Driving assistance devices

Abstract

To provide drive support control that makes a driver pleased.SOLUTION: A drive support device 3 comprises a grip sensor 35 which detects the gripping position of a driver on a steering operator 22, and a controller 15 which executes drive support control over a vehicle 1, and the controller 15 stores grip tendency data as data associated with a tendency of the gripping position of the driver on the steering operator 22, determines whether the driver grips the steering operator 22 with his or her dominant hand based upon the grip tendency data and the detection result of the grip sensor 35, and makes details of the drive support control different according to whether it is determined that the driver grips the steering operator 22 with his or her dominant hand.SELECTED DRAWING: Figure 5

Description

[Technical Field]

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

[0002] In recent years, efforts to provide vulnerable transport users with access to sustainable transport systems have become more active. To achieve this, research and development into driver assistance technologies is gaining attention to further improve road safety and convenience.

[0003] For example, Patent Document 1 discloses a driving assistance device that performs following cruise control and lane keeping assist control as driving assistance controls. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-50345 A Summary of the Invention [Problem to be solved by the invention]

[0005] The content of driving assist control that is comfortable for the driver varies depending on how the driver holds a steering operator (e.g., a steering wheel). In particular, the content of driving assist control that is comfortable for the driver varies depending on whether the driver holds the steering operator with his / her dominant hand or not. Conventional driving assist devices have not taken into consideration the relationship between the driver's dominant hand and the content of driving assist control. Therefore, there is still room for improvement in providing driving assist control that is comfortable for the driver.

[0006] In view of the above background, the present invention aims to provide driving assistance control that is comfortable for the driver, depending on whether the driver is holding the steering operator with their dominant hand, and ultimately to contribute to the development of sustainable transportation systems. [Means for solving the problem]

[0007] In order to solve the above problems, one aspect of the present invention is a driving assistance device (3) comprising a steering operator (22) that receives steering operations of a vehicle (1) by a driver, a grip sensor (35) that is provided on the steering operator and detects the driver's grip position with respect to the steering operator, and a control device (15) that executes driving assistance control of the vehicle, wherein the control device stores grip tendency data (GD) that is data relating to the tendency of the driver's grip position with respect to the steering operator when the driving assistance control is being executed, and determines whether the driver is gripping the steering operator with his / her dominant hand based on the grip tendency data and the detection result of the grip sensor, and differs the content of the driving assistance control when it is determined that the driver is gripping the steering operator with his / her dominant hand from when it is determined that the driver is not gripping the steering operator with his / her dominant hand.

[0008] According to this aspect, it is possible to provide driving assistance control that is comfortable for the driver depending on whether the driver is holding the steering operator with their dominant hand, which in turn can contribute to the development of a sustainable transportation system.

[0009] In the above aspect, the control device may determine, based on the grip tendency data and the detection results of the grip sensor, whether the driver is gripping the steering operator with one hand using his / her dominant hand, whether the driver is gripping the steering operator with one hand using his / her non-dominant hand, or whether the driver is gripping the steering operator with both hands, and may vary the content of the driving assistance control depending on whether it is determined that the driver is gripping the steering operator with one hand using his / her dominant hand, whether it is determined that the driver is gripping the steering operator with one hand using his / her non-dominant hand, or whether it is determined that the driver is gripping the steering operator with both hands.

[0010] According to this aspect, it is possible to provide driving assistance control that is comfortable for the driver depending on whether the driver is holding the steering operator with one hand using his / her dominant hand, whether he / she is holding it with one hand using his / her non-dominant hand, or whether he / she is holding it with both hands.

[0011] In the above aspect, the control device may determine that the driver is holding the steering operator with one hand, which is the dominant hand, while the driving assistance control is being executed, and if a predetermined assistance cancellation condition is met, cancel a specific control among the driving assistance controls being executed, and may continue the specific control among the driving assistance controls being executed when the control device determines that the driver is holding the steering operator with both hands while the driving assistance control is being executed and if the assistance cancellation condition is met.

[0012] When the driver is holding the steering operator with both hands, it is highly likely that the driver is driving the vehicle in a tense state. In such a case, the control device continues a specific control among the driving assistance controls that are being executed, even if the assistance cancellation condition is met. This allows the driving assistance for the driver in a tense state to be expanded, and the driver to be encouraged to relieve tension.

[0013] In the above aspect, if the control device determines that the driver is holding the steering operator with one hand, which is his / her dominant hand, while the driving assistance control is being executed, the control device may continue the driving assistance control that is being executed, and if the control device determines that the driver is holding the steering operator with one hand, which is his / her non-dominant hand, while the driving assistance control is being executed, the control device may cancel at least a part of the driving assistance control that is being executed.

[0014] When a driver holds a steering control with one hand, the driver's attention may be reduced, and the driver may delay sudden steering operations. In such a case, the control device cancels at least a part of the driving assistance control currently being executed. This limits the driving assistance provided to the driver and calls the driver's attention. Therefore, it is expected that the effect of encouraging the driver to correct the one-handed grip with the non-dominant hand and switch to gripping with both hands is expected.

