JP2020006877A - Driving support device, method, and program - Google Patents

Driving support device, method, and program Download PDF

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JP2020006877A
JP2020006877A JP2018131370A JP2018131370A JP2020006877A JP 2020006877 A JP2020006877 A JP 2020006877A JP 2018131370 A JP2018131370 A JP 2018131370A JP 2018131370 A JP2018131370 A JP 2018131370A JP 2020006877 A JP2020006877 A JP 2020006877A
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driving support
reliability
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JP6968040B2 (en
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顕 吉澤
Akira Yoshizawa
顕 吉澤
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Denso IT Laboratory Inc
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Abstract

To provide a driving support device capable of giving a prior alarm of a driving support operation stop with respect to a driver, at proper timing according to reliability of the driver with respect to a driving support system.SOLUTION: A driving support device 10 includes the following constitutions and functions. A reliability calculation unit 16 calculates operation reliability which shows reliability of a driving support operation and in which the driving support operation is stopped, in the case where the operation reliability becomes a predetermined stop threshold value or less. An alarm determination unit 20 gives a prior alarm which shows that there is the possibility of the driving support operation being stopped with respect to a driver, in the case where the operation reliability calculated by the reliability calculation unit becomes equal to or less than an alarm threshold value. A threshold value change unit 24 changes the alarm threshold value based on a history of the driving support operation.SELECTED DRAWING: Figure 1

Description

本発明は、自動運転車両において運転支援動作を行う運転支援装置、方法及びプログラムに関する。   The present invention relates to a driving support device, a driving support method, and a program for performing a driving support operation in an automatic driving vehicle.

従来、自動運転車両において様々な運転支援システムが用いられている。運転支援システムとしては、レーンキープシステム、オートクルーズコントロールシステム、プリクラッシュセーフティシステム等がある。   Conventionally, various driving support systems have been used in self-driving vehicles. The driving support system includes a lane keeping system, an auto cruise control system, a pre-crash safety system, and the like.

運転支援システムでは、運転者が運転支援システムを繰り返し利用するのに伴い、システムを過信してしまうおそれがある。このような過信に起因する運転者の不注意に対処するため、運転者に対して注意を喚起する警告を行う様々なシステムが提案されている（例えば、非特許文献１及び２参照）。   In a driving support system, as a driver repeatedly uses the driving support system, there is a possibility that the driver may overtrust the system. In order to cope with the driver's carelessness due to such overconfidence, various systems for giving a warning to the driver have been proposed (for example, see Non-Patent Documents 1 and 2).

株式会社デンソー、“ドライバーステータスモニター”、インターネット＜ｈｔｔｐｓ：//ｗｗｗ.ｄｅｎｓｏ.ｃｏｍ/ｊｐ/ｊａ/ｐｒｏｄｕｃｔｓ−ａｎｄ−ｓｅｒｖｉｃｅｓ/ｉｎｆｏｒｍａｔｉｏｎ−ａｎｄ−ｓａｆｅｔｙ/ｐｉｃｋ−ｕｐ/ｄｓｍ/＞DENSO Corporation, “Driver Status Monitor”, Internet <https://www.denso.com/jp/ja/products-and-services/information-and-safety/pick-up/dsm/>

トヨタ自動車株式会社、“進化したドライバーモニター付プリクラッシュセーフティシステム”、インターネット＜ｈｔｔｐｓ：//ｎｅｗｓｒｏｏｍ.ｔｏｙｏｔａ.ｃｏ.ｊｐ/ｊｐ/ｄｅｔａｉｌ/１７９３７８１＞Toyota Motor Corporation, "Evolved pre-crash safety system with driver monitor", Internet <https://newsroom.toyota.co.jp/jp/detail/1793781>

自動運転車両の運転支援システムでは、運転支援動作の動作信頼度が低下すると、運転支援動作を停止するようにしており、運転支援動作が停止された場合には運転者自身が運転操作を行わなければならない。このため、運転支援動作が停止される可能性がある場合には、運転者に対して予めその旨の事前警報を発して、運転者に運転操作の準備を促す必要がある。もっとも、運転者に対してどのようなタイミングで事前警報を行うのが適切であるかは、運転者のシステムに対する信用度によって異なり、特に運転者がシステムを過信して、運転に対する注意度が低下している場合には、早いタイミングで事前警報を行う必要がある。   In a driving support system for an autonomous driving vehicle, when the operation reliability of the driving support operation is reduced, the driving support operation is stopped, and when the driving support operation is stopped, the driver himself / herself must perform the driving operation. Must. For this reason, when there is a possibility that the driving support operation may be stopped, it is necessary to issue a pre-warning to the driver in advance to urge the driver to prepare for the driving operation. However, when it is appropriate to give an advance warning to the driver depends on the driver's confidence in the system, especially when the driver overtrusts the system and the driver's attention to driving decreases. If so, it is necessary to give an advance warning at an early timing.

本発明は上記課題に鑑みてなされたものであり、その目的は、運転支援システムに対する運転者の信用度に応じた適切なタイミングで、運転者に対して運転支援動作停止の事前警報を行うことが可能な運転支援装置、方法及びプログラムを提供することにある。   The present invention has been made in view of the above problems, and an object of the present invention is to provide a driver with an advance warning of stopping driving assistance operation at an appropriate timing in accordance with the driver's credibility for the driving assistance system. An object of the present invention is to provide a possible driving assistance device, a method and a program.

本発明の第１実施態様は、運転支援動作の信頼性を示し所定の停止閾値以下となった場合には運転支援動作が停止される動作信頼度を算出する信頼度算出部と、前記信頼度算出部によって算出された動作信頼度が所定の警報閾値以下となった場合に、運転者に対して運転支援動作が停止される可能性があることを示す事前警報を行うと判断する警報判断部と、運転支援動作の履歴に基づき前記警報閾値を変更する閾値変更部と、を具備することを特徴とする運転支援装置である。   A first embodiment of the present invention includes a reliability calculation unit that calculates the reliability of driving assistance operation and calculates an operation reliability at which the driving assistance operation is stopped when the driving assistance operation falls below a predetermined stop threshold. When the operation reliability calculated by the calculation unit is equal to or less than a predetermined warning threshold, an alarm determination unit that determines to perform a prior warning indicating to the driver that the driving support operation may be stopped. And a threshold changing unit that changes the alarm threshold based on a history of the driving support operation.

