the safety support control.

[0034] 1, the vehicle 100 is equipped with a notification device 30. The notification device 30 is a device for providing various notifications, and in this example, includes a display device 31 and an audio device 32. The display device 31 is a device for displaying various images such as a meter display and a head-up display, and is electrically connected to the ECU 90. The audio device 32 is a device for outputting voice or sound such as a speaker, and is electrically connected to the ECU 90.

[0035] The vehicle driving assistance device 10 performs a rest suggestion notification by executing at least one of a process of displaying a rest suggestion image 33 on the display device 31 and a process of outputting a rest suggestion sound from the audio device 32, as shown in Fig. 4. The rest suggestion image 33 is an image showing an icon and a message suggesting to the driver to take a rest. The rest suggestion sound is a sound suggesting to the driver to take a rest.

[0036] Furthermore, the vehicle driving support device 10 performs the setting change proposal notification by executing at least one of a process of displaying a safety support level increase proposal image on the display device 31 and a process of outputting a safety support level increase proposal sound from the audio device 32. The safety support level increase proposal image is an image that displays a message asking the driver whether or not to implement a safety support level increase procedure. Furthermore, the safety support level increase proposal sound is a sound that asks the driver whether or not to implement a safety support level increase procedure.

[0037] In addition, the vehicle driving assistance device 10 may be configured to implement a safety assistance level increasing procedure without implementing a setting change proposal notification, and to implement a notification by the notification device 30 to inform the driver that the safety assistance level increasing procedure has been implemented.

[0038] Next, the vehicle driving assistance device 10 advances the process to step S220, and determines whether or not the driver has permitted the execution of a procedure for increasing the safety assistance level by the safety assistance control (a safety assistance level increasing procedure).

[0039] For example, if a permission button and a reject button are provided on the steering wheel of the vehicle 100, the vehicle driving assistance device 10 determines that the implementation of the safety support level increase procedure is permitted when the driver operates the permission button, and determines that the implementation of the safety support level increase procedure is not permitted when the driver operates the reject button.

[0040] Alternatively, if the vehicle driving assistance device 10 is configured to display a permission button image and a rejection button image on the display device 31 in step S215, the vehicle driving assistance device 10 may be configured to determine that the implementation of the safety support level increasing procedure is permitted when the driver operates the permission button image, and to determine that the implementation of the safety support level increasing procedure is not permitted when the driver operates the rejection button image.

[0041] When the vehicle driving support device 10 judges "Yes" in step S220, the process proceeds to step S225, where the value of the safety support level increase flag X is set to "1." As a result, the safety support level by the safety support control is increased in the routine shown in FIG. 3, which will be described later.

[0042] In addition, when the vehicle driving assistance device 10 increases the safety assistance level by the safety assistance control by setting the value of the safety assistance level increase flag X to "1" in step S225, the vehicle driving assistance device 10 may be configured to continue to notify the driver by the notification device 30 that the safety assistance level is in an increased state until the safety assistance level is decreased as described below.

[0043] Next, the vehicle driving assistance device 10 advances the process to step S230, and determines whether or not the rest possible point approach condition C2 is satisfied.

[0044] The rest point approach condition C2 is a condition that the vehicle 100 approaches a rest point, more specifically, a condition that the distance from the vehicle 100 to the rest point becomes equal to or less than a predetermined distance. The rest point is a point where the driver can park the vehicle 100 and take a rest, such as a parking area or a service area provided on a highway.

[0045] 1, the vehicle 100 is equipped with a road information acquisition device 40. The road information acquisition device 40 is a device that acquires various road information including information about resting points, and in this example, includes a GPS device 41 and a map database 42.

[0046] The GPS device 41 is a device that receives a GPS signal, and is electrically connected to the ECU 90. The vehicle driving assistance device 10 receives the GPS signal via the GPS device 41, and acquires the current position of the host vehicle 100 based on the GPS signal.

[0047] The map database 42 is a database that stores map information on facilities including resting points, and is electrically connected to the ECU 90. The vehicle driving assistance device 10 detects resting points located on roads along which the vehicle 100 will travel from the map database 42 based on the current position of the vehicle 100 acquired based on the GPS signal, and acquires the distance between the resting points and the vehicle 100.

[0048] If the vehicle driving assistance device 10 determines "Yes" in step S230, the process proceeds to step S235, where it issues a notification that a rest point is approaching, and then proceeds to step S240. On the other hand, if the vehicle driving assistance device 10 determines "No" in step S230, the process proceeds directly to step S240.

