Driving assistance devices

Abstract

To provide a driving support apparatus capable of reducing the possibility of confusing a driver even when the contents of voice operation processing are different from the utterance contents of the driver in a case where the voice operation processing has been executed without requiring, as a condition, that approval operation has been performed by the driver.SOLUTION: When the travel situation of a vehicle 100 is not a predetermined situation in which it is possible to determine that approval operation is required, a driving support apparatus 10 executes voice operation processing without requiring, as a condition, that the approval operation is performed, and sets an acceleration upper limit value of the vehicle 100 by travel control to a value smaller than an upper limit value set when executing the voice operation processing on condition that the approval operation is performed.SELECTED DRAWING: Figure 3

Description

[Technical Field]

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

[0002] There are known driving assistance devices that perform autonomous driving control to control the driving of a vehicle. The driving control is, for example, automatic driving control such as constant speed driving control (so-called cruise control) and adaptive cruise control.

[0003] One such driving assistance device is known to recognize speech from the driver of a vehicle, notify the driver of the contents of the processing (voice operation processing) that is planned to be performed for driving control according to the contents obtained through the voice recognition, and request the driver to perform an operation to approve the notified contents, and if the approval operation is performed, execute the voice operation processing (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-66226 Summary of the Invention

[0005] In situations where there is no need to request the driver to perform an approval operation, it is preferable to execute voice operation processing without requesting the driver to perform an approval operation in order to reduce the burden on the driver. However, if the content of the voice operation processing differs from what the driver says, the driving control may differ from what the driver wants, which may confuse the driver.

[0006] The object of the present invention is to provide a driving assistance device that can reduce the possibility of confusing the driver when voice operation processing is executed without the driver having performed an approval operation, even if the content of the voice operation processing differs from what the driver has said.

[0007] The driving assistance device according to the present invention is a device that executes driving control that autonomously controls the driving of a vehicle, and notifies the driver of the contents of a voice operation process that is a process to be executed for the driving control in accordance with the contents obtained by voice recognition of the contents of an utterance of the driver of the vehicle, and requests the driver to perform an approval operation for the notified contents, and executes the voice operation process when the approval operation is performed. When the driving situation of the vehicle is not a predetermined situation that can be determined to require the approval operation, the driving assistance device according to the present invention executes the voice operation process without the condition that the approval operation is performed, and Set the first upper limit as , When the driving situation of the vehicle is the predetermined situation, the voice operation process is executed on the condition that the approval operation is performed, and a second upper limit value is set as an upper limit value of acceleration of the vehicle by the driving control, the first upper limit value being a value smaller than the second upper limit value.

[0008] When the voice operation processing is executed without the condition that the driver has performed an approval operation, if the content of the voice operation processing differs from what the driver has said, and the vehicle is significantly accelerated by the driving control after the execution of the voice operation processing, the driver may be confused. According to the present invention, when the voice operation processing is executed without the condition that the driver has performed an approval operation, the upper limit value of the vehicle acceleration due to the driving control is set to a value smaller than the upper limit value of the vehicle acceleration due to the driving control when the voice operation processing is executed on the condition that the approval operation has been performed. Therefore, when the voice operation processing is executed without the condition that the driver has performed an approval operation, even if the content of the voice operation processing differs from what the driver has said, the vehicle is prevented from being significantly accelerated by the driving control, thereby reducing the possibility of confusing the driver.

[0009] In addition, the driving assistance device of the present invention may be configured to notify the driver of the contents of the voice operation processing and request the driver to perform the approval operation when the driving condition of the vehicle is the specified condition, and to notify the driver of the contents of the voice operation processing but not request the driver to perform the approval operation when the driving condition of the vehicle is not the specified condition.

[0010] According to the present invention, when the vehicle's driving conditions do not require an approval operation, the driver is not required to perform the approval operation, thereby reducing the frequency with which the driver is required to perform the approval operation.

[0011] In addition, in the driving assistance device according to the present invention, No. 1 upper limit and the second upper limit value teeth, each, For example, it is an upper limit value of the acceleration of the vehicle due to the driving control.

[0012] According to the present invention, when voice operation processing is executed without the condition that the driver has performed an approval operation, even if the content of the voice operation processing differs from what the driver has said, the vehicle is prevented from accelerating significantly due to driving control, thereby reducing the possibility of confusing the driver.

[0013] In addition, in the driving assistance device according to the present invention, No. 1 upper limit and the second upper limit value teeth, each, For example, it is an upper limit value of the rate of increase in the acceleration of the vehicle due to the driving control.

[0014] According to the present invention, when voice operation processing is executed without the condition that the driver has performed an approval operation, even if the content of the voice operation processing differs from what the driver has said, the vehicle is prevented from accelerating significantly due to driving control, thereby reducing the possibility of confusing the driver.

