Control device, control method, and program

Abstract

To provide information that reflects an intention of a driver.SOLUTION: A control device is a control device which performs a first process when an index value indicating an approach degree to a risk body which exists in front of a moving body is less than a first threshold value; performs a second process different from the first process when an index value is greater than or equal to the first threshold value and less than a second threshold value that is greater than the first threshold value; and performs a third process different from the first process and the second process when an index value is greater than or equal to the second threshold value, wherein: the third process includes a fourth process of proposing a driving operation to a driver so as to avoid the risk body; and when the driver executes an action to reduce or cancel an operation of a handler for instructing an acceleration operation to accelerate the moving body, the control device does not perform the fourth process.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a control device, a control method, and a program. [Background technology]

[0002] A safe driving behavior notification system has been disclosed that determines whether or not notification is necessary based on the results of a comparison between the driving behavior that the driver should take, which is determined from the position of each obstacle, and the driving behavior of the driver predicted by a driving behavior model generated from the driver's past driving behavior, and if it determines that notification is necessary, notifies the driver of information indicating the behavior that the driver should take (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-22229 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above-mentioned technology may not be able to provide information that fully takes into account the driver's intentions. The present invention has been made in consideration of the above circumstances, and one of its objects is to provide a control device, a control method, and a program that can provide information that reflects the driver's intentions. [Means for solving the problem]

[0005] The control device, control method, and program according to the present invention employ the following configuration. (1): A control device according to one embodiment of the present invention is a control device that performs a first process when an index value indicating the degree of proximity to a risk object present in front of a moving body is less than a first threshold, performs a second process different from the first process when the index value is equal to or greater than the first threshold and less than a second threshold greater than the first threshold, and performs a third process different from the first process and the second process when the index value is equal to or greater than the second threshold, wherein the third process includes a fourth process that suggests to the driver a driving operation to avoid the risk object, and does not perform the fourth process when the driver takes action to reduce or cancel the operation of an operator that instructs an acceleration operation to accelerate the moving body.

[0006] (2): In the above aspect (1), if the driver performs the action before the index value reaches a third threshold value that is greater than the second threshold value, the fourth processing is not executed, and if the driver does not perform the action, the action to decelerate the moving body, or the action to operate an operator that controls the steering of the moving body to cause the moving body to avoid the risk object before the index value reaches the third threshold value, the fourth processing is executed when the index value reaches the third threshold value.

[0007] (3): In the above aspect (2), even if the driver performs the action after the fourth process is executed, the suggestion is continued until the index value reaches the second threshold value.

[0008] (4): In any of the above aspects (1) to (3), the operator is an accelerator pedal, and if the amount of operation of the accelerator pedal becomes smaller than a predetermined amount or if operation of the accelerator pedal is no longer performed, the fourth process is not executed.

[0009] (5): In any of the above aspects (1) to (3), the fourth process is one or more of the following processes: (1) displaying information on a display visible to the driver indicating deceleration or a direction of movement to avoid the moving object, (2) notifying the driver by voice to suggest a driving operation, (3) moving an operator that controls the steering of the moving object in a direction to avoid the moving object, and (4) vibrating the operator that controls the steering or the driver's seat belt.

[0010] (6): In any of the above aspects (1) to (3), if it is estimated that the driver does not recognize the risk object before the index value reaches a third threshold value that is greater than the second threshold value, an information providing device is controlled to notify the driver of information indicating the presence of the risk object, and if it is estimated that the driver recognizes the risk object before the index value reaches the third threshold value that is greater than the second threshold value, and the driver does not perform the action, the action to slow down the moving body, or the action of the driver operating an operator that controls the steering of the moving body to cause the moving body to avoid the risk object, the fourth processing is executed.

[0011] (7): In any of the above aspects (1) to (3), after the fourth process is executed and the index value reaches the second threshold, the second process is executed instead of the fourth process, and the second process is one or both of a process of warning the driver that the moving body is approaching the risk object and a process of automatically decelerating the moving body.

[0012] (8): In the above aspect (8), after the second processing is executed and the index value reaches the first threshold value, the first processing is executed instead of the second processing, and the first processing is one or both of a processing for decelerating the moving body at a deceleration rate greater than the deceleration rate during deceleration in the second processing, and a processing for automatically controlling the steering of the moving body to move the moving body to the side of the risk object.

[0013] (9): A control method according to one embodiment of the present invention is a control method in which a computer executes a first process when an index value indicating the degree of proximity to a risk object present in front of a moving body is less than a first threshold, a second process different from the first process when the index value is equal to or greater than the first threshold and less than a second threshold greater than the first threshold, and a third process different from the first process and the second process when the index value is equal to or greater than the second threshold, wherein the third process includes a fourth process that suggests to the driver a driving operation to avoid the risk object, and the fourth process is not executed when the driver takes action to reduce or cancel the operation of an operator that instructs an acceleration operation to accelerate the moving body.

[0014] (10): A program according to one embodiment of the present invention causes a computer to execute a first process when an index value indicating the degree of proximity to a risk object present in front of a moving body is less than a first threshold, a second process different from the first process when the index value is equal to or greater than the first threshold and less than a second threshold greater than the first threshold, and a third process different from the first process and the second process when the index value is equal to or greater than the second threshold, wherein the third process includes a fourth process that suggests to the driver a driving operation to avoid the risk object, and the program does not cause the fourth process to be executed when the driver takes action to reduce or cancel the operation of an operator that instructs an acceleration operation to accelerate the moving body. [Effects of the Invention]