[0049] The notification of approaching a rest point is a notification for informing the driver that a rest point exists. The vehicle driving assistance device 10 performs the notification of approaching a rest point by executing at least one of a process of displaying a rest point image on the display device 31 and a process of outputting a rest point sound from the audio device 32. The rest point image is an image showing an icon and / or a message indicating that a rest point exists up ahead. The rest point sound is sound notifying the driver that a rest point exists up ahead.

[0050] When the process proceeds to step S240, the vehicle driving assistance device 10 determines whether or not a rest possible point passing condition C3 is satisfied. The rest possible point passing condition C3 is a condition that the host vehicle 100 has passed a rest possible point. The vehicle driving assistance device 10 determines whether or not the host vehicle 100 has passed a rest possible point based on the current position of the host vehicle 100 acquired based on the GPS signal and the map information of the map database 42.

[0051] When the vehicle driving assistance device 10 judges "Yes" in step S240, the process proceeds to step S245, where the vehicle driving assistance device 10 ends the notification of approaching the rest possible point, and issues a notification of passing the rest possible point and a notification of completion of the setting change.

[0052] The rest point passing notification is a notification for notifying the driver that the vehicle 100 has passed a rest point. The vehicle driving assistance device 10 performs at least one of a process of displaying an image of the vehicle 100 passing a rest point on the display device 31 and a process of outputting an audio signal of the vehicle 100 passing a rest point from the audio device 32, thereby notifying the driver of the vehicle 100 passing a rest point.

[0053] The resting point passing image is an image showing an icon and / or a message indicating that the vehicle 100 has passed a resting point. The resting point passing sound is a sound notifying that the vehicle 100 has passed a resting point.

[0054] The setting change end notification is a notification to inform the user that a procedure for increasing the safety support level by safety support control (safety support level increase procedure) has ended. The vehicle driving support device 10 issues the setting change end notification by executing at least one of a process of displaying a setting change end notification image on the display device 31 and a process of outputting a setting change end notification sound from the audio device 32. The setting change end image is an image that represents an icon and / or a message indicating that the safety support level increase procedure has ended. The setting change end sound is a sound that informs the user that the safety support level increase procedure has ended.

[0055] Furthermore, the vehicle driving assistance device 10 appropriately terminates the notification of passing a rest point and the notification of completion of setting change when a predetermined time has elapsed after the start of the notification of passing a rest point and the notification of completion of setting change, or when the vehicle 100 has traveled a predetermined distance, or when the driver performs a predetermined operation to request the termination of the notification of passing a rest point.

[0056] Next, the vehicle driving support device 10 advances the process to step S250, sets the value of the safety support level increase flag X to "0", and then advances the process to step S295, where the process of this routine is temporarily terminated. As a result, the safety support level by the safety support control is lowered in the routine shown in FIG. 3, which will be described later.

[0057] On the other hand, if the vehicle driving assistance device 10 determines "No" in step S240, the process proceeds directly to step S295, and the process of this routine ends for the time being.

[0058] Also, if the vehicle driving assistance device 10 determines "No" in step S220, the process proceeds directly to step S295, and the process of this routine is temporarily terminated.

[0059] In addition, if the vehicle driving assistance device 10 judges "No" in step S210, the process proceeds to step S225, where the value of the safety assistance level increase flag X is set to "0", and then the process proceeds to step S295, where the process of this routine is temporarily terminated.

[0060] If the result of the determination in step S205 is "No," the vehicle driving support device 10 proceeds directly to step S295 and ends the processing of this routine. At this time, if the value of the safety support level increase flag X is set to "1," the vehicle driving support device 10 sets the value of the safety support level increase flag X to "0."

[0061] Furthermore, the vehicle driving support device 10 is configured to execute the routine shown in Fig. 3 at a predetermined calculation period. Therefore, at a predetermined timing, the vehicle driving support device 10 starts the process from step S300 of the routine shown in Fig. 3, advances the process to step S305, and determines whether the value of the safety support level increase flag X is "1".

[0062] If the vehicle driving assistance device 10 determines "Yes" in step S305, the process proceeds to step S310, and sets the control sensitivity of the safety assistance control to a control sensitivity (high control sensitivity) higher than the normal control sensitivity.

[0063] The control sensitivity of safety support control is an index that indicates the ease with which various controls in the safety support control can be executed and the magnitude or responsiveness of the control amounts in the various controls. When the control sensitivity is high, the timing for executing various controls in the safety support control becomes earlier, the control amounts in the various controls become larger, and the responsiveness of the various controls becomes higher.