[0015] Furthermore, a driving assistance method according to the present invention is a method for executing driving control that autonomously controls the driving of a vehicle, which notifies the driver of the contents of a voice operation process that is a process to be executed for the driving control in accordance with contents obtained by voice recognition of utterances of the driver of the vehicle, requests the driver to perform an approval operation for the notified contents, and executes the voice operation process when the approval operation is performed. In the driving assistance method according to the present invention, when the driving situation of the vehicle is not a predetermined situation in which it can be determined that the approval operation is required, the voice operation process is executed without the condition that the approval operation is performed, and an upper limit value of acceleration of the vehicle by the driving control is set to 0. setting a first upper limit value as , and when the driving situation of the vehicle is the predetermined situation, executing the voice operation process on the condition that the approval operation is performed, and setting a second upper limit value as an upper limit value of acceleration of the vehicle by the driving control. The first upper limit value is a value smaller than the second upper limit value.

[0016] The driving assistance program according to the present invention also includes a driving control program for autonomously controlling the driving of a vehicle. By electronic control unit The program executes the program to notify the driver of the contents of a voice operation process that is a process to be executed for the driving control in accordance with the contents obtained by voice recognition of the contents of the utterance of the driver of the vehicle, and to request the driver to perform an operation to approve the notified contents. Assistance control for If the approval operation is performed, the voice operation process is executed. The assistance control is performed by the electronic control unit. The driving assistance program according to the present invention is a program that, when the driving situation of the vehicle is not a predetermined situation in which it can be determined that the approval operation is necessary, executes the voice operation process without the condition that the approval operation is performed. The electronic control unit and executing the driving control to set an upper limit value of acceleration of the vehicle. The first upper limit value is set by the electronic control unit as setting death , When the driving situation of the vehicle is the predetermined situation, the voice operation process is executed by the electronic control unit on the condition that the approval operation is performed, and a second upper limit value is set by the electronic control unit as an upper limit value of acceleration of the vehicle by the driving control. It is configured to do so. The first upper limit value is smaller than the second upper limit value.

[0017] 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, features, and attendant advantages of the present invention will be easily understood from the description of the embodiments of the present invention. [Brief explanation of the drawings]

[0018] [Figure 1] FIG. 1 is a diagram showing a driving assistance device according to an embodiment of the present invention and a vehicle (host vehicle) on which the driving assistance device is installed. [Figure 2] FIG. 2(A) is a diagram showing a scene in which the host vehicle is traveling under constant speed cruise control, and FIG. 2(B) is a diagram showing a scene in which the host vehicle is traveling under follow-up cruise control. [Figure 3] FIG. 3 is a flowchart showing a routine executed by the driving assistance device according to the embodiment of the present invention. [Figure 4] FIG. 4 is a flowchart showing a routine executed by the driving assistance device according to the embodiment of the present invention. [Figure 5] FIG. 5 is a flowchart showing a routine executed by the driving assistance device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0019] A driving assistance device according to an embodiment of the present invention will be described below with reference to the drawings. As shown in Fig. 1, a driving assistance device 10 according to an embodiment of the present invention is mounted on a vehicle 100 (hereinafter referred to as "host vehicle 100").

[0020] The driving assistance device 10 includes an ECU 90, a vehicle driving device 21, an alarm device 22, a display device 23, a driving control operator 31, a set speed setting operator 32, a vehicle distance setting operator 33, a surrounding information detection device 34, a voice recognition operator 35, a voice acquisition device 36, an approval operator 37, and a driver monitoring device 38.

[0021] ECU is an abbreviation for Electronic Control Unit. The ECU 90 has a microcomputer as its main component. The microcomputer includes a CPU, ROM, RAM, non-volatile memory, and an interface. The CPU executes instructions, programs, or routines stored in the ROM to realize various functions.

[0022] In this example, the driving assistance device 10 includes only one ECU 90, but may include a plurality of ECUs, each of which may be configured to perform a predetermined function.

[0023] The vehicle driving device 21 is a device that applies a driving force (or driving torque), a braking force (or braking torque), and a steering force (or steering torque) to the host vehicle 100. The vehicle driving device 21 is electrically connected to the ECU 90, and the ECU 90 can control the operation of the vehicle driving device 21.

[0024] The notification device 22 is a device that outputs sound, and in this example, is a speaker 221. The speaker 221 is electrically connected to the ECU 90, and the ECU 90 can output various sounds from the speaker 221. The speaker 221 is installed in a position where the driver of the vehicle 100 can hear the sounds.

[0025] The display device 23 is a device that displays images, and in this example, is a display 231. The display 231 is electrically connected to the ECU 90, and the ECU 90 can display various images on the display 231. The display 231 is installed in a position where the driver of the vehicle 100 can view the display 231.

