Driving Support Device and Driving Support Method

Abstract

The purpose of the present disclosure is to provide a driving assistance device and a driving assistance method capable of providing appropriate driving assistance to a driver who has performed reckless driving or frustrating driving. The driving assistance device according to the present disclosure comprises: a driving situation determination unit which determines a driving situation including reckless driving in which the driver of an own vehicle intentionally performs reckless driving with respect to another vehicle and frustrating driving in which the driver of the own vehicle unintentionally frustrates the driver of the other vehicle; and an assistance control unit which performs controls to assist the driving of the driver of the own vehicle in accordance with each of a case where the driving situation determination unit determines reckless driving and a case where the driving situation determination unit determines frustrating driving.

Description

Technical Field

[0001] The present disclosure relates to a driving support device and a driving support method for providing appropriate driving support to a driver who has performed dangerous driving.

Background Art

[0002] Conventionally, a technique has been disclosed that detects dangerous driving such as tailgating by a driver of a host vehicle and notifies the driver when the dangerous driving is detected (see, for example, Patent Document 1).

[0003] In Patent Document 1, inter-vehicle distance information (first information) between the host vehicle and another vehicle traveling ahead of the host vehicle, and information indicating the relative positional relationship in the left-right direction between the left and right lines defining the traveling lane of the host vehicle and the host vehicle (second information) are acquired. When it is determined based on the first information that the inter-vehicle distance is short, and it is determined to be abnormal (not normal) based on the second information and statistical values, it is regarded as "dangerous driving" and notified by an alarm or the like.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Hazardous driving is considered to include both provoking driving intentionally performed by the driver of the host vehicle against other vehicles and annoying driving that annoys the driver of other vehicles unintentionally by the driver of the host vehicle. For example, when a warning sound is issued to a driver who is performing provoking driving, it may backfire on the driver and cause the driver to perform more excessive hazardous driving. On the other hand, when a warning sound is issued to a driver who is performing annoying driving, the driver may become aware of their driving situation and correct their driving. Therefore, it is considered effective to provide driving support to the driver of the host vehicle according to each of provoking driving and annoying driving.

[0006] In Patent Document 1, since it notifies uniformly without distinguishing between provoking driving and annoying driving, the above problems may occur. Therefore, it cannot be said that Patent Document 1 provides appropriate driving support to the driver who has performed provoking driving or annoying driving.

[0007] The present disclosure has been made to solve such problems, and an object thereof is to provide a driving support device and a driving support method capable of providing appropriate driving support to a driver who has performed provoking driving or annoying driving.

Means for Solving the Problems

[0008] In order to solve the above problems, the driving support device according to the present disclosure includes a driving situation determination unit that determines a driving situation including provoking driving intentionally performed by the driver of the host vehicle against a specific other vehicle and annoying driving that annoys the driver of other vehicles unintentionally by the driver of the host vehicle based on the relative position of the other vehicle with respect to the host vehicle and the lanes in which the host vehicle and the other vehicle are traveling, and a support control unit that performs control to support the driving of the driver of the host vehicle according to each of the cases where the driving situation determination unit determines provoking driving and the case where the driving situation determination unit determines annoying driving. The driving situation determination unit determines that provoking driving is being performed when the host vehicle has executed a specific action against the same other vehicle a predetermined number of times or more, and determines that annoying driving is being performed when the host vehicle has executed a specific action against the same other vehicle temporarily or continuously. Moreover, the frustrating driving includes temporary frustrating driving and continuous frustrating driving, and the assistance control unit performs control to assist the driving of the driver of the host vehicle according to each of the temporary frustrating driving and the continuous frustrating driving. 。

Advantages of the Invention

[0009] According to the present disclosure, since the driving support device performs control to support the driving of the driver of the host vehicle according to each of the cases where the driving situation determination unit determines it as aggressive driving and the case where it determines it as irritating driving, it is possible to perform appropriate driving support for the driver who has performed aggressive driving or irritating driving.

[0010] The object, features, aspects, and advantages of the present disclosure will become clearer from the following detailed description and the accompanying drawings.

Brief Description of the Drawings

[0011]

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Modes for Carrying Out the Invention

[0012] <Embodiment 1> <1-1. Configuration> FIG. 1 is a block diagram showing an example of the configuration of the driving support device 1 according to Embodiment 1. Note that FIG. 1 shows the minimum necessary configuration for constituting the driving support device according to Embodiment 1. The driving support device 1 is assumed to be mounted in a vehicle (hereinafter referred to as "own vehicle").

[0013] As shown in FIG. 1, the driving support device 1 includes a driving situation determination unit 2 and a support control unit 3.

[0014] The driving situation determination unit 2 determines a driving situation including a provoking driving intentionally performed by the driver of the own vehicle with respect to another vehicle and an irritating driving that irritates the driver of another vehicle although it is not the intention of the driver of the own vehicle. The support control unit 3 performs control to support the driving of the driver of the own vehicle according to each of the cases where the driving situation determination unit 2 determines provoking driving and the case where it determines irritating driving.

[0015] Next, other configurations including the driving support device 1 shown in FIG. 1 will be described.

[0016] FIG. 2 is a block diagram showing an example of the configuration of the driving support device 4 according to another configuration.

[0017] As shown in FIG. 2, the driving support device 4 includes a driving situation determination unit 2, a support control unit 3, and an output control unit 5. The output control unit 5 includes a display output control unit 6 and an audio output control unit 7. Further, the driving situation determination unit 2 is connected to a vehicle sensor 8, the display output control unit 6 is connected to a display 9, and the audio output control unit 7 is connected to a speaker 10.

[0018] The vehicle sensor 8 detects the situation around the own vehicle including the relative position of another vehicle with respect to the own vehicle and the lanes in which the own vehicle and the other vehicle are traveling. Further, the vehicle sensor 8 may obtain the relative speed of the other vehicle based on the time-series change of the relative position of the other vehicle.

[0019] The vehicle sensor 8 may be, for example, a camera. When the vehicle sensor 8 is a camera, by performing image processing on an image of the surroundings of the host vehicle, the relative position of other vehicles with respect to the host vehicle and the lanes in which the host vehicle and other vehicles are traveling can be detected.

[0020] The driving situation determination unit 2 determines a driving situation including aggressive driving and irritable driving based on the information acquired from the vehicle sensor 8. Specifically, when the host vehicle has executed a specific action on the same other vehicle more than a predetermined number of times, the driving situation determination unit 2 determines that the driver of the host vehicle is performing aggressive driving. Further, when the host vehicle is temporarily executing a specific action on the same other vehicle, the driving situation determination unit 2 determines that the driver of the host vehicle is performing irritable driving.

[0021] Examples of the specific actions referred to by the driving situation determination unit 2 when determining aggressive driving and irritable driving include the specific actions shown in FIGS. 3 to 7. That is, examples of the specific actions include, for example, "driving occupying the overtaking lane", "swerving", "cutting in", "approaching the vehicle ahead", "weaving in front of the vehicle ahead", "suddenly braking for the vehicle behind", and "weaving behind the vehicle behind". Note that each specific action shown in FIGS. 3 to 7 is an example, and other driving may also be used as the specific action. For example, driving in a situation where the host vehicle and other vehicles are on a non-overtakable road and the host vehicle is in front of the other vehicle may be used as the specific action.

[0022] Hereinafter, each specific action shown in FIGS. 3 to 7 will be described.

