Driving assistance device, driving assistance method, and storage medium
A driving assistance device includes a determining part configured to determine a target relative position with respect to other vehicle, which is traveling in a movement destination lane that is a merging destination or a lane change destination of a host vehicle, for entering the movement destination lane based on a detection result of the other vehicle, and a notification controller configured to output a notification sound, which differs between a case in which acceleration is required for the host vehicle and a case in which deceleration is required for the host vehicle, from a speaker in order to perform an alignment with respect to the target relative position determined by the determining part in an advancing direction of the host vehicle.
1. A driving assistance device comprising:
a determining part configured to determine a target relative position with respect to other vehicle, which is traveling in a movement destination lane that is a merging destination or a lane change destination of a host vehicle, for entering the movement destination lane based on a detection result of the other vehicle; and
a notification controller configured to output a notification sound, which differs between a case in which acceleration is required for the host vehicle and a case in which deceleration is required for the host vehicle, from a speaker in order to perform an alignment with respect to the target relative position determined by the determining part in an advancing direction of the host vehicle,
wherein the notification controller makes tone heights of the notification sound different between the case in which the acceleration is required and the case in which the deceleration is required.
2. The driving assistance device according to claim 1 , wherein the notification controller outputs the notification sound with a higher tone height in the case in which the acceleration is required than the case in which the deceleration is required.
3. The driving assistance device according to claim 1 , wherein the notification controller makes tone colors of the notification sound different between the case in which the acceleration is required and the case in which the deceleration is required.
4. The driving assistance device according to claim 1 , wherein the notification controller makes intervals of the notification sound different according to a speed variation degree of the host vehicle which is required to perform the alignment.
5. The driving assistance device according to claim 4 , wherein the notification controller shortens the interval as a necessary degree of acceleration increases as the speed variation degree, and shortens the interval as a necessary degree of deceleration increases as the speed variation degree.
6. The driving assistance device according to claim 1 , wherein the notification controller makes tone heights, sound volumes, or tone colors of the notification sound different according to a speed variation degree of the host vehicle required to perform the alignment.
7. The driving assistance device according to claim 6 , wherein the notification controller makes the tone height higher as a necessary degree of acceleration increases as the speed variation degree, and makes the tone height lower as a necessary degree of deceleration increases as the speed variation degree.
8. The driving assistance device according to claim 6 , wherein the notification controller makes the sound volume louder as a necessary degree of acceleration increases as the speed variation degree, and makes the sound volume louder as a necessary degree of deceleration increases as the speed variation degree.
9. The driving assistance device according to claim 1 , wherein the notification controller changes one or more elements among a tone height, a sound volume, a tone color, or an interval of the notification sound according to whether the acceleration or the deceleration is required for the host vehicle in order to perform the alignment, and changes one or more other elements among the tone height, the sound volume, the tone color, or the interval of the notification sound according to a speed variation degree of the host vehicle which is required to perform the alignment.
10. The driving assistance device according to claim 1 , wherein the determining part determines a target speed to perform merging or lane change, and
the notification controller determines the notification sound based on driving power which causes a position and a speed of the host vehicle to simultaneously converge with respect to the target relative position and the target speed which are determined by the determining part, and outputs the determined notification sound from the speaker.
11. The driving assistance device according to claim 10 , further comprising a deriving part configured to derive the driving power, which causes the position and the speed of the host vehicle to simultaneously converge with respect to the target relative position and the target speed which are determined by the determining part, based on response designated control,
wherein the notification controller determines the notification sound based on the driving power derived by the deriving part, and outputs the determined notification sound from the speaker.
12. The driving assistance device according to claim 11 , wherein the deriving part derives the driving power so as to bring a switching function, which is obtained by linearly coupling a position deviation that is a deviation between the target relative position and a position of the host vehicle and a speed deviation that is a deviation between the target speed and a speed of the host vehicle, closer to zero and so as to bring the position deviation and the speed deviation closer to zero.