本実施態様では、運転支援システムに対する運転者の信用度は運転支援動作の履歴に依存するところ、運転支援動作の履歴に基づいて警報閾値を変更し、運転支援動作の動作信頼度が当該警報閾値以下となった場合に、運転者に対して運転支援動作停止の事前警報を行うようにしている。このため、運転支援システムに対する運転者の信用度に応じた適切なタイミングで、運転者に対して運転支援動作停止の事前警報を行うことが可能となっている。   In the present embodiment, the driver's credibility for the driving support system depends on the history of the driving support operation, but the alarm threshold is changed based on the history of the driving support operation, and the operation reliability of the driving support operation is equal to or less than the alarm threshold. In such a case, the driver is warned in advance of stopping the driving support operation. For this reason, it is possible to give a preliminary warning to the driver of the stoppage of the driving support operation at an appropriate timing according to the driver's credibility for the driving support system.

本発明の第２実施態様は、前記閾値変更部は、運転支援動作が実行された時間を示す動作継続時間の増大に応じて前記警報閾値を増大させる、ことを特徴とする第１実施態様の運転支援装置である。   A second embodiment of the present invention is characterized in that the threshold changing unit increases the alarm threshold in accordance with an increase in an operation duration indicating a time at which a driving assistance operation is executed. It is a driving support device.

本実施態様では、運転支援動作の動作継続時間の増大に伴って警報閾値を増大させて、運転者に対して早いタイミングで運転支援動作停止の事前警報を行うようにしている。このため、運転支援動作の動作継続時間の増大に伴い、運転者が運転支援システムを過信して、運転に対する運転者の注意度が低下してしまっている場合であっても、運転支援動作停止までに、運転者が運転操作の準備を確実に完了することが可能となっている。   In the present embodiment, the warning threshold value is increased with an increase in the operation continuation time of the driving support operation, and a preliminary warning to stop the driving support operation is issued to the driver at an early timing. For this reason, even if the driver overestimates the driving support system and the driver's attention to driving decreases with the increase in the operation continuation time of the driving support operation, the driving support operation is stopped. By this time, the driver can surely complete the preparation for the driving operation.

本発明の第３実施態様は、前記閾値変更部は、所定の期間における運転支援動作の実行が指示された時間に対する運転支援動作が停止されずに実行された時間の割合を示す動作継続割合の増減に応じて前記警報閾値を増減させる、ことを特徴とする第１実施態様の運転支援装置である。   In a third embodiment of the present invention, the threshold value changing unit is configured to calculate a ratio of an operation continuation ratio indicating a ratio of a time during which the driving support operation is executed without being stopped with respect to a time when the execution of the driving support operation is instructed during a predetermined period. The driving support device according to the first embodiment, wherein the warning threshold value is increased or decreased according to the increase or decrease.

本実施態様では、運転支援動作の動作継続割合の増大に伴って警報閾値を増大させて、運転者に対して早いタイミングで運転支援動作停止の事前警報を行うようにしている。このため、運転支援動作の動作継続割合の増大に伴い、運転者が運転支援システムを過信して、運転に対する運転者の注意度が低下してしまっている場合であっても、運転支援動作停止までに、運転者が運転操作の準備を確実に完了することが可能となっている。   In the present embodiment, the warning threshold value is increased with an increase in the operation continuation rate of the driving support operation, and a preliminary warning of the stop of the driving support operation is issued to the driver at an early timing. For this reason, even if the driver overestimates the driving support system and the driver's attention to driving decreases with an increase in the operation continuation rate of the driving support operation, the driving support operation is stopped. By this time, the driver can surely complete the preparation for the driving operation.

本発明の第４実施態様は、前記閾値変更部は、所定の区間における運転支援動作の実行が指示された回数に対する運転支援動作が停止されずに実行された回数を示す動作継続頻度の増減に応じて前記警報閾値を増減させる、ことを特徴とする第１実施態様の運転支援装置である。   In a fourth embodiment of the present invention, the threshold value changing unit is configured to increase or decrease the operation continuation frequency indicating the number of times the driving support operation is executed without being stopped with respect to the number of times the execution of the driving support operation is instructed in the predetermined section. The driving assistance device according to the first embodiment, wherein the warning threshold value is increased or decreased in response to the request.

本実施態様では、所定の区間毎に、運転支援動作の動作継続頻度の増大に伴って警報閾値を増大させて、運転者に対して早いタイミングで運転支援動作停止の事前警報を行うようにしている。このため、特定の区間において、運転支援動作の動作継続頻度の増大に伴い、運転者が運転支援システムを過信して、運転に対する運転者の注意度が低下してしまっている場合であっても、運転支援動作停止までに、運転者が運転操作の準備を確実に完了することが可能となっている。   In the present embodiment, the warning threshold value is increased in accordance with an increase in the operation continuation frequency of the driving support operation for each predetermined section, and a preliminary warning of the stop of the driving support operation is issued to the driver at an early timing. I have. For this reason, in a specific section, even if the driver's confidence in the driving support system is reduced due to an increase in the operation continuation frequency of the driving support operation, the driver's attention to driving is reduced. By this, the driver can surely complete the preparation for the driving operation before the driving support operation stops.

本発明の第５実施態様は、運転に対する運転者の注意度を算出する注意度算出部をさらに具備し、前記警報判断部は、前記信頼度算出部によって算出された動作信頼度が所定の警報閾値以下となった場合であっても、前記注意度算出部によって算出された注意度が所定の取消閾値以上である場合には、事前警報を行わないと判断する、ことを特徴とする第１実施態様の運転支援装置である。   The fifth embodiment of the present invention further includes a caution degree calculation unit that calculates the degree of caution of the driver with respect to driving, wherein the warning determination unit determines that the operation reliability calculated by the reliability calculation unit is a predetermined warning. Even if the alertness is equal to or less than the threshold, if the alertness calculated by the alertness calculator is equal to or greater than a predetermined cancellation threshold, it is determined that the advance warning is not performed. It is a driving support device of an embodiment.

本実施態様では、運転者が運転支援システムを過信せず、運転に対する運転者の注意度が低下していない場合には、運転支援動作停止の事前警報を発しないようにしているため、不必要な事前警報を行うことを回避することが可能となっている。   In the present embodiment, if the driver does not overly trust the driving support system and the driver's attention to driving is not reduced, the prior warning of stopping the driving support operation is not issued, so that unnecessary It is possible to avoid performing an important advance warning.

