JP6920106B2 - Driving support device and driving support method - Google Patents

Description

The disclosed embodiments relate to driving assistance devices and driving assistance methods.

Conventionally, there has been known an automatic driving technique in which a vehicle is automatically driven without the driver being involved in each control of acceleration, steering, and braking of the vehicle. In addition, while using such automatic driving technology, when it is detected that the driver's psychology is relaxed and in a loose state based on the driver's face orientation, eye opening degree, blink frequency, etc., such a state is eliminated. A technique for giving a warning to the driver has been proposed (see, for example, Patent Document 1).

Here, since the automatic driving technique is a technique for reducing the burden on the driver, it is clear that the driver is more likely to relax during the automatic driving than during the manual driving. Nevertheless, if the above-mentioned involuntary state of the driver is determined by the same criteria as during manual driving during automatic driving, an annoying warning may be given to the driver during automatic driving. Therefore, for example, in the technique disclosed in Patent Document 1, the determination criteria during automatic operation are relaxed more than the determination criteria during manual operation, making it difficult to issue a warning during automatic operation.

On the other hand, when going from an expressway to a general road, a section for switching from automatic driving to manual driving is defined before the interchange. In the automatic driving technology, there is a method in which a warning sound is emitted to the driver in such a switching section, the driver is awakened, and then the vehicle is automatically switched from the automatic driving mode to the manual driving mode. In addition, the driver's wakefulness is automatically tested in the switching section, and if it is considered to be awake, the vehicle is automatically switched from the automatic driving mode to the manual driving mode.

Japanese Unexamined Patent Publication No. 2015-153048

However, the above-mentioned prior art has room for further improvement in guiding the driver to a more reliable awake state when switching from automatic driving to manual driving.

Specifically, when the above-mentioned conventional technique is used, even if a warning sound is emitted in the switching section when the driver is dozing during automatic driving, the driver is awake in the manual driving section. May be inadequate. Moreover, even if the test of the wakefulness is cleared, the insufficiency of the wakefulness may not appear in the test items (for example, the degree of eye opening).

One aspect of the embodiment is made in view of the above, and provides a driving support device and a driving support method capable of more reliably guiding the driver to a wakefulness state when switching from automatic driving to manual driving. The purpose is to do.

The driving support device according to one aspect of the embodiment is a driving support device that supports the driving of a vehicle provided so as to be able to drive while switching between automatic driving control and manual driving control, and includes a monitoring unit, a determination unit, and conditions. It has a setting unit. The monitoring unit monitors the driver's abnormal state. The determination unit warns the driver when the degree of the abnormal state based on the monitoring result of the monitoring unit exceeds a predetermined warning threshold value. The condition setting unit strengthens the determination condition of the determination unit so that when the vehicle is switched from automatic driving to manual driving, the warning is likely to be issued during a predetermined period from the start of the manual operation. .. Further, when the condition setting unit is manually switched from the automatic operation to the manual operation, the determination condition is strengthened during the predetermined period as compared with the normal manual operation. Further, the condition setting unit is further strengthened when the automatic operation is automatically switched to the manual operation, as compared with the case where the determination condition is manually switched during the predetermined period.

According to one aspect of the embodiment, the driver can be more reliably guided to the awake state when switching from the automatic driving to the manual driving.

FIG. 1 is a schematic explanatory view of a driving support method according to an embodiment. FIG. 2A is a block diagram of the in-vehicle system according to the embodiment. FIG. 2B is a block diagram of the switch unit. FIG. 2C is a block diagram of the sensor unit. FIG. 3A is a processing explanatory view of the operation support device according to the embodiment. FIG. 3B is a diagram showing a modified example of the process shown in FIG. 3A. FIG. 4 is a flowchart showing a processing procedure executed by the driving support device according to the embodiment.

Hereinafter, embodiments of the driving support device and the driving support method disclosed in the present application will be described in detail with reference to the accompanying drawings. The present invention is not limited to the embodiments shown below.