[0023] The "driving occupying the passing lane" shown in FIG. 3 means that, in a situation where the own vehicle and another vehicle are in the passing lane and the own vehicle is in front of the other vehicle, the driver of the own vehicle performs a driving that obstructs the running of the other vehicle that the own vehicle is about to overtake. In this case, the driving situation determination unit 2 determines whether both the own vehicle and the other vehicle are in the passing lane based on the information on the lanes in which the own vehicle and the other vehicle are running, acquired from the vehicle sensor 8. Further, the driving situation determination unit 2 determines whether the own vehicle is in front of the other vehicle based on the information on the relative position of the other vehicle with respect to the own vehicle, acquired from the vehicle sensor 8.

[0024] Then, when the driving situation determination unit 2 determines that the driver of the own vehicle is performing the "driving occupying the passing lane", it determines whether the driver is performing provoking driving or irritating driving based on what kind of "driving occupying the passing lane" is being performed. Specifically, the driving situation determination unit 2 determines that the driver is performing provoking driving when the driver of the own vehicle repeats the "driving occupying the passing lane" more than a predetermined number of times. Further, the driving situation determination unit 2 determines that the driver is performing irritating driving when the driver of the own vehicle temporarily performs the "driving occupying the passing lane".

[0025] The "lane encroachment" shown in FIG. 4 means that the own vehicle performs a driving of encroaching on another vehicle running in an adjacent lane. Specifically, in a situation where the own vehicle and the other vehicle are in adjacent lanes and the own vehicle and the other vehicle are running side by side, the driver of the own vehicle performs a driving of approaching the own vehicle to the other vehicle. Such running of the own vehicle is running in which the own vehicle approaches the other vehicle to a distance equal to or less than a predetermined distance, and is running that causes the other vehicle to take an avoidance action with respect to the own vehicle. In this case, the driving situation determination unit 2 determines whether the own vehicle and the other vehicle are in adjacent lanes based on the information on the lanes in which the own vehicle and the other vehicle are running, acquired from the vehicle sensor 8. Further, the driving situation determination unit 2 determines whether the own vehicle and the other vehicle are running side by side based on the information on the relative position of the other vehicle with respect to the own vehicle, acquired from the vehicle sensor 8.

[0026] When the driving situation determination unit 2 determines that the driver of the host vehicle is performing "lane encroachment", it determines whether it is aggressive driving or harassing driving based on what kind of "lane encroachment" is being performed. Specifically, when the driver of the host vehicle repeats "lane encroachment" more than a predetermined number of times, the driving situation determination unit 2 determines that aggressive driving is being performed. In addition, when the driver of the host vehicle temporarily performs "lane encroachment", the driving situation determination unit 2 determines that harassing driving is being performed.

[0027] The "cut-in" shown in FIG. 5 is to perform a driving operation in which the host vehicle suddenly intrudes in front of another vehicle. Specifically, in a situation where the host vehicle and another vehicle are traveling in different lanes, the driver of the host vehicle performs a driving operation of suddenly cutting in the host vehicle in front of the other vehicle. Such driving of the host vehicle is driving in which the host vehicle approaches the other vehicle to a distance equal to or less than a predetermined distance, and is driving that causes the other vehicle to take an avoidance action with respect to the host vehicle. In this case, the driving situation determination unit 2 determines whether the host vehicle and the other vehicle are in different lanes based on the information on the lanes in which the host vehicle and the other vehicle are traveling acquired from the vehicle sensor 8. In addition, the driving situation determination unit 2 determines whether the host vehicle has suddenly cut in front of the other vehicle based on the information on the relative position of the other vehicle with respect to the host vehicle acquired from the vehicle sensor 8.

[0028] When the driving situation determination unit 2 determines that the driver of the host vehicle is performing "cut-in", it determines whether it is aggressive driving or harassing driving based on what kind of "cut-in" is being performed. Specifically, when the driver of the host vehicle repeats "cut-in" more than a predetermined number of times, the driving situation determination unit 2 determines that aggressive driving is being performed. In addition, when the driver of the host vehicle temporarily performs "cut-in", the driving situation determination unit 2 determines that harassing driving is being performed.

[0029] "Approaching a vehicle ahead" shown in FIG. 6 means that the host vehicle performs driving to approach another vehicle traveling ahead in the same lane within a predetermined distance. Also, "wobbling driving towards a vehicle ahead" means that the host vehicle performs driving to approach another vehicle traveling ahead in the same lane while wobbling within a predetermined distance. Such driving of the host vehicle is driving in which the host vehicle approaches another vehicle up to a predetermined distance or less, and is driving that causes the other vehicle to take an avoidance action against the host vehicle. In this case, the driving situation determination unit 2 determines whether the host vehicle and the other vehicle are in the same lane based on the information on the lanes in which the host vehicle and the other vehicle acquired from the vehicle sensor 8 are traveling. Further, the driving situation determination unit 2 determines whether the host vehicle has approached within a predetermined distance with respect to the preceding other vehicle based on the information on the relative position of the other vehicle with respect to the host vehicle acquired from the vehicle sensor 8.

[0030] Then, when the driving situation determination unit 2 determines that the driver of the host vehicle is performing "approaching a vehicle ahead" or "wobbling driving towards a vehicle ahead", it determines whether it is aggressive driving or harassing driving based on what kind of "approaching a vehicle ahead" or "wobbling driving towards a vehicle ahead" is being performed. Specifically, the driving situation determination unit 2 determines that aggressive driving is being performed when the driver of the host vehicle repeatedly executes "approaching a vehicle ahead" or "wobbling driving towards a vehicle ahead" a predetermined number of times or more. Also, the driving situation determination unit 2 determines that harassing driving is being performed when the driver of the host vehicle temporarily executes "approaching a vehicle ahead" or "wobbling driving towards a vehicle ahead".

[0031] "Emergency braking for the vehicle behind" shown in Fig. 7 means that in a situation where the host vehicle and other vehicles are traveling in the same lane, the host vehicle performs an operation of suddenly braking in front of the other vehicle. Also, "wobbling driving towards the vehicle behind" means that in a situation where the host vehicle and other vehicles are traveling in the same lane, the host vehicle performs an operation of approaching the other vehicle behind while wobbling within a predetermined distance. Such driving of the host vehicle is driving in which the host vehicle approaches the other vehicle to a distance equal to or less than a predetermined distance, and is driving that causes the other vehicle to take an avoidance action against the host vehicle. In this case, the driving situation determination unit 2 determines whether the host vehicle and the other vehicle are in the same lane based on the information on the lanes in which the host vehicle and the other vehicle obtained from the vehicle sensor 8 are traveling. Also, the driving situation determination unit 2 determines whether the host vehicle has suddenly braked in front of the other vehicle based on the information on the relative position of the other vehicle with respect to the host vehicle obtained from the vehicle sensor 8.

[0032] Then, when the driving situation determination unit 2 determines that the driver of the host vehicle is performing "emergency braking for the vehicle behind" or "wobbling driving towards the vehicle behind", it determines whether it is performing provoking driving or irritating driving based on what kind of "emergency braking for the vehicle behind" or "wobbling driving towards the vehicle behind" is being performed. Specifically, the driving situation determination unit 2 determines that provoking driving is being performed when the driver of the host vehicle repeatedly executes "emergency braking for the vehicle behind" or "wobbling driving towards the vehicle behind" more than a predetermined number of times. Also, the driving situation determination unit 2 determines that irritating driving is being performed when the driver of the host vehicle temporarily executes "emergency braking for the vehicle behind" or "wobbling driving towards the vehicle behind".

