Driving assistance devices

Abstract

To provide a driving support apparatus capable of making a driver understand the contents of voice operation processing even when approval operation is performed in the middle of notifying the driver of the contents of the voice operation processing.SOLUTION: A driving support apparatus 10 executes travel control to autonomously control the traveling of a vehicle 100. The driving support apparatus outputs: a first voice for notifying a driver of the vehicle of the contents of voice operation processing which is processing to be executed for the travel control in accordance with contents acquired by the voice recognition of the utterance contents of the driver; and a second voice for requesting the driver to perform approval operation to the contents of which the driver has been notified. When the approval operation has been performed, the driving support apparatus executes the voice operation processing. When the approval operation has been performed during the output of the first voice, the driving support apparatus executes the voice operation processing after completing the output of the first voice.SELECTED DRAWING: Figure 5

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] The driver may perform an approval operation while the content of the voice operation processing is being notified to the driver. In this case, the driver may perform the approval operation without understanding the content of the voice operation processing. In this case, the content of the voice operation processing may differ from the content of the driver's utterance. Therefore, if the driver performs an approval operation while the content of the voice operation processing is being notified to the driver, and the notification is stopped and the voice operation processing is executed, if the content of the voice operation processing differs from the content of the driver's utterance, there is a risk that the content of the voice operation processing may not be properly notified to the driver.

[0006] The object of the present invention is to provide a driving assistance device that can allow the driver to understand the contents of voice operation processing even if an approval operation is performed while the contents of the voice operation processing are being notified to the driver.

[0007] One driving assistance device according to the present invention is a device that executes driving control that autonomously controls the driving of a vehicle, and includes a first voice command that notifies the driver of a content of a voice operation process that is a process to be executed for the driving control in accordance with a content obtained by speech recognition of a speech content of a driver of the vehicle. Outputs , After the first voice is output, a second voice different from the first voice is output, a second sound requesting the driver to perform an approval operation for the notified content; Voice When the approval operation is performed while the first voice is being output, the driving assistance device completes the output of the first voice and executes the voice operation process.

[0008] According to the present invention, even if an approval operation is performed while the first voice that notifies the driver of the content of the voice-operated process that is the process to be executed is being output, the first voice is output to the end, so that the content of the voice-operated process can be understood by the driver.

[0009] The driving assistance device according to the present invention may be configured not to output the second voice when the approval operation is performed while the first voice is being output.

[0010] If an approval operation is performed while the first voice is being output, there is no need to continue outputting the second voice requesting the driver to perform an approval operation because the approval operation has been performed. According to the present invention, if an approval operation is performed while the first voice is being output, the second voice is not output. This makes it possible to avoid outputting unnecessary voices.

[0011] Furthermore, the driving assistance device according to the present invention may be configured to stop outputting the second voice when the approval operation is performed while the second voice is being outputted.

[0012] If an approval operation is performed while the second voice is being output, it is not necessary to continue outputting the second voice requesting the driver to perform an approval operation because the approval operation has been performed. According to the present invention, if an approval operation is performed while the second voice is being output, the output of the second voice is stopped. This makes it possible to avoid outputting unnecessary voices.

[0013] Furthermore, the driving assistance device according to the present invention may be configured to, when the approval operation is performed while the first voice is being output, execute the voice operation processing after completing the output of the first voice.

[0014] According to the present invention, even if an approval operation is performed while the first voice is being output, the first voice is output to the end, thereby allowing the driver to understand the content of the voice operation process.

[0015] Furthermore, the driving assistance device according to the present invention may be configured to, when the approval operation is performed while the first voice is being output, execute the voice operation processing while continuing to output the first voice, and complete the output of the first voice.

[0016] According to the present invention, even if an approval operation is performed while the first voice is being output, the first voice is output to the end, thereby allowing the driver to understand the content of the voice operation process.