13. The driving assistance device according to claim 11 , wherein the deriving part determines a correction amount of the target speed so as to bring a first switching function, which is obtained by linearly coupling a position deviation that is a deviation between the target relative position and a position of the host vehicle and a past value of the position deviation, closer to zero and so as to bring the position deviation and the past value of the position deviation closer to zero, and
determines the target speed by correcting a temporary target speed using the correction amount based on the speed of the other vehicle and derives the driving power to bring a second switching function obtained by linearly coupling a speed deviation that is a deviation between the target speed and a speed of the host vehicle and a past value of the speed deviation closer to zero and bring the speed deviation and the past value of the speed deviation closer to zero.
14. The driving assistance device according to claim 1 , wherein the notification controller changes the notification sound according to depression characteristics for each driver with respect to an accelerator pedal.
15. The driving assistance device according to claim 1 , wherein the notification controller changes the notification sound according to a distance that is usable in merging or lane change.
16. The driving assistance device according to claim 1 , further comprising a steering determining part configured to determine a steering timing to enter the movement destination lane,
wherein the notification controller outputs a steering instruction sound, which is different from the notification sound, from the speaker at the steering timing determined by the steering determining part.
17. The driving assistance device according to claim 1 , wherein the notification controller starts output of the notification sound according to entry of the host vehicle into a guiding start range which is between a front section of a preceding vehicle that is traveling just in front of the target relative position in the movement destination lane and a rear section of a following vehicle that is traveling just behind the target relative position in the movement destination lane in the advancing direction of the host vehicle.
18. The driving assistance device according to claim 17 , wherein the notification controller outputs a guiding start notification sound, which is different from the notification sound, from the speaker prior to an output start of the notification sound in a case the host vehicle enters the guiding start range.
19. The driving assistance device according to claim 1 , further comprising an entry possibility determining part configured to determine possibility of whether the vehicle is able to enter the movement destination lane,
wherein the notification controller outputs a guiding stop notification sound, which is different from the notification sound, from the speaker in a case the entry possibility determining part determines that the entry to the movement destination lane is impossible after the output of the notification sound has been started.
20. The driving assistance device according to claim 1 , wherein the notification controller does not output the notification sound from the speaker in a case acceleration and deceleration are not required to perform the alignment.
21. A driving assistance device comprising:
a determining part configured to determine a target relative position with respect to other vehicle, which is traveling in a movement destination lane that is a merging destination or a lane change destination of a host vehicle, for entering the movement destination lane based on a detection result of the other vehicle; and
a notification controller configured to output a notification sound, which has different tone heights according to a speed variation degree of the host vehicle, from the speaker, the speed variation degree of the host vehicle being a degree required to perform alignment with respect to the target relative position determined by the determining part in an advancing direction of the host vehicle.
22. A driving assistance method, which is performed by a computer, the method comprising:
determining a target relative position with respect to other vehicle, which is traveling in a movement destination lane that is a merging destination or a lane change destination of a host vehicle, for entering the movement destination lane based on a detection result of the other vehicle;
outputting a notification sound, which differs between a case in which acceleration is required for the host vehicle and a case in which deceleration is required for the host vehicle, from a speaker in order to perform an alignment with respect to the determined target relative position in an advancing direction of the host vehicle; and
making tone heights of the notification sound different between the case in which the acceleration is required and the case in which the deceleration is required.
23. A non-transitory computer-readable storage medium, on which a program is stored and causes a computer to:
determine a target relative position with respect to other vehicle, which is traveling in a movement destination lane that is a merging destination or a lane change destination of a host vehicle, for entering the movement destination lane based on a detection result of the other vehicle;
output a notification sound, which differs between a case in which acceleration is required for the host vehicle and a case in which deceleration is required for the host vehicle, from a speaker in order to perform an alignment with respect to the determined target relative position in an advancing direction of the host vehicle; and
making tone heights of the notification sound different between the case in which the acceleration is required and the case in which the deceleration is required.