Further, in the following, after explaining the outline of the driving support method according to the present embodiment with reference to FIG. 1, the driving support device 10 to which the driving support method according to the present embodiment is applied and the in-vehicle system 1 provided with the driving support device 10 are shown in FIG. It will be described with reference to 2A to FIG.

Further, in the following, when the term "autonomous driving" is used, it means fully automatic driving in which the vehicle can be driven while controlling acceleration, steering, and braking without any involvement of the driver.

First, the outline of the driving support method according to the present embodiment will be described with reference to FIG. FIG. 1 is a schematic explanatory view of a driving support method according to the present embodiment. Note that FIG. 1 is divided into three regions by two thick downward white arrows. In the following, each of these areas will be referred to as an upper row, a middle row, and a lower row in this order.

As shown in the upper part of FIG. 1, it is assumed that the vehicle C automatically drives the automatic driving section, passes through the automatic driving → manual driving switching section (hereinafter, simply referred to as “switching section”), and reaches the manual driving section. .. In such a case, in the driving support method according to the present embodiment, first, in the automatic driving section, when the relaxation degree of the driver D exceeds the warning threshold value, a warning is given to the driver D (step S1).

In other words, the relaxed state is a state in which the driver D sits loosely in the driver's seat, the degree of relaxation refers to the degree of relaxation, and a high degree of relaxation (large) means, for example, that the driver D is distracted. I'm in a state of becoming drowsy, drowsy, and even falling asleep. The degree of relaxation is derived based on, for example, the "face orientation", "blink frequency", "eye opening degree", and the like of the driver D.

Further, the warning when the degree of relaxation exceeds the warning threshold is given, for example, by turning on the warning lamp or outputting various voices and sound effects from the speaker.

By the way, the automatic driving technology is a technology for reducing the burden on the driver D in the first place. Therefore, during automatic driving in the automatic driving section, the driver D does not need to be involved in acceleration, steering, and braking due to the automatic driving control of the vehicle C. Therefore, even if the degree of relaxation of the driver D becomes high, the traveling of the vehicle C is not hindered.

Therefore, the warning threshold value used in step S1 may be one in which the determination condition is relaxed more than the warning threshold value in the manual operation section described later. That is, the warning regarding the relaxed state of the driver D may be less likely to be issued than in the manual driving section.

Therefore, in the driving support method according to the present embodiment, the warning threshold value L1 is used during automatic driving, in which the determination conditions are relaxed as compared with the manual driving section. The warning threshold value L1 will be shown later in FIGS. 3A and later.

As a result, in the automatic driving section, it is difficult to give the driver D annoyance due to a warning, and the burden on the driver D can be reduced. As shown in step S1, in the automatic driving section, the warning regarding the relaxed state of the driver D is basically set to "warning invalid", and the warning is given only for serious dangerous acts (for example, removing the seat belt). You may.

Next, as shown in the middle part of FIG. 1, in the switching section, in the driving support method according to the present embodiment, the driver D is forcibly warned or a wakefulness test (hereinafter referred to as "wakefulness test"). To say) (step S2). The arousal test is performed based on, for example, the above-mentioned "face orientation", "blink frequency", "eye opening degree", and the like. When it is considered to be in the awake state in the awakening test, in the driving support method according to the present embodiment, the vehicle C is switched from the automatic driving mode to the manual driving mode.

As a result, in the switching section, it is possible to contribute to guiding the driver D to the awake state in preparation for the manual driving section.

Next, as shown in the lower part of FIG. 1, in the manual driving section, in the driving support method according to the present embodiment, basically, when the degree of relaxation of the driver D exceeds the warning threshold value, the driver D is asked. Give a warning (step S3). However, the warning threshold value here strengthens (that is, "strictly") the determination condition as compared with the warning threshold value L1 of the automatic driving section described above. In other words, the warning threshold value here makes it easier to issue a warning regarding the relaxed state of the driver D than in the automatic driving section.

However, even if the driver D is guided to the awake state in the switching section, the awake state of the driver D may be insufficient immediately after the switch to the manual operation mode, as shown in the lower part of FIG. .. Therefore, it is preferable to take measures that can lead the driver D to a completely awake state immediately after switching to the manual operation mode.