[0064] For example, when the safety support control is lane departure prevention control, if the first end distance used in determining whether or not to execute notification control (alarm control) for notifying the driver that the vehicle 100 may depart from the lane edge or road edge is set to a value larger than the normal value, the execution timing of the notification control becomes earlier, i.e., the control sensitivity of the notification control becomes higher.

[0065] Similarly, when the safety support control is lane departure prevention control, if the second end distance used in determining whether or not to execute autonomous steering control for autonomously steering the vehicle 100 back to the center of the lane is made larger than the normal value, the timing for executing the autonomous steering control becomes earlier. In other words, the control sensitivity of the autonomous steering control becomes higher.

[0066] Similarly, when the safety support control is lane departure prevention control, if the steering amount by which the vehicle 100 is steered by the autonomous steering control is made larger than a normal value, the amount by which the vehicle 100 is autonomously steered by the autonomous steering control increases. In other words, the control sensitivity of the autonomous steering control increases.

[0067] Alternatively, when the safety support control is lane keeping control, if the first center line distance used in determining whether or not to execute notification control (alarm control) for notifying the driver that the vehicle 100 is traveling off the center of the lane is made smaller than the normal value, the timing of execution of the notification control is made earlier. In other words, the control sensitivity of the notification control is increased.

[0068] Similarly, when the safety support control is lane keeping control, if the second center line distance used in determining whether to execute autonomous steering control for autonomously steering the vehicle 100 back to the center of the lane is set to be larger than the normal value, the timing for executing the autonomous steering control is advanced, i.e., the control sensitivity of the autonomous steering control is increased.

[0069] Similarly, when the safety support control is lane keeping control, if the steering amount by which the vehicle 100 is steered by the autonomous steering control is made larger than a normal value, the amount by which the vehicle 100 is autonomously steered by the autonomous steering control increases. In other words, the control sensitivity of the autonomous steering control increases.

[0070] Alternatively, when the safety support control is collision damage mitigation control, if the first object distance used to determine whether or not to execute notification control (alarm control) for notifying the driver that the vehicle 100 is about to collide with an object ahead of the vehicle is set to a value larger than a normal value, the execution timing of the notification control becomes earlier, i.e., the control sensitivity of the notification control becomes higher.

[0071] Similarly, when the safety support control is collision damage mitigation control, if the second object distance used in determining whether or not to execute autonomous braking control for autonomously braking the vehicle 100 to stop it in front of the object is made larger than a normal value, the execution timing of the autonomous braking control becomes earlier. That is, the control sensitivity of the autonomous braking control becomes higher.

[0072] Similarly, when the safety support control is collision damage mitigation control, if the braking force for braking the host vehicle 100 by the autonomous braking control is made larger than a normal value, the braking force applied to the host vehicle 100 by the autonomous braking control becomes larger. In other words, the control sensitivity of the autonomous braking control becomes higher.

[0073] Alternatively, when the safety support control is following driving control, if the responsiveness to the target distance when accelerating or decelerating the vehicle 100 by the autonomous acceleration / deceleration control that autonomously accelerates or decelerates the vehicle 100 is made higher than normal responsiveness, the control sensitivity of the autonomous acceleration / deceleration control becomes higher.

[0074] Alternatively, in the case where the safety support control is the surrounding situation notification control, if the predetermined other vehicle distance used in determining whether or not to execute notification control (alarm control) for notifying the driver that another vehicle is approaching the vehicle 100 from the blind spot is set to a value larger than the normal value, the execution timing of the notification control becomes earlier. In other words, the control sensitivity of the notification control becomes higher.

[0075] By thus setting the control sensitivity of the various controls in the safety support control higher than the normal control sensitivity, the safety support level achieved by the safety support control can be increased.

[0076] Next, the vehicle driving assistance device 10 advances the process to step S315, and determines whether or not the execution condition C4 is satisfied.

[0077] The execution condition C4 is a condition for starting various controls in the safety support control, for example, in the lane departure prevention control, the condition is that the distance between the host vehicle 100 and the lane edge or road edge is reduced to the first end distance, and the condition is that the distance between the host vehicle 100 and the lane edge or road edge is reduced to the second end distance. In addition, the execution condition C4 is a condition for the lane keeping control, the condition is that the distance between the host vehicle 100 and the center line of the lane is increased to the first center line distance, and the condition is that the distance between the host vehicle 100 and the center line of the lane is increased to the second center line distance. In addition, the execution condition C4 is a condition for the collision damage reduction control, the condition is that the distance between the host vehicle 100 and an object in front of it is reduced to the first object distance, and the condition is that the distance between the host vehicle 100 and an object in front of it is reduced to the second object distance. Moreover, execution condition C4 is a condition that, in the following driving control, the distance between the host vehicle 100 and the preceding vehicle becomes larger or smaller than the target distance. Also, execution condition C4 is a condition that, in the surrounding condition notification control, the distance between the host vehicle 100 and another vehicle approaching the host vehicle 100 from the blind spot becomes smaller to a predetermined other vehicle distance.