[0015] In the above aspect, the control device is configured to be able to execute, as the driving assistance control, follow-up driving control that causes the vehicle to follow a vehicle in front while maintaining a predetermined distance from the vehicle in front, and lane keeping assist control that assists the driver in steering the vehicle so that the vehicle maintains its position within the lane.If it is determined that the driver is holding the steering operator with one hand of his / her dominant hand while the follow-up driving control and the lane keeping assist control are being executed simultaneously, the control device may continue the follow-up driving control and the lane keeping assist control that are being executed, and if it is determined that the driver is holding the steering operator with one hand of his / her non-dominant hand while the follow-up driving control and the lane keeping assist control are being executed simultaneously, the control device may cancel at least one of the follow-up driving control and the lane keeping assist control that are being executed.

[0016] When the following cruise control and the lane keeping assist control are being executed simultaneously, driving assistance in the longitudinal direction of the vehicle and driving assistance in the lateral direction of the vehicle are being executed simultaneously, which tends to decrease the driver's attention to driving. Therefore, if the driver is holding the steering operator with one hand of the non-dominant hand while the following cruise control and the lane keeping assist control are being executed simultaneously, the control device cancels at least one of the following cruise control and the lane keeping assist control. This limits the driving assistance provided to the driver and makes it possible to attract the driver's attention.

[0017] In the above aspect, the control device may collect the grip tendency data while simultaneously executing the following cruise control and the lane keeping assist control.

[0018] According to this aspect, it is possible to accurately determine whether the driver is holding the steering operator with his / her dominant hand based on the tendency of the driver's grip position while adaptive cruise control and lane keeping assist control are being executed simultaneously.

[0019] In the above aspect, the gripping tendency data includes at least left hand data indicating the number of times, frequency, or time that the driver gripped the steering operator with one hand, the left hand, while the driving assistance control was being executed, and right hand data indicating the number of times, frequency, or time that the driver gripped the steering operator with one hand, the right hand, while the driving assistance control was being executed, and the control device may estimate the driver's dominant hand based on the gripping tendency data, and determine whether the driver is gripping the steering operator with the dominant hand based on the estimated result of the driver's dominant hand and the detection result of the grip sensor.

[0020] According to this aspect, the dominant hand of the driver can be accurately estimated based on data of past grip positions, and therefore, it can be accurately determined whether the driver is gripping the steering operator with the dominant hand.

[0021] In the above aspect, the grip tendency data may further include both hands data indicating the number of times, frequency, or time that the driver gripped the steering operator with both hands while the driving assist control was being executed.

[0022] According to this aspect, the dominant hand of the driver can be estimated more accurately based on data on the past grip position, and therefore, it can be determined more accurately whether the driver is gripping the steering operator with the dominant hand.

[0023] In the above aspect, the grip sensor may include a capacitance sensor configured to change capacitance in response to the driver's hand approaching the steering operator.

[0024] According to this aspect, the grip position of the driver with respect to the steering operator can be detected with high accuracy. [Effects of the Invention]

[0025] According to the above aspect, it is possible to provide driving assistance control that is comfortable for the driver depending on whether the driver is holding the steering operator with his / her dominant hand. [Brief explanation of the drawings]

[0026] [Figure 1] FIG. 1 is a functional configuration diagram showing a vehicle to which a driving assistance device according to an embodiment of the present invention is applied. [Figure 2] FIG. 1 is a front view showing a steering wheel according to an embodiment of the present invention; [Figure 3] 1 is a table showing grip tendency data according to an embodiment of the present invention. [Figure 4] 1 is a flowchart illustrating a data collection process according to an embodiment of the present invention. [Figure 5] 1 is a flowchart showing a control change process according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0027] <Vehicle 1> First, a vehicle 1 to which a driving assistance device 3 according to one embodiment of the present invention is applied will be described with reference to Fig. 1. For example, the vehicle 1 is an automobile. In other embodiments, the vehicle 1 may be a vehicle other than an automobile (for example, a two-wheeled vehicle).

[0028] The vehicle 1 has a drive unit 5, a brake unit 6, a steering unit 7, an HMI (Human Machine Interface) 8, a driving operator 9, a navigation unit 10, an external sensor 11, a vehicle sensor 12, a driver sensor 13, and a control unit 15. Below, the components of the vehicle 1 will be explained in order.

[0029] The drive unit 5 is a device that applies drive force to the vehicle 1. The drive unit 5 includes a drive source that generates drive force for running the vehicle 1. For example, the drive source is configured by an internal combustion engine and / or an electric motor.

[0030] The braking device 6 is a device that applies braking force to the vehicle 1. For example, the braking device 6 includes a brake caliper that presses a pad against a brake rotor, and an electric cylinder that supplies hydraulic pressure to the brake caliper.

[0031] The steering device 7 is a device that changes the steering angle of the wheels 17 by steering the wheels 17. For example, the steering device 7 includes a rack-and-pinion mechanism connected to the wheels 17 and an electric motor that drives the rack-and-pinion mechanism.