Therefore, in the driving support method according to the present embodiment, a warning is more likely to be issued for a predetermined period after switching to the manual operation mode, in other words, for a predetermined period after reaching the manual operation section than during normal manual operation. It was decided to change the warning threshold value (step S31). That is, the warning threshold value for the predetermined period is changed so that the determination condition is strengthened as compared with the warning threshold value for the normal manual operation section.

Therefore, in the driving support method according to the present embodiment, the warning threshold value L3 whose determination condition is stronger than the warning threshold value L2 in the normal manual operation section is used for the predetermined period. The warning thresholds L2 and L3 will be shown later in FIGS. 3A and later, but in the present embodiment, the magnitude relationship between the warning thresholds L1, L2 and L3 is L1> L2> L3.

As a result, the driver D can be more reliably guided to the awake state when switching from the automatic operation to the manual operation. As a result, it is possible to contribute to ensuring safety when switching to manual operation.

Hereinafter, the driving support device 10 to which the driving support method according to the present embodiment described above is applied and the in-vehicle system 1 provided with the driving support device 10 will be described more specifically.

FIG. 2A is a block diagram of the vehicle-mounted system 1 according to the present embodiment. Further, FIG. 2B is a block diagram of the switch unit 21. Further, FIG. 2C is a block diagram of the sensor unit 22. Note that, in FIGS. 2A to 2C, only the components necessary for explaining the features of the present embodiment are represented by functional blocks, and the description of general components is omitted.

In other words, each component shown in FIGS. 2A to 2C is a functional concept and does not necessarily have to be physically configured as shown in the figure. For example, the specific form of distribution / integration of each functional block is not limited to the one shown in the figure, and all or part of the functional blocks are functionally or physically distributed in arbitrary units according to various loads and usage conditions. -It is possible to integrate and configure.

As shown in FIG. 2A, the in-vehicle system 1 includes a driving support device 10. The driving support device 10 is communicably connected to each of the detection unit 2, the vehicle control device 3, the display unit 4, and the voice unit 5 mounted on the vehicle C.

The detection unit 2 includes a switch unit 21 and a sensor unit 22. The switch unit 21 is a group of switches operated by the driver D, and includes, for example, an operation mode changeover switch 21a as shown in FIG. 2B. The operation mode changeover switch 21a is a switch for manually switching between the automatic operation mode and the manual operation mode.

Further, the sensor unit 22 is a group of detection devices such as a relaxed state of the driver D and a vehicle condition of the vehicle C, and as shown in FIG. 2C, the camera 22a, the electrocardiographic sensor 22b, the blood pressure sensor 22c, and the vehicle speed sensor. Includes 22d and the like. The electrocardiographic sensor 22b and the blood pressure sensor 22c are provided so as to be attached to the driver D while the driver D is in the vehicle C, for example.

Returning to FIG. 2A, the vehicle control device 3 controls the traveling of the vehicle C. Specifically, in the automatic driving mode, the vehicle control device 3 derives the control amount of each mechanism such as the throttle, steering, and brake of the vehicle C according to the road condition and the like, and sets each mechanism based on the control amount. By operating the vehicle C, the vehicle C is automatically driven while controlling the acceleration, steering, and braking of the vehicle C.

Further, in the manual operation mode, the vehicle control device 3 derives a control amount of each mechanism based on the driving operation of the driver D, and operates each mechanism based on the control amount to accelerate the vehicle C. The vehicle C is manually driven while controlling steering and braking.

The display unit 4 is a display device that displays a warning to the driver D, such as a warning light or a display. The voice unit 5 is an output device that outputs a warning to the driver D by voice, and is, for example, a speaker.

Further, the driving support device 10 includes a control unit 11 and a storage unit 12. The control unit 11 includes a monitoring unit 11a, a condition setting unit 11b, a switching section processing unit 11c, a determination unit 11d, and a warning unit 11e.