[0033] Returning to the description of Fig. 2, the support control unit 3 performs control to support the driving of the driver of the host vehicle according to each case where the driving situation determination unit 2 determines provoking driving and where it determines irritating driving. Specifically, the support control unit 3 performs control to support the driving of the driver of the host vehicle on at least one of the display output control unit 6 and the voice output control unit 7.

[0034] The output control unit 5 includes a display output control unit 6 and an audio output control unit 7. The display output control unit 6 controls the display 9 to display support information for assisting the driver in driving according to an instruction from the support control unit 3. The audio output control unit 7 controls the speaker 10 to output the support information to the driver as audio according to an instruction from the support control unit 3.

[0035] Hereinafter, an example of driving support in each specific behavior shown in FIGS. 3 to 7 will be described. In FIGS. 3 to 7, "strong" in the display message indicates that the content of the message to the driver is a warning, and "weak" in the display message indicates that the content of the message to the driver is a caution.

[0036] As shown in FIG. 3, when the "driving occupying the overtaking lane" performed by the driver of the host vehicle is a provoking driving, the support control unit 3 instructs the display output control unit 6 to display a strong display message. At this time, the support control unit 3 does not give an instruction to the audio output control unit 7. The display output control unit 6 controls the display 9 to display a strong display message as support information for the driver. On the display 9, for example, a display message such as "Warning: It is determined that you are driving in the overtaking lane. Please stop temporarily in the empty space." is displayed.

[0037] When the "driving occupying the overtaking lane" performed by the driver of the host vehicle is a temporary impatient driving, the support control unit 3 instructs the display output control unit 6 to display a weak display message and instructs the audio output control unit 7 to output the support information as audio. The display output control unit 6 controls the display 9 to display a weak display message as support information for the driver. On the display 9, for example, a display message such as "Caution: It is determined that you are driving in the overtaking lane. Please drive in the driving lane as much as possible." is displayed. Also, the audio output control unit 7 controls the speaker 10 to output the support information with the same content as the display message as audio. The support information with the same content as the display message is output as audio from the speaker 10.

[0038] As shown in FIG. 4, when the "lane change" being performed by the driver of the host vehicle is a provoking driving, the support control unit 3 instructs the display output control unit 6 to display a strong display message. At this time, the support control unit 3 does not give an instruction to the voice output control unit 7. The display output control unit 6 controls the display 9 to display a strong display message as support information for the driver. On the display 9, for example, a display message such as "Warning: It is determined that you are changing lanes. Immediately keep a distance from the adjacent vehicle." is displayed.

[0039] When the "lane change" being performed by the driver of the host vehicle is a temporary impatient driving, the support control unit 3 instructs the display output control unit 6 to display a weak display message, and instructs the voice output control unit 7 to output support information by voice. The display output control unit 6 controls the display 9 to display a weak display message as support information for the driver. On the display 9, for example, a display message such as "Caution: It is determined that you are changing lanes. Let's keep a distance from the adjacent vehicle." is displayed. Also, the voice output control unit 7 controls the speaker 10 to output support information with the same content as the display message by voice. From the speaker 10, support information with the same content as the display message is output by voice.

[0040] As shown in FIG. 5, when the "cut-in" being performed by the driver of the host vehicle is a provoking driving, the support control unit 3 instructs the display output control unit 6 to display a strong display message. At this time, the support control unit 3 does not give an instruction to the voice output control unit 7. The display output control unit 6 controls the display 9 to display a strong display message as support information for the driver. On the display 9, for example, a display message such as "Warning: It is determined that you have cut in. Please stop sudden cut-ins." is displayed.

[0041] When the "cut-in" being made by the driver of the host vehicle is a momentary impatience driving, the assistance control unit 3 instructs the display output control unit 6 to display a weak display message, and instructs the voice output control unit 7 to output assistance information by voice. The display output control unit 6 controls the display 9 to display a weak display message as assistance information for the driver. On the display 9, for example, a display message such as "Caution: It is determined that a cut-in has been made. Please avoid sudden cut-ins." is displayed. Also, the voice output control unit 7 controls the speaker 10 to output by voice assistance information with the same content as the display message. From the speaker 10, assistance information with the same content as the display message is output by voice.

[0042] As shown in FIG. 6, when the "approach to the vehicle ahead" or "weaving driving toward the vehicle ahead" being made by the driver of the host vehicle is a provoking driving, the assistance control unit 3 instructs the display output control unit 6 to display a strong display message. At this time, the assistance control unit 3 does not give an instruction to the voice output control unit 7. The display output control unit 6 controls the display 9 to display a strong display message as assistance information for the driver. On the display 9, for example, a display message such as "Warning: It is determined that you are approaching the vehicle ahead. Please keep a distance from the vehicle ahead." is displayed.

[0043] When the "approach to the vehicle ahead" or "weaving driving toward the vehicle ahead" being made by the driver of the host vehicle is a momentary impatience driving, the assistance control unit 3 instructs the display output control unit 6 to display a weak display message, and instructs the voice output control unit 7 to output assistance information by voice. The display output control unit 6 controls the display 9 to display a weak display message as assistance information for the driver. On the display 9, for example, a display message such as "Attention: It is determined that you are approaching the vehicle ahead. Let's keep a distance from the vehicle ahead." is displayed. Also, the voice output control unit 7 controls the speaker 10 to output by voice assistance information with the same content as the display message. From the speaker 10, assistance information with the same content as the display message is output by voice.

[0044] As shown in FIG. 7, when the “sudden braking to the following vehicle” or “wobbly driving to the following vehicle” performed by the driver of the host vehicle is a provoking driving, the support control unit 3 instructs the display output control unit 6 to display a strong display message. At this time, the support control unit 3 does not instruct the voice output control unit 7. The display output control unit 6 controls the display 9 so as to display a strong display message as support information for the driver. On the display 9, for example, a display message such as “Warning: It is determined that you are approaching the following vehicle. Please keep a distance from the following vehicle.” is displayed.

[0045] When the “sudden braking to the following vehicle” or “wobbly driving to the following vehicle” performed by the driver of the host vehicle is a temporary impatient driving, the support control unit 3 instructs the display output control unit 6 to display a weak display message, and instructs the voice output control unit 7 to output support information by voice. The display output control unit 6 controls the display 9 so as to display a weak display message as support information for the driver. On the display 9, for example, a display message such as “Caution: It is determined that you are approaching the following vehicle. Let's keep a distance from the following vehicle.” is displayed. Also, the voice output control unit 7 controls the speaker 10 so as to output support information having the same content as the display message by voice. Support information having the same content as the display message is output by voice from the speaker 10.

[0046] <1-2. Operation> FIG. 8 is a flowchart showing an example of the operation of the driving support device 4.

[0047] In step S11, the driving situation determination unit 2 determines a driving situation including provoking driving and impatient driving based on the information acquired from the vehicle sensor 8.

[0048] In step S12, the driving situation determination unit 2 determines whether the driving situation is a revving driving or an irritating driving. If it is a revving driving or an irritating driving, the process proceeds to step S13. On the other hand, if it is not a revving driving or an irritating driving, the process proceeds to step S16.

[0049] In step S13, the driving situation determination unit 2 determines whether it is a revving driving. If it is a revving driving, the process proceeds to step S14. On the other hand, if it is not a revving driving, the process proceeds to step S15.

