Driving assistance device, control method for driving assistance device, program, vehicle, and control method for vehicle

Abstract

To appropriately assist driving of a driver by communicating with a roadside machine arranged in a peripheral environment of a vehicle and notifying the driver to urge the driver to grip a steering wheel at an appropriate timing on the basis of information on the peripheral environment obtained from the roadside machine.SOLUTION: The driving assistance device includes a grip determiner that detects a state in which a driver grips a steering wheel of a vehicle and acquires grip determination information obtained by determining a result of the detection, a communication controller that communicates with a roadside device and acquires, from the roadside device, surrounding environment information about a surrounding environment monitored by the roadside device, a notifier that notifies the driver of driving assistance information for assisting driving of the vehicle, and a driving controller that controls the driving assistance information output by the notifier based on the surrounding environment information acquired by the communication controller and the grip determination information acquired by the grip determiner.SELECTED DRAWING: Figure 1B

Description

Technical Field

[0001] The present invention relates to a driving assist device, a control method for a driving assist device, a program, a vehicle, and a control method for a vehicle.

Background Art

[0002] For example, as a conventional technique, Patent Document 1 proposes a driving assist device that alerts a driver to grip the steering wheel when the driver releases their hand from the steering wheel for a vehicle in which steering is performed according to an operation of the steering wheel by the driver.

[0003] The above-described conventional driving assist device uses a camera to image the surroundings of the vehicle, and based on the output value of the camera, detects obstacles and the like around the vehicle. Then, when the driving assist device detects that the driver has released their hand from the steering wheel while the vehicle is traveling on a narrow road by a tactile sensor, the driving assist device outputs an appropriate steering angle to the steering control unit so that the vehicle does not hit an obstacle. And the driving assist device alerts the driver to grip the steering wheel.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Here, in the above-described conventional driving assist device, it is possible to use a camera to image the surroundings of the vehicle and detect the moving body such as a pedestrian and the display of a traffic signal based on the output value of the camera.

[0006] When cameras are used to detect moving objects or traffic light displays, detection performance deteriorates significantly in environments where sufficient brightness color difference information cannot be obtained, such as at night, in low light, against backlight, or due to glare. Furthermore, while cameras can detect moving objects and traffic lights by imaging the area around a vehicle, they cannot detect moving objects such as pedestrians hidden in blind spots of structures such as buildings or walls, nor can they predict changes in the display state of traffic lights.

[0007] In other words, the conventional driving assist device described above may not be able to properly acquire information regarding moving objects in the surrounding environment of the vehicle or the display status of traffic lights. As a result, the driving assist device cannot notify the driver to grip the steering wheel at the appropriate time, and therefore has the problem of not being able to properly assist the driver's driving.

[0008] This invention is based on the inventors' findings and aims to appropriately assist the driver's driving by communicating with a roadside unit placed in the surrounding environment of the vehicle and, based on information about the surrounding environment obtained from the roadside unit, notifying the driver at an appropriate time to encourage them to grip the steering wheel. [Means for solving the problem]

[0009] A driving assist device according to one embodiment of the present invention is: A driving assist device that communicates with roadside units placed in the surrounding environment and assists the driver in operating the vehicle based on information obtained from the roadside units, A grip determination unit detects that the driver is gripping the steering wheel of the vehicle and acquires grip determination information based on the detection result. A communication control unit that communicates with the roadside unit and obtains surrounding environment information relating to the surrounding environment monitored by the roadside unit from the roadside unit, A notification unit that notifies the driver of driving assistance information to assist in driving the vehicle, The system includes an operation control unit that controls the operation assistance information output by the notification unit based on the surrounding environment information acquired by the communication control unit and the grip determination information acquired by the grip determination unit. It is characterized by the following:

[0010] In the aforementioned driving assist device, The surrounding environment information may include information about moving objects that move in the surrounding environment as detected by the roadside unit.

[0011] In the aforementioned driving assist device, The surrounding environment information may include signal display information relating to the display status of traffic signals located in the surrounding environment monitored by the roadside unit.

[0012] In the aforementioned driving assist device, The aforementioned operation control unit, When the communication control unit establishes a link with the roadside unit, it executes connection mode. In the aforementioned connection mode, The communication control unit acquires the signal display information from the roadside unit. Based on the aforementioned signal display information, it is determined whether the display state of the roadside unit changes within a predetermined set period. If, based on the signal display information, it is determined that the display state of the roadside unit will change within the set period, the grip determination unit N will determine, based on the grip determination information acquired, whether the driver is not gripping the steering wheel or is not gripping the steering wheel firmly. If it is determined that the driver is not holding the steering wheel or is not holding the steering wheel firmly, the notification mode may be activated to output the driving assistance information from the notification unit.

[0013] In the aforementioned driving assist device, Based on the driving control unit and the signal display information, it may be determined that the display state of the traffic signal changes from a prohibited state to a passable state, from a passable state to a state indicating that passage will soon be prohibited, or from a state indicating that passage will soon be prohibited to a prohibited state.

[0014] In the driving assist device, The driving assistance information may include information for alerting the driver to hold the steering wheel.

[0015] In the driving assist device, The driving assistance information may include information on the change in the display state of the traffic signal.

[0016] In the driving assist device, The driving control unit is configured to acquire indicator operation information regarding an operation input by the driver of a direction indicator for instructing a right turn or a left turn in the traveling direction of the vehicle. The driving control unit, When the communication control unit links up with the roadside unit, it executes a connection mode. In the connection mode, The communication control unit acquires the moving body information from the roadside unit. After acquiring the moving body information, based on the indicator operation information, it is determined whether there is an operation input of the direction indicator by the driver. When it is determined based on the indicator operation information that there is an operation input of the direction indicator by the driver, based on the gripping determination information acquired by the gripping determination unit, it is determined whether the driver is not holding the steering wheel or is not firmly holding the steering wheel. When it is determined that the driver is not holding the steering wheel or is not firmly holding the steering wheel, a notification mode may be executed to output the driving assistance information from the notification unit.

[0017] In the driving assist device, When the driving control unit determines that there is an operation input of the direction indicator by the driver based on the indicator operation information, the driving control unit may control the gripping determination unit to smooth the detection of the state in which the driver is gripping the steering wheel of the vehicle after the operation input of the direction indicator, and obtain the gripping determination information by determining the smoothed detection result.

[0018] In the driving assist device, the driving control unit, After acquiring the moving body information, when it is determined based on the indicator operation information that there is no operation input of the direction indicator by the driver, it is determined whether the moving body is approaching the vehicle relatively based on the moving body information. When it is determined based on the moving body information that the moving body is approaching the vehicle relatively, it is determined whether the driver is not gripping the steering wheel or is not gripping the steering wheel firmly based on the gripping determination information acquired by the gripping determination unit. When it is determined based on the gripping determination information that the driver is not gripping the steering wheel or is not gripping the steering wheel firmly, a notification mode may be executed to output the driving assistance information from the notification unit.