本発明の第６実施態様は、運転支援動作の履歴に基づき警報閾値を変更する閾値変更ステップと、運転支援動作の信頼性を示し所定の停止閾値以下となった場合には運転支援動作が停止される動作信頼度を算出する信頼度算出ステップと、前記信頼度算出ステップによって算出された動作信頼度が前記警報閾値以下となった場合に、運転者に対して運転支援動作が停止される可能性があることを示す事前警報を行うと判断する警報判断ステップと、を具備することを特徴とする運転支援方法である。
本実施態様では、第１実施態様と同様な作用効果を奏する。 A sixth embodiment of the present invention includes a threshold changing step of changing an alarm threshold based on a history of the driving support operation, and the reliability of the driving support operation is indicated, and the driving support operation is stopped when the driving support operation becomes lower than a predetermined stop threshold. A reliability calculation step of calculating the operation reliability to be performed, and when the operation reliability calculated by the reliability calculation step is equal to or less than the alarm threshold, the driving assistance operation may be stopped for the driver. And a warning determining step of determining to give a prior warning indicating that there is a possibility.
In the present embodiment, the same operation and effect as those of the first embodiment can be obtained.

本発明の第７実施態様は、コンピュータに、運転支援動作の信頼性を示し所定の停止閾値以下となった場合には運転支援動作が停止される動作信頼度を算出する信頼度算出機能と、前記信頼度算出機能によって算出された動作信頼度が所定の警報閾値以下となった場合に、運転者に対して運転支援動作が停止される可能性があることを示す事前警報を行うと判断する警報判断機能と、運転支援動作の履歴に基づき前記警報閾値を変更する閾値変更機能と、を実現させることを特徴とする運転支援プログラムである。
本実施態様では、第１実施態様と同様な作用効果を奏する。 A seventh embodiment of the present invention provides a computer with a reliability calculation function for calculating the operation reliability indicating the reliability of the driving support operation and indicating that the driving support operation is stopped when the driving support operation becomes equal to or less than a predetermined stop threshold. When the operation reliability calculated by the reliability calculation function becomes equal to or less than a predetermined warning threshold, it is determined that a preliminary warning indicating that the driving support operation may be stopped is given to the driver. A driving support program for realizing a warning determination function and a threshold changing function for changing the warning threshold based on a history of the driving support operation.
In the present embodiment, the same operation and effect as those of the first embodiment can be obtained.

本発明では、運転支援システムに対する運転者の信用度に応じた適切なタイミングで、運転者に対して運転支援動作停止の事前警報を行うことが可能となっている。   According to the present invention, it is possible to give a preliminary warning to the driver of stopping the driving support operation at an appropriate timing in accordance with the driver's trust in the driving support system.

本発明の第１実施形態の運転支援システムを示すブロック図。1 is a block diagram illustrating a driving support system according to a first embodiment of the present invention. 本発明の第１実施形態の運転支援方法を示すフロー図。FIG. 2 is a flowchart showing a driving assistance method according to the first embodiment of the present invention. 本発明の第１実施形態の動作継続時間と警報閾値との関係を示すグラフ図。FIG. 4 is a graph showing a relationship between an operation duration and an alarm threshold according to the first embodiment of the present invention. 本発明の第１実施形態の事前警報判断ステップ及び停止判断ステップを説明するためのグラフ図。FIG. 4 is a graph for explaining a pre-warning determination step and a stop determination step according to the first embodiment of the present invention. 本発明の第３実施形態の動作履歴記憶テーブルを示す表図。FIG. 14 is a table showing an operation history storage table according to a third embodiment of the present invention. 本発明の第４実施形態の運転支援システムを示すブロック図。FIG. 9 is a block diagram showing a driving support system according to a fourth embodiment of the present invention. 本発明の第４実施形態の運転支援方法を示すフロー図。FIG. 14 is a flowchart showing a driving assistance method according to a fourth embodiment of the present invention.

図１乃至図４を参照して、本発明の第１実施形態について説明する。
自動運転車両の運転支援システムでは、運転支援動作の動作信頼度が所定の停止閾値以下となった場合には、運転支援動作を停止して運転者による運転操作に復帰させるようにしている。そして、運転支援動作の停止に先立ち、運転支援動作の動作信頼度が所定の警報閾値以下となった場合には、運転者に対して運転支援動作が停止される可能性があることを示す事前警報を行って、運転者に運転操作の準備を促すようにしている。ここで、運転支援動作の動作継続時間が増大するのに伴い、運転者がシステムを過信して運転に対する運転者の注意度が低下してしまい、運転操作の準備に必要な時間が増大するおそれがある。これに対して、本実施形態では、運転支援動作の動作継続時間の増大に伴って警報閾値を増大させ、運転者に対して早いタイミングで運転支援動作停止の事前警報を行うようにすることで、運転支援動作停止までに運転者が運転操作の準備を確実に完了できるようにしている。 A first embodiment of the present invention will be described with reference to FIGS.
In the driving support system for an automatic driving vehicle, when the operation reliability of the driving support operation becomes equal to or less than a predetermined stop threshold, the driving support operation is stopped and the operation is returned to the driving operation by the driver. Prior to the stop of the driving support operation, if the operation reliability of the driving support operation becomes equal to or less than a predetermined warning threshold, the driver is informed that the driving support operation may be stopped. An alarm is issued to urge the driver to prepare for driving operation. Here, as the operation continuation time of the driving assistance operation increases, the driver may overtrust the system and the driver's attention to driving may decrease, and the time required for preparing for the driving operation may increase. There is. On the other hand, in the present embodiment, the warning threshold value is increased with an increase in the operation duration of the driving support operation, and a preliminary warning of the stop of the driving support operation is issued to the driver at an early timing. Thus, the driver can surely complete the preparation for the driving operation before the driving support operation stops.

図１を参照して、本実施形態の運転支援システムについて説明する。
図１に示されるように、本実施形態の運転支援システムでは、運転支援指示部４０は、運転支援動作の開始指示を運転支援装置１０へ出力する。周辺情報検出部５０は、車両周辺の周辺環境情報を検出し、運転支援装置１０へ出力する。運転支援装置１０は、運転支援指示部４０から運転支援動作の開始指示を入力されると、運転支援動作を開始する。また、運転支援装置１０は、周辺情報検出部５０で検出された周辺環境情報に基づき、車両駆動部６０を制御して自動運転車両の運転支援動作を行うと共に、警報発生部７０を制御してパネル表示や音声案内によって各種警報を行う。 The driving support system according to the present embodiment will be described with reference to FIG.
As shown in FIG. 1, in the driving support system according to the present embodiment, the driving support instruction unit 40 outputs a driving support operation start instruction to the driving support device 10. The peripheral information detection unit 50 detects peripheral environment information around the vehicle and outputs the information to the driving support device 10. The driving support device 10 starts the driving support operation when a driving support operation start instruction is input from the driving support instruction unit 40. In addition, the driving assistance device 10 controls the vehicle driving unit 60 to perform the driving assistance operation of the automatic driving vehicle based on the surrounding environment information detected by the surrounding information detection unit 50, and controls the alarm generation unit 70. Various warnings are given by panel display and voice guidance.