[0015] According to aspects (1) to (10), even if the index value is equal to or greater than the second threshold, if the driver takes action to reduce or cancel the operation of the operator that instructs an acceleration operation to accelerate the moving body, the control device does not suggest to the driver a driving operation to avoid the risk object, and therefore can provide information that reflects the driver's intentions. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a configuration diagram of a vehicle M on which a driving assistance device 100 according to an embodiment is mounted. [Figure 2] FIG. 10 is a diagram for explaining the timing of notification when a risk object is present. [Figure 3] FIG. 10 is a diagram illustrating an example of a risk display. [Figure 4] FIG. 10 is a diagram illustrating an example of an oversight notification. [Figure 5] FIG. 10 is a diagram illustrating an example of an action suggestion notification. [Figure 6] FIG. 1 is a diagram showing an example of the relationship between events, driver actions, and information provided in an HMI. [Figure 7] FIG. 10 is a diagram showing another example of the relationship between events, driver actions, and information provided in the HMI. [Figure 8] 10 is a flowchart showing an example of the flow of processing executed by a notification control unit 120. [Figure 9] FIG. 10 is a diagram for explaining braking control. [Figure 10] FIG. 10 is a diagram showing another example of a notification mode. [Figure 11] FIG. 10 is a diagram illustrating an example of a functional configuration of a driving assistance device 100A according to a second embodiment. [Figure 12] 4 is a flowchart showing an example of the flow of processing executed by the driving assistance device 100A. [Figure 13] FIG. 10 is a diagram illustrating an example of a scene in which the observation point is not included in a specific region. [Figure 14] FIG. 1 is a diagram illustrating an example of a scene in which an observation point is included in a specific region. [Figure 15] FIG. 10 is a diagram showing another example of a scene in which an observation point is included in a specific region. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, an embodiment of a control device, a control method, and a program according to the present invention will be described with reference to the drawings. In the following, the moving body will be described as a vehicle, but the moving body may be an object other than a vehicle.

[0018] First Embodiment [Overall configuration] 1 is a configuration diagram of a vehicle M equipped with a driving assistance device 100 according to an embodiment. The vehicle M may be, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle, and its drive source may be an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination of these. The electric motor operates using power generated by a generator connected to the internal combustion engine, or discharged power from a secondary battery or a fuel cell.

[0019] The vehicle M is equipped with, for example, a camera 10, a radar device 12, a LIDAR (Light Detection and Ranging) 14, an object recognition device 16, an HMI (Human Machine Interface) 30, vehicle sensors 40, an in-vehicle camera 52, a driving operator 80, a driving assistance device 100, a driving force output device 200, a braking device 210, and a steering device 220. These devices and equipment are connected to each other via multiplexed communication lines such as a CAN (Controller Area Network) communication line, serial communication lines, a wireless communication network, etc. Note that the configuration shown in FIG. 1 is merely an example, and some of the configuration may be omitted, or other configurations may be added.

[0020] The camera 10 is, for example, a digital camera that uses a solid-state imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera 10 is attached to any location of a vehicle (hereinafter referred to as vehicle M) in which the vehicle system 1 is installed. The camera 10 includes, for example, a camera that captures images in the front, a camera that captures images in the left and forward direction, a camera that captures images in the right and forward direction, a camera that captures images in the left and rearward direction, and a camera that captures images in the right and rearward direction. For example, the camera 10 that captures images in the front is attached to the top of the front windshield, the back of the rearview mirror, etc. For example, a camera that captures images to the left and forward is mounted on or near the left A-pillar or near the left side mirror, a camera that captures images to the right and forward is mounted on or near the right A-pillar or near the left side mirror, a camera that captures images to the left and rear is mounted on or near the left C-pillar, and a camera that captures images to the right and rear is mounted on or near the right C-pillar. The mounting positions of these cameras may be any positions that allow the camera to capture an image of the target imaging area. Camera 10, for example, periodically and repeatedly captures images of the periphery of vehicle M. Camera 10 may be a stereo camera.

[0021] The radar device 12 emits radio waves such as millimeter waves around the vehicle M and detects radio waves reflected by an object (reflected waves) to detect at least the position (distance and direction) of the object. The radar device 12 is attached to any location on the vehicle M. The radar device 12 may detect the position and speed of an object using an FM-CW (Frequency Modulated Continuous Wave) method. The radar device 12 may be attached, for example, near a position where a camera is attached. For example, the camera 10 and the radar device 12 may be attached as a pair.

[0022] The LIDAR 14 irradiates the surroundings of the vehicle M with light (or electromagnetic waves with wavelengths similar to light) and measures the scattered light. The LIDAR 14 detects the distance to the target based on the time between light emission and light reception. The irradiated light is, for example, pulsed laser light. The LIDAR 14 may be attached to any location on the vehicle M.

[0023] The object recognition device 16 performs sensor fusion processing on the detection results from some or all of the camera 10, the radar device 12, and the LIDAR 14 to recognize the position, type, speed, etc. of the object. The object recognition device 16 outputs the recognition results to the driving assistance device 100. The object recognition device 16 may output the detection results from the camera 10, the radar device 12, and the LIDAR 14 directly to the driving assistance device 100. The object recognition device 16 may be omitted from the vehicle system 1. Some or all of the camera 10, the radar device 12, the LIDAR 14, and the object recognition device 16 are examples of "detection devices."

[0024] The HMI 30 presents various information to the occupants of the vehicle M and accepts input operations by the occupants. The HMI 30 includes various display devices, speakers, buzzers, vibration generators (vibrators), touch panels, switches, keys, etc. The vibration generators, for example, vibrate the seat belt of the driver's seat or vibrate the steering wheel based on the control of the driving assistance device 100. The HMI is an example of an "information providing device."

[0025] The vehicle sensor 40 includes a vehicle speed sensor that detects the speed of the vehicle M, an acceleration sensor that detects the acceleration, a yaw rate sensor that detects the angular velocity around a vertical axis, a direction sensor that detects the direction of the vehicle M, and the like.

[0026] The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver, a guidance control unit, and a storage unit storing map information. The GNSS receiver identifies the position of the vehicle M based on signals received from GNSS satellites. The position of the vehicle M may be identified or supplemented by an INS (Inertial Navigation System) that uses the output of the vehicle sensors 40. The guidance control unit, for example, determines a route from the position of the vehicle M identified by the GNSS receiver (or any input position) to a destination input by the occupant by referring to map information, and causes the HMI 30 to output guidance information so that the vehicle M travels along the route. The map information is, for example, information that represents road shapes using links indicating roads and nodes connected by the links. The map information may include road curvature, POI (Point of Interest) information, and the like. The navigation device 50 may transmit the current position and destination of the vehicle M to a navigation server via a communication device and acquire the route from the navigation server.

[0027] The interior camera 52 is, for example, a digital camera using a solid-state imaging element such as a CCD or CMOS. The interior camera 52 is attached in a position where it can capture an image of an occupant of the vehicle M (for example, a driver seated in the driver's seat). The interior camera 52 captures an image of an area to be captured at a predetermined periodic interval, for example.

