Driving assistance device and recording medium

Abstract

A driving assistance device according to the present invention is capable of performing processing for calling the attention of a driver according to the difficulty level of driving, and includes an effect-level storage unit in which is recorded the degree of effect of stabilizing the behavior of a vehicle body during driving by the driver, achieved by performing sound-effect output processing for outputting sound effects according to the behavior of the vehicle body. The driving assistance device performs difficulty-level determination processing of determining the difficulty level of driving for each of predetermined sections where the vehicle is scheduled to travel, and attention-calling processing of selectively performing the sound-effect output processing or warning processing of warning the driver depending on the difficulty level. The driving assistance device sets, on the basis of the degree of the effect on the driver recorded in the effect-level storage unit, a range of the difficulty level of driving for which the sound-effect output processing and the warning processing are performed in the attention-calling processing.

Description

[Technical Field]

[0001] The present disclosure relates to a driving assistance device and a recording medium that assists in driving a vehicle. [Background technology]

[0002] Known navigation devices installed in vehicles include devices that notify drivers of locations where caution is required, such as accident-prone locations, in advance, to alert the driver. For example, Patent Document 1 discloses a navigation device that acquires a route to a vehicle's destination, and, if multiple traffic accident-prone locations exist within a predetermined distance along the acquired route from the vehicle's current location, notifies the driver that the vehicle will be traveling through these multiple traffic accident-prone locations. Furthermore, Patent Document 2 discloses an alert information notification system that notifies the driver of information on locations where caution is required, such as traffic jams, icy roads, roads with poor visibility, etc., as alert information, thereby improving the safety and comfort of the user.

[0003] Also, a device has been disclosed that determines the difficulty of a planned route for a vehicle and notifies the driver in advance. For example, Patent Document 3 discloses an information providing device that determines the complexity of a predetermined section of a planned travel route and changes the timing of presenting information on recommended operations to the driver depending on the complexity of the section. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2006-329713 [Patent Document 2] Japanese Patent Application Publication No. 2018-180968 [Patent Document 3] International Publication No. 2017 / 141376 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the systems disclosed in Patent Documents 1 and 2 simply notify the driver of points requiring caution, and do not take into consideration the driver's situation while driving. As a result, the notification is given even in cases where the driver does not need the notification, such as when the driver has the driving skills to stably drive through the notified points requiring caution, which may cause the driver to feel uncomfortable. In addition, the device disclosed in Patent Document 3 has a function to present predetermined information at a timing according to the complexity of the planned driving route, but does not consider whether the function is effective for the driver.

[0006] On the other hand, when executing a function to alert the driver while driving a vehicle, it would be useful if it were possible to set the situation in which a strong warning is given to the driver and the situation in which processing is executed to guide the driver to perform stable driving operations, to suit each individual driver.

[0007] The present disclosure has been made in consideration of the above problems, and an object of the present disclosure is to provide a driving assistance device and a recording medium that can be set to suit each individual driver, with a situation in which a warning is issued and a situation in which a process for guiding the driver's driving operation is executed as a process to attract the driver's attention. [Means for solving the problem]

[0008] In order to solve the above problem, according to one aspect of the present disclosure, there is provided a driving assistance device capable of executing a process to attract the driver's attention in accordance with the difficulty of driving, the driving assistance device comprising one or more processors, one or more memories communicably connected to the one or more processors, and an effect level storage unit that records the degree of effectiveness of stabilizing the vehicle body behavior while the driver is driving by executing a sound effect output process that outputs sound effects in accordance with the vehicle body behavior, wherein the one or more processors execute a difficulty determination process that determines the difficulty of driving for each predetermined section along which the vehicle is scheduled to travel, and an attention calling process that selectively executes the sound effect output process or a warning process that issues a warning to the driver in accordance with the difficulty, and the driving assistance device sets the range of the driving difficulty for which the sound effect output process and the warning process are executed in the attention calling process based on the degree of effectiveness of the driver recorded in the effect level storage unit.

[0009] In order to solve the above problem, according to one aspect of the present disclosure, there is provided a non-transitory tangible recording medium having recorded thereon a computer program that causes one or more processors to execute: a difficulty determination process that determines the difficulty of driving for each predetermined section along which the vehicle is scheduled to travel; an attention warning process that selectively executes a sound effect output process that outputs sound effects according to vehicle behavior or a warning process that issues a warning to the driver depending on the difficulty; and a process that sets the range of driving difficulty for executing the sound effect output process and the warning process in the attention warning process based on the degree to which execution of the sound effect output process stabilizes the vehicle behavior while the driver is driving. [Effects of the Invention]

[0010] As described above, according to the present disclosure, as a process for attracting the driver's attention, the situations in which a warning is issued and the situations in which a process for guiding the driver's driving operations is executed can be set to suit each individual driver. [Brief explanation of the drawings]

[0011] [Figure 1]1 is a schematic diagram illustrating a configuration example of a vehicle equipped with a driving assistance device according to an embodiment of the present disclosure. [Figure 2] 1 is a block diagram illustrating a configuration example of a driving assistance device according to an embodiment of the present disclosure. [Figure 3] FIG. 2 is an explanatory diagram showing data processing by the driving assistance device according to the embodiment. [Figure 4] 3 is an explanatory diagram showing a sound conversion process performed by the driving assistance device according to the embodiment; FIG. [Figure 5] 4 is an explanatory diagram showing an execution range setting process performed by the driving assistance device according to the embodiment; FIG. [Figure 6] 10 is a flowchart showing a processing operation of an effect level determination process performed by the driving assistance device according to the embodiment. [Figure 7] 6 is a flowchart showing a processing operation of an attention-calling process performed by the driving assistance device according to the embodiment; [Figure 8] 10 is a flowchart of a process for determining a course difficulty level performed by the driving assistance device according to the embodiment. [Figure 9] 4 is a flowchart showing a main routine of an attention-drawing process performed by the driving assistance device according to the embodiment; [Figure 10] 10 is a flowchart of a sound effect output process performed by the driving assistance device according to the embodiment. [Figure 11] FIG. 2 is a block diagram showing an example of the configuration of a driving assistance device according to a first modified example of the embodiment. [Figure 12] FIG. 6 is an explanatory diagram showing an execution range setting process performed by a driving assistance device according to a first modified example of the embodiment. [Figure 13] FIG. 6 is an explanatory diagram showing an execution range setting process performed by a driving assistance device according to a first modified example of the embodiment. [Figure 14] 6 is a flowchart showing the processing operation of an attention-calling process performed by a driving assistance device according to a first modified example of the embodiment. [Figure 15] FIG. 10 is a block diagram showing an example of the configuration of a driving assistance device according to a second modified example of the embodiment. [Figure 16]FIG. 10 is an explanatory diagram showing an execution range setting process performed by a driving assistance device according to a second modified example of the embodiment. [Figure 17] 10 is a flowchart showing the processing operation of an attention-calling process performed by a driving assistance device according to a second modification of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, preferred embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. In this specification and drawings, components having substantially the same functional configurations are designated by the same reference numerals, and redundant description will be omitted.

[0013] <<1. First Embodiment>> <1-1. Example of vehicle configuration> First, an example of the overall configuration of a vehicle to which a driving assistance device according to an embodiment of the present disclosure can be applied will be described.

[0014] FIG. 1 is a schematic diagram showing an example of the configuration of a vehicle 10 equipped with a driving assistance device 1 according to this embodiment. The vehicle 10 shown in FIG. 1 is configured as a four-wheel drive vehicle in which a driving torque output from a driving force source 9 that generates driving torque for the vehicle is transmitted to a left front wheel 3LF, a right front wheel 3RF, a left rear wheel 3LR, and a right rear wheel 3RR (hereinafter collectively referred to as "wheels 3" unless a distinction is required). The driving force source 9 may be an internal combustion engine such as a gasoline engine or a diesel engine, or may be a driving motor. Alternatively, the vehicle 10 may be equipped with both an internal combustion engine and a driving motor as the driving force source 9.

[0015] The vehicle 10 may be an electric vehicle equipped with two drive motors, for example, a front-wheel drive motor and a rear-wheel drive motor, or an electric vehicle equipped with drive motors corresponding to each of the wheels 3. If the vehicle 10 is an electric vehicle or a hybrid electric vehicle, the vehicle 10 is equipped with a secondary battery that stores power to be supplied to the drive motors, and a motor or a generator such as a fuel cell that generates power to charge the secondary battery.