[0026] The cruise control operating device 31 is a device such as a button or switch that is operated by the driver to request the ECU 90 to execute or terminate cruise control, and is provided on the steering wheel of the host vehicle 100, for example.

[0027] Cruise control is a control executed on the host vehicle 100, and is a control that autonomously controls the traveling of the host vehicle 100, and in particular, is a control that autonomously changes (controls) the motion of the host vehicle 100. In this example, the cruise control is constant speed cruise control and follow-up cruise control. Constant speed cruise control is a control that autonomously accelerates or decelerates the host vehicle 100 so that the traveling speed V of the host vehicle 100 is maintained at a constant speed (set speed Vset). On the other hand, follow-up cruise control is a control that autonomously accelerates or decelerates the host vehicle 100 so that the distance between the host vehicle 100 and the preceding vehicle 200 (inter-vehicle distance D) is maintained at a constant distance (target inter-vehicle distance Dtgt). The inter-vehicle distance D is acquired based on surrounding detection information IS.

[0028] The cruise control operator 31 is electrically connected to the ECU 90. When operated, the cruise control operator 31 transmits a signal to the ECU 90. When the ECU 90 receives a signal from the cruise control operator 31 while cruise control is not being executed, the ECU 90 determines that execution of cruise control has been requested. On the other hand, when the ECU 90 receives a signal from the cruise control operator 31 while cruise control is being executed, the ECU 90 determines that termination of cruise control has been requested.

[0029] When it is determined that execution of cruise control has been requested and a predetermined condition (cruise control precondition) is satisfied, the ECU 90 executes constant speed cruise control if there is no preceding vehicle 200, as shown in Fig. 2A. The cruise control precondition is a precondition for properly driving the host vehicle 100 through cruise control, and is, for example, a condition that devices such as the vehicle driving device 21 and the surrounding information detection device 34 are operating normally. Whether there is a preceding vehicle 200 is determined based on surrounding detection information IS.

[0030] On the other hand, when it is determined that execution of cruise control has been requested and a predetermined condition (cruise control precondition) is satisfied, the ECU 90 executes follow cruise control if a preceding vehicle 200 is present, as shown in (B) of Fig. 2. Note that the preceding vehicle 200 is a vehicle traveling in the host vehicle 100's lane LN ahead of the host vehicle 100, and is present within a predetermined distance from the host vehicle 100, as shown in (B) of Fig. 2. Note that in Fig. 2, the symbol LML denotes a left-hand lane marking that divides the host vehicle LN, and the symbol LMR denotes a right-hand lane marking that divides the host vehicle LN.

[0031] The set speed setting operator 32 is a device operated by the driver to set the set speed Vset in constant speed cruise control, and is provided, for example, on the steering wheel of the vehicle 100. In this example, the set speed setting operator 32 includes an increase speed button 321 and a decrease speed button 322. The increase speed button 321 is a device operated by the driver to increase the set speed Vset, and the decrease speed button 322 is a device operated by the driver to decrease the set speed Vset.

[0032] The speed increase button 321 and the speed decrease button 322 are electrically connected to the ECU 90. When the speed increase button 321 and the speed decrease button 322 are operated, they transmit signals to the ECU 90. When the ECU 90 receives a signal from the speed increase button 321 while constant speed cruise control is being executed, the ECU 90 increases the set speed Vset. On the other hand, when the ECU 90 receives a signal from the speed decrease button 322 while constant speed cruise control is being executed, the ECU 90 decreases the set speed Vset.

[0033] The inter-vehicle distance setting operation device 33 is a device operated by the driver to set a target inter-vehicle distance Dtgt in adaptive cruise control, and is provided, for example, on the steering wheel of the host vehicle 100. In this example, the inter-vehicle distance setting operation device 33 includes an inter-vehicle distance increase button 331 and an inter-vehicle distance decrease button 332. The inter-vehicle distance increase button 331 is a device operated by the driver to increase the target inter-vehicle distance Dtgt, and the inter-vehicle distance decrease button 332 is a device operated by the driver to decrease the target inter-vehicle distance Dtgt.

[0034] The inter-vehicle distance increase button 331 and the inter-vehicle distance decrease button 332 are electrically connected to the ECU 90. When operated, the inter-vehicle distance increase button 331 and the inter-vehicle distance decrease button 332 send a signal to the ECU 90. When the ECU 90 receives a signal from the inter-vehicle distance increase button 331 while follow-up cruise control is being executed, the ECU 90 increases the target inter-vehicle distance Dtgt. On the other hand, when the ECU 90 receives a signal from the inter-vehicle distance decrease button 332 while follow-up cruise control is being executed, the ECU 90 decreases the target inter-vehicle distance Dtgt.