[0028] Driving operators 80 include, for example, an accelerator pedal, a brake pedal, a steering wheel, a shift lever, and other operators. Driving operators 80 are fitted with sensors that detect the amount of operation or the presence or absence of operation, and the detection results are output to some or all of driving force output device 200, braking device 210, and steering device 220.

[0029] Traveling drive force output device 200 outputs a traveling drive force (torque) to the driving wheels for the vehicle to travel. Traveling drive force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, etc., and an ECU (Electronic Control Unit) that controls these. The ECU controls the above components according to information input from driving assistance device 100 or information input from driving operator 80.

[0030] Braking device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and an ECU. The ECU controls the electric motor according to information input from driving assistance device 100 or information input from driving operator 80, so that a brake torque corresponding to the braking operation is output to each wheel. Braking device 210 may include a backup mechanism that transmits hydraulic pressure generated by operation of a brake pedal included in driving operator 80 to the cylinder via a master cylinder. Note that braking device 210 is not limited to the configuration described above, and may also be an electronically controlled hydraulic brake device that controls an actuator according to information input from driving assistance device 100 to transmit hydraulic pressure from a master cylinder to the cylinder.

[0031] The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor applies force to, for example, a rack-and-pinion mechanism to change the direction of the steered wheels. The steering ECU drives the electric motor to change the direction of the steered wheels in accordance with information input from the driving assistance device 100 or information input from the driving operator 80. For example, the steering device 220 or the steering wheel may function as an "information providing device" that notifies or alerts the driver of information. For example, the steering device or steering wheel may function as an "information providing device" when suggesting to the user how to avoid a risk object (described later) by rotating the steering wheel or temporarily fixing it at a position rotated a predetermined angle.

[0032] [Driving assistance devices] The driving assistance device 100 includes, for example, a recognition unit 110, a notification control unit 120, a first control unit 140, and a second control unit 150. The notification control unit 120 includes, for example, a risk determination unit 122, a line-of-sight determination unit 124, an object recognition determination unit 126, a behavior determination unit 128, and an information provision unit 130. These functional units are realized by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Furthermore, some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by a combination of software and hardware. The program may be stored in advance in a storage device (a storage device having a non-transitory storage medium) such as the HDD or flash memory of the driving assistance device 100, or may be stored in a removable storage medium such as a DVD or CD-ROM, and installed in the HDD or flash memory of the driving assistance device 100 by inserting the storage medium (non-transitory storage medium) into a drive device.

[0033] Settings are made within the driving force output device 200, the braking device 210, and the steering device 220 so that instructions from the driving support device 100 to the driving force output device 200, the braking device 210, and the steering device 220 are executed with priority over detection results from the driving operator 80. Regarding braking, if the braking force based on the operation amount of the brake pedal is greater than the instruction from the driving support device 100, the latter may be set to be executed with priority. Furthermore, communication priority on the in-vehicle LAN may be used as a mechanism for executing instructions from the driving support device 100 with priority.

[0034] [Processing when risk objects exist] When a risk object is present ahead of the vehicle M, the driving assistance device 100 executes various processes based on an index value indicating the degree of proximity of the vehicle M to the risk object and a threshold value.

[0035] The "degree of proximity" is expressed by various index values ​​indicating the degree of proximity between objects. For example, the "degree of proximity" is TTC (Time To Collision), which is an index value calculated by dividing the distance by the relative velocity (positive in the direction of approaching each other). If the relative velocity is negative (positive in the direction of moving away from each other), the TTC is temporarily set to infinity. The smaller the TTC value, the higher the "degree of proximity." Satisfying the "first condition" means, for example, that the TTC is less than a first threshold value Th1. The first threshold value Th1 is, for example, a value of about a few tenths of a second. Instead of the TTC, an index value having a similar property, such as time headway (THW), distance, or other index value, may be used as the "degree of proximity." Furthermore, the TTC adjusted to take into account acceleration and jerk may be used as the "degree of proximity." In the following description, the "degree of proximity" is assumed to be the TTC.

[0036] A risk object is, for example, an object that vehicle M must avoid. A risk object is, for example, an object that will interfere with vehicle M if it moves in its current state, or an object that has the potential to interfere. An object that has the potential to interfere is, for example, an object whose degree of proximity will reach a predetermined level or higher after a predetermined time when the object's position, movement direction, and movement speed are taken into account, along with the position, movement method, and movement speed of vehicle M. The object may be a traffic participant such as a pedestrian, bicycle, or vehicle, or may be an object other than a traffic participant, such as an object placed on the road or a fallen object.

[0037] The recognition unit 110 recognizes risk objects around the vehicle M based on the information input by the object recognition device 16. Recognizing means, for example, recognizing the existence of risk objects classified as described above and the relative position of the risk objects with respect to the vehicle M.

[0038] The risk determination unit 122 determines the direction in which a risk exists, for example, based on the position of the risk object. For example, when a risk object exists in front of the vehicle M, the risk determination unit 122 determines that a risk exists in the front direction.

[0039] For example, the line-of-sight determination unit 124 analyzes an image captured by the interior camera 52, and determines the direction of the driver's line of sight based on the analysis result.

[0040] The object recognition determination unit 126 determines whether the driver has visually recognized the risk object. For example, information indicating the correlation between the driver's line of sight in an image and the position of the object relative to the vehicle M is stored in advance in the storage device of the driving assistance device 100. The line of sight determination unit 124 refers to the information indicating the correlation and determines whether the line of sight in the identified image matches the position direction of the risk object. If they match, it is determined that the driver has visually recognized the risk object, and if they do not match, it is determined that the driver has not visually recognized the risk object. Instead of the above processing, it may be determined whether the driver has visually recognized the risk object using a predetermined algorithm.

[0041] The behavior determination unit 128 determines the behavior of the driver. Examples of behavior include the operation state of the accelerator pedal, the operation state of the steering wheel, the operation state of the brake pedal, etc. The behavior determination unit 128 determines the behavior of the driver based on the detection results of sensors that detect the amount of operation of the accelerator pedal, the brake pedal, and the steering wheel, or the presence or absence of operation.

[0042] The information providing unit 130 provides the driver with information according to the determination result based on the determination result of the object recognition determining unit 126 or the behavior determining unit 128. Details of these will be described later.