[0019] The driving assistance method according to the present invention is a method for autonomously controlling vehicle driving, and includes a first voice command for informing the driver of a content of a voice operation process that is a process to be executed for the driving control in accordance with a content obtained by speech recognition of a speech content of a driver of the vehicle. Outputs , After the first voice is output, a second voice different from the first voice is output, a second sound requesting the driver to perform an approval operation for the notified content; Voice The driving assistance method according to the present invention includes a step of completing the output of the first voice and executing the voice operation process when the approval operation is performed during output of the first voice.

[0020] 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 a first voice command 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 speech recognition of a speech of the driver of the vehicle; An assistance control that outputs , After the first voice is output, a second voice different from the first voice is output, a second sound requesting the driver to perform an approval operation for the notified content; Voice output Assistance control for If the approval operation is performed, the voice operation process is executed. The assistance control is carried out by the electronic control unit. The driving assistance program according to the present invention is a program for completing the output of the first voice and executing the voice operation process when the approval operation is performed while the first voice is being output. Control is performed by the electronic control unit It is structured as follows.

[0021] 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]

[0022] [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. [Figure 6] FIG. 6 is a flowchart showing a part of a routine executed by the driving assistance device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0023] 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").

[0024] 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, and an approval operator 37.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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).

[0040] 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.

[0041] 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).

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] <Outline of operation of driving assistance devices> Next, an outline of the operation of the driving assistance device 10 will be described.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] When the driving assistance device 10 acquires the driver's speech content as the voice recognition content during the execution of the voice recognition process, the driving assistance device 10 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.

[0052] 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.

[0053] The driving assistance device 10 may be configured to output the first voice and the subsequent second voice only if a vehicle motion control condition is met when the driver's utterance is voice-recognized during the execution of the voice recognition process. The vehicle motion control condition is a condition that the content of the voice operation process changes the motion of the vehicle 100.

[0054] 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.

[0055] 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).

[0056] 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).

[0057] 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.

[0058] Incidentally, an approval operation may be performed while the driving assistance device 10 is outputting the first voice from the speaker 221. In this case, the driver may have performed the approval operation without understanding the content of the voice operation processing. In this case, if the content of the voice operation processing differs from what the driver has said, the voice operation processing with content different from the processing desired by the driver may be executed, which is undesirable.

[0059] Therefore, even if an approval operation is performed while the first voice is being output from the speaker 221, that is, even if an approval operation is performed while the first voice is being output, the driving assistance device 10 completes the output of the first voice without stopping it and executes the voice operation processing. In particular, in this example, even if an approval operation is performed while the first voice is being output, the driving assistance device 10 completes the output of the first voice without stopping it and then executes the voice operation processing. Alternatively, even if an approval operation is performed while the first voice is being output, the driving assistance device 10 executes the voice operation processing while continuing to output the first voice and completes the output of the first voice. Note that at this time, the driving assistance device 10 does not output the second voice.

[0060] Furthermore, if an approval operation is performed while the second voice is being output from the speaker 221, i.e., if an approval operation is performed while the second voice is being output, the driving assistance device 10 stops outputting the second voice and executes voice operation processing.

[0061] According to this, even if an approval operation is performed while the first voice is being output, the first voice is output to the end, so that the driver can understand the content of the voice operation process.

[0062] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention.

[0063] For example, the driving assistance device 10 may be configured to, when an approval operation is performed while the first voice is being output, stop outputting the first voice, execute a voice operation process, and output a voice (third voice) from the speaker 221 informing the driver of the content of the executed voice operation process.

[0064] According to this, if an approval operation is performed while the first voice is being output, the output of the first voice is stopped, but a third voice is output to notify the driver of the content of the executed voice operation process, thereby making it possible for the driver to understand the content of the voice operation process.

[0065] <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".

[0066] 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.

[0067] If the CPU determines "Yes" in step S310, it proceeds to step S315 and determines whether the vehicle motion control conditions are met.

[0068] If the CPU determines "Yes" in step S315, it proceeds to step S320 and sets the value of the in-process flag X1 to "1." Next, the CPU proceeds to step S395 and temporarily ends the processing of this routine.