[0016] The vehicle 10 is equipped with a driving force source 9, an electric steering device 43, and a brake fluid pressure control unit 20 as devices used to control the operation of the vehicle 10. The driving force source 9 outputs driving torque that is transmitted to the front drive shaft 5F and the rear drive shaft 5R via a transmission, a front wheel differential mechanism 7F, and a rear wheel differential mechanism 7R (not shown). The operation of the driving force source 9 and the transmission is controlled by a vehicle control device 40 that includes one or more electronic control units (ECUs: Electronic Control Units).

[0017] An electric steering device 43 is provided on the front wheel drive shaft 5F. The electric steering device 43 includes an electric motor and a gear mechanism (not shown), and adjusts the steering angle of the left front wheel 3LF and the right front wheel 3RF. During manual driving, the vehicle control device 40 controls the electric steering device 43 based on the steering angle of the steering wheel 41 operated by the driver. Note that the electric steering device 43 may be a hydraulic power steering device.

[0018] The brake system of the vehicle 10 is configured as a hydraulic brake system. A brake fluid pressure control unit 20 adjusts the hydraulic pressure supplied to brake calipers 21LF, 21RF, 21LR, and 21RR (hereinafter collectively referred to as "brake calipers 21" unless a distinction is required) provided on the front, rear, left, and right drive wheels 3LF, 3RF, 3LR, and 3RR, respectively, to generate braking force. The operation of the brake fluid pressure control unit 20 is controlled by a vehicle control device 40. If the vehicle 10 is an electric vehicle or a hybrid electric vehicle, the brake fluid pressure control unit 20 is used in conjunction with regenerative braking using a drive motor.

[0019] The vehicle control device 40 includes one or more electronic control devices that control the drive of the driving force source 9 that outputs the drive torque of the vehicle 10, the steering wheel 41 or the electric steering device 43 that controls the steering angle of the steering wheels, and the brake fluid pressure control unit 20 that controls the braking force of the vehicle 10. The vehicle control device 40 may also have a function of controlling the drive of a transmission that changes the speed of the output output from the driving force source 9 and transmits it to the wheels 3. When the vehicle 10 is being manually driven, the vehicle control device 40 acquires information on the amount of operation of the accelerator pedal, brake pedal, and steering wheel by the driver, and controls the drive of the driving force source 9, the brake fluid pressure control unit 20, and the electric steering device 43.

[0020] The driving assistance device 1 includes a vehicle behavior measurement device 11, a surrounding environment detection device 13 (forward-facing cameras 13L, 13R), a position detection sensor 15, a map data storage unit 17, a navigation system 19, a sound output device 31, and an information processing device 50. The driving assistance device 1 determines the difficulty level of driving along a planned route for the vehicle 10, and executes an attention-calling process that selectively executes a predetermined sound effect output process or a warning process depending on the difficulty level. The driving assistance device 1 according to this embodiment is configured to set the range of driving difficulty for which the sound effect output process and the warning process are executed based on the degree of effectiveness of the execution of the sound effect output process in stabilizing the vehicle behavior while the driver is driving. This allows the sound effect output process and the warning process to be used appropriately to suit each individual driver.

[0021] <1-2. Configuration of driving assistance device> Next, the driving support device 1 according to this embodiment will be specifically described with reference to Figures 1 and 2. Figure 2 is a block diagram showing an example of the configuration of the driving support device 1 according to this embodiment.

[0022] The driving assistance device 1 includes a vehicle body behavior measurement device 11, a surrounding environment detection device 13, a position detection sensor 15, a map data storage unit 17, a navigation system 19, a sound output device 31, and an information processing device 50. The vehicle body behavior measurement device 11, the surrounding environment detection device 13, the position detection sensor 15, the map data storage unit 17, the navigation system 19, and the sound output device 31 are communicably connected to the information processing device 50 via communication means such as a dedicated line or a CAN (Controller Area Network). The information processing device 50 is also communicably connected to a driving record database 80.

[0023] The information processing device 50 is configured to include one or more processors such as a CPU (Central Processing Unit), and one or more storage elements (memories) such as RAM (Random Access Memory) and ROM (Read Only Memory) communicably connected to the one or more processors. A part or all of the information processing device 50 may be configured with updatable elements such as firmware, or may be a program module executed by a command from the CPU or the like.

[0024] The information processing device 50 functions as a device that executes a process to attract the attention of the driver of the vehicle 10 by having one or more processors execute a computer program. The computer program is a computer program that causes the processor to execute the operations to be performed by the information processing device 50, which will be described later. The computer program executed by the processor may be recorded on a recording medium that functions as a storage unit (memory) 55 provided in the information processing device 50, or may be recorded on a recording medium built into the information processing device 50 or any recording medium that can be externally attached to the information processing device 50.

[0025] Recording media for recording computer programs include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs (Compact Disk Read Only Memory), DVDs (Digital Versatile Disks), and Blu-ray (registered trademark), magneto-optical media such as floptical disks, memory elements such as RAMs and ROMs, flash memories such as USB (Universal Serial Bus) memories and SSDs (Solid State Drives), and other media capable of storing programs.

[0026] The information processing device 50 may be configured by a control device (ECU: Electronic Control Unit) mounted on the vehicle 10, or may be configured by a mobile terminal such as a smartphone.

[0027] (1-2-1. Vehicle behavior measurement device) The vehicle body behavior measurement device 11 measures state values ​​that indicate vehicle body behavior. The vehicle body behavior measurement device 11 includes, for example, at least one of a vehicle speed sensor, an acceleration sensor, and an angular velocity sensor. The vehicle speed sensor detects, for example, the rotational speed of the drive shaft of the vehicle 10. The acceleration sensor detects at least longitudinal acceleration, which is acceleration in the longitudinal direction of the vehicle body, and lateral acceleration, which is acceleration in the vehicle width direction. The acceleration sensor may also detect vertical acceleration, which is acceleration in the vehicle height direction. The angular velocity sensor detects the rate of change of each of the rotation angle around an axis in the longitudinal direction of the vehicle body (roll angle), the rotation angle around an axis in the vehicle width direction (pitch angle), and the rotation angle around an axis in the vehicle height direction (yaw angle). The angular velocity sensor may be a yaw rate sensor that detects the rate of change of the yaw angle.

[0028] The state values ​​measured by the vehicle body behavior measurement device 11 are state values ​​that can change depending on the driver's operation of the accelerator pedal, brake pedal, and steering wheel, and are transmitted to the information processing device 50 as data indicating vehicle body behavior. The information processing device 50 is configured to be able to acquire data indicating the state values ​​measured by the vehicle body behavior measurement device 11. The vehicle body behavior measurement device 11 may include a sensor capable of measuring state values ​​that reflect vehicle body behavior, in addition to a vehicle speed sensor, an acceleration sensor, and an angular velocity sensor.

[0029] (1-2-2. Surrounding environment detection device) The surrounding environment detection device 13 detects information about the surrounding environment of the vehicle 10. The surrounding environment detection device 13 includes at least one of a stereo camera, a monocular camera, an ultrasonic sensor, a LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), and a radar sensor. The vehicle 10 illustrated in FIG. 1 is equipped with a pair of left and right front-facing cameras 13L, 13R as the surrounding environment detection device 13.

[0030] The surrounding environment detection device 13 detects objects around the vehicle 10, such as other vehicles, bicycles, pedestrians, road signs, and other obstacles, based on the measured data, and calculates the distance to these objects, their relative positions, and their relative speeds. The surrounding environment detection device 13 also detects information about the surroundings of the vehicle 10, such as road width, based on the measured data. The information about the surrounding environment detected by the surrounding environment detection device 13 is transmitted to the information processing device 50. The information processing device 50 is configured to be able to acquire the information detected by the surrounding environment detection device 13. The surrounding environment detection device 13 may include other sensors capable of detecting information about the surrounding environment of the vehicle 10, in addition to a stereo camera, a monocular camera, an ultrasonic sensor, a LiDAR, and a radar sensor.

[0031] (1-2-3. Position detection sensor) The position detection sensor 15 receives positioning signals transmitted from satellites of a Global Navigation Satellite System (GNSS), typified by the Global Positioning System (GPS), and detects the position of the vehicle 10. The position of the vehicle 10 is acquired, for example, as data of latitude and longitude on the Earth. The position detection sensor 15 may receive positioning signals transmitted from another system, such as a quasi-zenith satellite system, instead of or in addition to the GNSS, and detect the position of the vehicle 10. Information on the position of the vehicle 10 detected by the position detection sensor 15 is transmitted to the information processing device 50. The information processing device 50 is configured to acquire information (position information) on the position of the vehicle 10 detected by the position detection sensor 15 and identify the position of the vehicle 10 on map data.

