Driving assistance method and driving assistance device

Abstract

To assist a driver in driving a host vehicle in such a way that the driver can drive the host vehicle within the limit of his / her driving ability.SOLUTION: A controller 20 executes processes of acquiring driving ability information regarding driving ability of a driver (S1), reading road attribute information from map information based on a current location of a host vehicle 1 (S2), and assisting the driver in driving the host vehicle according to comparison between the acquired driving ability information and the read attribute information (S3, S4).SELECTED DRAWING: Figure 4

Description

[Technical Field]

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

[0002] Patent Document 1 describes a driving assistance system that determines an intersection that places a low burden on the driver as a safe intersection based on the traffic conditions on the road and the traffic light aspects at the intersection, and searches for a route that passes through the safe intersection and presents it to the driver. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-99758 Summary of the Invention [Problem to be solved by the invention]

[0004] However, because there are individual differences in the driving ability of drivers, even if a route passes through a safe intersection, it is not always possible for the driver to drive the vehicle within the range of his or her driving ability. The present invention aims to assist a driver in driving a vehicle so that the driver can drive the vehicle within the range of the driver's driving ability. [Means for solving the problem]

[0005] In one embodiment of the driving assistance method of the present invention, a controller performs the following processes: acquiring driving ability information regarding the driver's driving ability; reading road attribute information from map information by referring to map information based on the current position of the vehicle; and assisting the driver in driving based on a comparison between the acquired driving ability information and the read attribute information. [Effects of the Invention]

[0006] According to the present invention, it is possible to assist a driver in driving so that the driver can drive the vehicle within the range of the driver's driving ability. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a schematic diagram illustrating an example of a schematic configuration of a driving assistance device according to an embodiment. [Figure 2] FIG. 2 is a block diagram illustrating an example of a functional configuration of a controller. [Figure 3A] FIG. 10 is an explanatory diagram of a first example of limiting a driving route according to driving ability. [Figure 3B] FIG. 10 is an explanatory diagram of a second example of limiting a driving route according to driving ability. [Figure 3C] FIG. 10 is an explanatory diagram of a third example of limiting a driving route according to driving ability. [Figure 4] 1 is a flowchart illustrating an example of a driving assistance method according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the drawings are schematic and may differ from the actual product. Furthermore, the embodiments of the present invention shown below are examples of devices and methods for embodying the technical concept of the present invention, and the technical concept of the present invention does not limit the structure, arrangement, etc. of component parts to those described below. The technical concept of the present invention can be modified in various ways within the technical scope defined by the claims.

[0009] (composition) 1 is a schematic diagram showing an example of the schematic configuration of a driving assistance device according to an embodiment. A vehicle 1 is equipped with a driving assistance device 10 that assists a driver in driving the vehicle 1. The driving assistance control by the driving assistance device 10 of the embodiment acquires driving ability information, which is information regarding the driver's driving ability, and assists the driver in driving by restricting the roads and areas on which the vehicle 1 travels so that the vehicle 1 can be driven within the range of the driver's driving ability. As used herein, "driving ability" refers to the ability of a vehicle driver to drive a vehicle appropriately and safely in accordance with the laws and regulations that must be observed on roads (e.g., the Road Traffic Act), and may include, for example, cognitive functions, judgment functions, attention functions, physical functions, and driving experience related to driving.

[0010] The driving assistance device 10 includes a camera 11, a positioning device 12, a map database 13, a communication device 14, a human-machine interface 15, an external display 17, a braking / driving force generating device 18, and a controller 20. In the drawings, the database is abbreviated as "DB" and the human-machine interface is abbreviated as "HMI." The camera 11 includes an imaging device that generates a surrounding image obtained by capturing an image of the surroundings of the vehicle 1. The camera 11 generates a surrounding image that includes at least an image in front of the vehicle 1. The camera 11 outputs the generated surrounding image to the controller 20. The camera 11 may also include an imaging device that generates an interior image of the vehicle 1 by capturing an image of the interior of the vehicle 1. The camera 11 outputs the generated interior image to the controller 20.

[0011] The positioning device 12 measures the current position of the vehicle 1. The positioning device 12 may include, for example, a Global Navigation Satellite System (GNSS) receiver. The GNSS receiver is, for example, a Global Positioning System (GPS) receiver, and receives radio waves from multiple navigation satellites to measure the current position of the vehicle 1. The positioning device 12 may also include an inertial navigation system.

[0012] The map database 13 stores map information including road map data. The map information may be, for example, map data for a navigation system, or high-precision map data suitable for use as a map for automated driving. High-precision maps are map data with higher precision than map data for navigation systems, and include more detailed lane-by-lane information than road-by-road information. The map information stored in the map database 13 also stores attribute information that indicates the attributes of the roads included in the map information. The road attributes include, for example, the road type (for example, whether it is an ordinary road or an expressway), the speed limit, the number of lanes, the road width, and so on. The difficulty of driving the vehicle 1 on a road varies depending on the road attributes. Therefore, the attribute information is an index that indicates the difficulty of driving the vehicle 1 on a road (in other words, the driving ability required to drive the vehicle 1 on a road).

[0013] The communication device 14 provides a communication function between the driving assistance device 10 and an external device. The communication method used by the communication device 14 may be, for example, wired communication or wireless communication via a public mobile communication network, satellite communication, road-to-vehicle communication, or vehicle-to-vehicle communication. The driving assistance device 10 can receive information about the driver's driving ability from an external server device or database via the communication device 14. In addition, the driving assistance device 10 can transmit information regarding the state of the vehicle 1 and the state of the driver of the vehicle 1 to other vehicles around the vehicle 1 via the communication device 14, and notify the drivers of the other vehicles of this information.