The storage unit 12 is a storage device such as a hard disk drive, a non-volatile memory, or a register, and stores determination information 12a. The determination information 12a is information including determination conditions and the like referred to by the determination unit 11d. Such information includes, for example, in the present embodiment, a warning threshold value for warning about the relaxed state of the driver D, a parameter indicating the above-mentioned predetermined period, and the like.

The control unit 11 controls the entire driving support device 10. The monitoring unit 11a monitors the relaxed state of the driver D based on the detection result of the detection unit 2. Specifically, the monitoring unit 11a derives each parameter related to the relaxed state of the driver D based on the detection result of the detection unit 2.

For example, the monitoring unit 11a analyzes the captured image of the camera 22a of the sensor unit 22, and based on the analysis result, the driver D's "face orientation" and the driver D's "eye opening degree (eye opening degree)". Derivation of "blink frequency".

Further, for example, the monitoring unit 11a analyzes the detection result of the electrocardiographic sensor 22b of the sensor unit 22, and derives the "heart rate" of the driver D based on the analysis result. Further, for example, the monitoring unit 11a analyzes the detection result of the blood pressure sensor 22c of the sensor unit 22, and derives the "maximum blood pressure" and "minimum blood pressure" of the driver D based on the analysis result.

Then, the monitoring unit 11a notifies the determination unit 11d of each parameter related to the derived relaxed state.

The condition setting unit 11b acquires the driving mode of the vehicle C from the vehicle control device 3 and sets the warning threshold value of the determination information 12a according to the driving mode. For example, when the condition setting unit 11b obtains the notification from the vehicle control device 3 that the vehicle is in the automatic driving mode, the condition setting unit 11b sets the warning threshold value L1 in the determination information 12a.

Further, for example, when the condition setting unit 11b obtains a notification from the vehicle control device 3 that the vehicle is in the manual driving mode, the condition setting unit 11b sets the warning threshold value L2 as a default value in the normal manual driving section in the determination information 12a. Further, for example, when the condition setting unit 11b receives a notification from the switching section processing unit 11c, which will be described later, that the operation mode has been switched from the automatic operation mode to the manual operation mode, the condition setting unit 11b sets the warning threshold value L3 in the determination information 12a as described above. Set to be valid for the period.

The condition setting unit 11b can also change the predetermined period. This point will be described later with reference to FIG. 3B.

When the switching section processing unit 11c receives an automatic operation mode switching start notification from the vehicle control device 3 or a manual operation mode switching start notification from the operation mode switching switch 21a of the detection unit 2, the switching section processing unit 11c processes the switching section. To execute. The automatic operation mode switching start notification is as follows. That is, the vehicle control device 3 has the own vehicle position information, the automatic driving section information, and the switching section information from the automatic driving to the manual driving, and the vehicle control device 3 has the own vehicle position in the switching section. When it is detected that it is approaching, an automatic operation mode switching start notification is output to the switching section processing unit 11c. The vehicle control device 3 may obtain the own vehicle position information and the section information from a navigation device (not shown).

Specifically, the switching section processing unit 11c forcibly causes the warning unit 11e to give a warning to the driver D as the switching section processing. Further, the switching section processing unit 11c causes the monitoring unit 11a to perform an awakening test on the driver D as the switching section processing. The monitoring unit 11a notifies the determination unit 11d of the result of the awakening test, and the determination unit 11d determines whether the driver D is in the awake state based on the result. Here, when it is considered to be in the awake state, the determination unit 11d notifies the switching section processing unit 11c to that effect.

When the switching section processing unit 11c receives the notification that the vehicle is in such an awake state, the switching section processing unit 11c causes the vehicle control device 3 to switch the vehicle C from the automatic driving mode to the manual driving mode. Further, when the switching section processing unit 11c receives the notification of the completion of switching to the manual driving mode from the vehicle control device 3, the switching section processing unit 11c notifies the condition setting unit 11b that the driving mode has been switched from the automatic driving mode to the manual driving mode. Notify against.