[0032] The HMI 8 is a device that presents information to an occupant (e.g., the driver) of the vehicle 1 and accepts information input by the occupant. The HMI 8 includes a touch panel 19 and an audio output device 20. The touch panel 19 displays various screens to the occupant and accepts input operations by the occupant on the various screens. The audio output device 20 outputs audio guidance, warning sounds, etc.

[0033] The driving operators 9 are devices that accept driving operations by the driver. The driving operators 9 include a steering wheel 22 (an example of a steering operator) that accepts steering operations of the vehicle 1 by the driver, an accelerator pedal 23 that accepts acceleration operations of the vehicle 1 by the driver, and a brake pedal 24 that accepts braking operations of the vehicle 1 by the driver. Details of the steering wheel 22 will be described later.

[0034] The navigation device 10 is a device that provides route guidance to the destination of the vehicle 1. The navigation device 10 identifies the current position of the vehicle 1 based on GNSS signals received from artificial satellites. The navigation device 10 sets a route to the destination of the vehicle 1 based on the current position of the vehicle 1 and the destination of the vehicle 1 inputted to the touch panel 19 by the occupant.

[0035] The external sensor 11 is a device that detects the state of the outside world of the vehicle 1. The external sensor 11 includes multiple cameras 26, multiple radars 27, and multiple lidars 28 (LiDAR). Each camera 26 captures images of targets present around the vehicle 1 (surrounding vehicles such as a vehicle ahead, pedestrians, road structures, lane markings, etc.). Each radar 27 emits radio waves such as millimeter waves around the vehicle 1 and captures the reflected waves to detect the positions of targets present around the vehicle 1. Each lidar 28 irradiates light such as infrared light around the vehicle 1 and captures the reflected light to detect the positions of targets present around the vehicle 1.

[0036] The vehicle sensor 12 is a sensor that detects various vehicle conditions. The vehicle sensor 12 includes a vehicle speed sensor 30 that detects the vehicle speed of the vehicle 1, an acceleration sensor 31 that detects the acceleration in the left-right direction (lateral acceleration) of the vehicle 1, and a steering torque sensor 32 that detects the steering torque generated in response to the steering operation of the vehicle 1 by the driver.

[0037] The driver sensor 13 is a device that detects the state of the driver. The driver sensor 13 includes a driver monitor camera 34 and a grip sensor 35. The driver monitor camera 34 captures an image of the driver. The grip sensor 35 is provided on the steering wheel 22 and detects the driver's grip position relative to the steering wheel 22. Details of the grip sensor 35 will be described later.

[0038] The control device 15 constitutes a driving assistance device 3 together with the HMI 8, the driving operators 9, the navigation device 10, the external sensor 11, the vehicle sensor 12, and the driver sensor 13.

[0039] The control device 15 is an electronic control unit (ECU) consisting of a computer configured to execute various processes. The control device 15 includes an arithmetic processing unit (a processor such as a CPU or MPU) and a storage device (memory such as a ROM or RAM). The arithmetic processing unit reads necessary software from the storage device and executes predetermined arithmetic processing in accordance with the read software. The control device 15 may be configured as a single piece of hardware, or may be configured as a unit consisting of multiple pieces of hardware. The control device 15 is connected to each component of the vehicle 1 via a communication network such as a CAN (Controller Area Network), and controls each component of the vehicle 1.

[0040] The control device 15 includes, as functional components, an external environment recognition unit 37, a driving control unit 38, a driving assistance control unit 39, and a storage unit 41. At least some of the functional components of the control device 15 may be realized by hardware such as an LSI, an ASIC, or an FPGA, or may be realized by a combination of software and hardware.

[0041] The external environment recognition unit 37 recognizes the state of the external environment of the vehicle 1 based on the detection results of the external environment sensor 11. For example, the external environment recognition unit 37 recognizes targets (surrounding vehicles such as a vehicle ahead, pedestrians, structures on the road, lane markings, etc.) that exist around the vehicle 1 based on the detection results of the external environment sensor 11.

[0042] The driving control unit 38 controls the driving of the vehicle 1 in response to the driver's driving operation using the driving operator 9. For example, the driving control unit 38 controls the steering device 7 in response to the driver's steering operation of the steering wheel 22 to turn the vehicle 1. The driving control unit 38 controls the drive device 5 in response to the driver's operation of the accelerator pedal 23 to accelerate the vehicle 1, and accelerates the vehicle 1. The driving control unit 38 controls the brake device 6 in response to the driver's operation of the brake pedal 24 to brake the vehicle 1, and decelerates the vehicle 1.

[0043] The driving assistance control unit 39 executes advanced driver assistance systems (ADAS) for the vehicle 1 based on the recognition result of the external environment recognition unit 37. Hereinafter, the advanced driving assistance control will be abbreviated as "driving assistance control."