[0035] The surrounding information detection device 34 is a device that detects information about the surroundings of the vehicle 100, and in this example, includes a radio wave sensor 341 and an image sensor 342. The radio wave sensor 341 is, for example, a radar sensor (such as a millimeter wave radar). The image sensor 342 is, for example, a camera. The surrounding information detection device 34 may also include a sonic sensor such as an ultrasonic sensor (clearance sonar) or an optical sensor such as a laser radar (LiDAR).

[0036] The radio wave sensor 341 is electrically connected to the ECU 90. The radio wave sensor 341 transmits radio waves to the outside of the vehicle 100 and receives radio waves (reflected waves) reflected by objects present in the vicinity of the vehicle 100. The radio wave sensor 341 transmits information (detection results) relating to the transmitted radio waves and the received radio waves (reflected waves) to the ECU 90. In other words, the radio wave sensor 341 detects objects present in the vicinity of the vehicle 100 and transmits information (detection results) relating to the detected objects to the ECU 90. The ECU 90 acquires information relating to objects present in the vicinity of the vehicle 100 as vicinity detection information IS based on the information (radio wave information). In this example, the objects are vehicles, motorcycles, bicycles, people, etc.

[0037] The image sensor 342 is also electrically connected to the ECU 90. The image sensor 342 captures (takes pictures of) the periphery of the vehicle 100 and transmits information related to the captured images (captured images, photographed images, camera images) to the ECU 90. The ECU 90 acquires information related to the periphery of the vehicle 100 as periphery detection information IS based on the information (captured image information, photographed image information, camera image information).

[0038] The voice recognition operation device 35 is a device that the driver operates to cause the ECU 90 to execute a voice recognition process, which will be described later, and in this example is a voice recognition switch 351. The voice recognition switch 351 is electrically connected to the ECU 90, and when operated, transmits a signal to the ECU 90. When the ECU 90 receives the signal, it determines that the voice recognition switch 351 has been operated.

[0039] The voice acquisition device 36 is a device that detects sound, and in this example, is a microphone 361. The microphone 361 is electrically connected to the ECU 90, and when it detects sound, it transmits a signal corresponding to the detected sound to the ECU 90. When the ECU 90 receives the signal, it can acquire the sound based on the signal. The microphone 361 is installed in a position where it can detect the voice of the driver of the vehicle 100.

[0040] The approval operation device 37 is a device that the driver operates to approve the execution of a process (voice-operated process) according to the content obtained by voice recognition of the driver's utterance content acquired via the microphone 361, as will be described later, and in this example, is an approval button 371. The approval button 371 is electrically connected to the ECU 90. When the approval button 371 is operated, it transmits a signal to the ECU 90. After the ECU 90 has voice-recognized the driver's utterance content, if the ECU 90 receives a signal from the approval button 371 while waiting for the execution of the voice-operated process, the ECU 90 determines that an approval operation has been performed.

[0041] In addition, the ECU 90 may be configured to display on the display 231 an image (approval image) that the driver operates to approve the execution of the voice operation processing, and after voice recognition of the driver's speech content, determine that an approval operation has been performed if the approval image is touched while waiting for the execution of the voice operation processing.

[0042] The driver monitoring device 38 is one of the devices that monitors the state of the driver of the vehicle 100, and in this example, is a driver monitor camera 381. The driver monitor camera 381 is a device that photographs the driver and outputs image data of the driver that has been photographed. The driver monitor camera 381 is installed in the vehicle 100 so that it can photograph the driver. The driver monitor camera 381 is electrically connected to the ECU 90. The driver monitor camera 381 transmits the photographed image data of the driver to the ECU 90. The ECU 90 acquires information about the driver (driver information ID) based on the image data.

[0043] <Outline of operation of driving assistance devices> Next, an outline of the operation of the driving assistance device 10 will be described.

[0044] The driving assistance device 10 starts the voice recognition process when the voice recognition switch 351 is operated while the voice recognition process is not being executed. On the other hand, the driving assistance device 10 ends the voice recognition process when the voice recognition switch 351 is operated while the voice recognition process is being executed.

[0045] The voice recognition process is a process for recognizing the speech content of the driver of the vehicle 100 and obtaining the speech content as the voice recognition content. In this example, the voice recognition process is a process for recognizing the speech content of the driver acquired via the microphone 361 and obtaining the speech content as the voice recognition content.

[0046] While constant speed cruise control is being executed, the driver can set the set speed Vset by operating the speed increase button 321 or the speed decrease button 322, but when voice recognition processing is being executed, the driver can set the set speed Vset by speaking the set speed Vset.

[0047] Similarly, while adaptive cruise control is being performed, the driver can set the target inter-vehicle distance Dtgt by operating the inter-vehicle distance increase button 331 or the inter-vehicle distance decrease button 332, but if voice recognition processing is being performed, the driver can change the target inter-vehicle distance Dtgt by speaking about the target inter-vehicle distance Dtgt.