As described above, the determination unit 11d determines whether the driver D is in the awake state based on the result of the awakening test by the monitoring unit 11a. Further, the determination unit 11d derives the degree of relaxation from the values of the parameters related to the relaxation state derived by the monitoring unit 11a, and if the degree of relaxation exceeds the warning threshold value, the warning unit 11e is notified to the driver D. Instruct to give a warning. Further, the determination unit 11d instructs the warning unit 11e not to give a warning to the driver D if the degree of relaxation does not exceed the warning threshold value.

The warning unit 11e causes the display unit 4 and the voice unit 5 to output a warning to the driver D based on the instruction of the determination unit 11d. The warning unit 11e, for example, turns on a warning light or displays a warning message on the display for the display unit 4. The warning unit 11e can appropriately switch the lighting time of the warning light, the blinking interval, the size and color of the warning message, and the like so as to attract the attention of the driver D.

Further, the warning unit 11e causes the voice unit 5 to output, for example, a warning sound or a voice message such as "dangerous". The warning unit 11e can appropriately switch the volume and timbre of the warning sound, the content of the voice message, and the like so as to attract the attention of the driver D.

Here, in order to make the explanation easy to understand, the processing contents executed by the driving support device 10 will be described with reference to FIGS. 3A and 3B. FIG. 3A is a processing explanatory view of the operation support device 10 according to the present embodiment. Further, FIG. 3B is a diagram showing a modified example of the process shown in FIG. 3A.

As shown in FIG. 3A, the driving support device 10 executes step S1 (see FIG. 1) in the automatic driving section. That is, in the automatic driving section during automatic driving, the condition setting unit 11b sets the warning threshold value L1 until the time t1, and the determination unit 11d warns the driver D only when the relaxation degree exceeds the warning threshold value L1. To do.

Further, the driving support device 10 executes step S2 (see FIG. 1) in the switching section corresponding to the time t1 to t2. That is, in such a switching section, the switching section processing unit 11c forcibly performs a warning or awakening test. Since a compulsory warning is given, the warning threshold may be indefinite during this period.

Further, the driving support device 10 executes step S3 (see FIG. 1) in the manual driving section from the time t2. That is, basically, the condition setting unit 11b sets a warning threshold value L2 smaller than the warning threshold value L1, and the determination unit 11d determines the degree of relaxation of the driver D using the warning threshold value L2.

However, for the "predetermined period after switching the manual operation" corresponding to the times t2 to t3, the condition setting unit 11b sets a warning threshold L3 which is smaller than the warning threshold L2, and the normal manual operation is performed for such a predetermined period. Judgment conditions are strengthened so that warnings regarding the relaxed state are more likely to be issued than in the operating section (corresponding to time t3 or later).

As a result, the driver D can be more reliably guided to the awake state when switching from the automatic operation to the manual operation.

The warning threshold value is not limited to one, and the establishment time may be considered as an element in the time axis direction, for example. Although not shown, for example, when the threshold value L2a indicating the degree of relaxation is used, the threshold value L2b indicating the establishment time may be added to the determination condition as the AND condition. For example, when the threshold value L3a indicating the degree of relaxation is used, the threshold value L3b indicating the establishment time is added to the determination condition as the AND condition. For example, L2a> L3a and L2b> L3b.

By using such a determination condition, as shown in FIG. 3A, the relaxed state having a width in the time direction corresponding to the time t21 to t22 in the predetermined period and the time t31 to t32 in the normal manual operation section. It is possible to issue a warning. That is, it is possible to prevent the warning from changing the degree of relaxation due to noise.

Further, by making the establishment time (L3a in the above example) shorter than the normal manual operation section in the predetermined period of time t2 to t3 (that is, L2b> L3b), it becomes easier to issue a warning regarding the relaxed state in the predetermined period. be able to.

Further, as shown in FIG. 3B, the predetermined period may be changed between, for example, manual switching and automatic switching of the operation mode. Similarly, the warning threshold value L3 may be divided between the time of manual switching and the time of automatic switching.

Specifically, as shown in FIG. 3B, for example, the condition setting unit 11b sets a “warning threshold L3-1” for the degree of relaxation at the time of manual switching, and sets a “predetermined period -1” for a predetermined period. can do. Further, the condition setting unit 11b can set the “warning threshold value L3-2” of the degree of relaxation at the time of automatic switching, and can set the “predetermined period-2” for the predetermined period.