[0044] The driving assistance control unit 39 is configured to be able to execute adaptive cruise control (ACC) as driving assistance control. When executing ACC, the driving assistance control unit 39 controls the drive device 5 and the brake device 6 so that the vehicle 1 follows the vehicle ahead while maintaining a predetermined distance therebetween.

[0045] The driving assistance control unit 39 is configured to be able to execute a lane keeping assistance system (LKAS) as driving assistance control. When the LKAS is executed, the driving assistance control unit 39 controls the steering wheel 22 and the steering device 7 to assist the driver in steering the vehicle 1 so that the vehicle 1 maintains its running position within the lane.

[0046] The driving assistance control unit 39 is configured to be able to execute a Collision Mitigation Brake System (CMBS) as driving assistance control. When the CMBS is executed, the driving assistance control unit 39 controls the brake device 6 to mitigate a collision between the vehicle 1 and an object outside the vehicle.

[0047] The storage unit 41 stores various data for driving assist control. For example, the storage unit 41 stores grip tendency data GD, which is data regarding the tendency of the driver's grip position on the steering wheel 22 when driving assist control is being executed. The grip tendency data GD will be described in detail later.

[0048] For the sake of convenience, the functional components of the control device 15 will be simply referred to as the "control device 15" below without distinction.

[0049] <Configuration of steering wheel 22> Next, the configuration of the steering wheel 22 will be described with reference to Figure 2. Hereinafter, when simply referred to as "radial direction," it refers to the radial direction of the steering wheel 22, and when simply referred to as "circumferential direction," it refers to the circumferential direction of the steering wheel 22.

[0050] The steering wheel 22 includes a cylindrical hub 43 arranged on the rotation axis A of the steering wheel 22, an annular rim 44 arranged radially outside the hub 43, and a plurality of spokes 45 to 47 extending radially to connect the hub 43 and the rim 44.

[0051] The hub 43 is coupled to a steering shaft (not shown) connected to the steering device 7 so as to be rotatable together with the steering shaft, so that the steering wheel 22 is rotatably supported on the steering shaft.

[0052] The rim 44 is radially spaced apart from the hub 43. In other embodiments, the rim 44 may be directly connected to the hub 43, thereby eliminating the spokes 45-47.

[0053] The multiple spokes 45-47 are spaced apart in the circumferential direction. The multiple spokes 45-47 include a right spoke 45 extending rightward from the hub 43, a left spoke 46 extending leftward from the hub 43, and a lower spoke 47 extending downward from the hub 43. A rectangular right switch unit 49 is provided on the rear surface (the surface facing the driver) of the right spoke 45. For example, the right switch unit 49 includes a switch for starting / ending driving assistance control and a switch for changing the state of driving assistance control (for example, the set vehicle speed of the ACC). A rectangular left switch unit 50 is provided on the rear surface (the surface facing the driver) of the left spoke 46. For example, the left switch unit 50 includes a switch for operating an air conditioning system (not shown) and a switch for operating the navigation device 10.

[0054] <Configuration and Action of Grip Sensor 35> Next, the configuration and operation of the grip sensor 35 will be described with reference to FIG.

[0055] The grip sensor 35 includes a first right-side capacitance sensor 53, a second right-side capacitance sensor 54, a first left-side capacitance sensor 56, and a second left-side capacitance sensor 57. Hereinafter, when there is no need to distinguish between these, they will be referred to as "capacitance sensors 53-54, 56-57."

[0056] Each of the capacitance sensors 53-54 and 56-57 is configured with an electrode that can capacitively couple with an object approaching the steering wheel 22. As the distance between the driver's hand and the electrodes that make up the capacitance sensors 53-54 and 56-57 decreases as the driver's hand approaches the steering wheel 22, the capacitance (an example of a detected value) of the capacitance sensors 53-54 and 56-57 increases. The capacitance sensors 53-54 and 56-57 are configured so that as the driver's hand approaches the steering wheel 22, the capacitance begins to change while the driver's hand is not in contact with the steering wheel 22.

[0057] The first right-side capacitance sensor 53 is disposed on the right-side spoke 45. The first right-side capacitance sensor 53 has a first extending portion 61 extending in the left-right direction along the upper edge of the right-side switch unit 49, a second extending portion 62 bent upward from the left end (radially inner end) of the first extending portion 61 and extending along the upper outer periphery of the hub 43, and a third extending portion 63 bent downward from the right end (radially outer end) of the first extending portion 61 and extending along the right edge (outer edge) of the right-side switch unit 49.

[0058] The second right-side capacitance sensor 54 is disposed below the first right-side capacitance sensor 53, straddling the right-side spoke 45 and the hub 43. The second right-side capacitance sensor 54 includes an upper extension 65 that extends in the left-right direction along the lower edge of the right-side switch unit 49, and a lower extension 66 that is bent downward from the left end (the radially inner end) of the upper extension 65 and extends along the lower outer periphery of the hub 43.

[0059] The first left capacitance sensor 56 is disposed on the left spoke 46. Like the first right capacitance sensor 53, the first left capacitance sensor 56 includes a first extension 61, a second extension 62, and a third extension 63.