[0032] (1-2-4. Map data storage section) The map data storage unit 17 is a storage device that stores map data. The map data includes not only information such as topography, road type, road shape, buildings, locations of traffic signals, and crosswalks, but also all traffic-related information such as road width, road gradient, number of lanes, speed limits, and traffic regulation signs. Various pieces of information included in the map data are associated with, for example, latitude and longitude coordinates on the Earth. The map data storage unit 17 may be a function of the storage unit 55 built into the information processing device 50, or may be realized by an on-board storage device or an external server communicably connected to the information processing device 50.

[0033] (1-2-5. Navigation System) The navigation system 19 guides the driver along the route to the destination in accordance with the route setting. In addition, the navigation system 19 may notify the driver of traffic information such as congestion information and road regulation information.

[0034] (1-2-6. Sound output device) The sound output device 31 outputs a sound that can be recognized by the driver. The sound output device 31 may be a speaker of an audio system provided in the vehicle 10, or may be a speaker dedicated to the driving assistance device 1. The sound output device 31 outputs a warning or sound effect to attract the driver's attention in accordance with a warning process or sound effect output process by the information processing device 50. The sound output device 31 of the vehicle 10 shown in FIG. 1 is composed of four speakers 31LF, 31RF, 31LR, and 31RR provided on the front, rear, left, and right sides of the vehicle 10.

[0035] (1-2-7. Driving record database) The driving record database 80 is a database that accumulates data on vehicle behavior measured while various drivers are driving the vehicle. The vehicle behavior data is data on vehicle behavior measured while various drivers are driving the vehicle, and is stored in association with vehicle position information such as a driving point or a driving route. The vehicle behavior data may be, for example, an index value indicating vehicle behavior calculated by a data processing unit 65 (described later), but is not particularly limited as long as it reflects the vehicle behavior.

[0036] The driving record database 80 may be a non-updatable database that records a large amount of data collected in advance, or may be a database that is provided on an external server that is accessible to the information processing device 50 via mobile communication means and that can be updated with data transmitted from each vehicle as needed.

[0037] (1-2-8. Information processing device) The information processing device 50 includes a communication unit 51, a processing unit 53, a storage unit 55, and an effect level storage unit 57. The processing unit 53 includes an acquisition unit 61, a difficulty level determination processing unit 63, a data processing unit 65, an attention processing unit 67, and an effect determination processing unit 69. The processing unit 53 is configured by a processor such as a CPU, and the acquisition unit 61, the difficulty level determination processing unit 63, the data processing unit 65, the attention processing unit 67, and the effect determination processing unit 69 are functions realized by the processor executing a program. However, part of the processing unit 53 may be configured by an analog circuit.

[0038] (1-2-8-1. Storage section) The storage unit (memory) 55 includes one or more storage elements such as RAM or ROM communicably connected to the processing unit 53. The storage unit 55 stores programs executed by the processing unit 53, various parameters used for executing the programs, acquired data, data of calculation results, etc.

[0039] (1-2-8-2. Communications Department) The communication unit 51 is an interface for transmitting and receiving data or signals between the vehicle body behavior measurement device 11, the surrounding environment detection device 13, the position detection sensor 15, the map data storage unit 17, the sound output device 31, and the driving record database 80 and the processing unit 53. Furthermore, when the map data storage unit 17 or the driving record database 80 is provided in an external server or the like, or when the information processing device 50 communicates with an external service such as a telematics service, the communication unit 51 includes an interface for communicating with the external server or the like via wireless communication means or the like.

[0040] (1-2-8-3. Effect level memory section) The effect level storage unit 57 records the degree of effect (effect level) of stabilizing vehicle body behavior while the driver is driving due to execution of sound effect output processing by the attention calling processing unit 67, which will be described later. The effect level of the sound effect output processing is recorded as information associated with each driver. In this embodiment, the effect level is evaluated on a three-level scale, from level 1 to level 3. Note that the higher the effect level number, the greater the effect of stabilizing vehicle body behavior due to the sound effect output processing. A method for evaluating the effect level will be described later. The effect level storage unit 57 can be configured by a storage element such as RAM built into the information processing device 50, but may also be configured by an in-vehicle storage device or an external server communicably connected to the information processing device 50.

[0041] (1-2-8-4. Acquisition Department) The acquisition unit 61 of the processing unit 53 acquires information transmitted from the vehicle body behavior measurement device 11, the surrounding environment detection device 13, and the position detection sensor 15 via the communication unit 51. The information acquired by the acquisition unit 61 includes data indicating vehicle body behavior transmitted from the vehicle body behavior measurement device 11. The acquisition unit 61 acquires information at a predetermined sampling period.

[0042] (1-2-8-5. Difficulty judgment processing unit) The difficulty determination processing unit 63 determines the driving difficulty for each predetermined section along which the vehicle is scheduled to travel. Specifically, the difficulty determination processing unit 63 acquires information on the planned travel route from the navigation system 19 and divides the planned travel route into predetermined sections. The difficulty determination processing unit 63 also determines the driving difficulty for each predetermined section.

[0043] The criteria for dividing the planned driving route may be set in advance according to any criteria. For example, the predetermined sections may be sections divided at fixed distances, sections divided at fixed estimated driving times, or sections divided to include a fixed number of curves with a predetermined curvature radius or greater. Alternatively, the predetermined sections may be sections obtained by dividing the planned driving route from the navigation start point to the destination into a fixed number of sections set in advance. Furthermore, the predetermined sections may be sections divided by road type, such as expressways, urban areas, winding roads, or unpaved roads.

[0044] The difficulty level determination processor 63 determines the driving difficulty for each predetermined section of the planned travel route according to predetermined criteria. The driving difficulty may be determined in accordance with various proposed publicly known determination methods. In this embodiment, the difficulty level determination processor 63 calculates a driving difficulty evaluation value D for each section according to the following formula (1) based on data on vehicle behavior recorded in the driving record database 80, information on the expected driving environment, and information on the characteristics (specifications or settings) of the vehicle 10.

[0045] D = a × Sd + b × Ed + c × Cd … (1) D: Difficulty rating Sd: First level of difficulty estimated from the driving record database Ed: The second level of difficulty estimated from the driving environment Cd: The third level of difficulty estimated from the vehicle's characteristics a, b, c: coefficients

[0046] The first difficulty level Sd estimated from the driving record database is set based on the vehicle body behavior data associated with each section from the vehicle body behavior data recorded in the driving record database 80. For example, the difficulty level determination processing unit 63 sets the first difficulty level Sd to the average value of the magnitude of the vehicle body behavior calculated based on the vehicle body behavior data associated with the relevant section. When the vehicle body behavior data includes multiple types of data, the difficulty level determination processing unit 63 aligns the scales of each data indicating the vehicle body behavior and then calculates the average value of the magnitude of the vehicle body behavior. The greater the vehicle body behavior when traveling through each section, the higher the first difficulty level becomes.

[0047] The second difficulty level Ed estimated from the driving environment is set based on one or more pieces of information including the radius of curvature of curves in each section, road width, road unevenness, the number of past accidents, road congestion, construction status, weather, and animal appearance frequency. The difficulty level determination processing unit 63 can read out the information regarding the radius of curvature of curves and road width from the information stored in the map data storage unit 17. The difficulty level determination processing unit 63 can also acquire information regarding the road unevenness, the number of past accidents, road congestion, construction status, weather, and animal appearance frequency from external service systems such as telematics services and road traffic information systems. The difficulty level determination processing unit 63 adds up a predetermined difficulty level determination value according to the acquired information to determine the second difficulty level Ed.

[0048] In addition, the difficulty assessment processing unit 63 may acquire information other than the above information that may affect the difficulty of driving the vehicle 10 by the driver, accumulate a difficulty assessment value according to the acquired information, and use this as the second difficulty level Ed.

[0049] The third difficulty level Cd estimated from the vehicle characteristics is set based on the specifications of equipment that may affect the difficulty of driving the vehicle 10. For example, the difficulty level determination processing unit 63 acquires one or more pieces of information on the size, type (sports type), and settings (suspension specifications or tire type) of the vehicle 10 that are pre-recorded in the storage unit 55, and sets the third difficulty level Cd according to pre-set criteria. The difficulty level determination processing unit 63 may acquire information such as the payload of the vehicle 10, the number of occupants, or the occupants' susceptibility to motion sickness, and may add up a difficulty level determination value according to the acquired information to set the third difficulty level Cd.

