Driving assistance device and driving assistance method

1 . A driving assistance device comprising a processor configured to:

detect an obstacle around a vehicle based on peripheral information of the vehicle;

detect a line-of-sight direction of an occupant of the vehicle;

estimate a visible range of the occupant based on the line-of-sight direction and a visual field information of the occupant;

notify the occupant of a warning when the obstacle is outside the visible range;

execute automated vehicle control of the vehicle, wherein the automated vehicle control comprises at least one of automated braking of the vehicle or automated steering of the vehicle;

learn the visual field information of the occupant during execution of the automated vehicle control for avoiding a collision between the vehicle and the obstacle when the obstacle is inside the visible range; and

detect a missing area of a visual field of the occupant during the execution of the automated vehicle control, and learn the visual field information so as to exclude a missing area in a specific direction from the visual field of the occupant when a frequency at which the missing area in the specific direction is detected is equal to or more than a predetermined value.

2 . The driving assistance device according to claim 1 , wherein the processor is configured to detect a missing area of a visual field of the occupant during the execution of the automated vehicle control, and learn the visual field information so as to exclude the missing area from the visual field of the occupant only in response to the occupant approving missing of the visual field.

3 . The driving assistance device according to claim 1 , wherein the processor is configured to initiate a starting timing of the automated vehicle control sooner when the obstacle is outside the visible range, compared to when the obstacle is inside the visible range.

4 . A driving assistance method executed by a computer, comprising:

detecting an obstacle around a vehicle based on peripheral information of the vehicle;

detecting a line-of-sight direction of an occupant of the vehicle;

estimating a visible range of the occupant based on the line-of-sight direction and a visual field information of the occupant;

notifying the occupant of a warning when the obstacle is outside the visible range;

executing automated vehicle control of the vehicle, wherein the automated vehicle control comprises at least one of automated braking of the vehicle or automated steering of the vehicle;

learning the visual field information of the occupant during the execution of the automated vehicle control for avoiding a collision between the vehicle and the obstacle when the obstacle is inside the visible range; and

detecting a missing area of a visual field of the occupant during the execution of the automated vehicle control, and learn the visual field information so as to exclude a missing area in a specific direction from the visual field of the occupant when a frequency at which the missing area in the specific direction is detected is equal to or more than a predetermined value.

5 . A driving assistance device comprising:

a peripheral sensor configured to detect an obstacle around a vehicle based on peripheral information of the vehicle;

driver monitor camera configured to detect a line-of-sight direction of an occupant of the vehicle; and

at least one processor configured to execute instructions to:

estimate a visible range of the occupant based on the line-of-sight direction and a visual field information of the occupant;

notify the occupant of a warning when the obstacle is outside the visible range;

execute automated vehicle control of the vehicle, wherein the automated vehicle control comprises at least one of automated braking of the vehicle or automated steering of the vehicle;

learn the visual field information of the occupant during the execution of the automated vehicle control for avoiding a collision between the vehicle and the obstacle when the obstacle is inside the visible range; and

detect a missing area of a visual field of the occupant during the execution of the automated vehicle control, and learn the visual field information so as to exclude a missing area in a specific direction from the visual field of the occupant when a frequency at which the missing area in the specific direction is detected is equal to or more than a predetermined value.