[0060] The second left capacitance sensor 57 is disposed below the first left capacitance sensor 56, straddling the left spoke 46 and the hub 43. Similar to the second right capacitance sensor 54, the second left capacitance sensor 57 includes an upper extension 65 and a lower extension 66.

[0061] When the driver's right hand grips the upper right portion 44R1 of the rim 44, the capacitance of the first right capacitance sensor 53 rises above the reference value. In this case, the control device 15 estimates that the driver's right hand is gripping the upper right portion 44R1 of the rim 44. In other words, the grip sensor 35 detects that the driver's right hand is gripping the upper right portion 44R1 of the rim 44.

[0062] When the driver's right hand grips the right central portion 44R2 of the rim 44, the capacitances of the first right-side capacitance sensor 53 and the second right-side capacitance sensor 54 rise above their reference values. In this case, the control device 15 estimates that the driver's right hand is gripping the right central portion 44R2 of the rim 44. In other words, the grip sensor 35 detects that the driver's right hand is gripping the right central portion 44R2 of the rim 44.

[0063] When the driver's right hand grips the lower right part 44R3 of the rim 44, the capacitance of the second right capacitance sensor 54 rises above the reference value. In this case, the control device 15 estimates that the driver's right hand is gripping the lower right part 44R3 of the rim 44. In other words, the grip sensor 35 detects that the driver's right hand is gripping the lower right part 44R3 of the rim 44.

[0064] As described above, when the capacitance of at least one of the first right-side capacitance sensor 53 and the second right-side capacitance sensor 54 rises above a reference value, the grip sensor 35 detects that the driver's right hand is gripping the upper right portion 44R1, the right central portion 44R2, or the lower right portion 44R3 of the rim 44 (hereinafter collectively referred to as the "right portion 44R of the rim 44"). Similarly, when the capacitance of at least one of the first left-side capacitance sensor 56 and the second left-side capacitance sensor 57 rises above a reference value, the grip sensor 35 detects that the driver's left hand is gripping the upper left portion 44L1, the left central portion 44L2, or the lower left portion 44L3 of the rim 44 (hereinafter collectively referred to as the "left portion 44L of the rim 44").

[0065] Hereinafter, a state in which the grip sensor 35 does not detect that the driver's right hand is gripping the right portion 44R of the rim 44, and the grip sensor 35 detects that the driver's left hand is gripping the left portion 44L of the rim 44, will be referred to as the "left side detection state." Furthermore, a state in which the grip sensor 35 detects that the driver's right hand is gripping the right portion 44R of the rim 44, and the grip sensor 35 does not detect that the driver's left hand is gripping the left portion 44L of the rim 44, will be referred to as the "right side detection state." Furthermore, a state in which the grip sensor 35 detects that the driver's right hand is gripping the right portion 44R of the rim 44, and the grip sensor 35 detects that the driver's left hand is gripping the left portion 44L of the rim 44, will be referred to as the "both side detection state."

[0066] <Gripping tendency data GD> Next, the grip tendency data GD will be described with reference to Fig. 3. As described above, the grip tendency data GD is data relating to the tendency of the driver's grip position with respect to the steering wheel 22 when driving assist control is being executed. When multiple users are registered as drivers of the vehicle 1, the grip tendency data GD may be linked to the ID of each user registered as a driver of the vehicle 1.

[0067] The grip tendency data GD includes a left hand count value CL (an example of left hand data), a right hand count value CR (an example of right hand data), and a both hand count value CB (an example of both hand data). The left hand count value CL indicates the number of times the driver gripped the steering wheel 22 with one hand, the left hand, while driving assist control was being executed. The right hand count value CR indicates the number of times the driver gripped the steering wheel 22 with one hand, the right hand, while driving assist control was being executed. The both hand count value CB indicates the number of times the driver gripped the steering wheel 22 with both hands while driving assist control was being executed.

[0068] <Data collection process> Next, with reference to FIG. 4, a data collection process for collecting the gripping tendency data GD will be described.

[0069] When the data collection process starts, the control device 15 performs driver authentication to identify which user among multiple users registered as drivers of the vehicle 1 is the current driver (step ST1). For example, the control device 15 may perform driver authentication based on an image of the driver captured by the driver monitor camera 34. Alternatively, the control device 15 may perform driver authentication by communicating with a mobile terminal carried by each user. Note that if only one user is registered as the driver of the vehicle 1, driver authentication may be omitted.

[0070] Next, the control device 15 determines whether ACC and LKAS are being executed simultaneously (step ST2). If at least one of ACC and LKAS is not being executed (step ST2: No), the control device 15 repeats the determination in step ST2 at predetermined time intervals.

[0071] If ACC and LKAS are being executed simultaneously (step ST2: Yes), the control device 15 determines whether the detection state of the grip sensor 35 is the left-side detection state (step ST3) based on the detection result of the grip sensor 35. If the detection state of the grip sensor 35 is the left-side detection state (step ST3: Yes), the control device 15 increments the left hand count value CL by one (step ST4) and ends the data collection process.