[0050] The difficulty determination processing unit 63 can estimate the load capacity of the vehicle 10 based on, for example, a suspension stroke amount detected by a stroke sensor. The difficulty determination processing unit 63 can also detect the number of occupants based on image data from an in-vehicle camera. The difficulty determination processing unit 63 can also detect the number of occupants based on a sensor signal from an occupant detection sensor provided in the seat. The difficulty determination processing unit 63 can determine the occupant's susceptibility to motion sickness, etc., based on information input in advance by the occupant or changes in the occupant's physical condition estimated based on image data from the in-vehicle camera.

[0051] The coefficients a, b, and c are set to appropriate values ​​to match the scales of the first difficulty level Sd, the second difficulty level Ed, and the third difficulty level Cd, respectively. The coefficients a, b, and c may be values ​​that reflect the weights of the first difficulty level Sd, the second difficulty level Ed, and the third difficulty level Cd, respectively.

[0052] The difficulty level determination processing unit 63 calculates a difficulty level evaluation value D1, D2,... Dn for each section Sec1, Sec2,... Secn into which the planned travel route is divided. In this embodiment, the difficulty level determination processing unit 63 determines to which level of course difficulty, which is set in advance to 10 levels, the calculated difficulty level evaluation value D belongs, and determines the course difficulty level (level 1 to level 10). Note that the higher the number of the course difficulty level, the higher the difficulty level of driving.

[0053] (1-2-8-6. Data processing unit) The data processing unit 65 of the processing unit 53 performs predetermined data processing on the data indicating the vehicle body behavior acquired by the acquisition unit 61. Specifically, the data processing unit 65 performs at least one of smoothing processing, absolute value conversion processing, and differentiation processing on the measurement data of vehicle speed, acceleration (longitudinal acceleration, lateral acceleration, or vertical acceleration), or angular velocity (angular velocity of yaw angle, roll angle, or pitch angle) indicating the vehicle body behavior, and calculates an index value that is a value indicating the magnitude of the vehicle body behavior. The index value calculated by the data processing unit 65 becomes larger as the vehicle body behavior becomes larger. On the other hand, the index value calculated by the data processing unit 65 becomes smaller as the vehicle body behavior becomes smaller.

[0054] For example, the data processing unit 65 performs smoothing, absolute value conversion, and differentiation on the measurement data of the vehicle speed, acceleration, or angular velocity to calculate the absolute value of the acceleration, the jerk of the absolute value of the acceleration (jerk), or the jerk of the absolute value of the angular velocity (angular acceleration). The data processing unit 65 may use the calculated absolute value of the acceleration, angular velocity, jerk, or angular acceleration as the index value. In particular, by using the absolute value of the jerk or angular acceleration as the index value, the influence of changes in the vehicle speed, acceleration, or angular velocity due to the trajectory of the travel route or the acceleration / deceleration of other vehicles is reduced, and changes in vehicle behavior due to the driver's driving operation can be more accurately evaluated.

[0055] Furthermore, the data processing unit 65 may calculate one index value using multiple pieces of data from any of the acceleration, angular velocity, jerk, and absolute value of angular acceleration. In this case, the data processing unit 65 may replace the values ​​of the individual data to be used with the same index (for example, a value between 0 and 100), and may use the average value of the values ​​obtained by replacing all the data values ​​to be used with the same index as the index value.

[0056] The data processing unit 65 can calculate acceleration and jerk for at least one of longitudinal acceleration, lateral acceleration, and vertical acceleration, and can also calculate angular velocity and angular acceleration for at least one of yaw angle, roll angle, and pitch angle, respectively.

[0057] (1-2-8-7. Attention Processing Unit) The attention calling processing unit 67 of the processing unit 53 selectively executes sound effect output processing or warning processing for each section depending on the course difficulty calculated by the difficulty determination processing unit 63. The sound effect output processing is processing that outputs sound effects according to the vehicle behavior when traveling through the corresponding section, and is expected to have the effect of encouraging the driver to perform driving operations that result in high stability of the vehicle behavior. The warning processing is processing that notifies the driver that driving through the corresponding section is difficult, and is expected to have the effect of directly calling the driver's attention. In this case, the attention calling processing unit 67 sets the range of course difficulty for which the sound effect output processing and the warning processing are executed based on the driver's effect level recorded in the effect level storage unit 57.

[0058] Below, examples of the warning process and sound effect output process will be described, followed by an explanation of an execution range setting process for setting the range of course difficulty for executing the sound effect output process and warning process.

[0059] (Warning processing) The warning process is a process of notifying the driver before passing through the relevant section that the driving difficulty level of the relevant section will be high. The attention calling processing unit 67 outputs a warning sound or voice from the sound output device 31 a predetermined distance or a predetermined time before the vehicle 10 reaches the relevant section, based on the position information of the vehicle 10. When outputting a voice, the attention calling processing unit 67 may notify specific anticipated danger information based on information used in the calculation of the course difficulty level by the difficulty determination processing unit 63. In addition to outputting a warning sound or voice from the sound output device 31, the attention calling processing unit 67 may also display a warning on a display unit such as an instrument panel, an image display panel of a navigation device, or an HMI (Human Machine Interface). Note that the specific content of the warning process is not particularly limited.

[0060] (Sound effect output processing) The sound effect output process is a process for outputting sound effects according to the vehicle behavior while the driver is driving. The attention calling process unit 67 notifies the driver of the state of the vehicle behavior caused by his / her own driving based on the index value of the vehicle behavior calculated by the data process unit 65. This allows the driver to pay attention to his / her own driving so that the vehicle behavior is stable. The specific output method of the sound effect output process is not particularly limited as long as it is a process for outputting sound effects according to the vehicle behavior.

[0061] For example, the attention calling processing unit 67 may execute a process of continuously outputting a sound while changing the output sound according to the magnitude of the vehicle body behavior while the vehicle 10 is traveling. Specifically, the attention calling processing unit 67 may convert the index value calculated by the data processing unit 65 into information about an output sound whose pitch changes according to the magnitude of the index value, and control the driving of the sound output device 31 based on the information about the output sound to generate the output sound. As a result, by paying attention to driving operations so as to maintain a low pitch of the output sound, the driver is guided to a driving operation state that can stabilize the vehicle body behavior, thereby guiding the vehicle 10 toward safe driving. Note that the attention calling processing unit 67 may change the frequency, volume, tempo, number or type of tones of the output sound instead of or in addition to changing the pitch of the output sound according to the magnitude of the vehicle body behavior.

[0062] An example of the sound effect output process will be described below with reference to Figures 3 and 4. Figures 3 and 4 show an example in which the pitch of a piano sound to be output is set and output using, as an index value, a value of lateral jerk obtained from measurement data of lateral acceleration detected by an acceleration sensor serving as one of vehicle body behavior measurement devices 11. As shown in Figure 3, data processing unit 65 performs smoothing processing and absolute value conversion processing on the measurement data of lateral acceleration to convert it into data of the absolute value of lateral acceleration. Furthermore, data processing unit 65 performs time differentiation processing on the data of the absolute value of lateral acceleration to convert it into data of the absolute value of lateral jerk.

[0063] As shown in FIG. 4, the attention calling processing unit 67 sets the pitch of the output sound according to the absolute value (index value) of the lateral jerk. The pitch of the output sound is assigned in advance according to the index value of the lateral jerk. For example, the pitch when the index value is zero is set to the lowest pitch, the pitch when the index value is the upper limit value lim is set to the highest pitch, and index values ​​between zero and the upper limit value lim are assigned to the pitches of each scale. All index values ​​equal to or greater than the upper limit value lim are assigned to the highest pitch. In this way, a sound with a pitch according to the index value reflecting the vehicle body behavior is output. As a result, changes in the vehicle body behavior are recognized by the driver as changes in sound, and the driver can recognize the vehicle body behavior caused by his / her driving operation in real time while the vehicle is traveling and in a manner that can suppress a decrease in attention. Therefore, the driver can pay attention to his / her driving so as to stabilize the vehicle body behavior.

[0064] The sound effect output process is not limited to the above example. For example, the attention calling processor 67 may increase the volume of the pleasant sound effect or the playback sound of the song or music as the index value reflecting the vehicle behavior decreases. This sound effect output process also allows the driver to pay attention to their own driving so that the pleasant sound effect or the like can be easily heard.

[0065] (Execution range setting process) The execution range setting process is a process for setting the range of course difficulty for executing the sound effect output process and the warning process based on the driver's effect level recorded in the effect level storage unit 57. In this embodiment, the course difficulty for each section is set to level 1 to level 10 according to the difficulty evaluation value D. The attention calling processing unit 67 sets at which level of the course difficulty set to any of levels 1 to 10 the sound effect output process and the warning process are executed, based on the driver's effect level.