[0019] In the driving assist device, the driving control unit, executes a normal mode in which the communication control unit and the gripping determination unit are operated according to the operation input of the driver, In the normal mode, it is determined whether the communication control unit is linked up with the roadside unit. When the communication control unit is linked up with the roadside unit, the normal mode is transitioned to the connection mode. On the other hand, when the communication control unit is not linked up with the roadside unit, the normal mode may be continued.

[0020] In the aforementioned driving assist device, The operation control unit may acquire information on the position, size, and / or speed of the moving object based on the moving object information.

[0021] In the aforementioned driving assist device, If an obstruction exists between the vehicle and the moving object, and the LiDAR device and / or imaging device mounted on the vehicle cannot recognize and / or image the moving object, the operation control unit may acquire information on the position, size, and / or speed of the moving object based on the moving object information.

[0022] In the aforementioned driving assist device, The notification unit may display cautionary or warning information corresponding to the driving assistance information, and may vibrate with a period and / or amplitude based on the driving assistance information, or emit voice and / or warning sounds.

[0023] In the aforementioned driving assist device, The notification unit may also notify the driver by vibrating the steering wheel, thereby tactilely transmitting the driving assistance information to the driver.

[0024] In the aforementioned driving assist device, The notification unit outputs a notification signal containing the driving assistance information to a portable device connected to the notification unit via wireless or wired communication. The portable device may, in response to the notification signal, display a warning or alert information based on the driving assistance information, vibrate with a period and / or amplitude based on the driving assistance information, or emit voice and / or warning sounds.

[0025] In the aforementioned driving assist device, The grip determination unit may also be a Hands Off Detection (HoD) device that detects whether the driver is gripping the steering wheel by using a capacitance sensor provided on the steering wheel to detect a change in capacitance in the area of ​​the steering wheel that the driver is gripping.

[0026] In the aforementioned driving assist device, The grip determination unit may compare the HoD capacitance sense level detected by the capacitance sensor provided on the steering wheel with a preset capacitance threshold, and acquire the grip determination information based on this comparison result.

[0027] In the aforementioned driving assist device, The aforementioned driving control unit is configured to acquire indicator operation information related to the driver's operation input of the indicator for indicating a right turn or left turn in the direction of travel of the vehicle. If the driving control unit determines, based on the indicator operation information, that the driver has made an input to operate the turn indicator, it may control the grip determination unit to smooth the HoD capacity sense level detected after the turn indicator operation input.

[0028] In the aforementioned driving assist device, The aforementioned operation control unit may further include a storage unit for storing information and programs for executing predetermined processes.

[0029] In the aforementioned driving assist device, The operation control unit may store in the storage unit notification history information showing the history of the operation assistance information notified from the notification unit, and gripping history information showing the history of the gripping determination information acquired by the gripping determination unit after the operation assistance information has been notified.

[0030] In the aforementioned driving assist device, The operation control unit may transmit the notification history information and the gripping history information to the roadside unit via the communication control unit.

[0031] A control method for a driving assist device according to an embodiment of one aspect of the present invention is: A control method for a driving assist device that communicates with a roadside unit placed in the surrounding environment and assists the driver in driving a vehicle based on information obtained from the roadside unit, The driving assist device comprises: a grip determination unit that detects whether the driver is gripping the steering wheel of the vehicle and acquires grip determination information that determines the result of this detection; a communication control unit that communicates with the roadside unit and acquires surrounding environment information from the roadside unit regarding the surrounding environment monitored by the roadside unit; a notification unit that notifies the driver of driving assistance information to assist in driving the vehicle; and a driving control unit. The operation control unit controls the operation assistance information output by the notification unit based on the surrounding environment information acquired by the communication control unit and the gripping determination information acquired by the gripping determination unit.

[0032] This invention follows one embodiment of the present invention. A program executed by a driving assist device that communicates with roadside units placed in the surrounding environment and assists the driver in operating the vehicle based on information obtained from the roadside units, The driving assist device comprises: a grip determination unit that detects whether the driver is gripping the steering wheel of the vehicle and acquires grip determination information that determines the result of this detection; a communication control unit that communicates with the roadside unit and acquires surrounding environment information from the roadside unit regarding the surrounding environment monitored by the roadside unit; a notification unit that notifies the driver of driving assistance information to assist in driving the vehicle; and a driving control unit. The operation control unit is characterized by causing the operation control unit to execute a process that controls the operation assistance information output by the notification unit, based on the surrounding environment information acquired by the communication control unit and the gripping determination information acquired by the gripping determination unit.

[0033] A vehicle according to one embodiment of the present invention is A vehicle driven by a driver, The steering wheel and The system includes a driving assist device that communicates with roadside units placed in the surrounding environment and assists the driver in operating the vehicle based on information obtained from the roadside units, The aforementioned driving assist device, A grip determination unit detects that the driver is gripping the steering wheel of the vehicle and acquires grip determination information based on the detection result. A communication control unit that communicates with the roadside unit and obtains surrounding environment information relating to the surrounding environment monitored by the roadside unit from the roadside unit, A notification unit that notifies the driver of driving assistance information to assist in driving the vehicle, The system includes an operation control unit that controls the operation assistance information output by the notification unit based on the surrounding environment information acquired by the communication control unit and the grip determination information acquired by the grip determination unit. It is characterized by the following:

[0034] A vehicle control method according to an embodiment of one aspect of the present invention is: A method of controlling a vehicle driven by a driver, The vehicle is equipped with a steering wheel and a driving assist device that communicates with roadside units placed in the surrounding environment and assists the driver in driving the vehicle based on information obtained from the roadside units. The driving assist device comprises: a grip determination unit that detects whether the driver is gripping the steering wheel of the vehicle and acquires grip determination information that determines the result of this detection; a communication control unit that communicates with the roadside unit and acquires surrounding environment information from the roadside unit regarding the surrounding environment monitored by the roadside unit; a notification unit that notifies the driver of driving assistance information to assist in driving the vehicle; and a driving control unit. The operation control unit controls the operation assistance information output by the notification unit based on the surrounding environment information acquired by the communication control unit and the gripping determination information acquired by the gripping determination unit. It is characterized by the following: [Effects of the Invention]

[0035] According to the present invention, by communicating with a roadside unit placed in the surrounding environment of the vehicle and, based on the information about the surrounding environment obtained from the roadside unit, a notification prompting the driver to grip the steering wheel at an appropriate time can be sent, thereby appropriately assisting the driver's driving. [Brief explanation of the drawing]