[0072] If the detection state of the grip sensor 35 is not the left side detection state (step ST3: No), the control device 15 determines whether the detection state of the grip sensor 35 is the right side detection state (step ST5) based on the detection result of the grip sensor 35. If the detection state of the grip sensor 35 is the right side detection state (step ST5: Yes), the control device 15 increments the right hand count value CR by one (step ST6) and ends the data collection process.

[0073] If the detection state of the grip sensor 35 is not the right-side detection state (step ST5: No), the control device 15 determines whether the detection state of the grip sensor 35 is the both-side detection state based on the detection result of the grip sensor 35 (step ST7). If the detection state of the grip sensor 35 is the both-side detection state (step ST7: Yes), the control device 15 increments the both-hand count value CB by 1 (step ST8) and ends the data collection process.

[0074] If the detection state of the grip sensor 35 is not a both-side detection state (step ST7: No), the control device 15 ends the data collection process without increasing the left hand count value CL, the right hand count value CR, and the both hand count value CB.

[0075] As described above, the control device 15 collects the gripping tendency data GD while the ACC and LKAS are simultaneously executed.

[0076] <Control change processing> Next, the control change process for changing the content of the driving assistance control will be described with reference to Fig. 5. The control change process may be executed consecutively with the data collection process after the above-mentioned data collection process, or may be executed separately from the data collection process.

[0077] The contents of steps ST11 and ST12 of the control change process are the same as the contents of steps ST1 and ST2 of the data collection process described above, and therefore will not be described here. Also, if the control change process is executed consecutively with the data collection process after the data collection process, steps ST11 and ST12 of the control change process may be omitted.

[0078] If ACC and LKAS are being executed simultaneously (step ST12: Yes), the control device 15 estimates the driver's dominant hand based on the grip tendency data GD (step ST13). For example, the control device 15 estimates the driver's hand corresponding to the larger of the left hand count value CL and the right hand count value CR as the driver's dominant hand. Note that if the control device 15 cannot estimate the driver's dominant hand (for example, if the left hand count value CL and the right hand count value CR are the same), the control device 15 may end the control change process without executing steps ST14 to ST20, which will be described later.

[0079] Next, the control device 15 determines whether the driver is gripping the steering wheel 22 with one hand using the dominant hand, based on the estimation result of the driver's dominant hand in step ST13 and the detection result of the grip sensor 35 (step ST14). More specifically, if the left / right of the driver's dominant hand estimated in step ST13 matches the left / right detected state of the grip sensor 35 (for example, if the driver's dominant hand estimated in step ST13 is the right hand and the detection state of the grip sensor 35 is a right-side detection state), the control device 15 determines that the driver is gripping the steering wheel 22 with one hand using the dominant hand. Otherwise, the control device 15 determines that the driver is not gripping the steering wheel 22 with one hand using the dominant hand.

[0080] If it is determined that the driver is gripping the steering wheel 22 with one hand using the dominant hand (step ST14: Yes), the control device 15 executes the first assistance control as the driving assistance control (step ST15). In the first assistance control, the control device 15 continues the driving assistance control (i.e., ACC and LKAS) that is currently being executed. However, if a predetermined assistance cancellation condition is met while the first assistance control is being executed, the control device 15 cancels a specific control among the driving assistance controls that are currently being executed. For example, if the lateral acceleration of the vehicle 1 becomes equal to or greater than a predetermined reference acceleration while the first assistance control is being executed, the control device 15 cancels the LKAS with the driver's consent.

[0081] If it is determined that the driver is not gripping the steering wheel 22 with one hand using the dominant hand (step ST14: No), the control device 15 determines whether the driver is gripping the steering wheel 22 with one hand using the hand opposite to the dominant hand (hereinafter referred to as the "non-dominant hand") based on the estimation result of the driver's dominant hand in step ST13 and the detection result of the grip sensor 35 (step ST16). More specifically, if the left / right of the driver's dominant hand estimated in step ST13 and the left / right detection state of the grip sensor 35 are reversed (for example, if the driver's dominant hand estimated in step ST13 is the right hand and the detection state of the grip sensor 35 is a left-side detection state), the control device 15 determines that the driver is gripping the steering wheel 22 with one hand using the non-dominant hand. Otherwise, the control device 15 determines that the driver is not gripping the steering wheel 22 with one hand using the non-dominant hand.

[0082] If it is determined that the driver is gripping the steering wheel 22 with one hand using the non-dominant hand (step ST16: Yes), the control device 15 executes second assistance control as driving assistance control (step ST17). In the second assistance control, the control device 15 cancels at least a part of the driving assistance control (i.e., ACC and LKAS) that is being executed. For example, in the second assistance control, the control device 15 cancels one of the ACC and LKAS. At that time, the control device 15 may notify the driver via the HMI 8 that one of the ACC and LKAS will be canceled due to gripping the steering wheel with one hand using the non-dominant hand.