[0066] 5 is an explanatory diagram showing an example of the range of course difficulty set by the execution range setting process for executing the sound effect output process and the warning process. As shown in FIG. 5, the attention calling processing unit 67 divides the course difficulty into three regions, and sets the warning process to be executed in the first region, which has the highest course difficulty. In addition, the attention calling processing unit 67 sets the warning process and the sound effect output process not to be executed in the third region, which has the lowest course difficulty. In addition, the attention calling processing unit 67 sets the sound effect output process to be executed in the second region between the first and third regions.

[0067] Specifically, for a driver whose effect level for the sound effect output processing is effect level 2, the attention calling processing unit 67 sets the sound effect output processing to be executed for sections of course difficulty level 5 to level 7. The attention calling processing unit 67 also sets the warning processing to be executed for sections of course difficulty level 8 to level 10. The attention calling processing unit 67 also sets the sound effect output processing and warning processing not to be executed for sections of course difficulty level 1 to level 4.

[0068] Furthermore, for a driver whose effect level for the sound effect output processing is effect level 1, the attention calling processing unit 67 narrows the execution range of the sound effect output processing with low effect, and sets it so that the sound effect output processing is executed for sections with course difficulty levels of 5 to 6. The attention calling processing unit 67 also sets it so that the warning processing is executed for sections with course difficulty levels of 7 to 10. The attention calling processing unit 67 also sets it so that neither the sound effect output processing nor the warning processing is executed for sections with course difficulty levels of 1 to 4.

[0069] Furthermore, for a driver whose effect level for the sound effect output processing is effect level 3, the attention calling processing unit 67 expands the execution range of the highly effective sound effect output processing, and sets it so that the sound effect output processing is executed for sections with course difficulty levels 5 to 8. The attention calling processing unit 67 also sets it so that the warning processing is executed for sections with course difficulty levels 9 to 10. The attention calling processing unit 67 also sets it so that neither the sound effect output processing nor the warning processing is executed for sections with course difficulty levels 1 to 4.

[0070] 5, the attention calling processing unit 67 maintains the range of course difficulty levels (third range) in which neither the sound effect output process nor the warning process is executed, and changes the range of course difficulty levels (second range) in which the sound effect output process is executed and the range of course difficulty levels (first range) in which the warning process is executed according to the driver's effect level. As a result, for a driver for whom the sound effect output process is highly effective in stabilizing vehicle body behavior, the number of opportunities to execute the sound effect output process is increased, and rather than simply issuing a warning, the driver's driving operation can be guided to one that stabilizes vehicle body behavior. On the other hand, for a driver for whom the sound effect output process is not highly effective in stabilizing vehicle body behavior, the number of opportunities to execute the sound effect output process is reduced, and a direct warning is notified, thereby attracting the driver's attention.

[0071] It should be noted that the number of divisions in the level of course difficulty, the method of setting the divisions into the first, second and third areas, and the method of changing the division settings based on the effect level are not limited to the above examples.

[0072] (1-2-8-8. Effect determination processing section) The effect determination processing unit 69 of the processing unit 53 determines the degree of effect (effect level) of stabilizing the vehicle behavior as a result of the sound effect output processing by the attention calling processing unit 67 being executed.

[0073] The effect determination processing unit 69 compares the vehicle behavior when the sound effect output processing is executed by the attention calling processing unit 67 with the vehicle behavior when the sound effect output processing is not executed, and determines the degree of effectiveness in light of predetermined criteria.

[0074] For example, the effect determination processing unit 69 calculates the number of times that the index value of the vehicle body behavior calculated by the data processing unit 65 exceeds a predetermined threshold for each predetermined reference distance or reference time, both when the sound effect output process is being executed and when the sound effect output process is not being executed. The effect determination processing unit 69 calculates the average value of the calculated number of times, both when the sound effect output process is being executed and when the sound effect output process is not being executed. Then, the effect determination processing unit 69 calculates an effect level based on the number of times or the ratio at which the average value when the sound effect output process is being executed is lower than the average value when the sound effect output process is not being executed.

[0075] In this embodiment, the effect determination processing unit 69 calculates the effect level in three stages (effect level 1 to effect level 3) and records the calculation results in the effect level storage unit 57. The larger the effect level number, the greater the effect of stabilizing the vehicle body behavior due to the sound effect output process. Every time the effect determination processing unit 69 calculates a new effect level, it reads out the history of effect levels previously recorded in the effect level storage unit 57, calculates an average value by adding information about the newly calculated effect level, and updates the information to be recorded in the effect level storage unit 57. Alternatively, the effect determination processing unit 69 may overwrite the information about the effect level recorded in the effect level storage unit 57 with information about the newly calculated effect level.

[0076] The method of calculating the effect level by the effect determination processing unit 69 is not limited to the above example. Any method may be applied as long as it is a method of performing predetermined data processing using data indicating the vehicle body behavior when the sound effect output processing is executed and data indicating the vehicle body behavior when the sound effect output processing is not executed, and determining the degree of stability of the vehicle body behavior when the sound effect output processing is executed.

[0077] <1-3. Processing Operation> Next, an example of the processing operation by the information processing device of the driving assistance device of this embodiment will be described. The operation of the effect determination process and the operation of the attention calling process by the information processing device 50 will be described below.

[0078] (1-3-1. Effect determination process) FIG. 6 is a flowchart showing the processing operation of the effect level determination processing unit 69. First, the effect determination processing unit 69 reads data on the vehicle body behavior measured when the sound effect output process is executed (step S71). In this embodiment, the effect determination processing unit 69 reads data on the index value that reflects the magnitude of the vehicle body behavior calculated by the data processing unit 65 and recorded in the storage unit 55.

[0079] Next, the effect determination processing unit 69 reads data on the vehicle body behavior measured when the sound effect output processing is not being executed (step S73). As in step S71, in this embodiment, the effect determination processing unit 69 reads data on the index value that reflects the magnitude of the vehicle body behavior calculated by the data processing unit 65 and recorded in the storage unit 55.

[0080] Next, the effect determination processing unit 69 compares the data on the vehicle body behavior when the sound effect output process is being executed and when it is not being executed, and determines the degree of effect (effect level) of stabilizing the vehicle body behavior due to the sound effect output process (step S75). For example, the effect determination processing unit 69 calculates the number of times that the index value of the vehicle body behavior exceeds a predetermined threshold for each predetermined reference distance or reference time. The effect determination processing unit 69 also calculates the average value of the calculated number of times, for each time when the sound effect output process is being executed and when the sound effect output process is not being executed. The effect determination processing unit 69 then calculates the effect level based on the number of times or the ratio at which the average value when the sound effect output process is being executed falls below the average value when the sound effect output process is not being executed.

[0081] In this embodiment, the effect determination processing unit 69 calculates the effect level in three stages (effect level 1 to effect level 3) and records the calculated effect level together with the driver's identification data in the effect level storage unit 57. Note that the method for determining the degree of effect of the sound effect output processing on stabilizing vehicle body behavior is not limited to the above-mentioned example.

[0082] The effect level determination process by the effect determination processing unit 69 may be performed at any timing. For example, the effect determination processing unit 69 may perform the effect level determination process each time the vehicle 10 passes through a section where the sound effect output process is performed, or may perform the effect level determination process when the vehicle 10 reaches the destination along the planned travel route. Alternatively, the effect determination processing unit 69 may perform the effect level determination process when the switch of the vehicle 10 is turned off.

[0083] (1-3-2. Warning processing) Fig. 7 is a flowchart showing the processing operation of the attention-calling process by the information processing device 50. The flowchart shown in Fig. 7 may be executed constantly when the system of the vehicle 10 is started up, or may be executed after the user starts up the system of the driving assistance device at any timing.

[0084] First, when the function of the driving assistance device 1 is turned on (activated) (step S11), the difficulty level determination processing unit 63 of the processing unit 53 reads information about the planned driving route (step S13). Specifically, the difficulty level determination processing unit 63 refers to the setting information of the navigation system 19 and reads information about the planned driving route.

[0085] Next, the difficulty determination processing unit 63 determines whether or not a planned driving route has been set (step S15). If the difficulty determination processing unit 63 does not determine that a planned driving route has been set (S15 / No), it ends this routine and returns to start. On the other hand, if the difficulty determination processing unit 63 determines that a planned driving route has been set (S15 / Yes), it determines the course difficulty of the planned driving route (step S17). The difficulty determination processing unit 63 divides the planned driving route into predetermined sections and determines the driving difficulty for each predetermined section.