[0050] In step S14, the support control unit 3 performs driving support according to the revving driving. For example, when the driving situation determination unit 2 determines that the specific actions shown in FIGS. 3 to 7 are revving driving, the support control unit 3 instructs the display output control unit 6 to display a strong display message, and does not instruct the voice output control unit 7. The display output control unit 6 controls the display 9 to display a strong display message. Thereby, a strong display message is displayed on the display 9.

[0051] In step S15, the support control unit 3 performs driving support according to the irritating driving. For example, when the driving situation determination unit 2 determines that the specific actions shown in FIGS. 3 to 7 are irritating driving, the support control unit 3 instructs the display output control unit 6 to display a weak display message, and instructs the voice output control unit 7 to output support information by voice. The display output control unit 6 controls the display 9 to display a weak display message. Also, the voice output control unit 7 controls the speaker 10 to output support information having the same content as the display message by voice. Thereby, a weak display message is displayed on the display 9, and support information having the same content as the display message is output by voice from the speaker 10.

[0052] In step S16, the support control unit 3 does not perform driving support. That is, the support control unit 3 does not instruct the display output control unit 6 and the voice output control unit 7.

[0053] <1-3. Modification example> FIG. 9 is a block diagram showing an example of the configuration of the driving support device 11 according to a modified example. As shown in FIG. 9, the driving support device 11 is characterized in that the output control unit 5 includes a video recording control unit 12. The video recording control unit 12 is connected to a drive recorder 13. Since the other configurations and operations are the same as those of the driving support device 4 shown in FIG. 2, detailed description thereof is omitted here.

[0054] The video recording control unit 12 controls the drive recorder 13 to record the video of the driving situation when the driving situation determination unit 2 determines that it is a reckless driving or an irritating driving according to an instruction from the support control unit 3. Further, the video recording control unit 12 may perform control to record the video of the driving situation when the driving situation determination unit 2 determines that it is a reckless driving or an irritating driving to an external server (not shown).

[0055] The drive recorder 13 records the video of the driving situation of the host vehicle according to an instruction from the video recording control unit 12. The video of the driving situation of the host vehicle may be captured by a camera included in the vehicle sensor 8, or may be captured by a camera (not shown) provided in the drive recorder 13.

[0056] For example, when the driving situation determination unit 2 determines that the specific actions shown in FIGS. 3 to 7 are reckless driving, the support control unit 3 instructs the display output control unit 6 as described above, and instructs the video recording control unit 12 to record the video of the driving situation when the host vehicle performs reckless driving. The video recording control unit 12 controls the drive recorder 13 to record the video of the driving situation when the host vehicle performs reckless driving. As a result, the video of the driving situation when the host vehicle performs reckless driving is recorded in the drive recorder 13. Such processing is performed in step S14 of FIG. 8. In FIGS. 3 to 7, "recording only" of the drive recorder performs only the process of recording the video in the drive recorder 13.

[0057] Further, for example, when the driving situation determination unit 2 determines that the driving is impatient based on the specific actions shown in FIGS. 3 to 7, the support control unit 3 instructs the display output control unit 6 and the voice output control unit 7 as described above, and also instructs the video recording control unit 12 to record the video of the driving situation when the host vehicle is driving impatiently. As a result, the driving recorder 13 records the video of the driving situation when the host vehicle is driving impatiently. Such processing is performed in step S15 of FIG. 8.

[0058] In addition, in FIGS. 3 to 7, the "recording / video" of the driving recorder not only refers to the process of recording video in the driving recorder 13, but also inquires whether the driver wants to check the video recorded in the driving recorder 13 when the host vehicle stops. In this case, for example, "The video of the driving situation when it is determined that the driving is impatient has been recorded. Do you want to check the recorded video? Yes / No" may be displayed. For example, when checking the video when the vehicle stops, the driver can check the video by operating the driving recorder inside the host vehicle. Also, when checking the video after getting out of the vehicle, the driver can check the video recorded in the driving recorder using a tablet device such as a smartphone. In this case, the video stored in the cloud server may be transmitted to the tablet device, or the video may be transmitted from the driving recorder to the tablet device.

[0059] <1-4. Effects> From the above, according to the first embodiment, the driving situation determination unit 2 determines whether the host vehicle is performing aggressive driving or impatient driving, and the support control unit 3 controls the output control unit 5 to perform driving support according to the aggressive driving or impatient driving. Thereby, it becomes possible to provide appropriate driving support to the driver who is performing aggressive driving or impatient driving.

[0060] <Second Embodiment> <2-1. Configuration> FIG. 10 is a block diagram showing an example of the configuration of the driving support device 14 according to Embodiment 2. As shown in FIG. 10, the driving support device 14 is characterized in that the output control unit 5 includes a travel output control unit 15. The travel output control unit 15 is connected to a GNSS (Global Navigation Satellite System) system 16 and a travel control device 17. Further, when the driving situation determination unit 2 determines that the driving of the driver of the host vehicle is irritating driving, the driving situation determination unit 2 determines whether the irritating driving is temporary or continuous. Since the other configurations and operations are the same as those of the driving support device 4 shown in FIG. 2, detailed description thereof is omitted here.

[0061] The GNSS system 16 acquires map information from, for example, a map database (not shown) and acquires the current position information of the host vehicle.

[0062] The travel output control unit 15 controls the travel control device 17 to automatically control the travel of the host vehicle by using the information acquired from the GNSS system 16 in accordance with an instruction from the support control unit 3. Specifically, the travel output control unit 15 controls the travel control device 17 to automatically control the travel of the host vehicle based on the map information acquired from the GNSS system 16 and the current position information of the host vehicle. The travel control device 17 automatically controls the travel of the host vehicle in accordance with an instruction from the travel output control unit 15.

[0063] The driving situation determination unit 2 determines a driving situation including exciting driving and irritating driving based on the information acquired from the vehicle sensor 8. Further, when the driving situation determination unit 2 determines that it is irritating driving, the driving situation determination unit 2 determines whether the irritating driving is temporary or continuous. Note that the driving situation determination unit 2 may further determine the driving situation in consideration of the map information acquired from the GNSS system 16 and the current position information of the host vehicle.

[0064] The support control unit 3 controls the display output control unit 6, the voice output control unit 7, and the travel output control unit 15 to perform driving support corresponding to each of exciting driving, temporary irritating driving, and continuous irritating driving.

[0065] Hereinafter, an example of driving support in each specific action shown in FIGS. 11 to 15 will be described. In FIGS. 11 to 15, since "vehicle driving control" in the driving support items and other than "continuous" in the frustrating driving are the same as those in FIGS. 3 to 7, the description is omitted here.

[0066] The support control unit 3 instructs the driving output control unit 15 to automatically control the running of the host vehicle only when the driving situation determination unit 2 determines that it is a continuous frustrating driving. The driving output control unit 15 controls the driving control device 17 to automatically control the running of the host vehicle using the information acquired from the GNSS system 16.

[0067] In the example of FIG. 11, the driving control device 17 automatically controls the running of the host vehicle to run at or below the legal speed. At this time, the display 9 may show on the map that there is a free space at the driving destination of the host vehicle. Alternatively, the driving control device 17 may control the host vehicle to automatically move to the free space existing at the driving destination of the host vehicle, or may control the host vehicle to automatically change lanes.

[0068] In the example of FIG. 12, the driving control device 17 controls to keep a certain distance from the other vehicle in the adjacent lane. In the example of FIG. 13, the driving control device 17 controls to decelerate and move to the adjacent lane. In the example of FIG. 14, the driving control device 17 controls to keep a certain distance from the vehicle ahead. In the example of FIG. 15, the driving control device 17 controls to keep a certain distance from the vehicle behind.

