Driving support apparatus, driving support method, and recording medium

1. A driving support apparatus comprising:

a driving support unit configured to perform driving support for automatically driving in-vehicle equipment related to traveling of a vehicle under a condition that an operation unit of the vehicle is not operated by a driver of the vehicle;

a switching control unit configured to cease the driving support by the driving support unit and switch a driving state from driving in which the driving support is performed to manual driving in which the in-vehicle equipment is driven in response to operation of the operation unit by the driver, according to input from an operation detection unit which detects operating force or an operation amount of operation performed by the driver with respect to the operation unit, in a case where the operating force or the operation amount exceeds a threshold when the driving support is performed by the driving support unit;

a reliability detection unit configured to detect degradation of reliability of the driving support by the driving support unit;

a threshold lowering unit configured to lower the threshold in a case where the reliability detection unit detects that the reliability has degraded when the driving support is performed; and

a sub-control unit configured to, when the reliability detection unit detects that the reliability has degraded when the driving support is performed, if the operation unit is operated with the operating force or the operation amount which falls within a range not exceeding the threshold, at least partially reflect the operation in driving of the in-vehicle equipment by the driving support unit.

2. The driving support apparatus according to claim 1 , wherein the sub-control unit is configured to, when the reliability detection unit detects that the reliability has degraded, gradually increase a ratio of reflection of the operation in driving of the operation unit by the driving support unit depending on elapsed time.

3. The driving support apparatus according to claim 1 , wherein

the in-vehicle equipment is a steered wheel,

the operation unit is a steering wheel, and

the driving support unit is configured to drive the steered wheel via the steering wheel.

4. The driving support apparatus according to claim 1 , further comprising:

a notification unit configured to notify the driver that the driving support has been ceased by the switching control unit, and the driving state has been switched to the manual driving.

5. A driving support method comprising:

executing driving support for automatically driving in-vehicle equipment related to traveling of a vehicle under a condition that an operation unit of the vehicle is not operated by a driver of the vehicle;

ceasing the driving support and switching a driving state from driving in which the driving support is performed to manual driving in which the in-vehicle equipment is driven in response to operation of the operation unit by the driver, according to input from an operation detection unit which detects operating force or an operation amount of operation performed by the driver with respect to the operation unit, in a case where the operating force or the operation amount exceeds a threshold when the driving support is performed;

lowering the threshold in a case where degradation of reliability of the driving support is detected; and

at least partially reflecting the operation in driving of the in-vehicle equipment, when detecting that the reliability has degraded when the driving support is performed, and if operated with the operating force or the operation amount which falls within a range not exceeding the threshold.

6. A recording medium in which digital program data is stored so as to be allowed to be read out and which allows a CPU to read out and execute the program data to function as:

a driving support unit configured to perform driving support for automatically driving in-vehicle equipment related to traveling of a vehicle under a condition that an operation unit of the vehicle is not operated by a driver of the vehicle;

a switching control unit configured to cease the driving support by the driving support unit and switch a driving state from driving in which the driving support is performed to manual driving in which the in-vehicle equipment is driven in response to operation of the operation unit by the driver, according to input from an operation detection unit which detects operating force or an operation amount of operation performed by the driver with respect to the operation unit, in a case where the operating force or the operation amount exceeds a threshold when the driving support is performed by the driving support unit;

a reliability detection unit configured to detect degradation of reliability of the driving support by the driving support unit

a threshold lowering unit configured to lower the threshold in a case where the reliability detection unit detects that the reliability has degraded when the driving support is performed; and

a sub-control unit configured to, when the reliability detection unit detects that the reliability has degraded when the driving support is performed, if the operation unit is operated with the operating force or the operation amount which falls within a range not exceeding the threshold, at least partially reflect the operation in driving of the in-vehicle equipment by the driving support unit.