[0036] [Figure 1A] Figure 1A shows an example of the configuration of a vehicle to which the driving assistance device according to this embodiment is applied. [Figure 1B] Figure 1B shows an example of a specific configuration of the driving assistance device shown in Figure 1A. [Figure 2] Figure 2 shows an example of the relationship between the HoD capacity sense level of the grip determination unit, each capacity threshold, and the grip state of the steering. [Figure 3] Figure 3 shows an example of the division of the area where the steering wheel is gripped. [Figure 4A] Figure 4A is a diagram that conceptually illustrates an example of a vehicle making a right turn at an intersection in an environment where roadside equipment is installed. [Figure 4B] Figure 4B is a diagram that conceptually illustrates an example of a vehicle making a left turn at an intersection in an environment where roadside equipment is installed. [Figure 5A] Figure 5A shows an example of a state in which chattering occurs in the HoD capacitance sense level of the grip determination unit N after the operation input of the turn signal. [Figure 5B] Figure 5B shows an example of a state in which the HoD capacitance sense level of the grip determination unit N is smoothed after the operation input of the turn signal. [Figure 6] Figure 6 shows an example of a flow chart of the control method for the driving assist device according to the embodiment. [Figure 7] Figure 7 shows an example of the configuration of a vehicle to which the driving assistance device according to the first modified example is applied. [Modes for carrying out the invention]

[0037] An embodiment of this disclosure will be described below with reference to the drawings. In the drawings attached to this specification, the scale and aspect ratios have been appropriately changed and exaggerated from those of the actual objects for the sake of ease of understanding. Some components shown in some drawings may be omitted in other drawings. The scale and aspect ratios may also differ between drawings.

[0038] In this specification, terms such as "parallel," "orthogonal," and "identical," as well as values ​​of length and angle, which specify shapes, geometric conditions, and their degrees, shall not be limited to their strict meanings, but shall be interpreted to include a range that can be expected to function similarly.

[0039] The embodiments described below will explain a driving assistance device that assists the driver in driving, and a vehicle to which the driving assistance device is applied.

[0040] [vehicle] Figure 1A shows an example of the configuration of a vehicle to which the driving assistance device according to this embodiment is applied.

[0041] For example, as shown in Figure 1A, the vehicle 200 according to this embodiment is configured to travel in the direction of travel along a travel path R in the surrounding environment Z when a driver DR is on board and driving it. The travel path R is an area on which the vehicle 200 can travel, including roads, parking lots, sidewalks, vacant lots, etc., where it is assumed that the vehicle 200 will travel.

[0042] In this embodiment, the vehicle 200 includes, for example, a steering wheel S, a turn signal J, and a driving assist device 100, as shown in Figure 1A.

[0043] The steering wheel S is configured to control the steering angle of the vehicle 200's tires (not shown) by being operated by the driver DR, thereby controlling the direction of travel of the vehicle 200. The turn signal J is configured to indicate whether the vehicle 200 is turning right or left in the direction of travel. By operating the steering wheel S and turn signal J by the driver DR, along with the accelerator (not shown) and brakes (not shown), the direction and speed of the vehicle 200 are controlled, allowing it to travel along the road in the surrounding environment Z.

[0044] Furthermore, the driving assist device 100 is a device that assists the driver DR in operating the steering wheel S, turn signals J, accelerator, brakes, etc. In particular, in this embodiment, the driving assist device 100 communicates with a roadside unit RSU located in the surrounding environment Z of the vehicle 200, and based on the surrounding environment information regarding the surrounding environment Z obtained from the roadside unit RSU, it notifies the driver DR to grip the steering wheel S at an appropriate time.

[0045] For example, the driver DR can operate the steering wheel S with their hands based on this driving assistance information to avoid moving objects MV present in the surrounding environment Z of the vehicle 200, and to pass through intersections etc. in accordance with the display of traffic signals SV, thereby enabling the vehicle to travel appropriately along the road in the surrounding environment Z. In this way, the driving assistance device 100 appropriately assists the driver DR in driving the vehicle.

[0046] The moving object MV is envisioned to be, for example, a human, animal, or vehicle, or any other object moving in the surrounding environment Z, but is not limited to these, and may be any other object moving in the surrounding environment Z that can be detected by the roadside unit RSU.

[0047] Furthermore, the roadside RSU is positioned, for example, near intersections or pedestrian crossings in the surrounding environment Z. In particular, the roadside RSU is positioned alongside a traffic signal SV located in the surrounding environment Z. When the roadside RSU is positioned alongside and in cooperation with the traffic signal SV in this manner, it transmits information such as the display status information of the traffic signal SV to the driver assistance device 100.

[0048] Furthermore, the roadside RSU (Routing Service Unit) is, for example, a server and has the function of accumulating average data during normal operation. This roadside RSU is designed to activate a warning function when differential information, such as that from a mobile device (MV), is generated as an interrupt.

[0049] In this manner, the roadside RSU transmits, for example, information about moving objects in the surrounding environment detected by the roadside RSU, and traffic information such as signal display information about the display status of traffic signals SV located in the surrounding environment Z monitored by the roadside RSU, to the linked driving assist device 100.

[0050] The following describes the details of these components of the vehicle 200 shown in Figure 1A, as well as the control method for the vehicle 200.

[0051] [Driving assistance device] Here, Figure 1B shows an example of a specific configuration of the driving assistance device shown in Figure 1A.

[0052] As described above, the driving assist device 100 according to this embodiment is a device that assists the driver DR in driving the vehicle 200, by communicating with a roadside unit RSU located in the surrounding environment Z and based on information obtained from the roadside unit RSU. This driving assist device 100 includes, for example, a communication control unit TCU, a notification unit T, a grip determination unit N, a driving control unit CON, and a storage unit M, as shown in Figure 1B.

[0053] [Communications Control Unit] The communication control unit (TCU) is a client to the roadside unit (RSU), which is the server, and maintains client functionality for every 200 vehicles. Furthermore, if the TCU is within the RSU's communication range, it establishes a link with the RSU and then performs periodic communication.

[0054] In this manner, the communication control unit (TCU) communicates with the roadside unit (RSU) to obtain surrounding environment information regarding the surrounding environment Z monitored by the roadside unit (RSU).

[0055] This surrounding environment information includes, for example, information about moving objects in the surrounding environment detected by the roadside RSU, and traffic information such as signal display information regarding the display status of traffic signals SV located in the surrounding environment Z monitored by the roadside RSU.

[0056] The operation control unit CON may decode the warning information received from the roadside unit RSU via the communication control unit TCU and notify the warning / attention function in the vehicle 200.