[0078] If the vehicle driving assistance device 10 determines "Yes" in step S315, the process proceeds to step S320, where the safety assistance control is executed, and then the process proceeds to step S395, where the process of this routine is temporarily ended.

[0079] On the other hand, if the vehicle driving support device 10 determines "No" in step S315, the process proceeds directly to step S395 and ends the process of this routine. At this time, if the safety support control is being executed, the vehicle driving support device 10 ends the safety support control.

[0080] On the other hand, if the vehicle driving assistance device 10 determines "No" in step S305, the process proceeds to step S325, where the control sensitivity is set to the normal control sensitivity, which is lower than the high control sensitivity. That is, the vehicle driving assistance device 10 lowers the control sensitivity of the safety assistance control, thereby lowering the safety assistance level by the safety assistance control.

[0081] Next, the vehicle driving assistance device 10 advances the process to step S330, and determines whether or not the execution condition C4 is satisfied.

[0082] If the vehicle driving assistance device 10 determines "Yes" in step S330, the process proceeds to step S335, where the safety assistance control is executed, and then the process proceeds to step S395, where the process of this routine is temporarily ended.

[0083] On the other hand, if the result of the determination in step S330 is “No”, the vehicle driving support device 10 proceeds directly to step S395 and ends the processing of this routine. At this time, if the safety support control is being executed, the vehicle driving support device 10 ends the safety support control.

[0084] <Effects> According to the vehicle driving support device 10, when the driver's fatigue level increases, the safety support level is increased and the driver is notified of the increased safety support level, but when the vehicle 100 passes a rest point, the safety support level is decreased and the driver is notified of the decreased safety support level. This makes it possible to prevent the driver from feeling overly reassured after passing a rest point without taking a rest at the rest point. In other words, it is possible to prevent the driver from feeling overly reassured when a measure is taken to improve the driving safety of the vehicle 100.

[0085] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention. [Explanation of symbols]

[0086] 10...ECU, 20...fatigue level acquisition device, 30...notification device, 31...display device, 32...sound device, 40...road information acquisition device, 100...own vehicle

Claims

1. A vehicle driving support device including a control device that executes safety support control for improving the driving safety of a host vehicle, The control device includes: When a fatigue level of a driver of the vehicle reaches or exceeds a predetermined fatigue level, a safety support level that is a level for enhancing the traveling safety of the vehicle is increased by the safety support control, and the driver is notified that the safety support level has been increased; After the safety support level is increased, when the vehicle passes a rest possible point where the driver can take a rest, the safety support level is decreased and the driver is notified that the safety support level has been decreased. It is configured as follows: Vehicle driving assistance device.

2. The vehicle driving support device according to claim 1, The control device is configured to notify the driver that the vehicle is approaching the rest point when a distance between the vehicle and the rest point becomes equal to or shorter than a predetermined distance after the safety support level is increased. Vehicle driving assistance device.

3. The vehicle driving support device according to claim 1 or 2, The control device is configured to, when the safety support level is increased, continue to notify the driver that the safety support level is in an increased state until the safety support level is decreased. Vehicle driving assistance device.

4. A vehicle driving support method for performing safety support control to improve driving safety of a host vehicle, When a fatigue level of a driver of the vehicle reaches or exceeds a predetermined fatigue level, a safety support level that is a level for enhancing the traveling safety of the vehicle by the safety support control is increased, and the driver is notified that the safety support level has been increased. After the safety support level is increased, when the vehicle passes a rest possible point where the driver can take a rest, the safety support level is decreased and the driver is notified that the safety support level has been decreased. having A vehicle driving assistance method.

5. A vehicle driving assistance program that executes safety assistance control to improve driving safety of a host vehicle, When a fatigue level of a driver of the vehicle reaches or exceeds a predetermined fatigue level, a safety support level that is a level for enhancing the traveling safety of the vehicle is increased by the safety support control, and the driver is notified that the safety support level has been increased; After the safety support level is increased, when the vehicle passes a rest possible point where the driver can take a rest, the safety support level is decreased and the driver is notified that the safety support level has been decreased. It is configured as follows: Vehicle driving assistance program.

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