[0048] When the driving assistance device 10 acquires the driver's speech content as the voice recognition content during execution of the voice recognition process, if the approval request condition described later is met, it outputs a voice (first voice) from the speaker 221 to inform the driver of the content of the process (voice operation process) that is planned to be executed for driving control in accordance with the voice recognition content.

[0049] Furthermore, following the first voice, the driving assistance device 10 outputs from the speaker 221 a voice (second voice) requesting the driver to perform an operation to approve the content of the voice operation process notified by the first voice.

[0050] That is, during execution of the voice recognition process, the driving assistance device 10 outputs the first voice and the subsequent second voice only if the approval request condition described below is met when the driver's speech content is voice recognized.

[0051] The driving assistance device 10 may be configured to output the first voice and the subsequent second voice only if the vehicle motion control condition is met when the driver's utterance is voice-recognized during the execution of the voice recognition process and the approval request condition, which will be described later, is also met. The vehicle motion control condition is a condition that the content of the voice operation process changes the motion of the vehicle 100.

[0052] If an approval operation is performed before a predetermined time (predetermined waiting time Tw) has elapsed since the second voice was output from the speaker 221, the driving assistance device 10 executes a voice operation process.

[0053] For example, when the driver speaks the desired speed as the set speed Vset, the driving assistance device 10 outputs from the speaker 221 a first voice informing the user of the content of the speech (voice recognition content) of the processing (voice operation processing) to be performed for driving control, and a second voice requesting the user to perform an approval operation, and then, if the approval operation is performed before the predetermined waiting time Tw has elapsed, executes the voice operation processing (in this case, a process of setting the set speed Vset to the set speed Vset spoken by the driver).

[0054] Alternatively, when the driver speaks the distance desired as the target inter-vehicle distance Dtgt, the driving assistance device 10 outputs from the speaker 221 a first voice informing the driver of the content of the speech (voice recognition content) of the processing (voice operation processing) to be performed for driving control, and a second voice requesting the driver to perform an approval operation, and then, if the approval operation is performed before the predetermined waiting time Tw has elapsed, executes the voice operation processing (in this case, a process of setting the target inter-vehicle distance Dtgt to the target inter-vehicle distance Dtgt spoken by the driver).

[0055] If the approval operation is not performed before the predetermined waiting time Tw has elapsed, that is, if the predetermined waiting time Tw has elapsed without the approval operation being performed, the driving assistance device 10 outputs a sound indicating that the voice operation process will not be executed from the speaker 221. In this case, the driving assistance device 10 does not execute the voice operation process.

[0056] Incidentally, when the content of the voice operation processing is content that changes the motion of the host vehicle 100, it is preferable in principle to execute the voice operation processing only when the content of the voice operation processing is approved by the driver, taking into consideration the driving safety of the host vehicle 100. However, when the host vehicle 100 is traveling on a road with little environmental change, or when the host vehicle 100 is traveling on a road with great environmental change but the driver is in a state where he or she can adequately respond to the environmental change, even if the voice operation processing is executed without getting the driver to approve the content of the voice operation processing, there is little possibility that the driving safety of the host vehicle 100 will be significantly impaired.

[0057] Therefore, the driving assistance device 10 determines whether the approval request condition is met when it recognizes the driver's speech content, and if the approval request condition is met, outputs the first voice and the second voice, and if an approval operation is performed, executes voice operation processing.

[0058] On the other hand, if the approval request condition is not met when the driving assistance device 10 performs voice recognition of the driver's utterance, the driving assistance device 10 executes the voice operation process without outputting the first voice and the second voice. That is, if the approval request condition is not met, the driving assistance device 10 executes the voice operation process even if an approval operation is not performed.

[0059] In this example, the approval request condition is a condition that the driving situation of the vehicle 100 (driving situation of the vehicle) is in a specified situation in which it can be determined that an approval operation is required; in other words, a condition that the driving situation of the vehicle is in a situation in which it can be determined that if voice operation processing is executed without the condition that an approval operation has been performed, there is a possibility that the driving safety of the vehicle 100 cannot be ensured.

[0060] In this example, the approval request conditions are a condition that the environment around the vehicle 100 (the vehicle's surrounding environment) is in a predetermined environment in which it can be determined that an approval operation is required, in particular a condition that the environment surrounding the road on which the vehicle 100 is traveling (the road environment) is in a predetermined environment in which it can be determined that it will change significantly to a certain extent (road environment condition), and / or a condition that the driver's state is not in a predetermined state in which it can be determined that the driver can appropriately operate the vehicle 100 (driver state condition).

[0061] As the road environment conditions, for example, one or more of the following conditions are adopted.