[0083] If it is determined that the driver is not gripping the steering wheel 22 with one hand using the non-dominant hand (step ST16: No), the control device 15 determines whether the driver is gripping the steering wheel 22 with both hands based on the detection result of the grip sensor 35 (step ST18). More specifically, if the detection state of the grip sensor 35 is a bilateral detection state, the control device 15 determines that the driver is gripping the steering wheel 22 with both hands. In other cases, the control device 15 determines that the driver is not gripping the steering wheel 22 with both hands.

[0084] If it is determined that the driver is gripping the steering wheel 22 with both hands (step ST18: Yes), the control device 15 executes the third assistance control as the driving assistance control (step ST19). In the third assistance control, the control device 15 continues the driving assistance control (i.e., ACC and LKAS) that is currently being executed. Furthermore, even if the above-mentioned assistance cancellation condition is met during the third assistance control, the control device 15 continues a specific control among the driving assistance controls that are currently being executed. For example, even if the lateral acceleration of the vehicle 1 becomes equal to or greater than the above-mentioned reference acceleration while the third assistance control is being executed, the control device 15 continues the LKAS without canceling it.

[0085] If it is determined that the driver is not gripping the steering wheel 22 with both hands (step ST18: No), it is highly likely that the driver is not gripping the steering wheel 22. Therefore, the control device 15 executes grip promotion control to prompt the driver to grip the steering wheel 22 (step ST20). In the grip promotion control, the control device 15 prompts the driver to grip the steering wheel 22 via the HMI 8.

[0086] <Effects> As described above, the control device 15 performs different driving assist control (steps ST15, ST17, ST19) depending on whether the control device 15 determines that the driver is holding the steering wheel 22 with one hand using the dominant hand (step ST14: Yes) or the driver is not holding the steering wheel 22 with one hand using the dominant hand (step ST14: No). This allows the control device 15 to provide driving assist control that is comfortable for the driver depending on whether the driver is holding the steering wheel 22 with the dominant hand. This increases the affinity between the driver and the driving assist control.

[0087] <Modification> In the above embodiment, the control device 15 determines whether the driver is gripping the steering wheel 22 with one hand, which is the dominant hand, in step ST14 of the control change processing. In other embodiments, the control device 15 may determine whether the driver is gripping the steering wheel 22 with at least the dominant hand (i.e., with one hand or both hands, which is the dominant hand), in step ST14 of the control change processing. In other words, "determining whether the driver is gripping the steering wheel 22 with the dominant hand" includes both "determining whether the driver is gripping the steering wheel 22 with one hand, which is the dominant hand" and "determining whether the driver is gripping the steering wheel 22 with at least the dominant hand."

[0088] In the above embodiment, the control device 15 estimates the driver's dominant hand based only on the left hand count value CL and the right hand count value CR in step ST13 of the control change processing. In other embodiments, the control device 15 may estimate the driver's dominant hand based on the left hand count value CL, the right hand count value CR, and the both hand count value CB in step ST13 of the control change processing. For example, the control device 15 may estimate as the driver's dominant hand the hand of the driver corresponding to the left hand count value CL or the right hand count value CR that accounts for a predetermined reference percentage (e.g., 50%) or more of the total count number (the sum of the left hand count value CL, the right hand count value CR, and the both hand count value CB).

[0089] In the above embodiment, the control device 15 changes the content of the ACC and / or LKAS in the control change process. In other embodiments, the control device 15 may change the content of a driving assist control (e.g., CMBS) other than the ACC and LKAS in the control change process.

[0090] In the above embodiment, the grip tendency data GD includes data indicating the number of times the driver gripped the steering wheel 22 with one hand or both hands while driving assist control was being executed (left hand count value CL, right hand count value CR, and both hands count value CB). In other embodiments, the grip tendency data GD may include data indicating the frequency or time the driver gripped the steering wheel 22 with one hand or both hands while driving assist control was being executed.

[0091] In the above embodiment, the grip sensor 35 includes two capacitance sensors 53-54 and two capacitance sensors 56-57 on the right and left sides of the steering wheel 22. In other embodiments, the grip sensor 35 may include one capacitance sensor on each side of the right and left sides of the steering wheel 22, or three or more capacitance sensors on each side. For example, the third extension portion 63 of the first right capacitance sensor 53 and the first left capacitance sensor 56 in the above embodiment may be separated from the first extension portion 61 and the second extension portion 62, so that the grip sensor 35 includes three capacitance sensors on each side of the steering wheel 22.

[0092] In the above embodiment, the grip sensor 35 includes capacitance sensors 53-54, 56-57 on the hub 43, right spoke 45, and left spoke 46 of the steering wheel 22. In other embodiments, the grip sensor 35 may include capacitance sensors on the rim 44 of the steering wheel 22.

[0093] In the above embodiment, the steering wheel 22 having the annular rim 44 is used as the steering operator. In other embodiments, an operator (e.g., a control stick) that does not have the annular rim 44 may be used as the steering operator.