[0043] [Timing of notification] FIG. 2 is a diagram for explaining the timing of notification when a risk object is present. When a risk object is present, the information providing unit 130 causes the display unit to display a risk display indicating the direction in which the risk object is present. FIG. 3 is a diagram showing an example of a risk display. For example, as shown in FIG. 3, content is displayed that allows the driver to recognize the direction in which the risk object is present relative to the vehicle M (D1 in the figure). The information providing unit 130 provides the risk display to the driver, for example, until the TTC reaches a second threshold value Th2. The second threshold value Th2 is, for example, a value of about 3 [sec] or around 3 [sec]. The risk display, the oversight notification described below, and the action suggestion notification described below are examples of the "third process."

[0044] The information providing unit 130 issues an oversight notification if the driver does not visually recognize the risk object before the TTC reaches the third threshold Th3. The oversight notification is a notification that notifies the driver that the risk object that should be visually recognized has not been recognized. FIG. 4 is a diagram illustrating an example of the oversight notification. For example, as shown in FIG. 4, content that allows the driver to recognize the direction of the risk object relative to the vehicle M (D2 in the figure) is displayed. For example, the direction of the risk object is notified in a more emphasized manner than the manner illustrated in FIG. 3. The emphasized manner may be, for example, a manner that allows the driver to more easily visually recognize the direction of the risk object, such as by highlighting with color or by highlighting with a flashing or lit icon. The information providing unit 130 provides the oversight notification to the driver, for example, from when the TTC reaches the third threshold Th3 until the TTC reaches the second threshold Th2. For example, the oversight notification continues even if the risk object is visually recognized between the third threshold Th3 and the second threshold Th2. The third threshold value Th3 is, for example, a value of about 4 [sec] or about 4 [sec].

[0045] The information providing unit 130 issues an action suggestion notification (fourth process) if the driver visually recognizes a risk object and does not take a predetermined action before the TTC reaches the third threshold Th3. The action suggestion notification is a notification that suggests to the driver to take an action to avoid the risk object. For example, the information providing unit 130 provides the action suggestion notification to the driver from when the TTC reaches the third threshold Th3 until the TTC reaches the second threshold Th2. For example, the action suggestion notification continues even if an action is taken in response to the action suggestion notification when the TTC is between the third threshold Th3 and the second threshold Th2.

[0046] The predetermined action is, for example, an action corresponding to deceleration or turning. The predetermined action is, for example, operating the brake pedal or operating the steering wheel (operator) in a direction to avoid a risk object. The predetermined action is when the operation amount of the accelerator pedal becomes smaller by a predetermined degree or more compared to the operation amount a predetermined time ago, or when operation of the accelerator pedal is released. Release means that the driver stops operating the accelerator pedal and the operation amount becomes zero or close to zero.

[0047] FIG. 5 is a diagram showing an example of an action suggestion notification. For example, as shown in FIG. 5, content is displayed that allows the driver to recognize the direction (D3 in the figure) in which a risk object exists relative to vehicle M, similar to FIG. 3 (or FIG. 4). As shown in FIG. 5, content is displayed that allows the driver to recognize the direction (D4 in the figure) in which vehicle M should proceed to avoid the risk object. Furthermore, the content includes information indicating the action that the driver should take as an action suggestion notification. In FIG. 5, an icon (A1 in the figure) is displayed that encourages the driver to operate the brake pedal to slow down.

[0048] Instead of displaying the action suggestion notification, the notification may be made by voice, by automatically steering the steering wheel in the direction of travel to allow the driver to recognize the direction of travel (by rotating the steering wheel a predetermined angle in the direction corresponding to the direction of travel and fixing it in a position, or by rotating it a predetermined angle and returning it to its original position), by controlling the pretensioner mechanism of the driver's seat belt to increase the restraining force of the seat belt, or by vibrating the seat belt.The information providing unit 130 provides the action suggestion notification to the driver, for example, from when the TTC reaches the third threshold value Th3 until the TTC reaches the second threshold value Th2.

[0049] Here, the predetermined action is when the amount of accelerator pedal operation decreases by a predetermined amount or more compared to the amount of operation a predetermined time ago, or when the accelerator pedal operation is released. Even if the driver has not performed any action to control deceleration or steering, if the driver recognizes a risk object and wants to avoid the risk object, the driver tends to reduce the amount of accelerator pedal operation or stop operating the accelerator pedal, and then perform an action to avoid the risk object. This tendency was discovered by analyzing the results of various experiments and simulations. In this way, the information providing unit 130 determines whether to provide an action suggestion notification based on whether the predetermined action has been performed, thereby enabling the provision of information that better reflects the driver's intentions.

[0050] In the above example, if the driver visually recognizes a risk object while the oversight notification is being issued, the oversight notification may be stopped even before the TTC reaches the second threshold Th2. In the above example, if the driver takes an action in accordance with the suggestion or a predetermined action while the action suggestion notification is being issued, the action suggestion notification may be stopped even before the TTC reaches the second threshold Th2.

[0051] Furthermore, in the above example, if an event occurs in which a risk object is present when the TTC is between the third threshold Th3 and the second threshold Th2 (for example, when a pedestrian jumps out), the information providing unit 130 will issue a notification along with a risk display based on the driver's behavior at that time. For example, if the driver does not visually recognize the risk object, the information providing unit 130 will issue an oversight notification, and if the driver visually recognizes the risk object but does not perform a predetermined behavior, will issue an action suggestion notification.

[0052] [Example 1] FIG. 6 is a diagram showing an example of the relationship between events, driver actions, and information provided in the HMI. Assume that vehicle M is traveling straight on a road. At this time, a bicycle is traveling on the left side of vehicle M. At time T, the driver of vehicle M visually recognizes the bicycle and drives vehicle M straight while recognizing the bicycle. In this case, the information providing unit 130 displays a risk display on the display unit indicating the direction of the bicycle relative to vehicle M. Then, at time T+1, it is assumed that a pedestrian appears on the right side of vehicle M attempting to cross the road. At this time, if the driver does not visually recognize the pedestrian, the information providing unit 130 displays a pedestrian oversight notification on the display unit.

[0053] As described above, the information providing unit 130 notifies the driver of appropriate information based on the degree of awareness of the driver's surroundings, allowing the driver to control the vehicle M so as to avoid the risk object with ample time to spare.

[0054] [Example 2] Fig. 7 is a diagram showing another example of the relationship between an event, a driver's action, and information provided in an HMI. The following mainly explains the differences from Fig. 6. At time T+1, a pedestrian appears on the right side of vehicle M and is about to cross the road. At this time, if the driver visually recognizes the pedestrian but does not perform a predetermined action, the information providing unit 130 issues a suggested action notification.