[0062] (1) The vehicle 100 is traveling on a road in a residential area. Whether or not this condition is met is determined based on, for example, the surroundings detection information IS, but may also be determined based on the current position information of the vehicle 100 acquired from a GPS signal and map information. (2) The condition that the vehicle 100 is traveling on a road that is not provided with a dividing line such as a white line. Whether or not this condition is met is determined, for example, based on the surrounding detection information IS, but may also be determined based on the current position information of the vehicle 100 acquired from a GPS signal and map information. (3) The vehicle 100 is traveling at an intersection where a traffic light is installed. Whether or not this condition is met is determined based on, for example, the surrounding detection information IS, but may also be determined based on the current position information of the vehicle 100 acquired from a GPS signal and map information. (4) The condition that the vehicle 100 is traveling on a road where there is no guardrail or curb between the sidewalk and the roadway. In other words, the condition that the vehicle 100 is traveling on a road where the sidewalk and the roadway are not physically separated. Whether or not this condition is met is determined, for example, based on the surroundings detection information IS, but it may also be determined based on the current position information of the vehicle 100 acquired from a GPS signal and map information. (5) The condition that the host vehicle 100 is traveling on a motorway such as an expressway, but that motorway does not have a strong structure such as a median strip. In other words, the condition that the host vehicle 100 is traveling on a motorway, but the lane in which the host vehicle 100 is traveling and the oncoming lane are not separated by a strong structure such as a median strip. Whether or not this condition is met is determined, for example, based on the surrounding detection information IS, but may also be determined based on the current position information of the host vehicle 100 acquired from a GPS signal and map information.

[0063] It should be noted that when the vehicle 100 is traveling on a highway with a strong structure such as a median strip, the approval request condition is not met.

[0064] Moreover, the determination as to whether the road environment conditions are met is made based on the surroundings detection information IS.

[0065] Furthermore, as the driver state condition, for example, one or more of the following conditions are adopted.

[0066] (1) The driver is distracted while driving. (2) The driver is asleep at the wheel. (3) The driver's driving posture is poor. (4) The driver's eyes must be closed.

[0067] The determination as to whether the driver state condition is met is made based on the driver information ID.

[0068] However, as described above, if the approval request condition is not satisfied, the voice operation process is executed without outputting the first voice, and therefore the voice operation process is executed without the driver having confirmed whether the content of the voice operation process matches what the driver has said. Therefore, if the content of the voice operation process differs from what the driver has said, the driving control of the vehicle 100 will not be what the driver wants, and in that case, for example, if the vehicle 100 accelerates more than what the driver expects, the driver may become confused.

[0069] On the other hand, if the approval request condition is met, the first voice is output and the driver performs an approval operation in response to it, so the driver understands the content of the voice operation processing.Therefore, even if the driving control of the vehicle 100 is controlled by the driving control after the voice operation processing is executed, there is little chance that the driver will be confused.

[0070] Therefore, when the driving assistance device 10 executes voice operation processing when the approval request condition is not met, it sets the upper limit value of acceleration of the vehicle 100 due to driving control to a value smaller than the upper limit value of acceleration of the vehicle 100 due to driving control when the voice operation processing is executed when the approval request condition is met.

[0071] More specifically, when the driving assistance device 10 executes voice operation processing when the approval request condition is not met, it sets the upper limit value of the acceleration of the vehicle 100 due to driving control to a value smaller than the upper limit value of the acceleration of the vehicle 100 due to driving control when the voice operation processing is executed when the approval request condition is met.

[0072] Alternatively, when the driving assistance device 10 executes voice operation processing when the approval request condition is not met, it sets the upper limit value of the rate of increase in acceleration of the vehicle 100 due to driving control to a value smaller than the upper limit value of the rate of increase in acceleration of the vehicle 100 due to driving control when the voice operation processing is executed when the approval request condition is met.

[0073] According to this, when the approval request condition is not satisfied and the voice operation process is executed without outputting the first voice that notifies the content of the voice operation process, the acceleration of the vehicle 100 due to the driving control is limited to a relatively small value or less. Therefore, when the voice operation process is executed without the condition that the driver has performed an approval operation, even if the content of the voice operation process differs from what the driver has said, the driving control is prevented from accelerating the vehicle 100 significantly, thereby reducing the possibility of confusing the driver.

[0074] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention.

[0075] For example, as described above, the driving assistance device 10 may be configured to execute the voice operation process when the approval request condition is not met, even if no approval operation is performed, and to output the first sound from the speaker 221 before executing the voice operation process. Alternatively, the driving assistance device 10 may be configured to execute the voice operation process when the approval request condition is not met, and then output a sound (third sound) from the speaker 221 to notify the user of the content of the executed voice operation process.

[0076] <Specific operation of the driving assistance device> Next, a specific operation of the driving assistance device 10 will be described. The CPU of the ECU 90 of the driving assistance device 10 is configured to execute the routine shown in Fig. 3 at a predetermined calculation cycle while executing the voice recognition process. Therefore, at a predetermined timing, the CPU starts processing from step S300 of the routine shown in Fig. 3, and proceeds to step S305, where it determines whether the value of the processing in progress flag X1 is "0".