運転支援装置１０において、運転支援制御部１４は、周辺情報検出部５０で検出された周辺環境情報に基づき、車両駆動部６０を制御して自動運転車両の運転支援動作を行う機能を有する。   In the driving support device 10, the driving support control unit 14 has a function of controlling the vehicle driving unit 60 to perform the driving support operation of the automatic driving vehicle based on the surrounding environment information detected by the surrounding information detecting unit 50.

信頼度算出部１６は、周辺情報検出部５０で検出された周辺環境情報に基づき、運転支援動作の動作信頼度を算出する機能を有する。動作信頼度は運転支援動作の信頼性を示すものであり、動作信頼度が所定の停止閾値以下となった場合には、運転支援動作を停止する必要がある。動作信頼度は様々な要因に基づいて算出される。例えば、レーンキープシステムにおいて、路面上の白線位置に基づいてレーンキープ制御が行われる場合には、白線位置の検出精度は白線自身の経年劣化の程度や天候等の検出環境によって変化し、白線位置の検出精度の増減に応じてレーンキープ制御の動作信頼度も増減することとなる。   The reliability calculation unit 16 has a function of calculating the operation reliability of the driving support operation based on the surrounding environment information detected by the surrounding information detection unit 50. The operation reliability indicates the reliability of the driving support operation, and when the operation reliability falls below a predetermined stop threshold, the driving support operation needs to be stopped. The operation reliability is calculated based on various factors. For example, in a lane keeping system, when lane keeping control is performed based on the position of a white line on a road surface, the detection accuracy of the position of the white line changes depending on the degree of aging of the white line itself and the detection environment such as weather, and the position of the white line is determined. The operation reliability of the lane keeping control also increases or decreases in accordance with the increase or decrease in the detection accuracy of.

停止判断部１８は、信頼度算出部１６によって算出された動作信頼度が所定の停止閾値以下となった場合には、運転支援動作を停止すると判断する機能を有する。そして、停止判断部１８は、運転支援動作を停止すると判断した場合には、警報発生部７０を制御して、運転者に対して運転支援動作が停止されることを示す停止警報を行うと共に、運転支援制御部１４による運転支援動作を停止させる機能を有する。   The stop determination unit 18 has a function of determining to stop the driving support operation when the operation reliability calculated by the reliability calculation unit 16 becomes equal to or less than a predetermined stop threshold. When the stop determination unit 18 determines to stop the driving support operation, the stop determination unit 18 controls the alarm generation unit 70 to issue a stop warning to the driver indicating that the driving support operation is stopped, It has a function of stopping the driving support operation by the driving support control unit 14.

警報判断部２０は、信頼度算出部１６によって算出された動作信頼度が所定の警報閾値以下となった場合には、運転者に対して運転支援動作が停止される可能性があることを示す事前警報を行うと判断する機能を有する。警報閾値は停止閾値よりも大きく、運転支援動作を停止する判断の前に事前警報を行う判断がなされる。そして、警報判断部２０は、事前警報を行うと判断した場合には、警報発生部７０を制御して事前警報を行う機能を有する。   When the operation reliability calculated by the reliability calculation unit 16 is equal to or less than a predetermined alarm threshold, the warning determination unit 20 indicates to the driver that the driving support operation may be stopped. It has a function to determine that an advance warning should be given. The warning threshold value is larger than the stop threshold value, and a determination is made to give an advance warning before determining to stop the driving support operation. Then, the alarm determination unit 20 has a function of controlling the alarm generation unit 70 to perform an advance alarm when it is determined that an advance alarm is to be performed.

動作履歴記憶部２２は、運転支援動作の履歴として、運転支援動作が実行された時間を示す動作継続時間を記憶しておく機能を有する。閾値変更部２４は、運転支援動作の履歴に基づいて警報閾値を変更する機能を有し、本実施形態では、動作継続時間の増大に応じて警報閾値を増大させる。   The operation history storage unit 22 has a function of storing, as a history of the driving support operation, an operation continuation time indicating a time at which the driving support operation is executed. The threshold changing unit 24 has a function of changing the alarm threshold based on the history of the driving support operation. In the present embodiment, the threshold changing unit 24 increases the alarm threshold according to an increase in the operation duration.

図２乃至図４を参照して、本実施形態の運転支援方法について説明する。
図２に示されるように、本実施形態の運転支援方法は以下の各ステップを有する。 The driving support method according to the present embodiment will be described with reference to FIGS.
As shown in FIG. 2, the driving support method according to the present embodiment includes the following steps.

運転支援動作開始指示判断ステップＳ１０
運転支援動作開始指示判断ステップＳ１０では、運転支援動作の開始指示がなされたか否か判断する。運転支援動作の開始指示がなされたと判断された場合には、運転支援動作開始ステップＳ１１に進行する。 Driving support operation start instruction determination step S10
In driving assistance operation start instruction determination step S10, it is determined whether or not a driving assistance operation start instruction has been issued. If it is determined that the driving support operation start instruction has been issued, the process proceeds to the driving support operation start step S11.

運転支援動作開始ステップＳ１１
運転支援動作開始ステップＳ１１では、自動運転車両において運転支援動作を開始する。 Driving support operation start step S11
In the driving assistance operation start step S11, the driving assistance operation is started in the automatic driving vehicle.

警報閾値変更ステップＳ１２
警報閾値変更ステップＳ１２では、運転支援動作の履歴に基づいて警報閾値を変更する。本実施形態では、運転支援動作が実行された時間を示す動作継続時間の増大に応じて、警報閾値を増大させる。例えば、図３中のｆ１に示されるように、動作継続時間Ｔの増大に応じて、警報閾値γａを所定の基準値γ０から直線的に増大させていき、動作継続時間Ｔが所定の時間Ｔａを超えた場合には、警報閾値γａを所定の最大値γｍで一定とする。なお、動作継続時間Ｔの増大に応じた警報閾値γａの増大の仕方については様々な形態を用いることが可能であり、例えば、図３中のｆ２に示されるように、動作継続時間Ｔの増大に応じて警報閾値γａを曲線的に増大させていき、所定の時間Ｔａで最大値γｍに滑らかに接続するようにしてもよい。ここで、警報閾値γａの基準値γ０は運転支援動作を停止する判断をするための停止閾値γｓよりも大きく、警報閾値γａは停止閾値γｓよりも大きくなる。 Alarm threshold change step S12
In the alarm threshold changing step S12, the alarm threshold is changed based on the history of the driving support operation. In the present embodiment, the alarm threshold is increased in accordance with an increase in the operation continuation time indicating the time at which the driving support operation has been executed. For example, as shown in f 1 in FIG. 3, according to an increase of the operating duration T, will linearly increasing the alarm threshold γa from a predetermined reference value [gamma] 0, the operation duration T of a predetermined time When Ta exceeds Ta, the alarm threshold value γa is set to a predetermined maximum value γm. As for how to increase the alarm threshold γa in accordance with the increase in the operation continuation time T it is possible to use a variety of forms, for example, as shown in the f 2 in FIG. 3, the operation duration T The alarm threshold value γa may be increased in a curve in accordance with the increase, and may be smoothly connected to the maximum value γm at a predetermined time Ta. Here, the reference value γ0 of the alarm threshold γa is larger than the stop threshold γs for determining to stop the driving support operation, and the alarm threshold γa is larger than the stop threshold γs.