[0055] As described above, the information providing unit 130 notifies the driver of appropriate information based on the driver's awareness of the surroundings and the driver's behavior, allowing the driver to control the vehicle M so as to avoid the risk object with ample time to spare.

[0056] [flowchart] 8 is a flowchart showing an example of the flow of processing executed by the notification control unit 120. In this processing, it is assumed that a risk object exists at a predetermined distance from the vehicle M. First, the notification control unit 120 determines whether or not the driver has overlooked the risk object (step S10). If the driver has overlooked the risk object (if the driver has not visually recognized it), the notification control unit 120 issues an oversight notification (step S12).

[0057] If the driver has not overlooked the risk object (if the driver is viewing the object), the notification control unit 120 determines whether the driver is performing a predetermined action (step S14). If the driver is performing a predetermined action, one routine of this process ends. In this case, for example, a risk display indicating the direction of the position of the risk object relative to the vehicle M is displayed on the display unit.

[0058] If the predetermined behavior has not been performed, the notification control unit 120 performs a notification of a behavior suggestion (step S16), which ends one routine of this process.

[0059] As described above, the notification control unit 120 can notify the driver of appropriate information based on the driver's awareness of the surroundings and the driver's behavior. For example, when the driver is performing a predetermined behavior, the notification control unit 120 does not notify the driver of an action suggestion, thereby reducing the annoyance to the driver. In particular, when the driver's accelerator pedal operation amount decreases or the driver stops operating the accelerator pedal, it is estimated that the driver is performing an action to avoid a risk object, and the notification control unit 120 suppresses notification to the driver. As a result, the notification control unit 120 can provide information that reflects the driver's intention.

[0060] In the above example, the oversight notification or the action suggestion notification is displayed, but the oversight notification and the action suggestion notification may be displayed simultaneously. For example, the oversight notification may include a notification of information to decelerate, or the steering wheel may be automatically rotated or vibrated so that the driver can recognize the direction in which to avoid the risk object.

[0061] In addition, one or both of the oversight notification and the action suggestion notification may be omitted. For example, if the driver overlooks a risk object, the oversight notification may not be made. Even if the driver overlooks a risk object, the action suggestion notification may be made.

[0062] [Braking Control] Hereinafter, processing when the TTC becomes less than the second threshold value Th2 and processing when the TTC becomes less than the first threshold value Th1 will be described with reference to Fig. 9. Fig. 9 is a diagram for explaining braking control.

[0063] When the degree of proximity between the risk object and the vehicle M satisfies a predetermined condition (for example, when the TTC is less than the second threshold value Th2), the first control unit 140 performs a first operation to notify the driver of the vehicle M of the presence of the risk object. The first operation is, for example, an operation to instruct the brake device 210 and / or the traveling driving force output device 200 to output a braking force that decelerates the vehicle M at a second deceleration B2 during the period from when the TTC becomes less than the second threshold value Th2 to when the TTC becomes less than the first threshold value Th1. The second deceleration B2 is a deceleration that is smaller (closer to zero) than the first deceleration B1. The second threshold value Th2 is a value greater than the first threshold value Th1. The first operation is so-called CDC control. At this time, a warning (FCW) indicating approaching a risk object ahead may be output. Furthermore, deceleration by braking force may be performed after the warning (FCW) has been issued for a predetermined time.

[0064] If the TTC is less than the first threshold value Th1, the second control unit 150 performs a second operation. The second operation is an operation (collision mitigation braking; CMBS) for controlling the vehicle M to prevent the vehicle M from coming into contact with the risk object. The second control unit 150 instructs the brake device 210 and / or the driving force output device 200 to output a braking force that decelerates the vehicle M at a first deceleration B1. The first deceleration B1 is, for example, a deceleration of approximately 0.5 G (close to 1). As a result, the second control unit 150 quickly decelerates and stops the vehicle M, thereby avoiding contact with the risk object. The ECUs of the brake device 210 and the driving force output device 200 have the function of calculating the brake output, regenerative control amount, engine braking amount, etc. from the instructed deceleration, and the ECUs determine the respective control amounts based on the instructed deceleration and the speed of the vehicle M. This is a well-known technique, so a detailed description will be omitted.

[0065] The second control unit 150 may, for example, determine whether or not an object exists in a lateral area extending from slightly in front of to behind the risk object, and if no object exists, may cause the vehicle M to proceed onto a lane on the side of the risk object to avoid the risk object. For example, if it is difficult to avoid the risk object due to braking force, the second control unit 150 may cause the vehicle M to proceed onto a lane on the side.

[0066] In the above example, it has been described that CDC and CMBS are executed when the TTC is less than the second threshold Th2 or less than the first threshold Th1, but instead of (or in addition to) this, various controls may be executed by activating a traffic sign detection function (TSR), a traffic light detection function (TLI), a function for detecting or issuing an alarm about vehicles approaching from the left or right of the vehicle, an automatic steering avoidance function, an emergency braking system, etc. For example, when vehicle M passes through an intersection, a traffic sign detection function (TSR), a traffic light detection function (TLI), or a function for detecting or issuing an alarm about vehicles approaching from the left or right of the vehicle may be activated, or when vehicle M is approaching a pedestrian, an automatic steering avoidance function may be activated.

[0067] [Notification according to road structure] The notification control unit 120 may omit making a suggestion notification for the vehicle M depending on the road structure. Fig. 10 is a diagram showing another example of a notification mode. For example, when the vehicle M enters an intersection and attempts to turn right or left, and the risk object is a specific type such as a pedestrian, the suggestion notification may be omitted. Furthermore, in this case, the warning (FCW) and CDC control may be omitted, and an oversight notification may be made until the TTC reaches the first threshold value Th1. This is because the movement of pedestrians at intersections is difficult to predict, and it is not easy to make suggestions about actions.

[0068] As described above, the notification control unit 120 can notify the driver of appropriate information based on the driver's awareness of the surroundings and the driver's behavior. As a result, the notification control unit 120 can provide information that reflects the driver's intentions.