[0077] If the CPU determines "Yes" in step S305, the process proceeds to step S310, where it determines whether or not it has performed voice recognition on the driver's speech and acquired the voice recognition content.

[0078] If the CPU determines "Yes" in step S310, it proceeds to step S315 and determines whether the vehicle motion control conditions are met.

[0079] If the CPU determines "Yes" in step S315, it proceeds to step S320 and determines whether the approval request condition is met.

[0080] If the CPU determines "Yes" in step S320, it proceeds to step S325 and sets the value of the in-process flag X1 to "1." In this case, processing such as outputting the first audio and the second audio is executed according to the routine shown in Fig. 4. Next, the CPU proceeds to step S395 and temporarily ends processing of this routine.

[0081] On the other hand, if the CPU determines "No" in step S320, it proceeds to step S330 and outputs the first sound from the speaker 221. Next, the CPU proceeds to step S335 and executes voice operation processing. Next, the CPU proceeds to step S340 and sets the upper limit value Glimit of the acceleration of the host vehicle 100 to the first acceleration G1. As a result, the acceleration of the host vehicle 100 due to the cruise control is limited to be equal to or less than the first acceleration G1. Note that the first acceleration G1 is set to a value smaller than the second acceleration G2, which will be described later. Next, the CPU proceeds to step S395 and temporarily ends the processing of this routine.

[0082] If the CPU determines "No" in step S315, the CPU proceeds to step S345 to execute the voice operation process. Next, the CPU proceeds to step S395 to temporarily end the processing of this routine.

[0083] If the CPU determines "No" in step S305 or step S310, the CPU proceeds directly to step S395 and temporarily ends the processing of this routine.

[0084] Furthermore, the CPU is configured to execute the routine shown in Fig. 4 at a predetermined calculation cycle during the execution of the speech recognition process. Therefore, at a predetermined timing, the CPU starts the process from step S400 of the routine shown in Fig. 4, and proceeds to step S405, where it determines whether the value of the processing in progress flag X1 is "1".

[0085] If the CPU determines "Yes" in step S405, the process proceeds to step S410, where it determines whether or not an approval operation has been performed.

[0086] If the CPU determines "Yes" in step S410, it proceeds to step S415 and executes voice operation processing. Next, the CPU proceeds to step S420 and sets the upper limit value Glimit of the acceleration of the host vehicle 100 to the second acceleration G2. As a result, the acceleration of the host vehicle 100 due to the cruise control is limited to be equal to or less than the second acceleration G2. Next, the CPU proceeds to step S425 and sets the value of the processing in progress flag X1 to "0". Next, the CPU proceeds to step S495 and temporarily ends the processing of this routine.

[0087] On the other hand, if the CPU determines "No" in step S415, it proceeds to step S420 and stops outputting the second voice from the speaker 221. Next, the CPU proceeds to step S425 and determines whether or not output of the first voice announcing the voice recognition content has been completed.

[0088] On the other hand, if the CPU determines "No" in step S410, it proceeds to step S505 of the routine shown in FIG. 5, where it determines whether or not the output of the first sound has been completed.

[0089] If the CPU determines "Yes" in step S505, it proceeds to step S510 and determines whether or not the output of the second sound has been completed.

[0090] If the CPU determines "Yes" in step S510, it proceeds to step S515 and determines whether a predetermined waiting time Tw has elapsed since the output of the second sound was completed.

[0091] If the CPU determines "Yes" in step S515, it proceeds to step S520 and outputs a fourth sound from speaker 221. The fourth sound is a sound that notifies the user that the voice operation process will not be executed. The fourth sound may also include a sound that notifies the user of the reason for not executing the voice operation process. Next, the CPU proceeds to step S525 and sets the value of the in-process flag X1 to "0." Next, the CPU proceeds to step S495 of the routine shown in FIG. 4 and temporarily ends the processing of this routine.

[0092] On the other hand, if the CPU determines "No" in step S515, it proceeds to step S530 and determines whether a non-permission condition is established. The non-permission condition is a condition that the situation related to the traveling of the vehicle 100 (vehicle traveling situation) is a predetermined situation in which it can be determined that the execution of the voice operation process cannot be permitted, for example, a condition that when the voice operation process is a process of setting or changing the set speed Vset, the set speed Vset set by the voice operation process exceeds the speed limit applied to the vehicle 100.

[0093] If the CPU determines "Yes" in step S530, it proceeds to step S535 and outputs a fifth sound from speaker 221. The fifth sound is a sound that notifies that execution of the voice operation process is not permitted. The fifth sound may also include a sound that notifies the reason why execution of the voice operation process is not permitted. Next, the CPU proceeds to step S540 and sets the value of the in-process flag X1 to "0." Next, the CPU proceeds to step S495 of the routine shown in FIG. 4 and temporarily ends the processing of this routine.