[0069] In addition, the support control unit 3 controls the display output control unit 6 to display different display messages according to each of the temporary frustrating driving and the continuous frustrating driving. The display output control unit 6 controls the display 9 to display a weak display message in the case of temporary frustrating driving and a strong display message in the case of continuous frustrating driving. The contents of the weak display message and the strong display message in FIGS. 11 to 15 are the same as those in FIGS. 3 to 7.

[0070] <2-2. Operation> FIG. 16 is a flowchart showing an example of the operation of the driving support device 14. Since steps S21 to S24 in FIG. 16 correspond to steps S11 to S14 in FIG. 8 and step S28 in FIG. 16 corresponds to step S16 in FIG. 8, the description thereof is omitted here. Hereinafter, steps S25 to S27 will be described.

[0071] In step S25, the driving situation determination unit 2 determines whether the impatient driving is temporary. If the impatient driving is temporary, the process proceeds to step S26. On the other hand, if the impatient driving is not temporary, that is, if the impatient driving is continuous, the process proceeds to step S27.

[0072] In step S26, the support control unit 3 performs driving support according to the temporary impatient driving. For example, when the driving situation determination unit 2 determines that the specific actions shown in FIGS. 11 to 15 are temporary impatient driving, the support control unit 3 instructs the display output control unit 6 to display a weak display message and instructs the voice output control unit 7 to output support information by voice. At this time, the support control unit 3 does not give an instruction to the travel output control unit 15. The display output control unit 6 controls the display 9 to display a weak display message. Also, the voice output control unit 7 controls the speaker 10 to output support information having the same content as the display message by voice. As a result, a weak display message is displayed on the display 9, and support information having the same content as the display message is output by voice from the speaker 10.

[0073] In step S27, the assistance control unit 3 provides driving assistance corresponding to continuous provoking driving. For example, when the driving situation determination unit 2 determines that the specific actions shown in FIGS. 11 to 15 are continuous provoking driving, the assistance control unit 3 instructs the display output control unit 6 to display a strong display message, instructs the voice output control unit 7 to output assistance information as voice, and instructs the driving output control unit 15 to automatically control the driving of the host vehicle. The display output control unit 6 controls the display 9 to display a strong display message. Also, the voice output control unit 7 controls the speaker 10 to output assistance information having the same content as the display message as voice. Further, the driving output control unit 15 controls the driving control device 17 to automatically control the driving of the host vehicle. As a result, a weak display message is displayed on the display 9, and assistance information having the same content as the display message is output as voice from the speaker 10. Also, the driving control device 17 automatically controls the driving of the host vehicle.

[0074] <2-3. Modified Example> FIG. 17 is a block diagram showing an example of the configuration of the driving assistance device 18 according to the modified example. As shown in FIG. 17, the driving assistance device 18 is characterized in that the output control unit 5 includes a video recording control unit 12. Since the other configurations and operations are the same as those of the driving assistance device 14 shown in FIG. 10, the description thereof is omitted here.

[0075] The video recording control unit 12 controls the drive recorder 13 to record a video of the driving situation when the driving situation determination unit 2 determines that the driving is provoking driving or irritating driving according to an instruction from the assistance control unit 3.

[0076] The drive recorder 13 records a video of the driving situation of the host vehicle according to an instruction from the video recording control unit 12.

[0077] For example, when the driving situation determination unit 2 determines that the specific actions shown in FIGS. 11 to 15 are provoking driving, the assistance control unit 3 instructs the display output control unit 6 as described above, and instructs the video recording control unit 12 to record a video of the driving situation when the host vehicle performs provoking driving. This process is the same as the process of the video recording control unit 12 in FIG. 9.

[0078] Also, for example, when the driving situation determination unit 2 determines that the specific actions shown in FIGS. 11 to 15 are temporary or continuous irritating driving, the support control unit 3 instructs the display output control unit 6 and the voice output control unit 7 as described above, and instructs the video recording control unit 12 to record the video of the driving situation when the host vehicle performs temporary or continuous irritating driving. This process is the same as the process of the video recording control unit 12 in FIG. 9.

[0079] <2-4. Effect> From the above, according to the second embodiment, the driving situation determination unit 2 determines whether the host vehicle has performed aggressive driving or irritating driving, and when it is irritating driving, determines whether it is temporary or continuous. Further, the support control unit 3 controls the output control unit 5 to perform driving support according to each of aggressive driving, temporary irritating driving, or continuous irritating driving. Thereby, it becomes possible to perform appropriate driving support for a driver who has performed aggressive driving, temporary irritating driving, or continuous irritating driving.

[0080] <Embodiment 3> <3-1. Configuration> FIG. 18 is a block diagram showing an example of the configuration of the driving support device 19 according to the third embodiment. The driving support device 19 is characterized by the determination of the driving situation by the driving situation determination unit 2. Since the other configurations and basic operations are the same as those in the first embodiment or the second embodiment, detailed description thereof is omitted here.

[0081] The driving situation determination unit 2 is connected to the vehicle sensor 8 and the vehicle body device 20. The vehicle sensor 8 is the same as the vehicle sensor 8 described in the first and second embodiments. The vehicle body device 20 includes a horn that emits a warning sound, a headlight that irradiates light forward, and the like.

[0082] The driving situation determination unit 2 determines a driving situation including a reckless driving and an irritating driving based on the information acquired from the vehicle sensor 8 and the vehicle body equipment 20. Further, when the driving situation determination unit 2 determines that it is an irritating driving, the driving situation determination unit 2 determines whether the irritating driving is temporary or continuous.

[0083] As a specific behavior referred to when the driving situation determination unit 2 determines a reckless driving and an irritating driving based on the information acquired from the vehicle body equipment 20, for example, "random emission of warning sounds or lighting" shown in FIG. 19 can be mentioned. Note that each specific behavior shown in FIG. 19 is an example, and other driving may be used as the specific behavior.

[0084] "Random emission of warning sounds or lighting" shown in FIG. 19 means that the driver of the own vehicle frequently uses warning sounds for the other vehicle ahead, or the driver of the own vehicle frequently blinks the lighting such as passing for the other vehicle ahead. In this case, the driving situation determination unit 2 determines whether the own vehicle and the other vehicle are present in the same lane based on the information on the lanes in which the own vehicle and the other vehicle are traveling acquired from the vehicle sensor 8. Further, the driving situation determination unit 2 determines whether the warning sounds or the lighting are frequently blinked based on the usage status of the warning sounds or the lighting acquired from the vehicle body equipment 20. Then, when the driving situation determination unit 2 determines that the driver of the own vehicle is performing "random emission of warning sounds or lighting", the driving situation determination unit 2 determines whether it is a reckless driving or an irritating driving based on what kind of "random emission of warning sounds or lighting" is being performed.

[0085] Specifically, the driving situation determination unit 2 determines that a reckless driving is being performed when the driver of the own vehicle repeats the "random emission of warning sounds or lighting" more than a predetermined number of times. For example, the driving situation determination unit 2 determines that a reckless driving is being performed when warning sounds are repeatedly emitted to the same other vehicle four or more times. Further, the driving situation determination unit 2 determines that a reckless driving is being performed when warning sounds of four seconds or more are repeatedly emitted more than a predetermined number of times.