As shown in FIG. 3B, "warning threshold L3-1"> "warning threshold L3-2", and "predetermined period-1" <"predetermined period-2". That is, the automatic switching makes it easier to issue a warning for a longer time than the manual switching.

This is because the driver D's awake state may be insufficient in the case of automatic switching than in the case of manual switching. By making it possible to change the warning threshold value and the predetermined period in this way, it is possible to more reliably lead the driver D to the awake state even in the case of automatic switching of the operation mode.

Next, the processing procedure executed by the operation support device 10 according to the present embodiment will be described with reference to FIG. FIG. 4 is a flowchart showing a processing procedure executed by the driving support device 10 according to the present embodiment.

As shown in FIG. 4, first, the condition setting unit 11b determines whether or not the automatic operation is in progress (step S101). Here, when it is determined that the automatic operation is in progress (step S101, Yes), the condition setting unit 11b sets the warning threshold value L1 (step S102). When it is determined that the automatic operation is not in progress (steps S101 and No), control is transferred to step S103.

Subsequently, the switching section processing unit 11c determines whether or not the switching section is in the switching section based on the driving mode switching start notification output from the vehicle control device 3 or the driving mode switching switch 21a (step S103). Here, when it is determined that it is a switching section (step S103, Yes), the switching section processing unit 11c forcibly performs a warning or awakening test (step S104). If it is determined that it is not a switching section (steps S103, No), control is transferred to step S107.

After step S104, the determination unit 11d determines whether or not the driver D is in an awake state (step S105). Here, when it is determined that the vehicle is in the awake state (step S105, Yes), the switching section processing unit 11c causes the vehicle control device 3 to switch from automatic driving to manual driving (step S106). If it is determined that the person is not awake (steps S105, No), the process from step S104 is repeated.

Subsequently, the condition setting unit 11b determines whether or not the manual operation is in progress (step S107). Here, when it is determined that the manual operation is in progress (step S107, Yes), it is determined whether or not the operation is within a predetermined period after switching to the manual operation (step S108).

When it is determined that the period is within the predetermined period (step S108, Yes), the condition setting unit 11b sets the warning threshold value L3 (step S109). When it is determined that the period is out of the predetermined period (step S108, No), the condition setting unit 11b sets the warning threshold value L2 (step S110). If it is determined that the manual operation is not in progress (steps S107 and No), control is transferred to step S111.

Then, the monitoring unit 11a monitors the relaxed state of the driver D (step S111). Based on the monitoring result, when the degree of relaxation exceeds the warning threshold set in any of steps S102, S109, and S110 (steps S112, Yes), the determination unit 11d causes the warning unit 11e to warn the driver D ( Step S113). If the degree of relaxation does not exceed the warning threshold (step S112, No), the process from step S101 is repeated.

As described above, the driving support device 10 according to the present embodiment is a driving support device 10 that supports the driving of the vehicle C provided so as to be able to drive while switching between automatic driving control and manual driving control, and is a monitoring unit. It includes 11a, a determination unit 11d, and a condition setting unit 11b.

The monitoring unit 11a monitors the relaxed state of the driver D (corresponding to an example of the "abnormal state"). The determination unit 11d warns the driver D when the degree of relaxation based on the monitoring result of the monitoring unit 11a (corresponding to an example of the “degree of abnormal state”) exceeds a predetermined warning threshold value.

The condition setting unit 11b strengthens the judgment condition of the judgment unit 11d so that when the vehicle C is switched from the automatic driving to the manual driving, a warning is easily issued during a predetermined period from the start of the manual driving.

Therefore, according to the driving support device 10 according to the present embodiment, the driver D can be more reliably guided to the awake state when switching from the automatic driving to the manual driving.

Further, when the condition setting unit 11b is manually switched from the automatic operation to the manual operation, the determination condition is strengthened during the predetermined period as compared with the normal manual operation.