[0094] On the other hand, if the CPU determines "No" in step S530, it proceeds directly to step S495 of the routine shown in FIG. 4 and temporarily ends the processing of this routine.

[0095] If the CPU determines "No" in step S505, the process proceeds to step S545, where it executes or continues outputting the first sound from the speaker 221. Next, the CPU proceeds to step S495 of the routine shown in Fig. 4, where it temporarily ends the processing of this routine.

[0096] If the CPU determines "No" in step S510, the process proceeds to step S550, where it executes or continues outputting the second sound from the speaker 221. Next, the CPU proceeds to step S495 of the routine shown in Fig. 4, where it temporarily ends the processing of this routine.

[0097] The specific operation of the driving assistance device 10 has been described above. [Explanation of symbols]

[0098] 10...driving assistance device, 21...vehicle driving device, 22...alarm device, 221...speaker, 31...driving control operation device, 35...voice recognition operation device, 351...voice recognition switch, 36...voice acquisition device, 361...microphone, 37...approval operation device, 371...approval button, 38...driver monitoring device, 381...driver monitor camera, 90...ECU, 100...vehicle (host vehicle), 200...preceding vehicle

Claims

1. A driving assistance device that performs driving control to autonomously control vehicle driving, a driving assistance device that notifies the driver of a voice operation process that is a process to be executed for the driving control in accordance with a content obtained by voice recognition of an utterance of a driver of the vehicle, and requests the driver to perform an approval operation for the notified content, and executes the voice operation process when the approval operation is performed, When the driving situation of the vehicle is not a predetermined situation in which it can be determined that the approval operation is necessary, the voice operation process is executed without the condition that the approval operation is performed, and a first upper limit value is set as an upper limit value of acceleration of the vehicle by the driving control, When the driving situation of the vehicle is the predetermined situation, the voice operation process is executed on the condition that the approval operation is performed, and a second upper limit value is set as an upper limit value of acceleration of the vehicle by the driving control; The first upper limit value is smaller than the second upper limit value. Driving assistance device.

2. The driving assistance device according to claim 1, When the driving situation of the vehicle is the predetermined situation, the content of the voice operation processing is notified to the driver, and the driver is requested to perform the approval operation; If the driving situation of the vehicle is not the predetermined situation, the content of the voice operation processing is notified to the driver, but the driver is not requested to perform the approval operation. Driving assistance device.

3. The driving assistance device according to claim 1 or 2, the first upper limit value and the second upper limit value are upper limit values of the acceleration of the vehicle due to the driving control, respectively. Driving assistance device.

4. The driving assistance device according to claim 1 or 2, the first upper limit value and the second upper limit value are upper limits of an increase rate of the acceleration of the vehicle due to the driving control, Driving assistance device.

5. A driving assistance method for performing driving control that autonomously controls driving of a vehicle, comprising: A driving assistance method comprising: notifying the driver of a voice operation process to be executed for the driving control in accordance with a content obtained by voice recognition of an utterance of a driver of the vehicle; requesting the driver to perform an approval operation for the notified content; and executing the voice operation process when the approval operation is performed, When the driving situation of the vehicle is not a predetermined situation in which it can be determined that the approval operation is necessary, executing the voice operation process without the condition that the approval operation is performed, and setting a first upper limit value as an upper limit value of acceleration of the vehicle by the driving control; When the driving situation of the vehicle is the predetermined situation, executing the voice operation process on the condition that the approval operation is performed, and setting a second upper limit value as an upper limit value of acceleration of the vehicle by the driving control; It has The first upper limit value is smaller than the second upper limit value. Driving assistance methods.

6. A driving assistance program that executes driving control that autonomously controls driving of a vehicle by an electronic control unit, A driving assistance program that notifies the driver of a voice operation process that is a process to be executed for the driving control in accordance with a content obtained by voice recognition of an utterance of a driver of the vehicle, and requests the driver to perform an approval operation for the notified content, wherein, when the approval operation is performed, the electronic control unit executes the assistance control that executes the voice operation process, When the driving situation of the vehicle is not a predetermined situation in which it can be determined that the approval operation is necessary, the voice operation processing is executed by the electronic control unit without the condition that the approval operation is performed, and a first upper limit value is set by the electronic control unit as an upper limit value of acceleration of the vehicle by the driving control, When the driving situation of the vehicle is the predetermined situation, the electronic control unit executes the voice operation process on the condition that the approval operation is performed, and the electronic control unit sets a second upper limit value as an upper limit value of acceleration of the vehicle by the driving control, The first upper limit value is smaller than the second upper limit value. Driver assistance programs.

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