[0086] In addition, when the driving situation determination unit 2 determines that the driver of the host vehicle is temporarily or continuously performing "abnormal warning sound or lighting", it determines that the driver is driving in a temporarily or continuously irritated state. For example, when the driving situation determination unit 2 emits a warning sound for 1 to 2 seconds, it determines that the driver is driving in a temporarily irritated state. Also, when the driving situation determination unit 2 emits a warning sound for 2 to 4 seconds, it determines that the driver is driving in a continuously irritated state. Furthermore, when the driving situation determination unit 2 emits a warning sound 2 to 3 times, it determines that the driver is driving in a continuously irritated state.

[0087] The support control unit 3 controls the display output control unit 6 and the voice output control unit 7 to perform driving support corresponding to each of the aggressive driving, temporarily irritated driving, and continuously irritated driving.

[0088] For example, as shown in FIG. 19, when the "abnormal warning sound or lighting" performed by the driver of the host vehicle is aggressive driving, the support control unit 3 instructs the display output control unit 6 to display a strong display message. At this time, the support control unit 3 does not give an instruction to the voice output control unit 7. The display output control unit 6 controls the display 9 to display a strong display message as support information for the driver. On the display 9, for example, a display message such as "Warning: It has been determined that the horn has sounded multiple times. Please stop excessive honking." is displayed.

[0089] When the "random emission of warning sounds or lighting" being carried out by the driver of the host vehicle is a momentary irritable driving, the support control unit 3 instructs the display output control unit 6 to display a weak display message and instructs the voice output control unit 7 to output support information by voice. The display output control unit 6 controls the display 9 to display a weak display message as support information for the driver. On the display 9, for example, a display message such as "Attention: It has been determined that the horn has sounded multiple times. Please be careful to use the warning sound appropriately." is displayed. Also, the voice output control unit 7 controls the speaker 10 to output support information with the same content as the display message by voice. From the speaker 10, support information with the same content as the display message is output by voice.

[0090] When the "random emission of warning sounds or lighting" being carried out by the driver of the host vehicle is continuous irritable driving, a strong display message is displayed on the display 9 in the same manner as in the case of aggressive driving, and support information with the same content as the display message is output by voice from the speaker 10.

[0091] <3-2. Operation> Figure 20 is a flowchart showing an example of the operation of the driving support device 19. Since steps S33 to S38 in Figure 20 correspond to steps S23 to S28 in Figure 16, the description is omitted here. Hereinafter, steps S31 and S32 will be described.

[0092] In step S31, the driving situation determination unit 2 determines the driving situation including aggressive driving and irritable driving based on the information acquired from the vehicle sensor 8 and the vehicle body device 20.

[0093] In step S32, the driving situation determination unit 2 determines whether the driving situation is aggressive driving or irritable driving. If it is aggressive driving or irritable driving, the process proceeds to step S33. On the other hand, if it is not aggressive driving or irritable driving, the process proceeds to step S38.

[0094] <3-3. Modification Example> FIG. 21 is a block diagram showing an example of the configuration of the driving support device 21 according to a modified example. As shown in FIG. 21, the driving support device 21 is characterized in that the output control unit 5 includes a video recording control unit 12. Since the other configurations and operations are the same as those of the driving support device 14 shown in FIG. 10, the description thereof is omitted here.

[0095] The video recording control unit 12 controls the drive recorder 13 to record the video of the driving situation when the driving situation determination unit 2 determines that it is a revving driving or a frustrating driving according to an instruction from the support control unit 3. The drive recorder 13 records the video of the driving situation of the host vehicle according to an instruction from the video recording control unit 12.

[0096] For example, when the driving situation determination unit 2 determines that the specific action shown in FIG. 19 is a revving driving, the support control unit 3 instructs the display output control unit 6 as described above, and instructs the video recording control unit 12 to record the video of the driving situation when the host vehicle performs a revving driving. The said process is the same as the process of the video recording control unit 12 in FIG. 9.

[0097] Also, for example, when the driving situation determination unit 2 determines that the specific action shown in FIG. 19 is a temporary or continuous frustrating driving, the support control unit 3 instructs the display output control unit 6 and the audio output control unit 7 as described above, and instructs the video recording control unit 12 to record the video of the driving situation when the host vehicle performs a temporary or continuous frustrating driving. The said process is the same as that of the video recording control unit 12 in FIG. 9.

[0098] <3-4. Effects> From the above, according to Embodiment 3, the driving situation determination unit 2 determines whether the host vehicle has performed aggressive driving or frustrating driving based on the information acquired from the vehicle body device 20, and determines whether it is temporary or continuous in the case of frustrating driving. Further, the support control unit 3 controls the output control unit 5 to perform driving support according to each of aggressive driving, temporary frustrating driving, or continuous frustrating driving. Thereby, it becomes possible to perform appropriate driving support for a driver who has performed aggressive driving, temporary frustrating driving, or continuous frustrating driving.

[0099] <Embodiment 4> <4-1. Configuration> FIG. 22 is a block diagram showing an example of the configuration of the driving support device 22 according to Embodiment 4. The driving support device 22 is characterized in that the output control unit 5 has only the video recording control unit 12 and in the determination of the driving situation by the driving situation determination unit 2.

[0100] The driving situation determination unit 2 is connected to the vehicle sensor 8 and the surrounding detection device 23. The vehicle sensor 8 is the same as the vehicle sensor 8 described in Embodiments 1 to 3. The surrounding detection device 23 includes a microphone that collects warning sounds emitted by other vehicles with respect to the host vehicle, an illuminance sensor that detects light irradiation such as passing by other vehicles with respect to the host vehicle, and the like. That is, the surrounding detection device 23 detects the actions of other vehicles with respect to the host vehicle.

[0101] The driving situation determination unit 2 determines the driving situation including aggressive driving and frustrating driving based on the information acquired from the vehicle sensor 8 and the surrounding detection device 23. Specifically, the driving situation determination unit 2 determines whether there are other vehicles around the host vehicle based on the information acquired from the vehicle sensor 8. Further, the driving situation determination unit 2 determines whether another vehicle has emitted a warning sound or performed light irradiation such as passing with respect to the host vehicle based on the information acquired from the surrounding detection device 23. Then, when the driving situation determination unit 2 determines that another vehicle has emitted a warning sound or performed light irradiation such as passing with respect to the host vehicle, the driving situation determination unit 2 determines that the driver of the host vehicle has performed aggressive driving or frustrating driving with respect to the other vehicle.

[0102] When the driving condition determination unit 2 determines the irritation driving and the provoking driving based on the information acquired from the surrounding detection device 23, specific actions to be referred to include, for example, "detection of the behavior of other vehicles" shown in FIG. 23. Note that the specific actions shown in FIG. 23 are examples, and other driving may also be used as specific actions.

[0103] The "detection of the behavior of other vehicles" shown in FIG. 23 is to detect that another vehicle existing around the host vehicle has emitted a warning sound to the host vehicle or has detected that the host vehicle has been irradiated with light such as passing. In this case, the driving condition determination unit 2 determines the use status of the warning sound or illumination of other vehicles with respect to the host vehicle acquired from the surrounding detection device 23. Then, the driving condition determination unit 2 determines whether the driver of the host vehicle is performing irritation driving or provoking driving based on how other vehicles are using the warning sound or illumination with respect to the host vehicle. Specifically, when another vehicle existing around the host vehicle repeatedly executes the irradiation of light such as a warning sound or passing with respect to the host vehicle more than a predetermined number of times, the driving condition determination unit 2 determines that the driver of the host vehicle is performing irritation driving. In addition, when another vehicle existing around the host vehicle temporarily executes the irradiation of light such as a warning sound or passing with respect to the host vehicle, the driving condition determination unit 2 determines that the driver of the host vehicle is performing provoking driving.