[0057] Furthermore, the communication control unit (TCU) may, for example, upload screenshots of SFM photogrammetry obtained using the LiDAR function to the roadside RSU. In this case, the roadside RSU may have a function to store a database of warning spots for each vehicle 200.

[0058] As previously mentioned, the roadside RSU is located, for example, near intersections or pedestrian crossings in the surrounding environment Z. In particular, this roadside RSU is installed alongside a traffic signal SV located in the surrounding environment Z. When the roadside RSU is installed alongside a traffic signal SV and is in cooperation with the traffic signal SV, it notifies the communication control unit TCU of the display status information of the traffic signal SV.

[0059] [Grip judgment section]

[0060] The grip determination unit N detects whether the driver DR is gripping the steering wheel S of the vehicle 200 (so-called hands-off detection) and acquires grip determination information based on this detection result.

[0061] This grip determination unit N is a Hands Off Detection (HoD) device that detects whether the driver DR is gripping the steering wheel S by detecting a change in capacitance in the area gripped by the driver DR, for example, using a capacitance sensor provided on the steering wheel S.

[0062] Figure 2 shows an example of the relationship between the HoD capacity sense level of the grip determination unit, each capacity threshold, and the grip state of the steering wheel. Figure 3 shows an example of the division of the region in which the steering wheel is gripped.

[0063] For example, the grip determination unit N compares the HoD capacitance sense level (Figure 2) detected by a capacitance sensor (not shown) provided on the steering wheel S with preset capacitance thresholds Cth1 and Cth2. Based on this comparison, the grip determination unit N acquires grip determination information indicating, for example, whether the driver DR is not gripping the steering wheel S (between times t0 and t1 in Figure 2), whether the driver is not firmly gripping the steering wheel S, such as when gripping the steering wheel S with one hand or gripping the inside of the steering wheel S (between times t1 and t2 in Figure 2), or whether the driver is firmly gripping the steering wheel S with both hands (between times t2 and t3 in Figure 2). As will be described later, the driving control unit CON then determines, based on the grip determination information acquired by the grip determination unit N, whether the driver DR is not gripping the steering wheel S or is not firmly gripping the steering wheel S with both hands.

[0064] Furthermore, as shown in Figure 3, for example, the sensitivity of the capacitive sensor may be set to have a gradient in the gripping regions A to H of the steering wheel S. For example, the gripping determination information acquired by the gripping determination unit N may include information indicating the region being gripped by the driver DR. Based on this gripping determination information, the driving control unit CON may control the notification unit T to output driving assistance information, including a warning to encourage gripping regions B, C, F, and G of the steering wheel S, as described later.

[0065] Here, Figure 4A is a diagram conceptually illustrating an example of a vehicle turning right at an intersection in an environment where roadside devices are installed. Figure 4B is a diagram conceptually illustrating an example of a vehicle turning left at an intersection in an environment where roadside devices are installed. Furthermore, Figure 5A is a diagram illustrating an example of a state in which chattering occurs in the HoD capacity sense level of the grip determination unit N after operation input of the turn signal. Furthermore, Figure 5B is a diagram illustrating an example of a state in which the HoD capacity sense level of the grip determination unit N is smoothed after operation input of the turn signal.

[0066] For example, as shown in Figures 4A and 4B, when vehicle 200 enters an intersection and turns right or left, the roadside RSU observes the moving object MV in its surroundings. However, since the roadside RSU does not monitor the driver DR of vehicle 200's grip on the steering wheel S, it cannot effectively alert the driver DR of vehicle 200.

[0067] Therefore, as described above, the driving control unit CON according to the embodiment communicates with the roadside unit RSU located in the surrounding environment Z of the vehicle 200, and based on the surrounding environment information regarding the surrounding environment Z obtained from the roadside unit RSU, notifies the driver DR to grip the steering wheel S at an appropriate time.

[0068] On the other hand, there are individual differences among drivers in the rotational operation of the steering wheel S by the driver DR, such as hand-pushing steering, counter-steering, and one-handed steering. In particular, when the vehicle 200 turns left or right, the state of the driver DR's grip on the steering wheel S changes moment by moment after the operation input of the turn signal J, so chattering of the HoD capacity sense level due to the driver DR's grip may occur (Figure 5A). Therefore, the grip determination unit N is configured to smooth the HoD capacity sense level detected after the operation input of the turn signal J, for example, in response to a control instruction from the driving control unit CON (Figure 5B). As a result, the grip determination unit N can reduce the influence of chattering of the HoD capacity sense level caused by the driver DR's grip on the steering wheel S, which may occur after the operation of the turn signal J, on the detection of the state in which the driver DR is gripping the steering wheel S. In other words, the grip determination unit N can obtain grip determination information with the influence of such chatter reduced by smoothing the HoD capacity sense level detected after the operation input of the turn signal J.

[0069] [Notification Department] The notification unit T, in response to a command from the driving control unit CON, notifies the driver DR of driving assistance information to assist in driving the vehicle 200.

[0070] This notification unit T, for example, displays a warning or alert information corresponding to the driving assistance information, vibrates with a period and / or amplitude based on the driving assistance information, or emits voice and / or warning sounds.

[0071] This notification unit T may be, for example, a display device that displays alert or warning information to the driver DR based on driving assistance information.

[0072] In this case, where the notification unit T is a display device, the driving assistance information may be, for example, an image displaying the alert or warning information, but it may also include text information that indicates the alert or warning information instead of the image. Furthermore, the alert or warning information is not limited to the image or text information, but may also include audio information or other information that signifies the alert or warning information.

[0073] Furthermore, the notification unit T may also notify the driver DR by, for example, vibrating the steering wheel S, thereby tactilely transmitting driving assistance information.

[0074] [Operation Control Unit] The driving control unit CON controls the operation of the vehicle 200 in response to, for example, the driver DR's operation input. In particular, in this embodiment, the driving control unit CON controls the driving assistance information output by the notification unit T based on the surrounding environment information acquired by the communication control unit TCU and the gripping determination information acquired by the gripping determination unit N.

[0075] As previously described, surrounding environment information includes, for example, information about moving objects in the surrounding environment detected by the roadside RSU, and traffic information such as signal display information about the display status of traffic signals SV located in the surrounding environment Z monitored by the roadside RSU.

[0076] The operation control unit CON then determines, based on the signal display information, whether, for example, the display state of the traffic signal SV will change from a no-go (red light) state to a state indicating that it is permitted to go (green light), whether it will change from a permitted (green light) state to a state indicating that it is soon to go no-go (yellow light), or whether it will change from a no-go (yellow light) state to a state indicating that it is soon to go no-go (red light).

[0077] Furthermore, the driving assistance information includes information reminding the driver DR to grip the steering wheel S. In addition, the driving assistance information may also include information on changes in the display state of traffic signals SV.