[0014] The human-machine interface 15 is an interface device that exchanges information between the driving assistance device 10 and the driver. The human-machine interface 15 is equipped with a display device that can be seen by the driver (for example, a display screen of a navigation system or a display device provided near the meter in front of the driver's seat). Furthermore, the human-machine interface 15 may include a speaker or buzzer for outputting warning sounds, notification sounds, and audio information. The human-machine interface 15 may also include an operator that accepts an operational input from the driver to the driving assistance device 10. For example, the operator may be a button, a switch, a lever, a dial, a keyboard, a touch panel, or the like.

[0015] The external display 17 is provided on the outer surface (for example, the roof, front and / or rear) of the body of the host vehicle 1, and displays visual information output by the controller 20 toward the outside of the host vehicle 1. The external display 17 may be, for example, a display that displays text and image information output by the controller 20, or may be a lamp that indicates the state of the host vehicle 1, the state of the driver of the host vehicle 1, etc. The braking / driving force generating device 18 includes a driving source such as an engine and / or an electric motor that generates a driving force for the host vehicle 1, and a braking device (including a friction braking device and a regenerative braking device) that generates a braking force for the host vehicle 1. The driving assistance device 10 can limit the vehicle speed of the host vehicle 1 by controlling the driving force and braking force generated by the braking / driving force generating device 18.

[0016] The controller 20 is an electronic control unit (ECU) that performs driving assistance control of the host vehicle 1. The controller 20 includes a processor 21 and peripheral components such as a storage device 22. The processor 21 may be, for example, a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit). The storage device 22 may include a semiconductor storage device, a magnetic storage device, an optical storage device, etc. The storage device 22 may include memories such as a register, a cache memory, a ROM (Read Only Memory) used as a main memory device, and a RAM (Random Access Memory). The functions of the controller 20 described below are realized by, for example, the processor 21 executing a computer program stored in the storage device 22.

[0017] The storage device 22 also stores driving ability information 23, which is information relating to the driving ability of the driver. For example, the driving ability information 23 may be information that directly represents the cognitive functions and physical functions that constitute driving ability. For example, the driving ability information 23 may include, as information on cognitive functions, information on the results of a cognitive function test of the driver conducted by a public institution such as the police. For example, the driving assistance device 10 may detect when the driver drives the vehicle 1 in the wrong direction or when the driver confuses the accelerator pedal with the brake pedal, and store historical information about these experiences in the memory device 22 as driving ability information 23 related to cognitive function.

[0018] Furthermore, for example, the information on physical functions may include information on the results of a visual function test of the driver conducted by a public institution such as the police. Furthermore, for example, the driving assistance device 10 may detect the time required for the driver to get in and out of the vehicle 1, and store this history information as driving ability information 23 related to physical functions in the storage device 22. Furthermore, for example, the driving assistance device 10 may receive information on the driver's walking function from a mobile information terminal used by the driver, and store this information in the storage device 22 as driving ability information 23 related to physical functions.

[0019] Furthermore, for example, the driving assistance device 10 may detect the driving behavior of the driver of the vehicle 1 and store the history of the driver's past driving behavior as driving ability information 23 in the storage device 22. For example, the frequency with which events that could lead to an accident (so-called near misses) occurred while the driver was driving, the magnitude of acceleration / deceleration while the driver was driving, the smoothness of the driver's steering operation, and the history of the driver's reaction time may be stored in the storage device 22 as driving ability information 23. In addition, the driving ability information may include information on the results of a driving test of the driver conducted by a public institution such as the police.

[0020] Furthermore, for example, the driving ability information 23 may include driver attribute information that is an index of the driver's driving ability. For example, the driver attribute information may be information on the driver's age. The older the driver, the more likely the driver's physical and cognitive functions will decline, leading to a decline in driving ability. Furthermore, for example, the attribute information of a driver may be information about the length of his / her driving experience. The longer the driving experience, the better the driving ability of the driver tends to be. Furthermore, for example, the driving assistance device 10 may detect the driving experience of the driver of the vehicle 1 and store the information as attribute information of the driver in the storage device 22. As the driver's driving experience, for example, the distance from home the driver has driven the vehicle 1, the maximum speed limit of the road on which the driver has driven the vehicle 1, and the driving difficulty experienced by the driver may be stored in the storage device 22. For example, as the driving difficulty, the number of lanes and road width of the road on which the driver has driven the vehicle 1, driving experience in merging sections, road width, and experience of turning right at intersections may be stored in the storage device 22.

[0021] Furthermore, for example, the driver or a person related to the driver (for example, a family member of the driver) may create driving ability information 23 and store it in the storage device 22. For example, the driver or a person related to the driver may operate the human-machine interface 15 to input information on whether the driver's driving ability is normal or has deteriorated, or information on the degree of deterioration of the driver's driving ability, as driving ability information 23, to the driving assistance device 10.

[0022] Note that some or all of the driving ability information 23 may be stored in a database external to the vehicle 1. The driving assistance device 10 may receive some or all of the driving ability information 23 from an external database via the communication device 14. For example, information on the results of the driver's cognitive function test, on-road test, and visual function test may be obtained from a database of a public institution. In addition, some or all of the driving ability information 23 may be stored in a storage medium that is removable from the vehicle 1, and the controller 20 may acquire the driving ability information 23 from this storage medium. For example, the driving ability information 23 may be stored in an entry key or an electronic key (such as a key fob) used to authenticate the driver.

