Drive assist apparatus

1. A drive assist apparatus configured to execute switching of a driving mode of a vehicle from autonomous driving to manual driving at a switching completion point, the apparatus comprising:

an electronic control unit (ECU) programmed to:

calculate an arrival window time before the vehicle arrives at the switching completion point based on a current position and speed of the vehicle;

estimate a driving concentration degree of a driver based on a state of the driver of the vehicle when the arrival window time is equal to or shorter than a predetermined time; and

a stimulator configured to provide stimulation to the driver according to the driving concentration degree;

wherein, in a case where the driving concentration degree is equal to or less than a threshold value set in advance, the stimulator is configured to provide a stimulus to the driver, wherein the stimulus has a strength stronger than another strength in a case where the driving concentration degree is greater than the threshold value, or the stimulator is configured to provide the stimulus to the driver having a strength in accordance with reduction in the driving concentration degree; and

wherein the ECU is further programmed to estimate a psychological side return time which is a time required for a state of psychological side of the driver to be returned to a state suitable for the manual driving, a cognitive side return time which is a time required for a state of cognitive side of the driver to be returned to the state suitable for the manual driving, and an operative side return time which is a time required for a state of operative side of the driver to be returned to the state suitable for the manual driving, based on the driving concentration degree,

wherein, in a case where a total time of the psychological side return time, the cognitive side return time, and the operative side return time is equal to or shorter than the predetermined time, the stimulator is configured to provide to the driver a psychological side returning stimulus which returns the state of psychological side of the driver to the state suitable for the manual driving, a cognitive side returning stimulus which returns the state of cognitive side of the driver to the state suitable for the manual driving, and an operative side returning stimulus which returns the state of operative side of the driver to the state suitable for the manual driving, in an order of the psychological side returning stimulus the cognitive side returning stimulus and the operative side returning stimulus, and

wherein, in a case where the total time is longer than the predetermined time, the stimulator is configured to provide the psychological side returning stimulus, the cognitive side returning stimulus and the operative side returning stimulus to the driver by overlapping one or more of the psychological side returning stimulus, the cognitive side returning stimulus, and the operative side returning stimulus such that an aggregated time of providing the psychological side returning stimulus the cognitive side returning stimulus and the operative side returning stimulus becomes the predetermined time.

2. The drive assist apparatus according to claim 1 ,

wherein when the total time is longer than the predetermined time, the stimulator is configured to select an optimization pattern such that the cognitive side returning stimulus is subsequently provided immediately after the psychological side returning stimulus is provided, and then the operative side returning stimulus is provided while the cognitive side returning stimulus is provided.

3. The drive assist apparatus according to claim 1 ,

wherein when the total time is longer than the predetermined time, the stimulator is configured to select an optimization pattern such that the cognitive side returning stimulus and the operative side returning stimulus are provided together and are subsequently provided immediately after the psychological side returning stimulus is provided.

4. The drive assist apparatus according to claim 1 ,

wherein when the total time is longer than the predetermined time, the stimulator is configured to select an optimization pattern such that the cognitive side returning stimulus and the operative side returning stimulus are subsequently provided together while the psychological side returning stimulus is provided earlier.

5. A drive assist apparatus configured to execute switching of a driving mode of a vehicle from autonomous driving to manual driving at a switching completion point, the apparatus comprising:

an electronic control unit (ECU) programmed to:

calculate an arrival window time before the vehicle arrives at the switching completion point based on a current position and speed of the vehicle;

estimate a driving concentration degree of a driver based on a state of the driver of the vehicle when the arrival window time is equal to or shorter than a predetermined time; and

a stimulator configured to provide stimulation to the driver according to the driving concentration degree;

wherein, in a case where the driving concentration degree is equal to or less than a threshold value set in advance, the stimulator is configured to provide a stimulus to the driver, wherein the stimulus has a strength stronger than another strength in a case where the driving concentration degree is greater than the threshold value, or the stimulator is configured to provide the stimulus to the driver having a strength in accordance with reduction in the driving concentration degree,

wherein, in a case where the driving concentration degree is greater than the threshold value, the stimulator is configured to provide the stimulus to the driver having a first strength,

