Driver assistance device and driver assistance method

1. A driver assistance device comprising one or more processors configured to:

determine whether a pedal misapplication determination condition is satisfied;

output, via a speaker, when the one or more processors determine that the pedal misapplication determination condition is satisfied, an audio message indicating that an accelerator pedal is depressed;

output at least one of a warning display and warning audio directly instructing a driver to release a pedal that is depressed at a point in time of outputting,

when it is determined that the pedal misapplication determination condition is satisfied, execute driving force restriction control while outputting at least one of the warning display and the warning audio, the driving force restriction control being a control of setting a driver-requested driving force corresponding to an operation amount of the accelerator pedal to be smaller than the driving force in operations in which no pedal misapplication is determined; and

when the operation amount of the accelerator pedal becomes no more than a predetermined threshold value while executing the driving force restriction control, change a form of attraction of attention from a first form of directly instructing to release the accelerator pedal that is depressed to a second form of instructing to perform a brake operation and output at least one of a display and audio instructing the driver to depress a brake pedal.

2. The driver assistance device according to claim 1 , wherein the one or more processors are configured to display, on a display visually recognizable by the driver, an attention-attracting illustration, which is an illustration including an illustration of a foot in a state of depressing a pedal as viewed from a lateral side of a vehicle and an arrow pointing in a direction of distancing the foot away from the pedal, as the warning display.

3. The driver assistance device according to claim 1 , wherein the one or more processors are configured to output, via the speaker, an audio message including words instructing to release the pedal that is depressed at a point in time of outputting, as the warning audio.

4. The driver assistance device according to claim 1 , wherein the one or more processors are configured to:

output both of the warning display and the warning audio when the one or more processors determine that the pedal misapplication determination condition is satisfied;

display, on a display visually recognizable by the driver, an attention-attracting illustration, which is an illustration including an illustration of a foot in a state of depressing a pedal as viewed from a lateral side of a vehicle and an arrow pointing in a direction of distancing the foot away from the pedal, as the warning display; and

output, via the speaker, an audio message including words instructing to release the pedal that is depressed at the point in time of outputting.

5. The driver assistance device according to claim 1 , wherein the one or more processors are configured to, when the operation amount of the accelerator pedal becomes no more than the predetermined threshold value for the first time after the one or more processors output at least one of the warning display and the warning audio, output at least one of a display and audio instructing the driver to depress the brake pedal.

6. The driver assistance device according to claim 1 , wherein the pedal misapplication determination condition is a condition for estimating whether a pedal misapplication operation has occurred, the pedal misapplication operation being an operation where the driver of a vehicle erroneously depresses the accelerator pedal while intending to depress the brake pedal.

7. A driver assistance method executed by one or more processors, the method comprising:

determining whether a pedal misapplication determination condition is satisfied;

outputting, via a speaker, when the one or more processors determine that the pedal misapplication determination condition is satisfied, an audio message indicating that an accelerator pedal is depressed;

outputting at least one of a warning display and warning audio directly instructing a driver to release a pedal that is depressed at a point in time of outputting;

when it is determined that the pedal misapplication determination condition is satisfied, executing driving force restriction control while outputting at least one of the warning display and the warning audio, the driving force restriction control being a control of setting a driver-requested driving force corresponding to an operation amount of the accelerator pedal to be smaller than the driving force in operations in which no pedal misapplication is determined; and

when the operation amount of the accelerator pedal becomes no more than a predetermined threshold value while executing the driving force restriction control, changing a form of attraction of attention from a first form of directly instructing to release the accelerator pedal that is depressed to a second form of instructing to perform a brake operation and outputting at least one of a display and audio instructing the driver to depress a brake pedal.