[0023] 2 is a block diagram showing an example of the functional configuration of the controller 20. The controller 20 includes a driving ability information acquiring unit 30, a route setting unit 31, and a driving assistance unit 32. The driving ability information acquisition unit 30 acquires driving ability information 23 relating to the driving ability of the driver. For example, the driving ability information acquisition unit 30 may receive the driving ability information 23 from the storage device 22 included in the controller 20, or from a storage medium removable from the vehicle 1, such as an entry key or electronic key used for driver authentication.

[0024] Furthermore, for example, the driving ability information acquisition unit 30 may receive driving ability information 23 relating to the physical function of the driver (for example, information relating to the walking function of the driver) via the communication device 14 from a portable information terminal used by the driver. For example, if driving ability information 23 regarding the driver's results in cognitive function tests, on-road tests, and visual function tests is provided from a driving ability database 2 external to the vehicle 1, the driving ability information acquisition unit 30 may receive the driving ability information 23 from the driving ability database 2 via the communication device 14.

[0025] The route setting unit 31 sets a travel route for driving the vehicle 1 from the current position of the vehicle 1 to the destination. When setting a travel route, the route setting unit 31 acquires current position information of the vehicle 1 based on the measurement results of the positioning device 12. The route setting unit 31 also accepts a setting input of the destination of the vehicle 1 from the driver or a passenger. For example, the driver or a passenger may set the destination of the vehicle 1 by operating the human-machine interface 15.

[0026] Next, the route setting unit 31 reads road map data from the map database 13 by referring to the map database 13 based on the measurement results of the vehicle 1 by the positioning device 12. For example, the route setting unit 31 reads road map data for a predetermined area including the current position of the vehicle 1. The route setting unit 31 may set the area from which the road map data is read to include the current position of the vehicle 1 and the destination. At this time, the route setting unit 31 reads out from the map database 13 the attribute information of the roads in the area for which the road map data is to be read out.

[0027] The route setting unit 31 compares the driving ability information 23 acquired by the driving ability information acquisition unit 30 with the attribute information read from the map database 13, and sets a driving route from the current location to the destination via only roads that correspond to the driving ability indicated by the acquired driving ability information 23. For example, the route setting unit 31 may limit the speed limit, road type, road width, or number of lanes of roads included in the driving route, depending on the driving ability indicated by the driving ability information 23. In other words, the route setting unit 31 may set a driving route from the current location to the destination via only roads that satisfy the conditions of the speed limit, road type, road width, or number of lanes set depending on the driving ability indicated by the driving ability information 23.

[0028] For example, the speed limit condition may be set so that it becomes lower as the driving ability indicated by the driving ability information 23 becomes lower. Also, the road type condition may be set so that the road type with a lower speed limit becomes lower as the driving ability indicated by the driving ability information 23 becomes lower. For example, if the driving ability is low, driving may be restricted to general roads, and if the driving ability is high, driving may be permitted on expressways. Also, the road width condition may be set so that it becomes wider as the driving ability indicated by the driving ability information 23 becomes lower. The number of lanes condition may be set so that it becomes fewer as the driving ability indicated by the driving ability information 23 becomes lower.

[0029] Further, for example, the route setting unit 31 may limit the area (zone) in which a driving route can be set according to the driving ability indicated by the driving ability information 23. For example, when the destination is within an area set according to the driving ability indicated by the driving ability information 23, the route setting unit 31 may set a driving route from the current position to the destination. Further, for example, the area in which a driving route can be set may be limited on a road-by-road basis. For example, roads in which a driving route can be set may be limited to roads on which the driver often drives the vehicle 1 and is familiar with. For example, the area in which a driving route can be set may be set smaller as the driving ability indicated by the driving ability information 23 becomes lower.

[0030] 3A is an explanatory diagram of a first example of limiting a driving route according to driving ability. The route setting unit 31 sets a driving route that passes only on roads that satisfy the conditions of the speed limit, road width, or number of lanes set according to the driver's age. The route setting unit 31 also limits the areas in which the driving route can be set according to the driver's age. For example, if the driver is under 70 years old, there are no restrictions on the speed limit, road width, or number of lanes on the roads included in the driving route. There are also no restrictions on the areas in which the driving route can be set.

[0031] If the driver is between 70 and 80 years old, the route setting unit 31 sets a driving route that passes only on roads with a speed limit of 80 km or less, a road width of 4 m or more, and two lanes or less on each side. In addition, the area in which the driving route can be set is limited to a range within 100 km from the driver's home. If the driver is 80 years old or older, the route setting unit 31 sets a driving route that passes only on roads with a speed limit of 60 km or less, a road width of 5.5 m or more, and one lane or less in each direction. In addition, the area in which the driving route can be set is limited to the driver's living area, and the roads in which the driving route can be set are limited to roads that the driver is familiar with.

[0032] 3B is an explanatory diagram of a second example of limiting a driving route according to driving ability. The route setting unit 31 sets a driving route that passes only on roads that satisfy the conditions of the speed limit, road width, or number of lanes set according to the driver's cognitive function. The route setting unit 31 also limits the areas in which the driving route can be set according to the driver's cognitive function. For example, if the driver's cognitive function is normal, there are no restrictions on the speed limit, road width, or number of lanes of the roads included in the driving route, nor are there any restrictions on the areas in which the driving route can be set.