信頼度算出ステップＳ１３
信頼度算出ステップＳ１３では、車両周辺の周辺環境情報に基づいて、自動運転車両における運転支援動作の動作信頼度を算出する。 Reliability calculation step S13
In the reliability calculation step S13, the operation reliability of the driving support operation in the automatic driving vehicle is calculated based on the surrounding environment information around the vehicle.

事前警報完了判断ステップＳ１４
事前警報完了判断ステップＳ１４では、事前警報が完了しているか否か判断する。事前警報が完了していない場合には、事前警報判断ステップＳ１５に進行する。一方、事前警報が完了している場合には、停止判断ステップＳ１７に進行する。 Advance warning completion determination step S14
In the prior warning completion determination step S14, it is determined whether or not the prior warning has been completed. If the advance warning has not been completed, the process proceeds to the advance warning determination step S15. On the other hand, if the advance warning has been completed, the process proceeds to the stop determination step S17.

事前警報判断ステップＳ１５
事前警報判断ステップＳ１５では、運転支援動作の動作信頼度が警報閾値以下となったか否か判断する。運転支援動作の動作信頼度が警報閾値以下となったと判断された場合には、事前警報ステップＳ１６に進行する。例えば、図４に示されるように、運転支援動作開始後の経過時間ｔに応じて運転支援動作の動作信頼度ηが徐々に低下していく状況では、動作信頼度ηが警報閾値γａとなった時点ｔａで、動作信頼度ηが警報閾値γａ以下となったと判断される。ここで、警報閾値γａは変更前の基準値γ０よりも大きく、警報閾値γａに対応する時点ｔａは変更前の基準値γ０に対応する時点ｔ０よりも前となっている。一方、運転支援動作の動作信頼度が警報閾値以下となっていないと判断された場合には、信頼度算出ステップＳ１３に戻る。 Advance warning determination step S15
In the pre-warning determination step S15, it is determined whether or not the operation reliability of the driving support operation has become equal to or lower than the warning threshold. When it is determined that the operation reliability of the driving support operation has become equal to or less than the warning threshold, the process proceeds to the advance warning step S16. For example, as shown in FIG. 4, in a situation where the operation reliability η of the driving support operation gradually decreases according to the elapsed time t after the start of the driving support operation, the operation reliability η becomes the alarm threshold γa. At the time point ta, it is determined that the operation reliability η has become equal to or less than the warning threshold γa. Here, the warning threshold value γa is larger than the reference value γ0 before the change, and the time point ta corresponding to the warning threshold value γa is before the time point t0 corresponding to the reference value γ0 before the change. On the other hand, when it is determined that the operation reliability of the driving support operation is not lower than the warning threshold, the process returns to the reliability calculation step S13.

事前警報ステップＳ１６
事前警報ステップＳ１６では、運転者に対して運転支援動作が停止される可能性があることを示す事前警報を行う。運転者は、事前警報を受けた場合には、運転支援動作が停止して運転者による運転操作に復帰しても即時に対応可能なように準備を行う。 Advance warning step S16
In the pre-warning step S16, a pre-warning is issued to the driver indicating that the driving support operation may be stopped. When receiving the advance warning, the driver prepares so that the driver can immediately respond even if the driving support operation is stopped and the driver returns to the driving operation.

停止判断ステップＳ１７
停止判断ステップＳ１７では、運転支援動作の動作信頼度が停止閾値以下となったか否か判断する。運転支援動作の動作信頼度が停止閾値以下となったと判断された場合には、運転支援動作停止ステップＳ１８に進行する。例えば、図４に示されるように、運転支援動作開始後の経過時間ｔに応じて運転支援動作の動作信頼度ηが徐々に低下していく状況では、動作信頼度ηが停止閾値γｓとなった時点ｔｓで、動作信頼度ηが停止閾値γｓ以下となったと判断される。ここで、警報閾値γａよりも停止閾値γｓのほうが小さく、警報閾値γａに対応する時点ｔａよりも停止閾値γｓに対応する時点ｔｓのほうが後となっている。一方、運転支援動作の動作信頼度が停止閾値以下となっていないと判断された場合には、信頼度算出ステップＳ１３に戻る。 Stop determination step S17
In the stop determination step S17, it is determined whether or not the operation reliability of the driving support operation is equal to or less than the stop threshold. When it is determined that the operation reliability of the driving support operation is equal to or less than the stop threshold, the process proceeds to the driving support operation stop step S18. For example, as shown in FIG. 4, in a situation where the operation reliability η of the driving support operation gradually decreases in accordance with the elapsed time t after the start of the driving support operation, the operation reliability η becomes the stop threshold value γs. At the time point ts, it is determined that the operation reliability η has become equal to or less than the stop threshold γs. Here, the stop threshold value γs is smaller than the alarm threshold value γa, and the time point ts corresponding to the stop threshold value γs is later than the time point ta corresponding to the alarm threshold value γa. On the other hand, when it is determined that the operation reliability of the driving support operation is not equal to or smaller than the stop threshold, the process returns to the reliability calculation step S13.

運転支援動作停止ステップＳ１８
運転支援動作停止ステップＳ１８では、運転者に対して運転支援動作が停止することを示す停止警報を行うと共に、自動運転車両における運転支援動作を停止する。 Driving support operation stop step S18
In the driving support operation stop step S18, a stop warning indicating that the driving support operation is stopped is issued to the driver, and the driving support operation in the automatic driving vehicle is stopped.