[0086] FIG. 8 shows a flowchart of the process for determining the difficulty level of a course. First, the difficulty level determination processing unit 63 divides the planned driving route into predetermined sections according to a preset criterion (step S31). For example, the difficulty level determination processing unit 63 divides the planned driving route into sections each having a certain distance or a certain estimated driving time. When dividing the planned driving route into sections each having a certain estimated driving time, the difficulty level determination processing unit 63 divides the planned driving route into sections each having a certain distance when the planned driving route is driven for a predetermined reference time at the legal speed of the road on which the planned driving route is driven, for example.

[0087] Alternatively, the difficulty determination processing unit 63 may divide the planned driving route into sections so that it includes a certain number of curves with a predetermined curvature radius or more, or may divide the planned driving route into a certain number of sections set in advance. Alternatively, the difficulty determination processing unit 63 may divide the planned driving route into sections by road type, such as expressways, urban areas, winding roads, or unpaved roads.

[0088] Next, the difficulty determination processing unit 63 acquires various information necessary for determining the difficulty level of the course (step S33). In this embodiment, the difficulty determination processing unit 63 acquires, for each section, data on the vehicle behavior recorded in the driving record database 80, information on the expected driving environment, and information on the characteristics (specifications or settings) of the vehicle 10.

[0089] The vehicle behavior data includes data on vehicle behavior when multiple vehicles, including the host vehicle, have traveled through each section in the past. The expected driving environment includes one or more pieces of information on the radius of curvature of curves in each section, road width, road unevenness, the number of past accidents, road congestion, construction status, weather, and animal appearance frequency. The information on the characteristics of the vehicle 10 is information that may affect the difficulty of driving the vehicle 10, and includes one or more pieces of information on the size, type (sports type), and settings (suspension specifications or tire type) of the vehicle 10. The difficulty determination processing unit 63 may acquire information such as the payload of the vehicle 10, the number of occupants, or the occupants' susceptibility to motion sickness, as the information on the characteristics of the vehicle 10.

[0090] Next, the difficulty determination processing unit 63 calculates the course difficulty for each section (step S35). In this embodiment, the difficulty determination processing unit 63 calculates the driving difficulty evaluation values ​​D1, D2...Dn for each section according to the above-mentioned formula (1), and determines the level of course difficulty (level 1 to level 10) according to the difficulty evaluation value D. The larger the number of the course difficulty level, the higher the difficulty of driving.

[0091] Next, the difficulty level determination processing unit 63 records the course difficulty level calculated for each section in the storage unit 55 (step S37), and ends the process of determining the course difficulty level.

[0092] Returning to FIG. 7, after the process of determining the course difficulty level is completed, the attention warning processing unit 67 of the processing unit 53 acquires information on the driver's effect level from the effect level storage unit 57 (step S19). For example, the attention warning processing unit 67 reads out information on the effect level stored in the effect level storage unit 57 in association with the driver's identification data. The driver's identification data is information for identifying each driver. The attention warning processing unit 67 identifies the driver's identification data based on information input by each driver, for example, and reads out information on the corresponding effect level. Alternatively, the attention warning processing unit 67 may identify the driver's identification data based on features of the driver's face recognized based on image data from an in-vehicle camera, and read out information on the corresponding effect level.

[0093] Next, the attention calling processing unit 67 sets a range of course difficulty levels for executing sound effect output processing and warning processing based on the acquired driver's effect level (step S21). In this embodiment, the acquired effect level is set to one of effect level 1, effect level 2, or effect level 3, and a setting pattern for the range of course difficulty levels for executing sound effect output processing and warning processing according to the effect level is recorded in advance in the storage unit 55. The attention calling processing unit 67 sets the setting pattern according to the driver's effect level as the range of course difficulty levels for executing sound effect output processing and warning processing (see FIG. 5). As a result, a first range of course difficulty levels for executing warning processing, a second range of course difficulty levels for executing sound effect output processing, and a third range of course difficulty levels for not executing sound effect output processing and warning processing are set.

[0094] Next, while the vehicle 10 is traveling, the attention calling processing unit 67 executes attention calling processing based on the information on the course difficulty level of each section and the information on the range of course difficulty level for executing the sound effect output processing and the warning processing (step S23).

[0095] FIG. 9 is a flowchart showing the processing operation of the attention calling processing unit 67. First, the attention warning processing unit 67 reads the course difficulty of the target section calculated in step S17 above (step S41). If the determination in step S41 is the first time after the start of the driving assistance process, the attention warning processing unit 67 reads the course difficulty of the first section, counting from the start point, of the multiple sections into which the planned driving route is divided. On the other hand, if the determination in step S41 is the second or later time, the attention warning processing unit 67 reads the course difficulty of the section next to the section currently being driven.

[0096] Next, the attention calling processing unit 67 determines whether the read course difficulty level is included in the first region for executing the warning process (step S43). If the attention calling processing unit 67 determines that the course difficulty level is included in the first region (S43 / Yes), it executes the warning process for the target section (step S45). For example, if the driver's effect level is effect level 2 and the course difficulty level is any one of levels 8 to 10, the attention calling processing unit 67 determines that the course difficulty level is included in the first region and executes the warning process.

[0097] Specifically, the attention alert processing unit 67 outputs a warning sound or voice from the sound output device 31 a predetermined distance or a predetermined time before the vehicle 10 reaches the relevant section, based on the position information of the vehicle 10. When outputting a voice, the attention alert processing unit 67 may notify specific anticipated danger information based on information used in the calculation of the course difficulty by the difficulty determination processing unit 63. The attention alert processing unit 67 may also notify specific danger information while traveling through the relevant section. Furthermore, in addition to outputting a warning sound or voice from the sound output device 31, the attention alert processing unit 67 may also display a warning on a display unit such as an instrument panel, an image display panel of a navigation device, or an HMI (Human Machine Interface).

[0098] The warning process directly notifies the driver of a warning, thereby drawing the driver's attention. Note that the specific content of the warning process is not particularly limited.

[0099] After executing the warning process, or while executing the warning process, the attention warning processing unit 67 determines whether the end point of the section currently being traveled is approaching (step S47). For example, the attention warning processing unit 67 determines that the end point is approaching when the distance to the end point or the time required to reach the end point is less than a predetermined reference value. If the attention warning processing unit 67 does not determine that the end point of the section currently being traveled is approaching (S47 / No), it repeats the determination of step S47. On the other hand, if the attention warning processing unit 67 determines that the end point of the section currently being traveled is approaching (S47 / Yes), it proceeds to a process of determining whether all sections of the planned travel route have ended (step S49).

[0100] On the other hand, if the attention warning processing unit 67 does not determine that the course difficulty level is within the first range in the above-mentioned step S43 (S43 / No), it determines whether the read course difficulty level is within the second range for which sound effect output processing is to be executed (step S51). If the attention warning processing unit 67 does not determine that the course difficulty level is within the second range (S51 / No), the course difficulty level is determined to be within the third range, and the process proceeds to step S47 to repeat the above-mentioned determination processing. On the other hand, if the attention warning processing unit 67 determines that the course difficulty level is within the second range (S51 / Yes), it executes sound effect output processing for the target section (step S53).

[0101] FIG. 10 shows a flowchart of the sound effect output process. In the sound effect output process, first, the data processing unit 65 acquires data indicating vehicle body behavior output from the vehicle body behavior measurement device 11 (step S61). Next, the data processing unit 65 performs predetermined data processing on the acquired data indicating vehicle body behavior (step S63). For example, the data processing unit 65 performs at least one of smoothing, absolute value conversion, and differentiation on the acquired data to calculate an index value indicating the magnitude of the vehicle body behavior. More specifically, as illustrated in FIG. 3, the data processing unit 65 performs smoothing and absolute value conversion on the measurement data of lateral acceleration to convert it into data of the absolute value of lateral acceleration. Furthermore, the data processing unit 65 performs time differentiation on the data of the absolute value of lateral acceleration to convert it into data of the absolute value (index value) of lateral jerk.

[0102] Next, the attention calling processing unit 67 executes a process of outputting a sound based on the data indicating the vehicle body behavior (step S65). For example, as illustrated in Fig. 4, the attention calling processing unit 67 sets the pitch of the output sound according to an index value indicating the magnitude of the vehicle body behavior, and causes the sound output device 31 to output the sound. As a result, a sound with a pitch according to the index value reflecting the vehicle body behavior is output. This makes it possible to guide the driver's driving operation toward a driving operation that stabilizes the vehicle body behavior, rather than simply notifying the driver of a warning.

[0103] 9, while executing the sound effect output process in step S53, the attention alert processing unit 67 determines whether or not the end point of the section currently being traveled is approaching, similar to step S47 (step S55). If the attention alert processing unit 67 does not determine that the end point of the section currently being traveled is approaching (S55 / No), it executes the sound effect output process of step S53 and repeats the determination of step S55. On the other hand, if the attention alert processing unit 67 determines that the end point of the section currently being traveled is approaching (S55 / Yes), it proceeds to a process of determining whether or not all sections of the planned travel route have ended (step S49).