[0033] If the driver's cognitive function is slightly impaired, the route setting unit 31 sets a driving route that passes only on roads with a speed limit of 60 km or less, a road width of 4 m or more, and two lanes or less on each side. In addition, the area in which the driving route can be set is limited to the driver's living area. In addition, if the driver does not have dementia but has impaired cognitive function, the route setting unit 31 sets a driving route that passes only on roads with a speed limit of 40 km or less, a road width of 5.5 m or more, and one lane or less in each direction. In addition, the area in which the driving route can be set is limited to the driver's living area, and the roads in which the driving route can be set are limited to roads that the driver is familiar with.

[0034] 3C is an explanatory diagram of a third example of limiting a driving route according to driving ability. The route setting unit 31 sets a driving route that passes only on roads that satisfy the conditions of the speed limit, road width, or number of lanes set according to the driver's driving history. The route setting unit 31 also limits the areas in which a driving route can be set according to the driver's driving history. For example, if a driver has three or more years of driving experience, there are no restrictions on the speed limit, road width, or number of lanes on the roads included in the route, nor are there any restrictions on the areas in which the route can be set.

[0035] If the driver has been driving for more than one year but less than three years, the system will set a route that uses only roads with a speed limit of 80 km or less, a width of at least four meters, and two lanes or less in each direction. The system will also limit the area in which the route can be set to within 100 km of the driver's home. If the driver has less than one year of driving experience, the system will set a route that uses only roads with a speed limit of 60 km or less, a width of 5.5 m or more, and one lane or less in each direction. In addition, the area in which the route can be set will be limited to within 50 km of the driver's home.

[0036] As a result, the route setting unit 31 can identify roads that do not satisfy the conditions of the attributes set according to the driving ability indicated by the driving ability information 23 as roads that exceed the driver's driving ability, and can set a driving route that does not pass through roads that exceed the driver's driving ability. Also, the route setting unit 31 can set a driving route within the range of the area set according to the driving ability indicated by the driving ability information 23. Note that Figures 3A to 3C show an example in which road attribute conditions and areas are set according to the driver's driving ability based on the driver's age, cognitive function, and driving history, but road attribute conditions and areas according to the driver's driving ability may also be set based on the driver's driving experience, driving behavior, and physical function. The route setting unit 31 may also set a driving route that does not pass through roads that lead to a branch point to a road that does not satisfy the attribute conditions set according to the driving ability indicated by the driving ability information 23 (i.e., a road that exceeds the driver's driving ability).

[0037] Note that, if there is a passenger in the vehicle 1, the route setting unit 31 may relax the restrictions on the attributes of roads included in the driving route or the area in which the driving route is set. See FIG. 3A. For example, if the driver is 80 years old or older but there is a passenger, the route setting unit 31 may restrict the attributes of roads included in the driving route or the area in which the driving route is set, in the same way as when the driver is 70 years old or older but younger than 80 years old. That is, the route setting unit 31 sets a driving route that passes only on roads with a speed limit of 80 km or less, a road width of 4 m or more, and two lanes or less in each direction. In addition, the area in which the driving route can be set is limited to a range within 100 km from the driver's home. The route setting unit 31 may detect the presence or absence of an occupant by performing image recognition processing on an interior image generated by the camera 11 that captures the interior of the vehicle 1. The route setting unit 31 may also detect the presence or absence of an occupant based on the detection results of a weight sensor and a pressure sensor in the passenger seat.

[0038] 2, the driving assistance unit 32 assists the driver in driving so as to avoid the host vehicle 1 entering roads that exceed the driving ability indicated by the driving ability information 23. The driving assistance unit 32 also assists the driver in driving so as to avoid the host vehicle 1 entering areas other than the areas set according to the driving ability indicated by the driving ability information 23. For example, the driving assistance unit 32 assists the driver in driving the vehicle 1 along the travel route set by the route setting unit 31. For example, the driving assistance unit 32 presents driving guidance to the driver so as to drive the vehicle 1 along the travel route set by the route setting unit 31. For example, the route setting unit 31 may display the travel route set by the route setting unit 31 on a map on the display screen of the human-machine interface 15. In addition, the route setting unit 31 may output audio guidance from a speaker of the human-machine interface 15, providing audio guidance on turning right or left or going straight at an intersection.

[0039] Furthermore, for example, when the driver or a passenger does not input a destination setting for the vehicle 1 (i.e., when the driver does not use the driving route guidance function of the driving assistance device 10), the driving assistance unit 32 assists the driver in driving so as to prevent the driver from approaching roads or areas that exceed the driving ability indicated by the driving ability information 23. Furthermore, when the driver enters a road or area that exceeds the driving ability indicated by the driving ability information 23, the driving assistance unit 32 assists the driver in driving so as to prevent the driver from driving beyond the driving ability. The same applies when the driver or passenger intentionally or unintentionally deviates from the travel route even though the driver or passenger has input a destination and the route setting unit 31 has set the travel route.

[0040] For example, the driving assistance unit 32 may determine whether the distance between the vehicle 1 and a road that exceeds the driving ability indicated by the driving ability information 23 is equal to or less than a predetermined value. In this specification, the "distance" may refer to a spatial distance or a temporal distance. That is, the distance between a certain position A and another position B may be the distance between the positions A and B, or may be the travel time that the vehicle 1 takes to travel between the positions A and B. When the distance between the road that exceeds the driving ability and the vehicle 1 is equal to or less than a predetermined value, the driving assistance unit 32 may output an alarm from the display screen or speaker of the human-machine interface 15 to notify the driver that the vehicle is approaching a road that exceeds the driving ability. Information guiding the driver to a road that suits the driver's driving ability may be output from the human-machine interface 15. For example, a route that avoids the road that exceeds the driving ability may be displayed on a map on the display screen of the human-machine interface 15. Also, audio guidance that provides audio guidance on driving away from the road that exceeds the driving ability may be output from the speaker of the human-machine interface 15.