[0078] Furthermore, the control unit CON acquires information on the position, size, and / or speed of the mobile object MV based on the said mobile object information.

[0079] In particular, if an obstruction (e.g., a building, wall, parked vehicle, or other structure) exists between the vehicle 200 and the moving object MV, and the LiDAR device (not shown) and / or imaging device (not shown) such as a camera mounted on the vehicle 200 cannot recognize and / or image the moving object MV, the driving control unit CON acquires information on the position, size, and / or speed of the moving object MV based on the information of the moving object. As a result, the driving control unit CON can determine whether or not the moving object MV is approaching the vehicle 200 by acquiring information on the position, size, and / or speed of the moving object MV located in a blind spot from the perspective of the vehicle 200 in the surrounding environment Z.

[0080] Furthermore, the operation control unit CON may store in the storage unit M notification history information showing the history of operation assistance information notified from the notification unit T, and gripping history information showing the history of gripping determination information acquired by the gripping determination unit N after operation assistance information has been notified.

[0081] Furthermore, the operation control unit CON may transmit the notification history information and the gripping history information to the roadside unit RSU via the communication control unit TCU.

[0082] Furthermore, the driving control unit CON is configured to acquire indicator operation information related to the driver DR's operation input of the turn indicator J, which is used to indicate a right or left turn in the direction of travel of the vehicle 200.

[0083] Furthermore, if the driving control unit CON determines, based on the indicator operation information, that there has been an operation input of the turn indicator J by the driver DR (for example, a right turn or a left turn), it may control the grip determination unit N to smooth the detection of the state in which the driver DR is gripping the steering wheel S of the vehicle 200 after the operation input of the turn indicator J, and acquire the grip determination information by determining this smoothed detection result (Figure 5B).

[0084] As a result, the grip determination unit N can reduce the influence of chattering of the HoD capacity sense level caused by the driver DR's grip on the steering wheel S, which may occur after the operation of the turn signal J, on the detection of the state in which the driver DR is gripping the steering wheel S. In other words, the grip determination unit N can obtain grip determination information with the influence of such chatter reduced by smoothing the HoD capacity sense level detected after the operation input of the turn signal J.

[0085] As a result, the driving control unit CON can determine whether the driver DR is not gripping the steering wheel S or is not gripping the steering wheel S firmly, based on grip determination information in which the influence of chattering at the HoD capacity sense level has been reduced.

[0086] Furthermore, as previously described, the grip determination information acquired by the grip determination unit N may include information indicating the area being gripped by the driver DR. Based on this grip determination information, the driving control unit CON may control the notification unit T to output driving assistance information, including a warning to encourage gripping areas B, C, F, and G of the steering wheel S. In this way, the driving control unit CON may, for example, control the content of the driving assistance information output from the notification unit T in accordance with the grip determination information acquired by the grip determination unit N.

[0087] Based on this driving assistance information, the driver DR can recognize whether the vehicle 200 is moving straight on a narrow road and check the wheel alignment (whether the tires are straight or rotating) when passing through intersections, and control the direction of travel of the vehicle 200.

[0088] This operation control unit CON is composed of hardware such as a CPU. At least a part of this operation control unit CON may be composed of software.

[0089] [Storage] The memory unit M stores information necessary for the operation control unit CON to perform predetermined processes. This memory unit M is, for example, a non-volatile memory such as a NAND flash memory.

[0090] More specifically, this memory unit M stores the program for the processing executed by the driving control unit CON of the driving assist device 100, and the data necessary for that processing. In particular, this memory unit M stores, for example, information about the vehicle 200, information obtained from the roadside unit RSU, gripping determination information, driving assistance information, notification history information showing the history of driving assistance information notified from the notification unit T, and gripping history information showing the history of gripping determination information obtained by the gripping determination unit after the driving assistance information has been notified.

[0091] The aforementioned program is a program executed by a driving assist device 100 equipped with a computer (driving control unit CON), and includes: a grip determination unit N that detects when the driver DR is gripping the steering wheel S of the vehicle 200 and acquires grip determination information that determines the result of this detection; a communication control unit TCU that communicates with a roadside unit RSU and acquires surrounding environment information from the roadside unit RSU regarding the surrounding environment Z monitored by the roadside unit RSU; a notification unit T that notifies the driver DR of driving assistance information to assist in driving the vehicle 200; and a driving control unit CON. The driving control unit CON causes the computer (driving control unit CON) to execute a process that controls the driving assistance information output by the notification unit T based on the surrounding environment information acquired by the communication control unit TCU and the grip determination information acquired by the grip determination unit N.

[0092] [Vehicle control method (control method for driving assistance devices)] Next, an example of a control method for the vehicle 200 according to this embodiment, which has the configuration and functions described above, will be explained, focusing on a specific example of a control method for the driving assist device 100.

[0093] Here, Figure 6 is a diagram showing an example of a flow chart of the control method for the driving assist device according to the embodiment. The processes of steps S1 to S13 shown in Figure 6 are mainly carried out by the driving control unit CON of the driving assist device 100 executing a program that has been prepared in advance and stored in the storage unit M.

[0094] First, for example, in response to the driver DR's input, the driving control unit CON executes a normal mode that operates the communication control unit TCU and the grip determination unit N (step S1). As a result, the communication control unit TCU becomes capable of connecting wirelessly with the roadside unit RSU located in the surrounding environment Z, and the grip determination unit N becomes capable of acquiring the driver DR's grip on the steering wheel S.

[0095] Next, the operation control unit CON determines whether the communication control unit TCU is linked up with the roadside unit RSU in this normal mode (step S2).

[0096] Then, if the communication control unit TCU is linked up with the roadside unit RSU, the operation control unit CON transitions from normal mode to a connection mode in which the communication control unit TCU and the roadside unit RSU send and receive predetermined information via wireless communication (step S3).

[0097] On the other hand, if the communication control unit TCU has not linked up with the roadside unit RSU, the operation control unit CON returns to step S1 to continue in normal mode, and then executes step S2 again to determine whether or not the communication control unit TCU has linked up with the roadside unit RSU.

[0098] Then, after the communication control unit TCU links up with the roadside unit RSU in step S3 described above, the operation control unit CON enters a connection mode and, from time to time, enters a state where it receives surrounding environment information from the roadside unit RSU via the communication control unit TCU.

[0099] For example, in this connection mode, the communication control unit TCU acquires signal display information from the roadside unit RSU as surrounding environment information, specifically regarding the display status of a traffic signal SV located in the surrounding environment Z monitored by the roadside unit RSU (step S4).