wherein, in a case where the arrival window time is equal to or longer than a reference time which is shorter than the predetermined time and the driving concentration degree is equal to or less than the threshold value, the stimulator is configured to provide the stimulus to the driver having a second strength which is stronger than the first strength, and

wherein, in a case where the arrival window time is shorter than the reference time and the driving concentration degree is equal to or less than the threshold value, the stimulator is configured to provide a stimulation to the driver having a third strength which is stronger than the second strength; and

wherein the ECU is further programmed to estimate a psychological side return time which is a time required for a state of psychological side of the driver to be returned to a state suitable for the manual driving, a cognitive side return time which is a time required for a state of cognitive side of the driver to be returned to the state suitable for the manual driving, and an operative side return time which is a time required for a state of operative side of the driver to be returned to the state suitable for the manual driving, based on the driving concentration degree,

wherein, in a case where a total time of the psychological side return time, the cognitive side return time, and the operative side return time is equal to or shorter than the predetermined time, the stimulator is configured to provide to the driver a psychological side returning stimulus which returns the state of psychological side of the driver to the state suitable for the manual driving, a cognitive side returning stimulus which returns the state of cognitive side of the driver to the state suitable for the manual driving, and an operative side returning stimulus which returns the state of operative side of the driver to the state suitable for the manual driving, in an order of the psychological side returning stimulus the cognitive side returning stimulus and the operative side returning stimulus, and

wherein, in a case where the total time is longer than the predetermined time,

the stimulator is configured to provide the psychological side returning stimulus, the cognitive side returning stimulus and the operative side returning stimulus to the driver by overlapping one or more of the psychological side returning stimulus, the cognitive side returning stimulus, and the operative side returning stimulus such that an aggregated time of providing the psychological side returning stimulus the cognitive side returning stimulus and the operative side returning stimulus becomes the predetermined time.

6. A drive assist apparatus configured to execute switching of a driving mode of a vehicle from autonomous driving to manual driving at a switching completion point, the apparatus comprising:

an electronic control unit (ECU) programmed to:

calculate an arrival window time before the vehicle arrives at the switching completion point based on a current position and speed of the vehicle;

estimate a driving concentration degree of a driver based on a state of the driver of the vehicle when the arrival window time is equal to or shorter than a predetermined time; and

a stimulator including at least one of a speaker, a light, a vibrator or an actuator configured to move an interior component of the vehicle, to provide stimulation to the driver according to the driving concentration degree;

wherein, in a case where the driving concentration degree is equal to or less than a threshold value set in advance, the stimulator is configured to provide a stimulus to the driver, wherein the stimulus has a strength stronger than another strength in a case where the driving concentration degree is greater than the threshold value, or the stimulator is configured to provide the stimulus to the driver having a strength in accordance with reduction in the driving concentration degree; and

wherein the ECU is further programmed to estimate a psychological side return time which is a time required for a state of psychological side of the driver to be returned to a state suitable for the manual driving, a cognitive side return time which is a time required for a state of cognitive side of the driver to be returned to the state suitable for the manual driving, and an operative side return time which is a time required for a state of operative side of the driver to be returned to the state suitable for the manual driving, based on the driving concentration degree,

wherein, in a case where a total time of the psychological side return time, the cognitive side return time, and the operative side return time is equal to or shorter than the predetermined time, the stimulator is configured to provide to the driver a psychological side returning stimulus which returns the state of psychological side of the driver to the state suitable for the manual driving, a cognitive side returning stimulus which returns the state of cognitive side of the driver to the state suitable for the manual driving, and an operative side returning stimulus which returns the state of operative side of the driver to the state suitable for the manual driving, in an order of the psychological side returning stimulus the cognitive side returning stimulus and the operative side returning stimulus, and

wherein, in a case where the total time is longer than the predetermined time, the stimulator is configured to provide the psychological side returning stimulus, the cognitive side returning stimulus and the operative side returning stimulus to the driver by overlapping one or more of the psychological side returning stimulus, the cognitive side returning stimulus, and the operative side returning stimulus such that an aggregated time of providing the psychological side returning stimulus the cognitive side returning stimulus and the operative side returning stimulus becomes the predetermined time.