[0041] Further, for example, the driving assistance unit 32 may identify areas other than the areas set according to the driving ability indicated by the driving ability information 23 as areas that exceed the driver's driving ability, and determine whether the distance between the area where the driving ability is exceeded and the vehicle 1 is equal to or less than a predetermined value. If the distance between the area where the driving ability is exceeded and the vehicle 1 is equal to or less than a predetermined value, the driving assistance unit 32 may output an alarm from the display screen or speaker of the human-machine interface 15 to notify the driver that the vehicle 1 has approached an area where the driving ability is exceeded. Alternatively, information guiding the driver to an area appropriate for the driver's driving ability may be output from the human-machine interface 15. For example, a route away from an area that exceeds the driver's driving ability may be displayed on a map on the display screen of the human-machine interface 15. Also, audio guidance providing audio guidance on driving away from an area that exceeds the driver's driving ability may be output from a speaker of the human-machine interface 15.

[0042] Further, for example, the driving assistance unit 32 may determine whether the host vehicle 1 is heading toward a road or area that exceeds the driving ability indicated by the driving ability information 23. For example, the driving assistance unit 32 may determine whether the host vehicle 1 is heading toward a road or area that exceeds the driving ability based on the current position and traveling direction of the host vehicle 1, road attribute information read from the map database 13, and the driving ability information 23. Further, for example, the driving assistance unit 32 may determine whether the host vehicle 1 is heading toward a road or area that exceeds the driving ability based on a surrounding image (particularly, an image ahead of the host vehicle 1) generated by the camera 11. For example, the driving assistance unit 32 may determine whether the host vehicle 1 is heading toward a road or area that exceeds the driving ability based on road signs shown in an image ahead of the host vehicle 1.

[0043] For example, based on a highway interchange guide sign displayed in an image ahead of the vehicle 1, it may be determined that the vehicle 1 is heading toward the entrance to the highway interchange (i.e., heading toward a road with a speed limit that exceeds the driving ability indicated by the driving ability information 23). When the vehicle 1 is heading towards a road or area that exceeds the driving ability, the driving assistance unit 32 may output an alarm from the display screen or speaker of the human-machine interface 15 to notify the driver that the vehicle is approaching a road or area that exceeds the driving ability.

[0044] Alternatively, information guiding the driver to roads or areas appropriate for the driver's driving ability may be output from the human-machine interface 15. For example, a route away from roads or areas that exceed the driver's driving ability may be displayed on a map on the display screen of the human-machine interface 15. Also, audio guidance providing voice guidance on driving away from roads or areas that exceed the driver's driving ability may be output from the speaker of the human-machine interface 15.

[0045] In addition, the driving assistance unit 32 may determine whether the vehicle 1 has entered a road or area that exceeds the driving ability indicated by the driving ability information 23 based on the current position of the vehicle 1, the road attribute information read from the map database 13, and the driving ability information 23. When the vehicle 1 enters a road or area that exceeds the driver's driving ability, the driving assistance unit 32 assists the driver in driving so as to restrain the driver from driving beyond the driving ability indicated by the driving ability information 23. For example, when the host vehicle 1 enters a road or area that exceeds the driving ability, the driving assistance unit 32 may limit the vehicle speed of the host vehicle 1.

[0046] For example, the driving assistance unit 32 may limit the speed of the vehicle 1 to a speed equal to or lower than a speed limit set in accordance with the driving ability indicated by the driving ability information 23. For example, when the vehicle speed of the vehicle 1 is equal to or greater than the speed limit set according to driving ability, the driving assistance unit 32 may suppress the acceleration force generated in the vehicle 1 so that the rate of increase in the speed of the vehicle 1 relative to the amount of depression of the accelerator pedal is smaller than when the vehicle speed is below the speed limit. The driving assistance unit 32 may control the braking / driving force generation device 18 so that the vehicle speed of the host vehicle 1 is less than the speed limit or so that the acceleration force is suppressed. Alternatively, the driving assistance unit 32 may output an audio message or a visual message from the human-machine interface 15 to urge the driver to drive at or below the speed limit.

[0047] Furthermore, for example, when the vehicle 1 enters a road or area that exceeds the driver's driving ability, the driving assistance unit 32 may inhibit the driver from changing lanes of the vehicle 1. For example, the driving assistance unit 32 may inhibit the driver from changing lanes to an overtaking lane or a right-turn lane. For example, when the vehicle 1 is traveling on a road with an overtaking lane or a right-turn lane and the driver operates the turn indicator in the direction of these lanes to flash, the driving assistance unit 32 may output an audio message or a visual message from the human-machine interface 15 to discourage the driver from changing lanes.

[0048] Furthermore, for example, when the vehicle 1 enters a road or area that exceeds the driver's driving ability, the driving assistance unit 32 may guide the driver to drive the vehicle 1 along a route that will take the driver from the current position of the vehicle 1 to the destination without making a right turn. That is, the driving assistance unit 32 may guide the driver to drive the vehicle 1 along a route that will take the driver from the current position to the destination by making only repeated left turns. For example, the driving assistance unit 32 may display a route that will take the driver to the destination without making a right turn on a map on the display screen of the human-machine interface 15. Furthermore, audio guidance that provides audio guidance on how to drive to the destination without making a right turn may be output from a speaker of the human-machine interface 15.