[0100] In this case, the operation control unit CON determines, based on the signal display information, whether the display state of the roadside unit RSU will change within a predetermined set period (for example, a few seconds) (i.e., whether the display state of the roadside unit RSU will change soon) (step S5).

[0101] As previously described, the operation control unit CON determines, based on the signal display information, for example, that the display state of the traffic signal SV will change from a no-go (red light) state to a state indicating that it is permitted to go (green light), that it will soon change from a state indicating that it is permitted to go (green light) to a state indicating that it is soon permitted to go (yellow light), or that it will soon change from a no-go (yellow light) state to a state indicating that it is prohibited to go (red light).

[0102] Then, in step S5, if the driving control unit CON determines, based on the signal display information, that the display state of the roadside unit RSU has changed within the set period, it determines, based on the grip determination information acquired by the grip determination unit N, whether the driver DR is not gripping the steering wheel S or is not gripping the steering wheel S firmly (step S6).

[0103] Then, if the driving control unit CON determines in step S6 that the driver DR is not gripping the steering wheel S or is not gripping the steering wheel firmly, it proceeds to step S7 to execute a notification mode and outputs driving assistance information from the notification unit T.

[0104] Then, when the driver DR recognizes the driving assistance information notified from the notification unit T and takes action to firmly grip the steering wheel S, the driving control unit CON may terminate the notification. Alternatively, when the driver DR operates the notification unit T to cancel the notification, the driving control unit CON may terminate the notification. Once the notification from the notification unit T is complete, the driving control unit CON maintains the connection mode (step S8).

[0105] On the other hand, if the operation control unit CON determines in step S5, as described above, that the display state of the roadside unit RSU will not change within the set period based on the signal display information, it proceeds to step S8 and maintains the connection mode.

[0106] Furthermore, if the driving control unit CON determines in step S6, as described above, that the driver DR is firmly gripping the steering wheel S based on the grip determination information, it proceeds to step S8 and maintains the connection mode.

[0107] In the connection mode shown in step S3 described above, if a mobile object MV exists in the surrounding environment Z monitored by the roadside unit, the communication control unit TCU obtains information about the mobile object from the roadside unit RSU as surrounding environment information (step S11).

[0108] In this case, after acquiring the moving vehicle information, the driving control unit CON determines whether or not there is an input from the driver DR to operate the turn signal J, based on the turn signal operation information (step S12).

[0109] Then, in step S12, if the driving control unit CON determines that the driver DR has made an input to operate the turn signal J based on the turn signal operation information, it determines, based on the grip determination information acquired by the grip determination unit N, whether the driver DR is not gripping the steering wheel S or is not gripping the steering wheel S firmly (step S6a).

[0110] Then, if the driving control unit CON determines in step S6a that the driver DR is not gripping the steering wheel S or is not gripping the steering wheel S firmly, it proceeds to step S7a to execute a notification mode and outputs driving assistance information from the notification unit T.

[0111] As previously described, in step S6a, if the driving control unit CON determines, based on the indicator operation information, that there has been an operation input of the turn indicator J by the driver DR, it may control the grip determination unit N to smooth out the detection of the state in which the driver DR is gripping the steering wheel S of the vehicle 200 after the operation input of the turn indicator J, and acquire the grip determination information by determining this smoothed detection result.

[0112] As a result, the grip determination unit N can reduce the influence of chattering of the HoD capacity sense level caused by the driver DR's grip on the steering wheel S, which may occur after the operation of the turn signal J, on the detection of the state in which the driver DR is gripping the steering wheel S. In other words, the grip determination unit N can obtain grip determination information with the influence of such chatter reduced by smoothing the HoD capacity sense level detected after the operation input of the turn signal J.

[0113] As a result, in step S6a, the driving control unit CON can determine whether the driver DR is not gripping the steering wheel S or is not gripping the steering wheel S firmly, based on grip determination information in which the influence of chattering at the HoD capacity sense level has been reduced.

[0114] On the other hand, if the driving control unit CON determines in step S6a, as described above, that the driver DR is firmly gripping the steering wheel S based on the grip determination information, it proceeds to step S8 and maintains the connection mode.

[0115] Here, after acquiring the moving object information, if the driving control unit CON determines in step S12, based on the indicator operation information, that there is no operation input of the turn indicator J by the driver DR, then based on the said moving object information, it determines whether the moving object MV is relatively close to the vehicle 200 (step S13).

[0116] Then, in step S13, if the driving control unit CON determines, based on the moving body information, that the moving body MV is relatively close to the vehicle 200, it determines, based on the grip determination information acquired by the grip determination unit N, whether the driver DR is not gripping the steering wheel S or is not gripping the steering wheel S firmly (step S6b).

[0117] Then, in step S6b, if the driving control unit CON determines, based on the grip determination information, that the driver DR is not gripping the steering wheel S or is not gripping the steering wheel S firmly, it proceeds to step S7b to execute the notification mode and outputs driving assistance information from the notification unit T.

[0118] On the other hand, if the control unit CON determines in step S13, as described above, that the mobile body MV is not relatively close to the vehicle 200 based on the mobile body information, it proceeds to step S8 and maintains the connection mode.

[0119] Furthermore, if the driving control unit CON determines in step S6b, as described above, that the driver DR is firmly gripping the steering wheel S based on the grip determination information, it proceeds to step S8 and maintains the connection mode.

[0120] Then, in the connection mode described in step S8 above, if, for example, the vehicle 200 passes through an intersection and the communication control unit TCU goes out of the communication range of the roadside unit RSU and the link-up is canceled (step S9), the driving control unit CON cancels the connection mode and executes the normal mode (step S10).

[0121] Then, in step S10, the driving control unit CON transitions the operating mode to normal mode, and the series of control flows ends. If the vehicle 200 continues to travel, the driving control unit CON returns to step S1, and once the communication control unit TCU links up with the roadside unit RSU, it repeats the same control flow as in step S2 and onward.

[0122] Furthermore, in the connection mode described in step S8, if the communication control unit TCU obtains signal display information of the traffic signal SV from the roadside unit RSU, the flow described in step S4 and onward will be executed. On the other hand, in the connection mode described in step S8, if the communication control unit TCU obtains mobile information of the mobile unit MV from the roadside unit RSU, the flow described in step S11 and onward will be executed.

[0123] In this embodiment, through the control flow of steps S1 to S13 described above, the operation control unit CON controls the operation assistance information output from the notification unit T based on the surrounding environment information acquired by the communication control unit TCU and the gripping determination information acquired by the gripping determination unit N.

[0124] As a result, the driver DR can recognize the driving assistance information output from the notification unit T of the driving assistance device 100, and based on that driving assistance information, grip and operate the steering wheel S to appropriately drive the vehicle on the road, including intersections and other features in the surrounding environment Z.