[0104] If it is determined that the end point of the section currently being traveled is approaching (S47 / Yes or S55 / Yes), the attention calling processing unit 67 determines whether or not all sections of the planned travel route have been completed (step S49). If the attention calling processing unit 67 does not determine that all sections of the planned travel route have been completed (S49 / No), the attention calling processing unit 67 returns to step S41 and executes attention calling processing for the next section. On the other hand, if the attention calling processing unit 67 determines that all sections of the planned travel route have been completed (S49 / Yes), the attention calling processing ends when the target point of the planned travel route is reached.

[0105] <1-4. Effects of this embodiment> The driving assistance device 1 according to this embodiment sets a course difficulty level for each section of a planned driving route, and executes a sound effect output process and a warning process according to the course difficulty level. In this case, the driving assistance device 1 changes the range of course difficulty for executing the replacement sound output process and the warning process according to the level of effect of stabilizing vehicle behavior due to the sound effect output process. This increases the number of opportunities to execute the sound effect output process for a driver for whom the sound effect output process is highly effective in stabilizing vehicle behavior, and instead of simply issuing a warning, the driver's driving operation can be guided toward a driving operation that stabilizes vehicle behavior. On the other hand, for a driver for whom the sound effect output process is less effective in stabilizing vehicle behavior, the number of opportunities to execute the sound effect output process can be reduced, and a direct warning can be issued to attract the driver's attention.

[0106] Furthermore, the driving assistance device 1 according to this embodiment divides the course difficulty into a first region having the highest level of difficulty, a third region having the lowest level of difficulty, and a third region between the first and second regions. The driving assistance device 1 executes a warning process in the first region, executes a sound effect output process in the second region, and does not execute either the sound effect output process or the warning process in the third region. The driving assistance device 1 then changes the ranges of the first, second, and third regions according to the above-described effect level for each driver. As a result, a direct warning is issued in situations where the course difficulty is relatively high and careful driving is required, while the sound effect output process is executed in situations where the course difficulty is relatively medium and the sound effect output process can be expected to be effective for each driver. Therefore, since a warning is not issued under any circumstances, the driver's sense of discomfort is reduced and the driver's driving operation can be guided to one that improves the stability of vehicle behavior.

[0107] Furthermore, in the driving assistance device 1 according to this embodiment, the higher the effect level of the sound effect output process, the narrower the range of the first region in which the warning process is executed, while the broader the range of the second region in which the sound effect output process is executed. Therefore, the more likely a driver is to benefit from the sound effect output process in improving the stability of vehicle behavior, the more opportunities there are for the sound effect output process to be executed in preference to the warning process.

[0108] <<2. Other Embodiments>> So far, the driving assistance device according to the embodiment of the present disclosure has been described. The driving assistance device according to the above-described embodiment can be modified in various ways. Below, some modified examples of the driving assistance device according to the above-described embodiment will be described.

[0109] <2-1. First modified example> The driving assistance device of the first variant is configured to change the range of driving difficulty for executing the sound effect output process and warning process based on the driver's driving skill, along with the degree of effectiveness of the sound effect output process in stabilizing vehicle behavior.

[0110] Fig. 11 is a block diagram showing an example of the configuration of a driving assistance device 100 according to a first modified example. The information processing device 101 of the driving assistance device 100 includes a driving skill level storage unit 103 communicably connected to the processing unit 53. The driving skill level storage unit 103 stores identification data for each driver as well as information on the driving skill level of the driver. In the first modified example, the driving skill levels are set in three stages, level 1 to level 3. The higher the level number, the higher the driving skill.

[0111] The method for setting the driving skill level is not particularly limited, and driving skills determined according to a known driving skill determination method may be divided into three levels and set. For example, at least one of the following information may be used to determine the driver's driving skill: the driver's age, the number of years since obtaining a license, driving frequency, the number of years since the last drive, etc. In other words, if the driver's age is elderly, the driving skill level is set low because it is highly likely that the driver's driving skill has deteriorated. Furthermore, the longer the number of years since obtaining a license, the higher the driving skill level is set because it is estimated that the driver's driving skill is high. Furthermore, the more frequently the driver drives, the higher the driving skill level is set because it is estimated that the driver's driving skill is high. Furthermore, the longer the number of years since the last drive (number of blank years) is, the higher the driving skill level is set because it is highly likely that the driver's driving skill has deteriorated.

[0112] Furthermore, data on index values ​​reflecting the vehicle behavior of the same driver during past driving may be used as information for determining the driver's driving skill. In this case, the fewer the number of times or the less frequently the index value exceeds the upper limit value (see FIG. 4), the higher the driving skill level is set, since it is estimated that the driver's driving skill is high. In addition, the driver's driving skill level can be set based on various other information.

[0113] 12 and 13, together with FIG. 5, are explanatory diagrams showing an example of the range of course difficulty for executing the sound effect output process and the warning process, which is set by the execution range setting process in the first modified example. Here, the setting pattern shown in FIG. 5 is an example showing the setting pattern of a driver with a driving skill level of level 2, for each effect level of the sound effect output process. The setting pattern shown in FIG. 12 is an example showing the setting pattern of a driver with a driving skill level of level 1, for each effect level of the sound effect output process. The setting pattern shown in FIG. 13 is an example showing the setting pattern of a driver with a driving skill level of level 3, for each effect level of the sound effect output process. Note that the higher the number of driving skill levels, the higher the driving skill.

[0114] For a driver with a driving skill level of level 1, the range of the third region in which neither the sound effect output process nor the warning process is executed is narrower than for a driver with a driving skill level of level 2. On the other hand, for a driver with a driving skill level of level 3, the range of the third region in which neither the sound effect output process nor the warning process is executed is wider than for a driver with a driving skill level of level 2. In other words, the lower the driver's driving skill level, the wider the range of course difficulty in which the sound effect output process and the warning process are executed. This makes it easier for drivers with low driving skill levels to be alerted, thereby improving driving safety. On the other hand, for drivers with high driving skill levels, it is less likely for alerts to be issued when the course difficulty is low, thereby reducing the discomfort or annoyance felt by the driver.

[0115] Furthermore, the higher the driving skill level, the narrower the range of the first region in which the warning process is executed. This makes it easier for drivers with high driving skill levels to have sound effects output instead of simply receiving a warning, thereby reducing discomfort or annoyance felt by the driver.

[0116] Furthermore, even for drivers with the same driving skill level, the ranges of the second region where the sound effect output process is executed and the third region where the warning process is executed are expanded or reduced depending on the degree of effect (effect level) of stabilizing the vehicle body behavior due to the sound effect output process. Therefore, the range of course difficulty where the sound effect output process is executed and the range of course difficulty where the warning process is executed are changed depending on the effect level of each driver, and the more likely a driver is to see the effect of improving the stability of the vehicle body behavior due to the sound effect output process, the more opportunities there are for the sound effect output process to be executed in preference to the warning process.

[0117] In addition, even in the first variant, the number of divisions in the level of course difficulty, the method of setting the divisions into the first, second and third areas, and the method of changing the division settings based on the effect level are not limited to the above examples.

[0118] 14 is a flowchart showing the processing operation of the attention calling process according to the first modified example. The flowchart shown in FIG. 14 is obtained by adding step S81 to the flowchart shown in FIG.

[0119] In the first modified example, the attention calling processing unit 67 acquires information on the driver's effect level (step S19), and then further acquires driving skill level information on the driver (step S81). Then, the attention calling processing unit 67 sets a range of course difficulty levels for executing sound effect output processing and warning processing based on the acquired effect level and driving skill level of the driver (step S21). The attention calling processing unit 67 sets a setting pattern according to the driver's effect level and driving skill level as the range of course difficulty levels for executing sound effect output processing and warning processing (see FIGS. 5, 12, and 13). As a result, a first range of course difficulty levels for executing warning processing, a second range of course difficulty levels for executing sound effect output processing, and a third range of course difficulty levels for not executing either sound effect output processing or warning processing are set.

[0120] The processing of each step other than those described above is executed in the same manner as the processing operation of the attention calling processing in the above embodiment. The driving assistance device 100 according to the first modification expands the range of course difficulty for which the sound effect output processing and the warning processing are executed as the driver's driving skill level becomes relatively low. This makes it easier to call attention to drivers with low driving skill levels, thereby improving driving safety. On the other hand, it is harder to call attention to drivers with high driving skill levels when the course difficulty level is low, thereby reducing the discomfort or annoyance felt by the driver.