[0049] For example, when the vehicle 1 enters a road or area that exceeds the driver's driving ability, the driving assistance unit 32 may notify vehicles around the vehicle 1 that the vehicle 1 is entering a road or area that exceeds the driver's driving ability. For example, the driving assistance unit 32 may transmit information indicating that the vehicle 1 is entering a road or area that exceeds the driver's driving ability to another vehicle via the communication device 14, thereby notifying the driver of the other vehicle. Furthermore, for example, the driving assistance unit 32 may notify other vehicles by displaying on the external display 17 that the vehicle 1 is entering a road or area that exceeds the driver's driving ability.

[0050] Furthermore, for example, when the driving ability indicated by the driving ability information 23 is low compared to when the driving ability is high, the driving assistance unit 32 may limit the time periods during which the driver is permitted to drive the vehicle 1. For example, when the driving ability is high (in the examples of FIGS. 3A to 3C, when the driver is under 70 years old, has normal cognitive function, and has three or more years of driving experience), the driving assistance unit 32 may not limit the time periods during which the driver is permitted to drive the vehicle 1, and when the driving ability is low (in the examples of FIGS. 3A to 3C, when the driver is 70 years old or over, has impaired or slightly impaired cognitive function, or has less than three years of driving experience), the driving assistance unit 32 may limit the time periods during which the driver is permitted to drive the vehicle 1. For example, if the driver attempts to drive the vehicle 1 at night or after sunset, an audio message or a visual message to prevent the driver from starting may be output from the human-machine interface 15. Also, the driver's driving operation may be disabled so that the vehicle 1 does not start moving.

[0051] Furthermore, for example, the driving assistance unit 32 may limit the driving time (trip time) that the driver drives the vehicle 1 when the driving ability indicated by the driving ability information 23 is low compared to when the driving ability is high. For example, the driving assistance unit 32 may not limit the driving time per trip if the driving ability is high, and may limit the driving time per trip if the driving ability is low. For example, if the driving time per trip that the driver drives the vehicle 1 exceeds a predetermined threshold, the driving assistance unit 32 may output a voice message or a visual message urging the driver to return home from the human-machine interface 15. Furthermore, for example, if it is estimated that the driving time to the original destination will exceed a threshold due to road congestion, the driving assistance unit 32 may suggest an alternative destination that is closer to the home or the current location of the vehicle 1.

[0052] For example, the driving assistance unit 32 may reduce the time limit for one driving session depending on the level of driving ability. For example, in the example of Figures 3A to 3C, if the driver is between 70 and 80 years old, if the driver's cognitive function is slightly impaired, or if the driver's driving experience is between one year and three years, the driving time for one driving session may be limited to three hours or less, and if the driver is 80 years old or older, if the driver's cognitive function is more impaired, or if the driver's driving experience is less than one year, the driving time for one driving session may be limited to one hour or less.

[0053] For example, when the driving ability indicated by the driving ability information 23 is low compared to when the driving ability is high, the route setting unit 31 may limit the settable driving routes so that only routes from home to pre-registered destinations (for example, a specified hospital, retail store, or the home of a relative or acquaintance) can be set.

[0054] (operation) FIG. 4 is a flowchart of an example of a driving assistance method according to the embodiment. In step S1, the driving ability information acquisition unit 30 acquires the driving ability information 23 relating to the driving ability of the driver. In step S2, the positioning device 12 measures the current position of the vehicle 1. The route setting unit 31 reads out road map data from the map database 13 based on the measurement results of the vehicle 1. At this time, the route setting unit 31 reads out attribute information of roads in the area for which the road map data is to be read out from the map database 13.

[0055] In step S3, the route setting unit 31 receives a setting input from the driver or passenger of the vehicle 1 for a destination of the vehicle 1. The route setting unit 31 compares the driving ability information 23 acquired by the driving ability information acquisition unit 30 with the attribute information read from the map database 13, and sets a driving route from the current position to the destination via only roads that correspond to the driving ability indicated by the acquired driving ability information 23. In step S4, the driving assistance unit 32 assists the driver in driving the vehicle 1 so as to avoid the vehicle 1 entering a road that exceeds the driving ability indicated by the driving ability information 23. For example, the driving assistance unit 32 assists the driver in driving the vehicle 1 along the travel route set by the route setting unit 31. For example, the driving assistance unit 32 presents driving guidance to the driver so as to drive the vehicle 1 along the travel route set by the route setting unit 31.

[0056] Furthermore, even if the driving route is not set in step S3 or if the driver intentionally or unintentionally deviates from the driving route, the system supports the driver's driving so as to prevent the driver from approaching roads or areas that exceed the driving ability indicated by the driving ability information 23. When the driver enters a road or area that exceeds the driving ability indicated by the driving ability information 23, the system supports the driver's driving so as to prevent the driver from driving beyond the driving ability.

[0057] (Effects of the embodiment) (1) The controller 20 executes the following processes: acquiring driving ability information 23 regarding the driver's driving ability; reading road attribute information from the map information by referring to the map information based on the current position of the vehicle 1; and assisting the driver in driving based on a comparison between the acquired driving ability information 23 and the read attribute information. This makes it possible to assist the driver in driving the vehicle 1 so that the driver can drive the vehicle 1 within the range of the driver's driving ability.