本実施形態の運転支援装置及び方法は次の効果を奏する。
自動運転車両の運転支援システムでは、運転支援システムに対する運転者の信用度は運転支援動作の履歴に依存している。本実施形態では、運転支援動作の履歴に基づいて警報閾値を変更し、運転支援動作の動作信頼度が当該警報閾値以下となった場合に、運転者に対して運転支援動作停止の事前警報を行うようにしている。このため、運転支援システムに対する運転者の信用度に応じた適切なタイミングで、運転者に対して運転支援動作停止の事前警報を行うことが可能となっている。 The driving support device and method of the present embodiment have the following effects.
In a driving support system for an automatic driving vehicle, the driver's credibility for the driving support system depends on the history of the driving support operation. In the present embodiment, the warning threshold value is changed based on the history of the driving support operation, and when the operation reliability of the driving support operation becomes equal to or less than the warning threshold value, a preliminary warning of the driving support operation stop is given to the driver. I'm trying to do it. For this reason, it is possible to give a preliminary warning to the driver of the stoppage of the driving support operation at an appropriate timing according to the driver's credibility for the driving support system.

特に本実施態様では、運転支援動作の動作継続時間の増大に伴って、警報閾値を増大させて、運転者に対して早いタイミングで運転支援動作停止の事前警報を行うようにしている。このため、運転支援動作の動作継続時間の増大に伴い、運転者が運転支援システムを過信して、運転に対する運転者の注意度が低下してしまっている場合であっても、運転支援動作停止までに、運転者が運転操作の準備を確実に完了することが可能となっている。   In particular, in the present embodiment, the warning threshold value is increased with an increase in the operation continuation time of the driving support operation, and a preliminary warning of the stop of the driving support operation is issued to the driver at an early timing. For this reason, even if the driver overestimates the driving support system and the driver's attention to driving decreases with the increase in the operation continuation time of the driving support operation, the driving support operation is stopped. By this time, the driver can surely complete the preparation for the driving operation.

以下、本発明の第２実施形態について説明する。   Hereinafter, a second embodiment of the present invention will be described.

本実施形態では、自動運転車両の運転支援動作の履歴として、第１実施形態の運転支援動作の動作継続時間に代えて、所定の期間における運転支援動作の実行が指示された時間に対する運転支援動作が停止されずに実行された時間の割合を示す動作継続割合を用いる。   In the present embodiment, as the history of the driving support operation of the self-driving vehicle, the driving support operation for the time instructed to execute the driving support operation in a predetermined period is performed instead of the operation continuation time of the driving support operation of the first embodiment. The operation continuation ratio indicating the ratio of the time during which the operation is not stopped is used.

ここで、運転支援動作の動作継続割合の増減に応じて、警報閾値を増減させるようにしている。動作継続割合Ｒと警報閾値γａとの関係は、例えば、図３に示される第１実施形態の動作継続時間Ｔと警報閾値γａとの関係と同様である。   Here, the alarm threshold is increased or decreased according to the increase or decrease of the operation continuation rate of the driving support operation. The relationship between the operation continuation rate R and the alarm threshold γa is, for example, the same as the relationship between the operation continuation time T and the alarm threshold γa in the first embodiment shown in FIG.

本実施形態では、自動運転車両における運転支援動作の動作継続割合の増大に伴って警報閾値を増大させて、運転者に対して早いタイミングで運転支援動作停止の事前警報を行うようにしている。このため、第１実施形態と同様に、運転支援動作の動作継続割合の増大に伴い、運転者が運転支援システムを過信して、運転に対する運転者の注意度が低下してしまっている場合であっても、運転支援動作停止までに、運転者が運転操作の準備を確実に完了することが可能となっている。   In the present embodiment, the warning threshold value is increased with an increase in the operation continuation rate of the driving support operation in the self-driving vehicle, and a preliminary warning of the stop of the driving support operation is issued to the driver at an early timing. For this reason, as in the first embodiment, a case in which the driver overtrusts the driving support system and the driver's attention to driving has decreased with an increase in the operation continuation rate of the driving support operation. Even so, the driver can surely complete the preparation for the driving operation before the driving support operation stops.

図５を参照して、本発明の第３実施形態について説明する。   A third embodiment of the present invention will be described with reference to FIG.

本実施形態では、自動運転車両の運転支援動作の履歴として、第１実施形態の運転支援動作の動作継続時間に代えて、所定の区間における運転支援動作の実行が指示された回数に対する運転支援動作が停止されずに実行された回数を示す動作継続頻度を用いる。例えば、図５に示されるように、動作履歴記憶テーブルとして、区間ＩＤ、実行指示回数及び非停止実行回数を記憶するテーブルが用いられる。ここで、区間ＩＤは区間を識別するＩＤを示し、実行指示回数は当該区間において運転支援動作の実行が指示された回数を示し、非停止実行回数は当該区間において運転支援動作が指示された場合に運転支援動作が停止されずに実行された回数を示す。そして、動作継続頻度＝非停止実行回数／実行指示回数となる。   In the present embodiment, as the history of the driving assistance operation of the self-driving vehicle, the driving assistance operation for the number of times the execution of the driving assistance operation in a predetermined section is instructed, instead of the operation duration of the driving assistance operation of the first embodiment. The operation continuation frequency indicating the number of times that is executed without being stopped is used. For example, as shown in FIG. 5, a table that stores the section ID, the number of execution instructions, and the number of non-stop executions is used as the operation history storage table. Here, the section ID indicates an ID for identifying the section, the number of execution instructions indicates the number of times the execution of the driving support operation is instructed in the section, and the number of non-stop executions indicates the case in which the driving assistance operation is instructed in the section. Shows the number of times the driving support operation was executed without stopping. Then, the operation continuation frequency = the number of non-stop executions / the number of execution instructions.

そして、運転支援動作の動作継続頻度の増減に応じて、警報閾値を増減させるようにしている。動作継続頻度Ｆと警報閾値γａとの関係は、例えば、図３に示される第１実施形態の動作継続時間Ｔと警報閾値γａとの関係と同様である。   Then, the warning threshold value is increased or decreased according to the increase or decrease of the operation continuation frequency of the driving support operation. The relationship between the operation continuation frequency F and the alarm threshold γa is, for example, the same as the relationship between the operation continuation time T and the alarm threshold γa in the first embodiment shown in FIG.

また、第１実施形態では、運転支援動作の開始指示があった時点で警報閾値を変更するようにしていたが、本実施形態では、所定の区間に進入した時点あるいは所定の区間に距離的又は時間的に近接した時点で警報閾値を変更する。   Further, in the first embodiment, the warning threshold value is changed at the time when there is an instruction to start the driving support operation. However, in the present embodiment, when the vehicle enters a predetermined section or at a predetermined section, the warning threshold is changed. The alarm threshold value is changed at a point in time that is close in time.