[0069] On the other hand, if the CPU determines "No" in step S315, it proceeds to step S325 to execute the voice operation process. Next, the CPU proceeds to step S395 to temporarily end the processing of this routine.

[0070] 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.

[0071] 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".

[0072] 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.

[0073] If the CPU determines "Yes" in step S410, it proceeds to step S415 and determines whether or not the output of the second sound has been completed.

[0074] If the CPU determines "Yes" in step S415, it proceeds to step S430 and executes voice operation processing. Next, the CPU proceeds to step S435 and sets the value of the in-process flag X1 to "0." Next, the CPU proceeds to step S495 and temporarily ends the processing of this routine.

[0075] On the other hand, if the CPU determines "No" in step S415, it proceeds to step S420 and stops outputting the second sound from the speaker 221. Next, the CPU proceeds to step S425 and determines whether or not outputting the first sound has been completed.

[0076] If the CPU determines "Yes" in step S425, it proceeds to step S430 and executes voice operation processing. Next, the CPU proceeds to step S435 and sets the value of the in-process flag X1 to "0." Next, the CPU proceeds to step S495 and temporarily ends the processing of this routine.

[0077] On the other hand, if the CPU determines "No" in step S425, it proceeds to step S440 and continues outputting the first audio from speaker 221. Next, the CPU proceeds to step S425 and determines whether or not outputting the first audio has been completed.

[0078] 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.

[0079] 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.

[0080] 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.

[0081] 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.

[0082] 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.

[0083] 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] The CPU may be configured to execute steps S640 and S645 shown in Fig. 6 instead of step S440 of the routine shown in Fig. 4. In this case, if the CPU determines "No" in step S425 of the routine shown in Fig. 4, the CPU proceeds to step S640 and executes voice operation processing. Next, the CPU proceeds to step S645 and outputs a third sound from speaker 221 to notify the content of the voice operation processing executed in step S640. Next, the CPU proceeds to step S495 of the routine shown in Fig. 4 and temporarily ends the processing of this routine.

[0088] The specific operation of the driving assistance device 10 has been described above. [Explanation of symbols]

[0089] 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, 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 outputs a first voice to notify 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 after outputting the first voice, outputs a second voice that is different from the first voice 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; If the approval operation is performed during output of the first voice, the output of the first voice is completed and the voice operation process is executed. Driving assistance device.

2. The driving assistance device according to claim 1, If the approval operation is performed while the first sound is being output, the second sound is not output. Driving assistance device.

3. The driving assistance device according to claim 1 or 2, If the approval operation is performed during output of the second voice, output of the second voice is stopped. Driving assistance device.

4. The driving assistance device according to claim 1 or 2, If the approval operation is performed during output of the first voice, the voice operation process is executed after completing output of the first voice. Driving assistance device.

5. The driving assistance device according to claim 1 or 2, When the approval operation is performed during the output of the first voice, the voice operation process is executed while continuing the output of the first voice, and the output of the first voice is completed. Driving assistance device.

6. A driving assistance method for performing driving control that autonomously controls the driving of a vehicle, comprising: A driving assistance method including: outputting a first voice to notify the driver of a content of a voice operation process that is a process to be executed for the driving control in accordance with content obtained by voice recognition of a speech content of a driver of the vehicle; outputting a second voice, different from the first voice, after the first voice has been output, that requests the driver to perform an operation to approve the notified content; and executing the voice operation process when the approval operation is performed, When the approval operation is performed during output of the first voice, the output of the first voice is completed and the voice operation process is executed. Driving assistance methods.

7. A driving assistance program that executes driving control that autonomously controls driving of a vehicle by an electronic control unit, comprising: A driving assistance program that outputs a first voice 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 contents obtained by voice recognition of utterances of the driver of the vehicle, and that outputs a second voice, different from the first voice, after outputting the first voice, requesting the driver to perform an operation to approve the notified contents, and that executes the assistance control that executes the voice operation process by the electronic control unit when the approval operation is performed, When the approval operation is performed during output of the first voice, the output of the first voice is completed and control for executing the voice operation process is executed by the electronic control unit. Driver assistance programs.

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