[0069] Furthermore, the above-described thresholds Th1-3 may be changed depending on the speed of the vehicle M and the performance and specifications of various devices for recognizing risk objects (specifications and functions of the camera 10, radar device 12, LIDAR 14, object recognition device 16, recognition unit 110, etc.). For example, they may be set based on the distance at which various devices can recognize an object.

[0070] According to the first embodiment described above, when the index value is equal to or greater than the second threshold value Th2, the driving assistance device 100 performs a process of suggesting to the driver a driving operation to avoid a risk object, and when the driver takes action to reduce or cancel the operation of the operator that instructs an acceleration operation to accelerate the vehicle M, the driving assistance device 100 does not perform the above process, thereby making it possible to provide information that reflects the driver's intentions.

[0071] Second Embodiment A second embodiment will be described below. In the second embodiment, the driving assistance device determines whether to issue an action suggestion notification based on a result of determining whether the road shape is such that an action suggestion notification is required. For example, even if the conditions for issuing an action suggestion notification are satisfied, the driving assistance device 100 suppresses the action suggestion notification if the road shape is not such that an action suggestion notification is required. For example, assuming that the vehicle M travels straight from its current position in the current traveling direction for a predetermined period of time, the driving assistance device 100 suppresses the action suggestion notification if the hypothetical reference position of the vehicle M (any position such as the front end or center of gravity of the vehicle) intersects with a lane boundary (or if the reference position is located at a position different from a lane on which the vehicle M is drivable), and issues an action suggestion notification if the reference position does not intersect with a lane boundary (for example, issues an action suggestion notification without suppression). A drivable lane is a lane or road on which the vehicle M is traveling.

[0072] For example, suppression means not issuing a notification. Furthermore, suppression may mean weakening the mode of the action suggestion notification compared to the mode of the action suggestion notification issued in the case of a road shape for which the action suggestion notification is issued. For example, the mode of the action suggestion notification that is not suppressed is a mode that is easier for the driver to recognize than the mode of the action suggestion notification that is suppressed.

[0073] FIG. 11 is a diagram illustrating an example of a functional configuration of a driving assistance device 100A according to the second embodiment. Differences from the driving assistance device 100 will be mainly described. The notification control unit 120A of the driving assistance device 100A includes, for example, a curve determination unit 129 ("determination unit") in addition to the functional configuration included in the notification control unit 120 of the driving assistance device 100. The curve determination unit 129 is implemented, for example, by a hardware processor such as a CPU executing a program (software). The curve determination unit 129 may be implemented by hardware (including circuitry) such as an LSI, ASIC, FPGA, or GPU, or may be implemented by a combination of software and hardware. The program may be stored in advance in a storage device (a storage device having a non-transitory storage medium) such as an HDD or flash memory of the driving assistance device 100, or may be stored in a removable storage medium such as a DVD or CD-ROM, and installed in the HDD or flash memory of the driving assistance device 100 by inserting the storage medium (non-transitory storage medium) into a drive device. The processing by the curve determining unit 129 will be described in detail later.

[0074] [flowchart] 12 is a flowchart showing an example of the flow of processing executed by the driving assistance device 100 A. The order of processing described below is an example, and may be changed as appropriate, or other processing may be added.

[0075] First, the curve determination unit 129 identifies a specific area where the risk potential is equal to or greater than a threshold (step S100). A specific area where the risk potential is equal to or greater than the threshold is an area that the vehicle M should avoid. For example, the curve determination unit 129 recognizes the lane or road on which the vehicle M is traveling based on the recognition result of the recognition unit 110, and identifies the specific area based on the recognition result. For example, the curve determination unit 129 identifies an area other than the road on which the vehicle M is traveling as the specific area. The road is an area within the lane on which the vehicle M is traveling. As shown in FIG. 13, an area different from the road TL is the specific area R-AR.

[0076] Next, the curve determination unit 129 sets a probe line (step S102). As shown in FIG. 13, a probe line PL is set that extends from the reference position of the vehicle M in the traveling direction of the vehicle M. The length of the probe line is determined according to the traveling speed of the vehicle M. The length of the probe line is set, for example, depending on the timing of issuing an action suggestion notification. For example, when making a suggestion for an event four seconds from now (e.g., a risk object), the length of the probe line is the distance traveled by the vehicle M in four seconds or a time slightly longer than four seconds. The speed used to calculate the traveling distance may be determined based on the current speed and acceleration of the vehicle M, a model for calculating future speed changes that is stored in advance in the storage device of the driving assistance device 100A, or the like. The length of the probe line is calculated based on the set time as described above.

[0077] Next, the curve determination unit 129 determines whether the area before and after the observation point on the probe line is included in a specific region (step S104). The observation point is, for example, the tip (OP) of the probe line or near the tip, as shown in FIG. 13. If the area before and after the observation point on the probe line is not included in a specific region, the processing of one routine of this flowchart ends. For example, if the area before and after the observation point OP is not included in a specific region as shown in FIG. 13, the processing of one routine of this flowchart ends.

[0078] If the area before and after the observation point of the probe line is included in the specific region, the information providing unit 130 suppresses the notification of an action suggestion based on the determination result of step S104 (step S106). For example, even if the condition for issuing an action suggestion notification is satisfied when the index value reaches the third threshold value Th3 in the processing of the first embodiment (for example, even if a risk object is present and the driver does not take a predetermined action), the information providing unit 130 does not issue an action suggestion notification. Furthermore, even if the condition for issuing an action suggestion notification is satisfied for a predetermined time after the processing of step S106 is performed, the information providing unit 130 may not issue an action suggestion notification. This completes the processing of one routine of this flowchart.

[0079] As described above, the driving assistance device 100A does not issue an action suggestion notification if a risk object is present in the traveling direction of the vehicle M during a first period in which the area before and after the observation point of the probe line is included in the specific area, and issues an action suggestion notification if a risk object is present in the traveling direction of the vehicle M during a second period in which the area before and after the observation point of the probe line is not included in the specific area. This makes it possible to make a steering suggestion according to the scene in which the vehicle M is placed. Note that instead of not issuing an action suggestion notification when a risk object is present in the traveling direction of the vehicle M during the first period, the action suggestion notification may be suppressed. The suppression means that the action suggestion notification is issued in a more suppressed manner than the action suggestion notification issued when a risk object is present in the traveling direction of the vehicle M during the second period. The suppression means, for example, suggesting that the driver take an action while paying close attention to the surroundings or suggesting that the driver take an action taking into consideration that the road is curved.