本実施形態では、所定の区間毎に、自動運転車両における運転支援動作の動作継続頻度の増大に伴って警報閾値を増大させて、運転者に対して早いタイミングで運転支援動作停止の事前警報を行うようにしている。このため、特定の区間において、運転支援動作の動作継続頻度の増大に伴い、運転者が運転支援システムを過信して、運転に対する運転者の注意度が低下してしまっている場合であっても、運転支援動作停止までに運転者が運転操作の準備を確実に完了することが可能となっている。   In the present embodiment, for each predetermined section, the warning threshold value is increased in accordance with an increase in the operation continuation frequency of the driving support operation in the automatic driving vehicle, and a preliminary warning of the stop of the driving support operation is provided to the driver at an early timing. I'm trying to do it. For this reason, in a specific section, even if the driver's confidence in the driving support system is reduced due to an increase in the operation continuation frequency of the driving support operation, the driver's attention to driving is reduced. Thus, the driver can surely complete the preparation for the driving operation before the driving support operation stops.

第１乃至第３実施形態では、夫々、警報閾値を変化させるのに動作継続時間、動作継続割合及び動作継続頻度を用いているが、その他の様々な運転支援動作の履歴を用いることが可能であり、これらを適宜組み合わせて、またさらに重み付けして用いることも可能である。   In the first to third embodiments, the operation continuation time, the operation continuation rate, and the operation continuation frequency are used to change the alarm threshold, respectively, but it is possible to use other various driving support operation histories. Yes, these may be used in combination as appropriate and weighted further.

図６及び図７を参照して、本発明の第４実施形態について説明する。
本実施形態については、運転に対する運転者の注意度が低下していない場合には、運転支援動作停止の事前警報を行わないようにして、不必要な事前警報を行うことを回避するようにしたものである。なお、以下の説明では、第１実施形態と同様な構成ないしステップについては説明を省略する。 A fourth embodiment of the present invention will be described with reference to FIGS.
In the present embodiment, when the driver's attention to driving has not decreased, the driving support operation stop pre-warning is not performed, and unnecessary pre-warning is avoided. Things. In the following description, a description of the same configuration or steps as those in the first embodiment will be omitted.

図６を参照して、本実施形態の運転支援システムについて説明する。
図６に示されるように、本実施形態の運転支援システムでは、運転者情報検出部３２は、運転者についての情報を検出して、運転支援装置１０の注意度算出部３４に出力する。注意度算出部３４は、運転者情報検出部３２で検出された運転者情報に基づいて、運転に対する運転者の注意度を算出し、警報判断部２０に出力する機能を有する。例えば、運転者の顔の向き、目の開閉、視線の向き、運転席シートに対する運転者の姿勢を検出し、顔の向きが進行方向を向いているか、目を開いているか、視線の向きが進行方向を向いているか、運転席シートに対する姿勢が運転操作に適した姿勢であるか等から、運転者の運転に対する注意度を算出する。警報判断部２０は、運転支援動作の動作信頼度が警報閾値以下となった場合であっても、注意度算出部３４によって算出された運転者の注意度が所定の取消閾値以上である場合には、運転支援動作停止の事前警報を行わないと判断する機能を有する。 The driving support system according to the present embodiment will be described with reference to FIG.
As shown in FIG. 6, in the driving support system according to the present embodiment, the driver information detection unit 32 detects information about the driver and outputs the information to the attention degree calculation unit 34 of the driving support device 10. The attention degree calculation unit 34 has a function of calculating the degree of attention of the driver for driving based on the driver information detected by the driver information detection unit 32 and outputting the calculated attention degree to the alarm determination unit 20. For example, the direction of the driver's face, the opening and closing of the eyes, the direction of the line of sight, and the posture of the driver with respect to the driver's seat are detected. The degree of attention of the driver with respect to driving is calculated based on whether the vehicle is facing the traveling direction or the posture with respect to the driver's seat is a posture suitable for driving operation. Even when the operation reliability of the driving support operation is equal to or less than the alarm threshold, the alarm determination unit 20 determines that the driver's attention calculated by the attention calculation unit 34 is equal to or greater than the predetermined cancellation threshold. Has a function of determining not to give an advance warning of driving assistance operation stop.

図７を参照して、本実施形態の運転支援方法について説明する。
図７に示されるように、本実施形態の運転支援方法は、第１実施形態の運転支援方法の各ステップに加えて、注意度算出ステップＳ３１及び注意度判断ステップＳ３２を有する。 The driving support method according to the present embodiment will be described with reference to FIG.
As shown in FIG. 7, the driving support method of the present embodiment includes an attention calculation step S31 and an attention determination step S32 in addition to the steps of the driving support method of the first embodiment.

注意度算出ステップＳ３１
事前警報判断ステップＳ１５において、運転支援動作の動作信頼度が警報閾値以下になったと判断された場合には、注意度算出ステップＳ３１に進行する。注意度算出ステップＳ３１では、運転者情報に基づいて、運転に対する運転者の注意度を算出する。 Attention level calculation step S31
If it is determined in the pre-warning determination step S15 that the operation reliability of the driving support operation has become equal to or less than the warning threshold, the process proceeds to the attention level calculation step S31. In the attention degree calculation step S31, the attention degree of the driver with respect to driving is calculated based on the driver information.

注意度判断ステップＳ３２
注意度判断ステップＳ３２では、運転に対する運転者の注意度が所定の取消閾値以上であるか否か判断する。運転に対する運転者の注意度が所定の取消閾値以上ではないと判断された場合には、事前警報ステップＳ１６に進行する。一方、運転に対する運転者の注意度が所定の取消閾値以上であると判断された場合には、運転支援動作停止の事前警報を行うことなく、停止判断ステップＳ１７に進行する。 Attention level judgment step S32
In the attention level determination step S32, it is determined whether or not the driver's attention level for driving is equal to or higher than a predetermined cancellation threshold. If it is determined that the driver's attention to driving is not equal to or greater than the predetermined cancellation threshold, the process proceeds to the advance warning step S16. On the other hand, if it is determined that the driver's attention to driving is equal to or higher than the predetermined cancellation threshold, the process proceeds to the stop determination step S17 without giving a prior warning of stopping the driving support operation.

本実施形態の運支援装置及び方法は次の効果を奏する。
本実施形態の運支援装置及び方法では、運転支援動作の動作信頼度が警報閾値以下となった場合であっても、運転に対する運転者の注意度が取消閾値以上であれば、運転者に対して運転支援動作停止の事前警報を行わないようにしている。このように、運転者が運転支援システムを過信せず、運転に対する運転者の注意度が低下していない場合には、運転支援動作停止の事前警報を発しないようにしているため、不必要な事前警報を行うことを回避することが可能となっている。 The luck support device and method of the present embodiment have the following effects.
In the luck assistance device and method of the present embodiment, even if the operation reliability of the driving assistance operation is equal to or less than the alarm threshold, if the driver's attention to driving is equal to or greater than the cancellation threshold, the driver is In such a case, a prior warning of driving assistance operation stop is not issued. As described above, when the driver does not trust the driving support system and does not reduce the driver's attention to driving, the prior warning of stopping the driving support operation is not issued. It is possible to avoid giving an advance warning.