[0121] <2-2. Second modified example> The driving assistance device of the second variant is configured to change the range of driving difficulty for executing the sound effect output process and warning process based on the driver's level of fatigue or concentration, as well as the degree of effectiveness of the sound effect output process in stabilizing vehicle behavior.

[0122] FIG. 15 is a block diagram showing an example configuration of a driving assistance device 110 according to a second modification. The information processing device 111 of the driving assistance device 110 includes a fatigue level determination unit 113 as a function of the processing unit 53. The fatigue level determination unit 113 estimates an increase in fatigue level or a decrease in concentration. For example, the fatigue level determination unit 113 may observe the driver's pupils based on image data from an in-vehicle camera and estimate a decrease in the driver's concentration based on the degree of pupil constriction. Alternatively, the fatigue level determination unit 113 may observe the number of blinks or yawns of the driver based on image data from the in-vehicle camera and estimate an increase in the driver's fatigue level or a decrease in concentration if the number of blinks or yawns exceeds a predetermined frequency. However, the method for estimating the fatigue level or concentration is not particularly limited, and the fatigue level determination unit 113 may estimate the driver's fatigue level or concentration using a known method.

[0123] 16, together with FIG. 5, is an explanatory diagram showing an example of the range of course difficulty for executing the sound effect output process and the warning process, which is set by the execution range setting process in the second modified example. Here, the setting patterns shown in FIG. 5 are examples showing setting patterns for a driver who does not show signs of fatigue or a decline in concentration, for each effect level of the sound effect output process. The setting patterns shown in FIG. 16 are examples showing setting patterns for a driver who is estimated to have increased fatigue or decreased concentration, for each effect level of the sound effect output process.

[0124] For a driver whose fatigue level has increased or whose concentration has decreased, the range of the third region in which neither the sound effect output process nor the warning process is executed is narrowed compared to a driver who does not show fatigue or a decrease in concentration. In other words, for a driver whose fatigue level has increased or whose concentration has decreased, the range of course difficulty in which the sound effect output process and the warning process are executed is expanded. This makes it easier to alert a driver whose fatigue level has increased or whose concentration has decreased, thereby improving driving safety. On the other hand, for a driver who does not show fatigue or a decrease in concentration, it is less likely to alert a driver when the course difficulty is low, thereby reducing discomfort or annoyance felt by the driver.

[0125] Furthermore, even for drivers with the same level of fatigue or concentration, the ranges of the second region where the sound effect output process is executed and the third region where the warning process is executed are expanded or contracted depending on the degree of effect (effect level) of stabilizing vehicle body behavior due to the sound effect output process. Therefore, the range of course difficulty where the sound effect output process is executed and the range of course difficulty where the warning process is executed are changed depending on the effect level for each driver, and the more likely a driver is to see the effect of improving the stability of vehicle body behavior due to the sound effect output process, the more opportunities there are for the sound effect output process to be executed in preference to the warning process.

[0126] In the second variant, the number of divisions in the level of course difficulty, the method of setting the divisions into the first, second and third areas, and the method of changing the division settings based on the effect level are not limited to the above examples.

[0127] 17 is a flowchart showing the processing operation of the attention calling process according to the second modified example. The flowchart shown in FIG. 17 is obtained by adding step S91 to the flowchart shown in FIG.

[0128] In the second modified example, the attention calling processing unit 67 acquires information on the driver's effect level (step S19), and then estimates the driver's fatigue level or concentration level (step S91). Then, the attention calling processing unit 67 sets a range of course difficulty levels for executing sound effect output processing and warning processing based on the acquired driver's effect level and fatigue level or concentration level (step S21). The attention calling processing unit 67 sets a setting pattern according to the driver's effect level and fatigue level or concentration level as the range of course difficulty levels for executing sound effect output processing and warning processing (see FIGS. 5 and 16). As a result, a first range of course difficulty levels for executing warning processing, a second range of course difficulty levels for executing sound effect output processing, and a third range of course difficulty levels for not executing sound effect output processing and warning processing are set.

[0129] The processing of each step other than those described above is performed in the same manner as the processing operation of the attention-calling processing in the above embodiment. The driving assistance device 110 according to the second modification example expands the range of course difficulty for which the sound effect output processing and the warning processing are executed when the driver is fatigued or showing signs of decreased concentration. This makes it easier to issue an attention call to a driver who is fatigued or showing signs of decreased concentration, thereby improving driving safety. On the other hand, when the course difficulty is low, an attention call is less likely to be issued to a driver who is not fatigued or showing signs of decreased concentration, thereby reducing the discomfort or annoyance felt by the driver.

[0130] Although the preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings, the technology of the present disclosure is not limited to such examples. It is clear that a person skilled in the art of the technology to which the present disclosure pertains can conceive of various modified or altered examples within the scope of the technical ideas described in the claims, and it is understood that these also naturally fall within the technical scope of the present disclosure.

[0131] For example, in each of the above embodiments, an example has been described in which the information processing device of the driving assistance device is configured as a single device, but the technology of the present disclosure is not limited to such an example. Some or all of the functions of the information processing device 50 may be provided in an external server installed outside the vehicle. [Explanation of symbols]

[0132] 1: driving assistance device, 10: vehicle, 11: vehicle behavior measurement device, 13: surrounding environment detection device, 15: position detection sensor, 17: map data storage unit, 19: navigation system, 31: sound output device, 40: vehicle control device, 43: electric steering device, 50: information processing device, 51: communication unit, 53: processing unit, 55: storage unit, 57: effect level storage unit, 61: acquisition unit, 63: difficulty level determination processing unit, 65: data processing unit, 67: attention calling processing unit, 69: effect determination processing unit, 80: driving record database, 100: driving assistance device, 101: information processing device, 103: driving skill level storage unit, 110: driving assistance device, 111: information processing device, 113: fatigue level determination unit

Claims

1. A driving assistance device capable of executing a process of calling a driver's attention according to the difficulty of driving, a sound effect output unit that outputs a sound effect according to a vehicle body behavior, and an effect level storage unit that stores a degree of an effect of stabilizing the vehicle body behavior while the driver is driving the vehicle; the one or more processors: a difficulty level determination process for determining the difficulty level of driving for each predetermined section along which the host vehicle is scheduled to travel; an attention-calling process that selectively executes the sound effect output process or a warning process that issues a warning to the driver according to the difficulty level; a range of difficulty levels for executing the sound effect output process and the warning process in the attention-attention process based on the degree of the effect of the driver recorded in the effect level storage unit; Driving assistance device.

2. the one or more processors: In the attention-drawing process, Dividing the difficulty into at least three areas; execute the warning process in a first area having the highest level of difficulty among the at least three areas; neither the warning process nor the sound effect output process is executed in a third area having the lowest difficulty level among the at least three areas; the sound effect output process is executed in a second area between the first area and the third area among the at least three areas; changing the ranges of the first area, the second area, and the third area according to the degree of the effect; The driving assistance device according to claim 1 .

3. the one or more processors: As the degree of the effect increases, the range of the first region is narrowed, while the range of the second region is widened. The driving assistance device according to claim 2 .

4. the one or more processors: acquiring information about the driver's driving skills; changing the ranges of the first area, the second area, and the third area based on the degree of the effect and also on the driving skill of the driver; The driving assistance device according to claim 2 .

5. the one or more processors: The higher the driving skill of the driver, the narrower the range of at least the first area. The driving assistance device according to claim 4.

6. the one or more processors: changing the ranges of the first region, the second region, and the third region based on the degree of fatigue or the degree of concentration of the driver in addition to the degree of the effect; The driving assistance device according to claim 2 .

7. the one or more processors: The larger the degree of fatigue or the lower the degree of concentration, the narrower the range of the third region. The driving assistance device according to claim 6.

8. the one or more processors: further executing an effect determination process for determining a degree of the effect of stabilizing the vehicle body behavior while the driver is driving by executing the sound effect output process; The driving assistance device according to claim 1 .

9. one or more processors, a difficulty level determination process for determining the difficulty level of driving for each predetermined section along which the host vehicle is scheduled to travel; an attention-drawing process that selectively executes a sound effect output process that outputs a sound effect corresponding to a vehicle behavior or a warning process that issues a warning to the driver, depending on the difficulty level; a process of setting the range of difficulty for executing the sound effect output process and the warning process in the attention-attention process based on the degree of effect of stabilizing the vehicle body behavior while the driver is driving by executing the sound effect output process; A non-transitory tangible recording medium on which a computer program that executes the above is recorded.

Images