[0080] As described in the first embodiment, if the driver of the vehicle M takes an action to avoid the risk object before the vehicle M approaches the risk object by a predetermined degree or more (before the third threshold Th3 is reached) during the second period, the driving assistance device 100A does not issue an action suggestion notification, and therefore can provide information that reflects the driver's intention. Furthermore, as described in the first embodiment, if the driver does not visually recognize the risk object during the first period, the driving assistance device 100A can make the driver recognize the risk object by notifying the driver of the presence of the risk object using an information providing device.

[0081] Fig. 14 is a diagram showing an example of a scene in which an observation point is included in a specific area. For example, as shown in Fig. 14, if the road on which vehicle M is traveling is a curved road and observation point OP is included in specific area R-AR, information provider 130 will not issue an action suggestion notification even if the conditions for issuing an action suggestion notification are satisfied.

[0082] Fig. 15 is a diagram showing another example of a scene in which an observation point is included in a specific area. For example, as shown in Fig. 15, if part of the road on which vehicle M is traveling has a curved shape (a trapezoidal wave shape) and vehicle M is traveling on the left side of the road, observation point OP may be included in specific area R-AR. In this case, the information provider 130 does not issue an action suggestion notification even if the conditions for issuing an action suggestion notification are met.

[0083] In each of the above examples, it was determined whether the observation point OP was included in a specific area, but instead (or in addition), it may be determined whether a part of the probe line is included in the specific area R-AR, and if it is included, the action suggestion notification may be suppressed.

[0084] In addition, if the probe line intersects with the edge of the lane on which the vehicle M is traveling (for example, a road dividing line) or the edge of the road on which the vehicle M is traveling (for example, a curb or guardrail), the notification of the action suggestion may be suppressed.

[0085] Here, if a risk object, such as a traffic participant or an obstacle, is present ahead of the vehicle M while the driver of the vehicle M is driving and the driver does not take any action to avoid the risk object, it is desirable to provide driving assistance to avoid the risk object, such as a warning, automatic control of the vehicle M, or guidance to take evasive action. When this driving assistance is provided, it is preferable to define activation conditions and activate the driving assistance in situations where it is appropriate to provide driving assistance. For example, it is preferable to suppress suggestions on roads with a predetermined shape, such as curved roads. In particular, when intuitively guiding the avoidance direction or risk direction through vision, touch, or hearing, driving assistance is mainly provided in straight lines. For example, when providing such guidance on curved roads, the driver may be confused as to whether the driver is being evaded to one side of the road lane or in the absolute traveling direction of the vehicle M (e.g., guidance to travel along the curved road or guidance to avoid the risk object). For this reason, it is preferable to provide control different from that when driving on a road with a predetermined shape, such as curved roads, or to suppress steering suggestions.

[0086] For example, when recognizing lane edges and road edges and identifying the road shape from the radius of curvature of the recognized edges, the road shape can be easily identified for roads with simple curvature, but for roads with complex shapes (such as trapezoidal waves), it can be difficult to determine the shape or the amount of calculation required can be large.

[0087] Therefore, when it is assumed that the vehicle M has traveled straight for a predetermined time as described above, the driving assistance device 100A of this embodiment determines whether to make a steering suggestion using the hypothetical reference position of the vehicle M. In this way, the driving assistance device 100 can determine whether the vehicle M is traveling in a scene where a suggestion should be made with an extremely small amount of calculation.

[0088] According to the second embodiment described above, the driving assistance device 100A makes suggestions to the driver of the vehicle M regarding steering to avoid risk objects present in the direction of travel of the vehicle M, and by making suggestions based on the hypothetical reference position of the vehicle M when it is assumed that the vehicle M is driven straight in the current direction of travel for a predetermined period of time from the current position of the vehicle M, it is possible to make more appropriate suggestions regarding steering.

[0089] The above-described embodiment can be expressed as follows. a storage medium for storing computer-readable instructions; a processor connected to the storage medium; The processor executes the computer-readable instructions to: performing a first process when an index value indicating a degree of proximity to a risk object present ahead of the moving body is less than a first threshold value; performing a second process different from the first process when the index value is equal to or greater than the first threshold and less than a second threshold that is greater than the first threshold; one or more control devices that perform a third process different from the first process and the second process when the index value is equal to or greater than the second threshold value, the third process includes a fourth process of suggesting to the driver a driving operation for avoiding the risk object; a control device that does not perform the fourth process when the driver takes an action to reduce or cancel the operation of an operator that instructs an acceleration operation to accelerate the moving body.

[0090] The above-described embodiment can be expressed as follows. a storage medium for storing computer-readable instructions; a processor connected to the storage medium; The processor executes the computer-readable instructions to: making a suggestion to a driver of the moving body regarding steering to avoid a risk object present in the moving direction of the moving body; determining whether a reference position of the moving object in a hypothetical case where the moving object is caused to travel straight from the current position of the moving object in a current traveling direction for a predetermined period of time intersects with a lane boundary; A control device that suppresses the suggestion when it is determined that the lane boundary is crossed, and makes the suggestion when it is determined that the lane boundary is not crossed.

[0091] The above describes the form for carrying out the present invention using an embodiment, but the present invention is not limited to such an embodiment, and various modifications and substitutions can be made within the scope that does not deviate from the gist of the present invention. [Explanation of symbols]

[0092] 1 Vehicle System 10 Camera 12 Radar equipment 16 Object recognition device 52 In-car camera 80 Driving controls 100 Driving assistance device 110 Recognition part 120 Notification control unit 122 Risk Assessment Department 124 Line of sight determination section 126 Object recognition judgment unit 128 Behavior Judgment Department 130 Information Provision Department 140 First Control Section 150 Second Control Section

Claims

1. performing a first process when an index value indicating a degree of proximity to a risk object present ahead of the moving body is less than a first threshold value; performing a second process different from the first process when the index value is equal to or greater than the first threshold and less than a second threshold that is greater than the first threshold; a control device that performs a third process different from the first process and the second process when the index value is equal to or greater than the second threshold value, the third process includes a fourth process of suggesting to the driver a driving operation for avoiding the risk object; When the driver takes an action to reduce or cancel the operation of an operator that instructs an acceleration operation to accelerate the moving body, the fourth process is not performed, If the driver performs the action before the index value reaches a third threshold value that is greater than the second threshold value, the fourth process is not executed; If the driver does not take the action, the action to decelerate the moving body, or the action to make the moving body avoid the risk object by operating an operator that operates the steering of the moving body before the index value reaches the third threshold, the fourth process is executed when the index value reaches the third threshold. Control device.