[0094] Although the description of the specific embodiment has been completed above, the present invention is not limited to the above embodiment and its modifications, and can be modified in a wide range of ways. [Explanation of symbols]

[0095] 1: Vehicle 3: Driving assistance device 15: Control device 22: Steering wheel (an example of a steering control) 35: Grasp sensor 53: First right capacitive sensor 54: Second right capacitive sensor 56: 1st left capacitive sensor 57: Second left capacitive sensor GD: Grasping tendency data CL: Left hand count value (example of left hand data) CR: Right hand count value (example of right hand data) CB: Both hands count value (example of both hands data)

Claims

1. A driving assistance device, a steering operator that accepts a steering operation of the vehicle by a driver; a grip sensor provided on the steering operator to detect a grip position of the driver with respect to the steering operator; a control device that executes driving assistance control of the vehicle, The control device storing grip tendency data that is data regarding a tendency of a grip position of the steering operator by the driver when the driving assist control is being executed; Based on the grip tendency data and the detection result of the grip sensor, it is determined whether or not the driver is gripping the steering operator with one hand using his / her dominant hand, whether or not the driver is gripping the steering operator with one hand using his / her non-dominant hand, and whether or not the driver is gripping the steering operator with both hands; The content of the driving assistance control is different for each of the following cases: when it is determined that the driver is holding the steering operator with one hand using a dominant hand; when it is determined that the driver is holding the steering operator with one hand using a hand opposite to the dominant hand; and when it is determined that the driver is holding the steering operator with both hands. When it is determined that the driver is holding the steering operator with one hand using his / her dominant hand during execution of the driving assistance control and the lateral acceleration of the vehicle becomes equal to or greater than a reference acceleration, a part of the driving assistance control being executed is cancelled, A driving assistance device that continues a part of the driving assistance control that is being executed when it determines that the driver is holding the steering operator with both hands while the driving assistance control is being executed and the lateral acceleration of the vehicle becomes equal to or greater than the reference acceleration.

2. A driving assistance device, a steering operator that accepts a steering operation of the vehicle by a driver; a grip sensor provided on the steering operator to detect a grip position of the driver with respect to the steering operator; a control device that executes driving assistance control of the vehicle, The control device storing grip tendency data that is data regarding a tendency of a grip position of the steering operator by the driver when the driving assist control is being executed; Based on the grip tendency data and the detection result of the grip sensor, it is determined whether or not the driver is gripping the steering operator with one hand using his / her dominant hand, whether or not the driver is gripping the steering operator with one hand using his / her non-dominant hand, and whether or not the driver is gripping the steering operator with both hands; The content of the driving assistance control is different for each of the following cases: when it is determined that the driver is holding the steering operator with one hand using a dominant hand; when it is determined that the driver is holding the steering operator with one hand using a hand opposite to the dominant hand; and when it is determined that the driver is holding the steering operator with both hands. When it is determined that the driver is holding the steering operation element with one hand using the dominant hand during execution of the driving assistance control, the driving assistance control being executed is continued; A driving assistance device that cancels at least a portion of the driving assistance control that is being executed when it is determined that the driver is holding the steering operator with one hand other than the dominant hand while the driving assistance control is being executed.

3. The control device The driving assistance control is provided to be capable of executing a following driving control that causes the vehicle to follow a leading vehicle while maintaining a predetermined distance therebetween, and a lane keeping assistance control that assists a driver in steering the vehicle so that the vehicle maintains its driving position within a lane, When it is determined that the driver is holding the steering operation element with one hand using the dominant hand while the following cruise control and the lane keeping assist control are being simultaneously executed, the following cruise control and the lane keeping assist control that are being executed are continued, 3. The driving assistance device according to claim 2, wherein, when it is determined that the driver is holding the steering operator with one hand of the non-dominant hand while the following cruise control and the lane keeping assist control are being simultaneously executed, at least one of the following cruise control and the lane keeping assist control being executed is canceled.

4. The driving assistance device according to claim 3 , wherein the control device collects the grip tendency data while the following cruise control and the lane keeping assist control are simultaneously executed.

5. The gripping tendency data is Left hand data indicating the number of times, frequency, or time that the driver gripped the steering operator with one hand while the driving assist control was being executed; right hand data indicating the number of times, frequency, or time the driver has gripped the steering operator with one hand while the driving assist control is being executed; The control device Estimating the dominant hand of the driver based on the grip tendency data; The driving assistance device according to any one of claims 1 to 4, wherein it is determined whether the driver is holding the steering operator with their dominant hand based on an estimation result of the driver's dominant hand and a detection result of the grip sensor.

6. The driving assistance device according to claim 5 , wherein the grip tendency data further includes both hands data indicating the number of times, frequency, or duration that the driver gripped the steering operator with both hands while the driving assistance control was being executed.

7. The driving assistance device according to any one of claims 1 to 4, wherein the grip sensor includes a capacitance sensor configured to change capacitance as the driver's hand approaches the steering operator.

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