[0104] The support control unit 3 controls the video recording control unit 12 to perform driving support corresponding to each of the irritation driving and the provoking driving.

[0105] For example, when the driving condition determination unit 2 determines that the driver of the host vehicle is performing irritation driving based on the specific actions shown in FIG. 23, the support control unit 3 instructs the video recording control unit 12 to record the video of the driving condition of the host vehicle before receiving the action from other vehicles. This process is the same as the process of the video recording control unit 12 in FIG. 9.

[0106] Also, for example, when the driving situation determination unit 2 determines that the driving is frustrating based on the specific behavior shown in FIG. 23, the support control unit 3 instructs the video recording control unit 12 to record the video of the driving situation of the host vehicle before receiving an action from another vehicle. This process is the same as the process of the video recording control unit 12 in FIG. 9. In this case, when the host vehicle stops, the driver is asked whether to check the video recorded in the drive recorder 13.

[0107] <4-2. Operation> FIG. 24 is a flowchart showing an example of the operation of the driving support device 22.

[0108] In step S41, the driving situation determination unit 2 determines the driving situation including aggressive driving and frustrating driving based on the information acquired from the vehicle sensor 8 and the surrounding detection device 23. The driving situation determined here is the driving situation of the host vehicle.

[0109] In step S42, the driving situation determination unit 2 determines whether the driving situation of the host vehicle is aggressive driving or frustrating driving. If it is aggressive driving or frustrating driving, the process proceeds to step S43. On the other hand, if it is not aggressive driving or frustrating driving, the process proceeds to step S46.

[0110] In step S43, the driving situation determination unit 2 determines whether it is aggressive driving. If it is aggressive driving, the process proceeds to step S44. On the other hand, if it is not aggressive driving, the process proceeds to step S45.

[0111] In step S44, the support control unit 3 performs driving support according to aggressive driving. For example, when the driving situation determination unit 2 determines that the host vehicle is performing aggressive driving from the specific behavior shown in FIG. 23, the support control unit 3 instructs the video recording control unit 12 to record the video of the driving situation of the host vehicle before receiving an action from another vehicle. The video recording control unit 12 records the video of the driving situation of the host vehicle before receiving an action from another vehicle. As a result, the drive recorder 13 records the video of the driving situation of the host vehicle before receiving an action from another vehicle.

[0112] In step S45, the support control unit 3 performs driving support according to the irritated driving. For example, when the driving situation determination unit 2 determines that the host vehicle is performing irritated driving from the specific behavior shown in FIG. 23, the support control unit 3 instructs the video recording control unit 12 to record the video of the driving situation of the host vehicle before receiving an action from another vehicle. The video recording control unit 12 records the video of the driving situation of the host vehicle before receiving an action from another vehicle. As a result, the video of the driving situation of the host vehicle before receiving an action from another vehicle is recorded in the drive recorder 13. Also, when the host vehicle stops, the driver is inquired whether to check the video recorded in the drive recorder 13.

[0113] In step S46, the support control unit 3 does not perform driving support. That is, the support control unit 3 does not give an instruction to the video recording control unit 12.

[0114] <4-3. Effects> From the above, according to the fourth embodiment, the driving situation determination unit 2 determines whether the host vehicle has performed aggressive driving or irritated driving based on the information acquired from the surrounding detection device 23. Further, the support control unit 3 controls the output control unit 5 to perform driving support according to each of the aggressive driving or the irritated driving. Thereby, it becomes possible to perform appropriate driving support for a driver who has performed aggressive driving or irritated driving.

[0115] <Fifth Embodiment> FIG. 25 is a block diagram showing an example of the configuration of the driving support device 24 according to the fifth embodiment. Since each component and operation of the driving support device 24 are the configuration and operation obtained by combining the driving support devices described in each of the first to fourth embodiments, the description thereof is omitted here.

[0116] From the above, according to the fifth embodiment, the effects described in each of the first to fourth embodiments can be obtained.

[0117] <Hardware Configuration> In the driving support device 4 described in Embodiment 1, each function of the driving situation determination unit 2, the support control unit 3, the display output control unit 6, and the voice output control unit 7 is realized by a processing circuit. That is, the driving support device 4 includes a processing circuit for determining the driving situation of the driver of the host vehicle, controlling driving support according to aggressive driving or irritable driving, performing control to display support information, and performing control to output support information as voice. The processing circuit may be dedicated hardware or a processor (also referred to as a CPU, central processing unit, processing device, arithmetic device, microprocessor, microcomputer, DSP (Digital Signal Processor)) that executes a program stored in a memory.

[0118] When the processing circuit is dedicated hardware, as shown in FIG. 26, the processing circuit 25 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. Each function of the driving situation determination unit 2, the support control unit 3, the display output control unit 6, and the voice output control unit 7 may be realized by the processing circuit 25 respectively, or each function may be realized by one processing circuit 25 collectively.

[0119] When the processing circuit 25 is the processor 26 shown in FIG. 27, the functions of the driving situation determination unit 2, the support control unit 3, the display output control unit 6, and the voice output control unit 7 are realized by software, firmware, or a combination of software and firmware. The software or firmware is described as a program and stored in the memory 27. The processor 26 realizes each function by reading and executing the program recorded in the memory 27. That is, the driving support device 4 includes a memory 27 for storing a program that will ultimately execute steps of determining the driving situation of the driver of the host vehicle, controlling driving support according to aggressive driving or irritable driving, performing control to display support information, and performing control to output support information as voice. Also, it can be said that these programs cause a computer to execute the procedures or methods of the driving situation determination unit 2, the support control unit 3, the display output control unit 6, and the voice output control unit 7. Here, the memory may be, for example, a non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), a magnetic disk, a flexible disk, an optical disk, a compact disk, a DVD (Digital Versatile Disc), or any storage medium to be used in the future.

[0120] Regarding the functions of the driving situation determination unit 2, the support control unit 3, the display output control unit 6, and the voice output control unit 7, some functions may be realized by dedicated hardware and other functions may be realized by software or firmware.

[0121] In this way, the processing circuit can realize each of the above functions by hardware, software, firmware, or a combination thereof.

[0122] In the above description, the hardware configuration of the driving support device 4 described in Embodiment 1 has been explained. However, the same applies to the hardware configurations of the driving support devices 11, 14, 18, 19, 21, and 24 described in Embodiments 1 to 5.

[0123] <System Configuration> The driving support device described above can be applied not only to an in-vehicle navigation device, that is, a car navigation device, but also to a PND (Portable Navigation Device) that can be mounted on a vehicle, and a navigation device constructed as a system by appropriately combining a server provided outside the vehicle, or a device other than the navigation device constructed as a system. In this case, each function or each component of the driving support device is distributed and arranged in each function that constructs the above system.

[0124] Specifically, as an example, the function of the driving support device can be arranged in a server. For example, as shown in FIG. 28, a vehicle is equipped with a vehicle sensor 8, a display 9, and a speaker 10. The server 28 is equipped with a driving situation determination unit 2, a support control unit 3, a display output control unit 6, and an audio output control unit 7. By adopting such a configuration, a driving support system can be constructed.