2. even if the driver performs the action after the fourth process is executed, the suggestion is continued until the index value reaches the second threshold value. The control device according to claim 1 .

3. The operator is an accelerator pedal, When the operation amount of the accelerator pedal becomes smaller than a predetermined amount or when the accelerator pedal is no longer operated, the fourth process is not executed. The control device according to claim 1 or 2.

4. The fourth process is one or more of the following processes: (1) Displaying information on a display visible to the driver indicating a direction to decelerate or to avoid the moving object; (2) Providing audio notifications to the driver suggesting driving maneuvers; The control device according to claim 1 or 2, further comprising: (3) moving an operator that operates the steering of the moving body in a direction that avoids the moving body; and (4) vibrating the operator that operates the steering or a seat belt of the driver.

5. performing a first process when an index value indicating a degree of proximity to a risk object present ahead of the moving body is less than a first threshold value; performing a second process different from the first process when the index value is equal to or greater than the first threshold and less than a second threshold that is greater than the first threshold; a control device that performs a third process different from the first process and the second process when the index value is equal to or greater than the second threshold value, the third process includes a fourth process of suggesting to the driver a driving operation for avoiding the risk object; When the driver takes an action to reduce or cancel the operation of an operator that instructs an acceleration operation to accelerate the moving body, the fourth process is not performed, If it is estimated that the driver does not recognize the risk object before the index value reaches a third threshold value that is greater than the second threshold value, an information providing device is controlled to notify the driver of information indicating the presence of the risk object; If it is estimated that the driver recognizes the risk object before the index value reaches a third threshold value that is greater than the second threshold value, and the driver does not perform the action, the action to decelerate the moving body, or the action of the driver operating an operator that operates the steering of the moving body to cause the moving body to avoid the risk object, execute the fourth process. Control device.

6. After the fourth process is executed, if the index value reaches the second threshold, the second process is executed instead of the fourth process; The second process is one or both of a process of issuing a warning to the driver that the moving body is approaching the risk object and a process of automatically decelerating the moving body. The control device according to claim 1 or 2.

7. After the second process is executed, if the index value reaches the first threshold, the first process is executed instead of the second process; The first process is one or both of a process of decelerating the moving body at a deceleration rate greater than a deceleration rate during deceleration in the second process, and a process of automatically controlling steering of the moving body to move the moving body to the side of the risk object. The control device according to claim 6.

8. The computer a first process when an index value indicating a degree of proximity to a risk object present ahead of the moving body is less than a first threshold; a second process different from the first process when the index value is equal to or greater than the first threshold and less than a second threshold that is greater than the first threshold; When the index value is equal to or greater than the second threshold value, a third process different from the first process and the second process is executed; the third process includes a fourth process of suggesting to the driver a driving operation for avoiding the risk object; When the driver takes an action to reduce or cancel the operation of an operator that instructs an acceleration operation to accelerate the moving body, the fourth process is not executed, If the driver performs the action before the index value reaches a third threshold value that is greater than the second threshold value, the fourth process is not executed; If the driver does not take the action, the action to decelerate the moving body, or the action to make the moving body avoid the risk object by operating an operator that operates the steering of the moving body before the index value reaches the third threshold, the fourth process is executed when the index value reaches the third threshold. Control method.

9. The computer a first process when an index value indicating a degree of proximity to a risk object present ahead of the moving body is less than a first threshold; a second process different from the first process when the index value is equal to or greater than the first threshold and less than a second threshold that is greater than the first threshold; When the index value is equal to or greater than the second threshold value, a third process different from the first process and the second process is executed; the third process includes a fourth process of suggesting to the driver a driving operation for avoiding the risk object; When the driver takes an action to reduce or cancel the operation of an operator that instructs an acceleration operation to accelerate the moving body, the fourth process is not executed, If it is estimated that the driver does not recognize the risk object before the index value reaches a third threshold value that is greater than the second threshold value, an information providing device is controlled to notify the driver of information indicating the presence of the risk object; If it is estimated that the driver recognizes the risk object before the index value reaches a third threshold value that is greater than the second threshold value, and the driver does not perform the action, the action to decelerate the moving body, or the action of the driver operating an operator that operates the steering of the moving body to cause the moving body to avoid the risk object, execute the fourth process. Control method.

10. On the computer, a first process when an index value indicating a degree of proximity to a risk object present ahead of the moving body is less than a first threshold; a second process different from the first process when the index value is equal to or greater than the first threshold and less than a second threshold that is greater than the first threshold; when the index value is equal to or greater than the second threshold, executing a third process different from the first process and the second process; the third process includes a fourth process of suggesting to the driver a driving operation for avoiding the risk object; When the driver takes an action to reduce or cancel the operation of an operator that instructs an acceleration operation to accelerate the moving body, the fourth process is not executed, If the driver performs the action before the index value reaches a third threshold value that is greater than the second threshold value, the fourth process is not executed; If the driver does not take the action, the action to decelerate the moving body, or the action to make the moving body avoid the risk object by operating an operator that operates the steering of the moving body before the index value reaches the third threshold, the fourth process is executed when the index value reaches the third threshold. program.

11. On the computer, a first process when an index value indicating a degree of proximity to a risk object present ahead of the moving body is less than a first threshold; a second process different from the first process when the index value is equal to or greater than the first threshold and less than a second threshold that is greater than the first threshold; when the index value is equal to or greater than the second threshold, executing a third process different from the first process and the second process; the third process includes a fourth process of suggesting to the driver a driving operation for avoiding the risk object; When the driver takes an action to reduce or cancel the operation of an operator that instructs an acceleration operation to accelerate the moving body, the fourth process is not executed, If it is estimated that the driver does not recognize the risk object before the index value reaches a third threshold value that is greater than the second threshold value, an information providing device is controlled to notify the driver of information indicating the presence of the risk object; execute the fourth process if it is estimated that the driver recognizes the risk object before the index value reaches a third threshold value that is greater than the second threshold value, and the driver does not perform the action, the action to decelerate the moving body, or the action of the driver operating an operator that operates the steering of the moving body to cause the moving body to avoid the risk object; program.

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