[0058] (2) The controller 20 may accept the setting of the destination, and based on the read attribute information, set a driving route from the current location to the destination via roads that correspond to the driving ability indicated by the acquired driving ability information 23, and assist the driver in driving the vehicle 1 along the set driving route. This makes it possible to assist the driver in avoiding the host vehicle 1 entering a road that exceeds the driver's driving ability.

[0059] (3) The controller 20 may limit the speed limit, road width, or number of lanes of the roads included in the driving route, or the area in which the driving route is set, depending on the driving ability indicated by the acquired driving ability information 23. This allows a driving route to be set that does not include roads that exceed the driver's driving ability.

[0060] (4) The controller 20 may determine whether or not there is a passenger, and if there is a passenger, may relax the speed limit, road width, or number of lanes of the roads included in the driving route, or the restrictions on the area in which the driving route is set. This increases the opportunities to drive the vehicle 1. (5) The controller 20 may exclude from the travel route any road that leads to a branch point leading to a road that exceeds the driving ability indicated by the acquired driving ability information 23. This makes it possible to assist the driver in driving so as to prevent the host vehicle 1 from entering a road that exceeds the driver's driving ability.

[0061] (6) The controller 20 may assist the driver in driving so as to avoid the driver's vehicle 1 entering a road or area that exceeds the driving ability indicated by the acquired driving ability information 23. This makes it possible to assist the driver in driving the vehicle 1 so that the driver can drive the vehicle 1 within the range of the driver's driving ability. (7) The controller 20 determines whether the distance between the vehicle 1 and a road or area that exceeds the driving ability indicated by the acquired driving ability information 23 is less than a predetermined value, and if the distance is less than the predetermined value, the controller 20 may warn the driver or guide the driver to a road or area that corresponds to the driving ability indicated by the acquired driving ability information 23. This makes it possible to prevent the vehicle 1 from entering a road or area that exceeds the driver's driving ability.

[0062] (8) The controller 20 may determine whether the vehicle 1 has entered a road or area that exceeds the driving ability indicated by the acquired driving ability information 23, and may limit the vehicle speed of the vehicle 1 if the vehicle 1 has entered a road or area that exceeds the driving ability indicated by the acquired driving ability information 23. Furthermore, when the host vehicle 1 enters a road or area that exceeds the driving ability indicated by the acquired driving ability information 23, the controller 20 may prevent the host vehicle 1 from changing lanes. In addition, when the vehicle 1 enters a road or area that exceeds the driving ability indicated by the acquired driving ability information 23, the controller 20 may guide the driver to drive the vehicle 1 along a route that will get the driver from the current location to the destination without turning right. This makes it possible to assist the driver in driving so as to prevent the driver from driving beyond his or her driving ability.

[0063] (9) The controller 20 may determine whether the host vehicle 1 has entered a road or area that exceeds the driving ability indicated by the acquired driving ability information 23, and if the host vehicle 1 has entered a road or area that exceeds the driving ability indicated by the acquired driving ability information 23, may notify vehicles around the host vehicle 1. This allows the drivers of the vehicles around the host vehicle 1 to be notified that the host vehicle 1 has entered a road or area that exceeds the driver's driving ability. [Explanation of symbols]

[0064] 1...Own vehicle, 2...Driving ability database, 10...Driving assistance device, 11...Camera, 12...Positioning device, 13...Map database, 14...Communication device, 15...Human-machine interface, 17...External display, 18...Braking / driving force generation device, 20...Controller, 21...Processor, 22...Storage device, 23...Driving ability information, 30...Driving ability information acquisition unit, 31...Route setting unit, 32...Driving assistance unit

Claims

1. obtaining driving ability information relating to the driver's driving ability; a process of reading road attribute information from map information by referring to the map information based on the current position of the vehicle; A process of accepting a destination setting; A process of setting a driving route from the current location to the destination via roads according to the driving ability indicated by the acquired driving ability information based on the read attribute information; A process of restricting the speed limit, road width, or number of lanes of a road included in the driving route, or an area in which the driving route is set, according to the driving ability indicated by the acquired driving ability information; A process for determining whether or not there is a passenger; If the passenger is present, a process of relaxing the speed limit, road width, or number of lanes of a road included in the travel route, or a restriction on an area in which the travel route is set; A driving assistance method characterized in that the controller executes the above.

2. A process of acquiring driving ability information regarding the driver's driving ability; a process of reading road attribute information from map information by referring to the map information based on the current position of the vehicle; A process of accepting a destination setting; A process of setting a driving route from the current location to the destination via roads according to the driving ability indicated by the acquired driving ability information based on the read attribute information; A process of excluding roads leading to branch points to roads that exceed the driving ability indicated by the acquired driving ability information from the travel route; A driving assistance method characterized in that the controller executes the above.

3. A process for acquiring driving ability information regarding the driver's driving ability; a process of reading road attribute information from map information by referring to the map information based on the current position of the vehicle; a process of determining whether a distance between the vehicle and a road or area that exceeds the driving ability indicated by the acquired driving ability information is equal to or less than a predetermined value; When the distance is equal to or less than a predetermined value, a process of issuing an alarm to the driver or guiding the driver to a road or area according to the driving ability indicated by the acquired driving ability information; A driving assistance method characterized in that the controller executes the above.