[0125] As described above, the driving assist device 100 according to this embodiment communicates with a roadside unit RSU located in the surrounding environment Z of the vehicle 200, and based on the information about the surrounding environment Z obtained from the roadside unit RSU, it can appropriately assist the driver DR by notifying the driver DR to grip the steering wheel S at an appropriate time.

[0126] [First variation] In the embodiments described above, an example was explained in which a notification unit T provided in the driving assist device 100 directly notifies the driver DR of driving assistance information. However, the invention is not limited to this, and for example, the notification unit T may notify the driver DR of driving assistance information via a portable device separate from the driving assist device carried by the driver DR.

[0127] Therefore, in this first modification, an example is described in which the notification unit T notifies the driver DR of driving assistance information via a portable device separate from the driving assistance device held by the driver DR. Here, Figure 7 is a diagram showing an example of the configuration of a vehicle to which the driving assistance device according to the first modification is applied. Note that the portable device P does not necessarily have to be held by the driver DR, but is only necessary to be placed in the vehicle 200 so that the driver DR can recognize the driving assistance information output from the portable device P.

[0128] For example, as shown in Figure 7, the notification unit T outputs a notification signal containing driving assistance information to a portable device P held by the driver DR via wireless or wired communication. The portable device P then displays a warning or alert based on the driving assistance information, vibrates with a frequency and / or amplitude based on the driving assistance information, or emits a voice and / or warning sound in response to the notification signal.

[0129] This portable device P is, for example, a wireless communication device such as a smartwatch or a smartphone, but it may also be any other device with similar functionality.

[0130] The driver DR can appropriately drive the road in the surrounding environment Z by recognizing the driving assistance information output from the portable device P and, based on that driving assistance information, gripping and operating the steering wheel S.

[0131] Furthermore, the other configurations and functions of the driving assist device 100 according to this first modified example are the same as those of the driving assist device 100 according to the previously described embodiment. That is, according to this first modified example, the driving can be appropriately assisted by communicating with a roadside unit RSU located in the surrounding environment Z of the vehicle 200, and by notifying the driver DR at an appropriate time to grip the steering wheel S based on the information about the surrounding environment Z obtained from the roadside unit RSU.

[0132] While several embodiments of the present invention have been described, these embodiments are presented as examples only and are not intended to limit the scope of the invention. These embodiments can be carried out in a variety of other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the invention, as well as in the claims and their equivalents. [Explanation of Symbols]

[0133] 100 Driving Assist Devices 200 vehicles DR Driver S Steering J direction indicator Z Surrounding Environment M storage section TCU (Telecommunications Control Unit) CON Operation Control Unit N Grip determination unit T Notification section RSU roadside unit

Claims

1. A driving assist device that communicates with roadside units placed in the surrounding environment and assists the driver in operating the vehicle based on information obtained from the roadside units, A grip determination unit detects that the driver is gripping the steering wheel of the vehicle and acquires grip determination information based on the detection result. A communication control unit that communicates with the roadside unit and obtains surrounding environment information relating to the surrounding environment monitored by the roadside unit from the roadside unit, A notification unit that notifies the driver of driving assistance information to assist in driving the vehicle, The system includes an operation control unit that controls the operation assistance information output by the notification unit based on the surrounding environment information acquired by the communication control unit and the gripping determination information acquired by the gripping determination unit, The surrounding environment information includes signal display information relating to the display status of traffic signals located in the surrounding environment monitored by the roadside unit, A driving assist device characterized in that the driving control unit determines the display state of the traffic signal based on the signal display information.

2. The surrounding environment information includes information about moving objects that move in the surrounding environment as detected by the roadside unit. The driving assist device according to feature 1.

3. The aforementioned operation control unit, When the communication control unit establishes a link with the roadside unit, it executes connection mode. In the aforementioned connection mode, The communication control unit acquires the signal display information from the roadside unit. Based on the aforementioned signal display information, it is determined whether the display state of the roadside unit changes within a predetermined set period. If, based on the signal display information, it is determined that the display state of the roadside unit will change within the set period, the grip determination unit will determine, based on the grip determination information acquired, whether the driver is not gripping the steering wheel or is not gripping the steering wheel firmly. If it is determined that the driver is not holding the steering wheel or is not holding the steering wheel firmly, the notification mode is activated and the driving assistance information is output from the notification unit. The driving assist device according to feature 2.

4. The operation control unit, based on the signal display information, determines that the display state of the traffic signal will change from a no-go state to a state indicating that it is passable, change from a passable state to a state indicating that it will soon be no-go, or change from a no-go state to a state indicating that it will soon be no-go. The driving assist device according to feature 1.

5. The aforementioned driving assistance information includes information that reminds the driver to grip the steering wheel. The driving assist device according to feature 1.

6. The driving assistance device according to claim 1, characterized in that the aforementioned driving assistance information includes information on the change in the display state of the traffic signal.

7. The aforementioned driving control unit is configured to acquire indicator operation information related to the driver's operation input of the indicator for indicating a right turn or left turn in the direction of travel of the vehicle. The aforementioned operation control unit, When the communication control unit establishes a link with the roadside unit, it executes connection mode. In the aforementioned connection mode, The communication control unit acquires the mobile information from the roadside unit. After acquiring the moving object information, it is determined, based on the indicator operation information, whether or not the driver has made an input to operate the turn signal. If, based on the indicator operation information, it is determined that the driver has made an input to operate the turn signal, the grip determination unit determines, based on the grip determination information acquired, whether the driver is not gripping the steering wheel or is not gripping the steering wheel firmly. If it is determined that the driver is not holding the steering wheel or is not holding the steering wheel firmly, the notification mode is activated and the driving assistance information is output from the notification unit. The driving assist device according to feature 2.

8. If the driving control unit determines, based on the indicator operation information, that the driver has operated the turn signal, it controls the grip determination unit to smooth the detection of the state in which the driver is gripping the steering wheel of the vehicle after the turn signal operation input, and obtains the grip determination information by determining this smoothed detection result. The driving assist device according to feature 7.

9. The aforementioned operation control unit, After acquiring the moving object information, if it is determined, based on the indicator operation information, that there has been no input from the driver to operate the indicator, then it is determined, based on the moving object information, whether the moving object is relatively approaching the vehicle. If, based on the moving object information, it is determined that the moving object is relatively close to the vehicle, the grip determination unit determines, based on the grip determination information acquired, whether the driver is not gripping the steering wheel or is not gripping the steering wheel firmly. Based on the grip determination information, if it is determined that the driver is not gripping the steering wheel or is not gripping the steering wheel firmly, the notification mode is executed and the driving assistance information is output from the notification unit. The driving assist device according to feature 7.