[0125] In addition, the software that executes the operations in the above embodiments may be incorporated into, for example, a server. The driving support method realized by the server executing this software includes determining a driving situation including a provoking driving intentionally performed by the driver of the host vehicle on another vehicle and a provoking driving that makes the driver of another vehicle irritated although it is not the intention of the driver of the host vehicle, and performing control to support the driving of the driver of the host vehicle according to each of the cases where it is determined as provoking driving and the case where it is determined as provoking driving.

[0126] By incorporating the software that executes the operations in the above-described embodiments into the server and operating it, the same effects as those in the above-described embodiments can be obtained.

[0127] In the above, the case where each function of the driving support device 4 described in Embodiment 1 is applied to the server has been described. However, the same applies to the case where each function of the driving support devices 11, 14, 18, 19, 21, and 24 described in Embodiments 1 to 5 is applied to the server.

[0128] Within the scope of the present disclosure, it is possible to freely combine the respective embodiments or appropriately modify or omit the respective embodiments.

[0129] Although the present disclosure has been described in detail, the above description is illustrative and not restrictive in all aspects. It is understood that countless variations that are not illustrated can be envisioned.

Explanation of Reference Numerals

[0130] 1 Driving support device, 2 Driving situation determination unit, 3 Support control unit, 4 Driving support device, 5 Output control unit, 6 Display output control unit, 7 Voice output control unit, 8 Vehicle sensor, 9 Display, 10 Speaker, 11 Driving support device, 12 Video recording control unit, 13 Drive recorder, 14 Driving support device, 15 Travel output control unit, 16 GNSS system, 17 Travel control device, 18 Driving support device, 19 Driving support device, 20 Vehicle body equipment, 21 Driving support device, 22 Driving support device, 23 Peripheral detection device, 24 Driving support device, 25 Processing circuit, 26 Processor, 27 Memory, 28 Server.

Claims

1. Based on the relative position of another vehicle with respect to the host vehicle and the lanes in which the host vehicle and the other vehicle are traveling, a provoking driving that the driver of the host vehicle intentionally performs on a specific other vehicle, and a driving that provokes the driver of the other vehicle although not intended by the driver of the host vehicle, a driving situation determination unit that determines a driving situation including the same; A support control unit that performs control to support the driving of the driver of the host vehicle according to each of the cases where the driving situation determination unit determines the provoking driving and the case where the driving situation determination unit determines the provoking driving; Comprising; The driving situation determination unit determines that the provoking driving is being performed when the host vehicle has executed a specific action on the same other vehicle more than a predetermined number of times, and determines that the provoking driving is being performed when the host vehicle is temporarily or continuously executing the specific action on the same other vehicle, The provoking driving includes a temporary provoking driving and a continuous provoking driving, The support control unit performs control to support the driving of the driver of the host vehicle according to each of the temporary provoking driving and the continuous provoking driving, a driving support device.

2. The driving support device according to claim 1, wherein the specific action includes a driving that obstructs the driving of the other vehicle that is attempting to overtake the host vehicle.

3. The driving support device according to claim 2, wherein the driving that obstructs the driving of the other vehicle includes a driving in which the host vehicle and the other vehicle are in an overtaking lane and the host vehicle is in front of the other vehicle.

4. The driving support device according to claim 2, wherein the driving that obstructs the driving of the other vehicle includes a driving in which the host vehicle and the other vehicle are on a non-overtaking road and the host vehicle is in front of the other vehicle.

5. The driving support device according to claim 1, wherein the specific action includes a driving in which the host vehicle approaches the other vehicle to a predetermined distance or less, and a driving in which the host vehicle causes an avoidance action to be taken by the other vehicle.

6. The driving in which the host vehicle approaches the other vehicle and the driving in which the avoidance action is caused include a driving in which the host vehicle makes a lane change towards the other vehicle traveling in an adjacent lane, a driving in which the host vehicle suddenly cuts in front of the other vehicle, a driving in which the host vehicle suddenly brakes in front of the other vehicle, and a driving in which the host vehicle wobbles around the other vehicle, the driving support device according to claim 5.

7. The driving support device according to claim 1, wherein the specific action includes an action of the host vehicle using vehicle body equipment against the other vehicle.

8. The driving support device according to claim 7, wherein the action of using the vehicle body equipment includes frequently using a warning sound against the other vehicle ahead and frequently using flashing of lighting against the other vehicle ahead.

9. A display output control unit that performs control to display support information for supporting driving to the driver according to an instruction from the support control unit; An audio output control unit that performs control to output the support information to the driver by voice according to an instruction from the support control unit; further comprising: when the driving situation determination unit determines that it is aggressive driving, the display output control unit performs control to display the support information, and the audio output control unit does not perform control to output the support information by voice; when the driving situation determination unit determines that it is irritating driving, the display output control unit performs control to display the support information, and the audio output control unit performs control to output the support information by voice, the driving support device according to claim 1.

10. When the host vehicle and the other vehicle are on a non-passing road and the host vehicle is in front of the other vehicle, the driving situation determination unit determines that it is aggressive driving or irritating driving, The display output control unit performs control to display an empty space existing in the driving destination of the host vehicle, the driving support device according to claim 9.

11. The driving support device according to claim 1, further comprising a driving output control unit that performs automatic control of the driving of the host vehicle according to an instruction from the support control unit.

12. When the host vehicle and the other vehicle are in a passing lane and the host vehicle is in front of the other vehicle, the driving situation determination unit determines that it is aggressive driving or irritating driving, The driving output control unit performs the automatic control so that the host vehicle changes lanes to the driving lane, the driving support device according to claim 11.

13. When the host vehicle and the other vehicle are on a non-passing road and the host vehicle is in front of the other vehicle, the driving situation determination unit determines that it is aggressive driving or irritating driving, The driving output control unit performs the automatic control so as to move the host vehicle to an empty space existing in the driving destination of the host vehicle, the driving support device according to claim 11.

14. The driving support device according to claim 1, further comprising a video recording control unit that performs control to record a video of the driving situation when the driving situation determination unit determines the taunting driving or the provoking driving according to an instruction from the support control unit.

15. The driving support device according to claim 14, wherein the video recording control unit performs control to record the video on an external server.

16. The driving support device further comprises a display output control unit that performs control to display support information for supporting driving to the driver according to an instruction from the support control unit, The driving support device according to claim 14, wherein the display output control unit performs control to display the video recorded by the control of the video recording control unit.

17. The driving situation determination unit determines whether the host vehicle has performed the provoking driving based on the behavior of the other vehicle with respect to the host vehicle, When the driving situation determination unit determines that the host vehicle has performed the provoking driving, the video recording control unit performs control to record the driving situation of the host vehicle before the behavior of the other vehicle. The driving support device according to claim 14.

18. Based on the relative position of the other vehicle with respect to the host vehicle and the lanes in which the host vehicle and the other vehicle are traveling, determine a driving situation including taunting driving intentionally performed by the driver of the host vehicle with respect to a specific other vehicle and provoking driving that is not the intention of the driver of the host vehicle but provokes the driver of the other vehicle, Perform control to support the driving of the driver of the host vehicle according to each of the case where it is determined as the taunting driving and the case where it is determined as the provoking driving, Determine that the taunting driving is being performed when the host vehicle has executed a specific action on the same other vehicle more than a predetermined number of times, and determine that the provoking driving is being performed when the host vehicle has executed the specific action on the same other vehicle temporarily or continuously, The provoking driving includes a temporary provoking driving and a continuous provoking driving, A driving support method for performing control to support the driving of the driver of the host vehicle according to each of the temporary provoking driving and the continuous provoking driving.

Images