4. A process for acquiring driving ability information regarding the driving ability of a driver; a process of reading road attribute information from map information by referring to the map information based on the current position of the vehicle; A process of determining whether the vehicle has entered a road or area that exceeds the driving ability indicated by the acquired driving ability information; A process of limiting a vehicle speed of the host vehicle when the host vehicle enters a road or area where the driving ability indicated by the acquired driving ability information is exceeded; A driving assistance method characterized in that the controller executes the above.

5. A process for acquiring driving ability information regarding the driver's driving ability; a process of reading road attribute information from map information by referring to the map information based on the current position of the vehicle; A process of determining whether the vehicle has entered a road or area that exceeds the driving ability indicated by the acquired driving ability information; A process of preventing the host vehicle from changing lanes when the host vehicle enters a road or area where the driving ability indicated by the acquired driving ability information is exceeded; A driving assistance method characterized in that the controller executes the above.

6. A process for acquiring driving ability information regarding the driving ability of a driver; a process of reading road attribute information from map information by referring to the map information based on the current position of the vehicle; A process of determining whether the vehicle has entered a road or area that exceeds the driving ability indicated by the acquired driving ability information; When the vehicle enters a road or area that exceeds the driving ability indicated by the acquired driving ability information, a process of guiding the driver to drive the vehicle along a route that reaches the destination from the current position without making a right turn; A driving assistance method characterized in that the controller executes the above.

7. A process of acquiring driving ability information regarding the driver's driving ability; a process of reading road attribute information from map information by referring to the map information based on the current position of the vehicle; A process of determining whether the vehicle has entered a road or area that exceeds the driving ability indicated by the acquired driving ability information; a process of notifying vehicles around the subject vehicle when the subject vehicle enters a road or area where the driving ability indicated by the acquired driving ability information is exceeded; A driving assistance method characterized in that the controller executes the above.

8. The driving assistance method according to any one of claims 1 to 7, characterized in that the controller assists the driver in driving so as to avoid the driver's vehicle entering a road or area that exceeds the driving ability indicated by the acquired driving ability information.

9. A driving assistance device characterized by comprising a controller that executes the following processes: a process of acquiring driving ability information regarding the driver's driving ability; a process of reading road attribute information from map information by referring to the map information based on the current position of the vehicle; a process of accepting the setting of a destination; a process of setting a driving route from the current position to the destination via roads that correspond to the driving ability indicated by the acquired driving ability information based on the read attribute information; a process of restricting the speed limit, road width, or number of lanes of roads included in the driving route, or the area in which the driving route is set, according to the driving ability indicated by the acquired driving ability information; a process of determining whether or not there is a passenger; and a process of relaxing the restrictions on the speed limit, road width, or number of lanes of roads included in the driving route, or the area in which the driving route is set, if there is a passenger.

10. A driving assistance device characterized by comprising a controller that performs the following processes: a process of acquiring driving ability information regarding the driver's driving ability; a process of reading road attribute information from map information by referring to the map information based on the current position of the vehicle; a process of accepting the setting of a destination; a process of setting a driving route from the current position to the destination based on the read attribute information via roads that correspond to the driving ability indicated by the acquired driving ability information; and a process of excluding from the driving route roads that lead to a branch point to a road that exceeds the driving ability indicated by the acquired driving ability information.

11. A driving assistance device characterized by comprising a controller that performs the following processes: a process of acquiring driving ability information regarding the driver's driving ability; a process of reading road attribute information from map information by referring to the map information based on the current position of the vehicle; a process of determining whether the distance between the vehicle and a road or area that exceeds the driving ability indicated by the acquired driving ability information is less than a predetermined value; and a process of either warning the driver or guiding the driver to a road or area that corresponds to the driving ability indicated by the acquired driving ability information if the distance is less than the predetermined value.

12. A driving assistance device characterized by comprising a controller that performs the following processes: a process of acquiring driving ability information regarding the driver's driving ability; a process of reading road attribute information from map information by referring to the map information based on the current position of the vehicle; a process of determining whether the vehicle has entered a road or area that exceeds the driving ability indicated by the acquired driving ability information; and a process of limiting the vehicle's speed if the vehicle has entered a road or area that exceeds the driving ability indicated by the acquired driving ability information.

13. A driving assistance device characterized by comprising a controller that performs the following processes: a process of acquiring driving ability information regarding the driver's driving ability; a process of reading road attribute information from map information by referring to the map information based on the current position of the vehicle; a process of determining whether the vehicle has entered a road or area that exceeds the driving ability indicated by the acquired driving ability information; and a process of preventing the vehicle from changing lanes if the vehicle has entered a road or area that exceeds the driving ability indicated by the acquired driving ability information.

14. A driving assistance device characterized by comprising a controller that performs the following processes: a process of acquiring driving ability information regarding the driver's driving ability; a process of reading road attribute information from map information by referring to the map information based on the current position of the vehicle; a process of determining whether the vehicle has entered a road or area that exceeds the driving ability indicated by the acquired driving ability information; and a process of guiding the driver to drive the vehicle along a route that will reach the destination from the current position without making a right turn if the vehicle has entered a road or area that exceeds the driving ability indicated by the acquired driving ability information.

15. A driving assistance device characterized by comprising a controller that performs the following processes: a process of acquiring driving ability information regarding the driver's driving ability; a process of reading road attribute information from map information by referring to the map information based on the current position of the vehicle; a process of determining whether the vehicle has entered a road or area that exceeds the driving ability indicated by the acquired driving ability information; and a process of notifying vehicles around the vehicle if the vehicle has entered a road or area that exceeds the driving ability indicated by the acquired driving ability information.

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