Therefore, according to the driving support device 10 according to the present embodiment, the driver D can be more reliably guided to the awake state even when the switching from the automatic driving to the manual driving is performed manually.

Further, the condition setting unit 11b strengthens the determination condition during the predetermined period as compared with the case where the determination condition is manually switched when the automatic operation is automatically switched to the manual operation.

Therefore, according to the driving support device 10 according to the present embodiment, the switching from the automatic driving to the manual driving is automatically performed, and there is a possibility that the wakefulness state of the driver D is insufficient as compared with the case where the automatic driving is performed manually. Even in this case, the driver D can be more reliably led to the awake state.

Further, the condition setting unit 11b changes the predetermined period depending on whether the operation is manually switched from the automatic operation to the manual operation or when the operation is automatically switched.

Therefore, according to the driving support device 10 according to the present embodiment, it is possible to provide a predetermined period suitable for each of the case where the switching from the automatic operation to the manual operation is automatically performed and the case where the switching is performed manually. It can contribute to more surely lead the driver D to the awake state.

Further, the condition setting unit 11b relaxes the above-mentioned determination condition so that the warning is less likely to be issued when the vehicle C is in automatic driving than in the case of manual driving.

Therefore, according to the driving support device 10 according to the present embodiment, the burden on the driver D can be reduced when the vehicle C is in automatic driving.

Further effects and variations can be easily derived by those skilled in the art. For this reason, the broader aspects of the invention are not limited to the particular details and representative embodiments expressed and described as described above. Therefore, various modifications can be made without departing from the spirit or scope of the general concept of the invention as defined by the appended claims and their equivalents.

1 In-vehicle system 10 Driving support device 11 Control unit 11a Monitoring unit 11b Condition setting unit 11c Switching section processing unit 11d Judgment unit 11e Warning unit 12 Storage unit 12a Judgment information 21 Switch unit 21a Operation mode switching switch C Vehicle D Driver L1 to L3 Warning threshold

Claims (4)

It is a driving support device that supports the driving of a vehicle that is provided so that it can drive while switching between automatic driving control and manual driving control.
A monitoring unit that monitors the driver's abnormal condition,
A determination unit that warns the driver when the degree of the abnormal state based on the monitoring result of the monitoring unit exceeds a predetermined warning threshold value.
When the vehicle is switched from automatic driving to manual driving, a condition setting unit for strengthening the judgment condition of the judgment unit is provided so that the warning is easily issued during a predetermined period from the start of the manual driving. ,
The condition setting unit
When the automatic operation is manually switched to the manual operation, the determination condition is strengthened during the predetermined period as compared with the normal manual operation.
The condition setting unit further
When said from automatic operation is switched automatically to the manual operation, during the predetermined period, the driving support apparatus which is characterized that you strengthen than when the judgment condition is switched in the manual. The condition setting unit
Wherein in the automatic operation and when switched in the case with the automatic has been switched by the manual to the manual operation, the driving support apparatus according to claim 1, characterized in that to change the predetermined time period. The condition setting unit
The driving according to claim 1 or 2 , wherein the determination condition is relaxed so that the warning is less likely to be issued when the vehicle is in the automatic driving than in the case of the manual driving. Support device. It is a driving support method that supports the driving of a vehicle that can be driven while switching between automatic driving control and manual driving control.
A monitoring process that monitors the driver's abnormal condition,
A determination step of giving a warning to the driver when the degree of the abnormal state based on the monitoring result of the monitoring step exceeds a predetermined warning threshold value.
Including a condition setting step of strengthening the judgment condition of the judgment step so that the warning is easily issued during a predetermined period from the start of the manual driving when the vehicle is switched from the automatic driving to the manual driving. fruit,
The condition setting step is
When the automatic operation is manually switched to the manual operation, the determination condition is strengthened during the predetermined period as compared with the normal manual operation.
The condition setting step further
A driving support method, characterized in that, when the automatic operation is automatically switched to the manual operation, the determination condition is strengthened during the predetermined period as compared with the case where the manual operation is automatically switched.

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