Driving assistance method, and driving assistance device, driving control device, vehicle, driving assistance program, and recording medium using said method

1. A driving assistance device comprising:

a processor; and

a memory coupled to the processor, the memory storing a program that, when executed by the processor, causes the driving assistance device to:

generate a first image representing an action a vehicle is capable of executing depending on a travel environment during autonomous driving, and a second image representing a reason, based on the travel environment, why the action should be executed or should not be executed; and

output the first image and the second image to a notification device in the vehicle in association with each other.

2. The driving assistance device according to claim 1 , wherein the program, when executed by the processor, causes the driving assistance device to:

generate at least one third image representing at least one action candidate of the vehicle which is selectable by an occupant-,

output the at least one third image that has been generated to the notification device;

receive an action of the vehicle selected by the occupant from among the at least one action candidate of the vehicle;

generate a fourth image representing a reason for the action of the vehicle that has been received, and

output the fourth image that has been generated to the notification device.

3. The driving assistance device according to claim 2 , wherein the program, when executed by the processor, causes the driving assistance device to:

acquire detection information indicating a detection result from a detector configured to detect a state of the vehicle and a surrounding situation of the vehicle;

generate a travel history obtained by associating an action executed by the vehicle with values of a plurality of environmental parameters specifying a travel environment when the vehicle executes the action based on the detection information; and

determines an action candidate of the vehicle based on the travel history and the detection information acquired.

4. The driving assistance device according to claim 3 , wherein the program, when executed by the processor, causes the driving assistance device to:

select, as the action candidate of the vehicle, an action having an actual value exceeding a first threshold from among actions executed by the vehicle under a previous similar travel environment, based on the travel history and values of a plurality of environmental parameters based on detection information currently acquired.

5. The driving assistance device according to claim 4 , wherein the program, when executed by the processor, causes the driving assistance device to:

designate, as a recommended action recommended to the occupant, an action having a highest actual value from among actions executed by the vehicle under a previous similar travel environment.

6. The driving assistance device according to claim 3 , wherein the program, when executed by the processor, causes the driving assistance device to:

select, as a travel-environmental reason why an action candidate selected by the occupant and received is executable, an environmental parameter having a highest rate of contribution or at least one environmental parameter which has a rate of contribution exceeding a first threshold, from among a plurality of environmental parameters included in the travel history and associated with the action.

7. The driving assistance device according to claim 2 , wherein the program when executed by the processor, causes the driving assistance device to:

generate an image including, in one screen, an object representing the vehicle, at least one object representing the action candidate disposed around the object representing the vehicle, at least one object representing a subject that provides a travel-environmental reason for a selected action candidate, and at least one object for highlighting the at least one object representing the subject providing the reason; and

output the image that has been generated.

8. The driving assistance device according to claim 7 , wherein the program, when executed by the processor, causes the driving assistance device to:

change a display size of the object which represents the subject providing the reason according to a distance between the vehicle and the subject providing the reason.

9. The driving assistance device according to claim 7 , wherein

the image has a circular region around the object representing the vehicle,

the circular region is segmented into a plurality of sectorial regions,

a position where the object representing the subject providing the reason is disposed in the circular region is determined according to a positional relation between the vehicle and the subject providing the reason, and

a sectorial region including the position is displayed in a highlighted manner.

10. The driving assistance device according to claim 7 , wherein the program, when executed by the processor, causes the driving assistance device to:

highlight an object of a recommended action candidate in the at least one object representing the action candidate.

11. The driving assistance device according to claim 2 , wherein the program, when executed by the processor, causes the driving assistance device to:

generate as images in different screens, an action selection image including at least one object representing the action candidate and an overhead image including an object representing the vehicle, at least one object representing a subject that provides a travel-environmental reason for a selected action candidate, and at least one object for highlighting the at least one object representing the subject providing the reason; and

output the action selection image and the overhead image which have been generated.

12. An autonomous driving control device comprising

a processor; and

a memory coupled to the processor, the memory storing a program that, when executed by the processor, causes the autonomous driving control device to:

control an action of a vehicle during autonomous driving of the vehicle;

generate a first image representing an action the vehicle is capable of executing depending on a travel environment during autonomous driving, and a second image representing a reason, based on the travel environment, why the action should be executed or should not be executed; and

output the first image and the second image generated to a notification device in the vehicle in association with each other.

13. A driving assistance method comprising:

generating a first image representing an action a vehicle is capable of executing depending on a travel environment during autonomous driving, and a second image representing a reason, based on the travel environment, why the action should be executed or should not be executed; and

outputting the first image and the second image to a notification device in the vehicle in association with each other.