以上の各実施形態では、運転支援装置及び方法について述べたが、コンピュータに運転支援装置の各機能を実現させるプログラム、又は、コンピュータに運転支援方法の各ステップを実行させるプログラムについても、本発明の範囲に含まれる。   In each of the above embodiments, the driving support device and the method have been described. However, the present invention also relates to a program for causing a computer to realize each function of the driving support device, or a program for causing a computer to execute each step of the driving support method. Included in the range.

１０…運転支援装置 １４…運転支援制御部 １６…信頼度算出部 １８…停止判断部
２０…警報判断部 ２２…動作履歴記憶部 ２４…閾値変更部 ３２…運転者情報検出部
３４…注意度算出部 ４０…運転支援指示部 ５０…周辺情報検出部 ６０…車両駆動部
７０…警報発生部
DESCRIPTION OF SYMBOLS 10 ... Driving assistance apparatus 14 ... Driving assistance control part 16 ... Reliability calculation part 18 ... Stop judgment part 20 ... Alarm judgment part 22 ... Operation history storage part 24 ... Threshold value change part 32 ... Driver information detection part 34 ... Attention calculation Unit 40: driving support instructing unit 50: peripheral information detecting unit 60: vehicle driving unit 70: alarm generating unit

Claims (7)

運転支援動作の信頼性を示し所定の停止閾値以下となった場合には運転支援動作が停止される動作信頼度を算出する信頼度算出部と、
前記信頼度算出部によって算出された動作信頼度が所定の警報閾値以下となった場合に、運転者に対して運転支援動作が停止される可能性があることを示す事前警報を行うと判断する警報判断部と、
運転支援動作の履歴に基づき前記警報閾値を変更する閾値変更部と、
を具備することを特徴とする運転支援装置。 A reliability calculation unit that calculates the operation reliability at which the driving support operation is stopped when the reliability of the driving support operation is less than or equal to a predetermined stop threshold.
When the operation reliability calculated by the reliability calculation unit is equal to or less than a predetermined warning threshold, it is determined that a preliminary warning is given to the driver indicating that the driving support operation may be stopped. An alarm judgment unit,
A threshold changing unit that changes the alarm threshold based on the history of the driving support operation,
A driving assistance device comprising: 前記閾値変更部は、運転支援動作が実行された時間を示す動作継続時間の増大に応じて前記警報閾値を増大させる、
ことを特徴とする請求項１に記載の運転支援装置。 The threshold value changing unit increases the alarm threshold value in accordance with an increase in operation duration indicating a time at which a driving support operation is performed,
The driving support device according to claim 1, wherein: 前記閾値変更部は、所定の期間における運転支援動作の実行が指示された時間に対する運転支援動作が停止されずに実行された時間の割合を示す動作継続割合の増減に応じて前記警報閾値を増減させる、
ことを特徴とする請求項１に記載の運転支援装置。 The threshold value changing unit increases or decreases the alarm threshold value according to an increase or decrease in an operation continuation ratio indicating a ratio of a time period in which the driving support operation is executed without being stopped with respect to a time when the execution of the driving support operation is instructed in a predetermined period. Let
The driving support device according to claim 1, wherein: 前記閾値変更部は、所定の区間における運転支援動作の実行が指示された回数に対する運転支援動作が停止されずに実行された回数を示す動作継続頻度の増減に応じて前記警報閾値を増減させる、
ことを特徴とする請求項１に記載の運転支援装置。 The threshold value changing unit increases or decreases the alarm threshold in accordance with an increase or decrease in the operation continuation frequency indicating the number of times the driving support operation has been performed without being stopped for the number of times the execution of the driving support operation in the predetermined section has been instructed,
The driving support device according to claim 1, wherein: 運転に対する運転者の注意度を算出する注意度算出部をさらに具備し、
前記警報判断部は、前記信頼度算出部によって算出された動作信頼度が所定の警報閾値以下となった場合であっても、前記注意度算出部によって算出された注意度が所定の取消閾値以上である場合には、事前警報を行わないと判断する、
ことを特徴とする請求項１に記載の運転支援装置。 It further includes an attention degree calculation unit that calculates an attention degree of the driver for driving,
Even if the operation reliability calculated by the reliability calculation unit is equal to or less than a predetermined alarm threshold, the alertness calculated by the attention level calculation unit is equal to or greater than a predetermined cancellation threshold. If it is determined that there is no prior warning,
The driving support device according to claim 1, wherein: 運転支援動作の履歴に基づき警報閾値を変更する閾値変更ステップと、
運転支援動作の信頼性を示し所定の停止閾値以下となった場合には運転支援動作が停止される動作信頼度を算出する信頼度算出ステップと、
前記信頼度算出ステップによって算出された動作信頼度が前記警報閾値以下となった場合に、運転者に対して運転支援動作が停止される可能性があることを示す事前警報を行うと判断する警報判断ステップと、
を具備することを特徴とする運転支援方法。 A threshold changing step of changing an alarm threshold based on a history of the driving support operation;
A reliability calculation step of calculating the operation reliability at which the driving support operation is stopped when the reliability of the driving support operation is not more than a predetermined stop threshold value,
When the operation reliability calculated in the reliability calculation step is equal to or less than the alarm threshold, an alarm that determines to perform a pre-alarm to the driver indicating that the driving support operation may be stopped. A decision step;
A driving assistance method, comprising: コンピュータに、
運転支援動作の信頼性を示し所定の停止閾値以下となった場合には運転支援動作が停止される動作信頼度を算出する信頼度算出機能と、
前記信頼度算出機能によって算出された動作信頼度が所定の警報閾値以下となった場合に、運転者に対して運転支援動作が停止される可能性があることを示す事前警報を行うと判断する警報判断機能と、
運転支援動作の履歴に基づき前記警報閾値を変更する閾値変更機能と、
を実現させることを特徴とする運転支援プログラム。
On the computer,
A reliability calculation function that calculates the operation reliability at which the driving assistance operation is stopped when the reliability of the driving assistance operation is less than or equal to a predetermined stop threshold,
When the operation reliability calculated by the reliability calculation function becomes equal to or less than a predetermined warning threshold, it is determined that a preliminary warning indicating that the driving support operation may be stopped is given to the driver. Alarm judgment function,
A threshold change function for changing the alarm threshold based on the history of the driving support operation,
A driving assistance program characterized by realizing:
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