10. The aforementioned operation control unit, In response to the driver's input, a normal mode is executed in which the communication control unit and the grip determination unit are operated. In the normal mode, the communication control unit determines whether or not it has linked up with the roadside unit. If the communication control unit is linked up with the roadside unit, it will transition from the normal mode to the connection mode. On the other hand, if the communication control unit is not linked up with the roadside unit, the normal mode is continued. The driving assist device according to feature 3.

11. The operation control unit acquires information on the position, size, and / or speed of the moving object based on the moving object information. The driving assist device according to feature 2.

12. If an obstruction exists between the vehicle and the moving object, preventing the LiDAR device and / or imaging device mounted on the vehicle from recognizing and / or imaging the moving object, the operation control unit acquires information on the position, size, and / or speed of the moving object based on the moving object information. The driving assist device according to feature 2.

13. The notification unit displays cautionary or warning information corresponding to the driving assistance information, vibrates with a period and / or amplitude based on the driving assistance information, or emits voice and / or warning sounds. The driving assist device according to feature 1.

14. The notification unit notifies the driver by vibrating the steering wheel, thereby tactilely transmitting the driving assistance information to the driver. The driving assist device according to feature 1.

15. The notification unit outputs a notification signal containing the driving assistance information to a portable device connected to the notification unit via wireless or wired communication. The portable device, in response to the notification signal, displays a warning or alert information based on the driving assistance information, vibrates with a period and / or amplitude based on the driving assistance information, or emits voice and / or warning sounds. The driving assist device according to feature 1.

16. The grip determination unit is a Hands Off Detection (HoD) device that detects whether the driver is gripping the steering wheel by using a capacitance sensor provided on the steering wheel to detect a change in capacitance in the area of ​​the steering wheel that the driver is gripping. The driving assist device according to claim 1, characterized by the features described above.

17. The grip determination unit compares the HoD capacitance sense level detected by the capacitance sensor provided on the steering wheel with a preset capacitance threshold, and acquires the grip determination information based on this comparison result. The driving assist device according to feature 16.

18. The aforementioned driving control unit is configured to acquire indicator operation information related to the driver's operation input of the indicator for indicating a right turn or left turn in the direction of travel of the vehicle. If the operation control unit determines, based on the indicator operation information, that the driver has operated the turn signal, it controls the grip determination unit to smooth the HoD capacity sense level detected after the turn signal operation input. The driving assist device according to feature 17.

19. The aforementioned operation control unit further comprises a storage unit that stores information and programs for executing predetermined processes. The driving assist device according to claim 1, characterized by the following:

20. The operation control unit stores in the storage unit notification history information showing the history of the operation assistance information notified from the notification unit, and gripping history information showing the history of the gripping determination information acquired by the gripping determination unit after the operation assistance information was notified. The driving assist device according to feature 19.

21. The operation control unit transmits the notification history information and the gripping history information to the roadside unit via the communication control unit. The driving assist device according to claim 20.

22. A control method for a driving assist device that communicates with a roadside unit placed in the surrounding environment and assists the driver in driving a vehicle based on information obtained from the roadside unit, The aforementioned driving assist device, The system comprises: a grip determination unit that detects whether the driver is gripping the steering wheel of the vehicle and acquires grip determination information based on the detection result; a communication control unit that communicates with the roadside unit and acquires surrounding environment information from the roadside unit regarding the surrounding environment monitored by the roadside unit; a notification unit that notifies the driver of driving assistance information to assist in driving the vehicle; and a driving control unit. The operation control unit controls the operation assistance information output by the notification unit based on the surrounding environment information acquired by the communication control unit and the gripping determination information acquired by the gripping determination unit. The surrounding environment information includes signal display information relating to the display status of traffic signals located in the surrounding environment monitored by the roadside unit, The operation control unit determines the display state of the traffic light based on the signal display information. A control method for a driving assistance device, characterized by the following:

23. A program executed by a driving assist device that communicates with roadside units placed in the surrounding environment and assists the driver in operating the vehicle based on information obtained from the roadside units, The aforementioned driving assist device, The system comprises: a grip determination unit that detects whether the driver is gripping the steering wheel of the vehicle and acquires grip determination information based on the detection result; a communication control unit that communicates with the roadside unit and acquires surrounding environment information from the roadside unit regarding the surrounding environment monitored by the roadside unit; a notification unit that notifies the driver of driving assistance information to assist in driving the vehicle; and a driving control unit. The operation control unit causes the notification unit to execute a process to control the operation assistance information output by the notification unit, based on the surrounding environment information acquired by the communication control unit and the gripping determination information acquired by the gripping determination unit. The surrounding environment information includes signal display information relating to the display status of traffic signals located in the surrounding environment monitored by the roadside unit, The operation control unit determines the display state of the traffic light based on the signal display information. A program characterized by the following features.

24. A vehicle driven by a driver, The steering wheel and The system includes a driving assist device that communicates with roadside units placed in the surrounding environment and assists the driver in operating the vehicle based on information obtained from the roadside units, The aforementioned driving assist device, A grip determination unit detects that the driver is gripping the steering wheel of the vehicle and acquires grip determination information based on the detection result. A communication control unit that communicates with the roadside unit and obtains surrounding environment information relating to the surrounding environment monitored by the roadside unit from the roadside unit, A notification unit that notifies the driver of driving assistance information to assist in driving the vehicle, The system includes an operation control unit that controls the operation assistance information output by the notification unit based on the surrounding environment information acquired by the communication control unit and the gripping determination information acquired by the gripping determination unit, The surrounding environment information includes signal display information relating to the display status of traffic signals located in the surrounding environment monitored by the roadside unit, The operation control unit determines the display state of the traffic light based on the signal display information. A vehicle characterized by the following features.

25. A method of controlling a vehicle driven by a driver, The vehicle is equipped with a steering wheel and a driving assist device that communicates with roadside units placed in the surrounding environment and assists the driver in driving the vehicle based on information obtained from the roadside units. The aforementioned driving assist device, The system comprises: a grip determination unit that detects whether the driver is gripping the steering wheel of the vehicle and acquires grip determination information based on the detection result; a communication control unit that communicates with the roadside unit and acquires surrounding environment information from the roadside unit regarding the surrounding environment monitored by the roadside unit; a notification unit that notifies the driver of driving assistance information to assist in driving the vehicle; and a driving control unit. The operation control unit controls the operation assistance information output by the notification unit based on the surrounding environment information acquired by the communication control unit and the gripping determination information acquired by the gripping determination unit. The surrounding environment information includes signal display information relating to the display status of traffic signals located in the surrounding environment monitored by the roadside unit, The operation control unit determines the display state of the traffic light based on the signal display information. A vehicle control method characterized by the following features.

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