# US 2021/0268902 A1 · Driving assistance apparatus and driving assistance method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0268902 A1 - Document ID: US20210268902A1 - Status: Published application - Kind: A1 - Application number: 17/306,500 - Filed: 2021-05-03 - Published: 2021-09-02 - Earliest claimed: 2016-06-28 - Assignees: Panasonic Intellectual Property Management Co., Ltd. - Applicants: Panasonic Intellectual Property Management Co., Ltd. - Inventors: Yoshihiro KOJIMA - Web page: https://patentgrep.com/patent/US20210268902A1 ## CPC - B60W 60/0053: {from vehicle to occupant} - B60W 30/182: Selecting between different operative modes, e.g. comfort and performance modes - B60W 40/06: Road conditions - B60W 40/08: related to drivers or passengers - B60W 40/09: Driving style or behaviour - B60W 50/082: {Selecting or switching between different modes of propelling} - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B60W 60/0057: {Estimation of the time available or required for the handover} - B60W 60/0059: {Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity} - B60W 60/0061: {Aborting handover process} - B60K 35/28: characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver - B60K 35/29: Instruments characterised by the way in which information is handled, e.g. showing information on plural displays or prioritising information according to driving conditions - B60K 35/80: Arrangements for controlling instruments - B60K 2360/175: Autonomous driving - B60K 2360/1868: according to driving situations - B60K 2360/566: Mobile devices displaying vehicle information - B60W 2040/0827: {due to sleepiness} - B60W 2040/0872: {Driver physiology} - B60W 2050/0072: {Controller asks driver to take over} - B60W 2050/146: {Display means} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/54: Audio sensitive means, e.g. ultrasound - B60W 2520/10: Longitudinal speed - B60W 2540/21: Voice - B60W 2540/22: Psychological state; Stress level or workload - B60W 2540/221: Physiology, e.g. weight, heartbeat, health or special needs - B60W 2540/223: Posture, e.g. hand, foot, or seat position, turned or inclined - B60W 2540/225: Direction of gaze - B60W 2540/229: Attention level, e.g. attentive to driving, reading or sleeping - B60W 2540/26: Incapacity - B60W 2552/00: Input parameters relating to infrastructure - B60W 2554/406: Traffic density - B60W 2554/80: Spatial relation or speed relative to objects - B60W 2555/00: Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00 - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - B60K: ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES ## Abstract Provided is a method for use by a driving assistance apparatus that assists a transition from an autonomous driving mode in which a vehicle is driven under autonomous control to a manual driving mode in which the vehicle is driven by a driver. The method includes: detecting an activity by the driver; detecting conditions of the driver; and determining a take-over request method which is a method of presenting, in the vehicle, a take-over request that informs the driver that the autonomous driving mode is going to be cancelled, the determining being based on at least the detected activity by the driver and the detected conditions. ## Claims ### Claim 1 A driving assistance apparatus for a vehicle, comprising: one or more memories; and circuitry that performs, when the vehicle is traveling under an autonomous driving mode, operations including: detecting, using at least a sensor, a psychological state that reflects a degree of concentration of the driver on an activity, determining, based on driving information indicating driving conditions of the vehicle, whether the autonomous driving mode is continuable for a period of time, and when it is determined that the autonomous driving mode is not continuable for the period of time, determining, based on the psychological state, a method of presenting, in the vehicle, a take-over request that informs the driver that the autonomous driving mode is going to be cancelled. ### Claim 2 (depends on 1) The driving assistance apparatus according to claim 1, wherein the determining of the method of the presenting includes determining, according to the degree of the concentration, a degree to which the take-over request is highlighted. ### Claim 3 (depends on 1) The driving assistance apparatus according to claim 1, wherein the determining of the method of the presenting includes determining, according to the degree of the concentration, a timing to start the presenting of the take-over request. ### Claim 4 (depends on 1) The driving assistance apparatus according to claim 1, wherein the operations further includes detecting a physiological state of the driver, and the determining of the method of the presenting is performed based on at least the activity, the psychological state, and the physiological state. ### Claim 5 (depends on 1) The driving assistance apparatus according to claim 1, wherein the determining of the method of the presenting includes determining at least one of (i) a timing to start the presenting of the take-over request, (ii) content to be presented as the take-over request, or (iii) a device by which the take-over request is presented. ### Claim 6 (depends on 1) The driving assistance apparatus according to claim 1, wherein the at least a sensor includes at least one of a camera, a microphone, an in-vehicle interface, a heartbeat sensor, a blood pressure sensor, or a body movement sensor. ### Claim 7 (depends on 1) The driving assistance apparatus according to claim 1, wherein the driving information includes information indicating at least one of a speed of the vehicle, a position of the vehicle, or an environment around the vehicle. ### Claim 8 (depends on 7) The driving assistance apparatus according to claim 7, wherein the information of the environment around the vehicle includes information indicating other vehicle existing around the vehicle. ### Claim 9 (depends on 1) The driving assistance apparatus according to claim 1, wherein the activity is an activity unrelated to driving of the vehicle. ### Claim 10 (depends on 1) The driving assistance apparatus according to claim 1, wherein when the driver is watching a screen of a display in the activity, the takeover request is present on the screen. ### Claim 11 (depends on 11) The driving assistance apparatus according to claim 11, wherein the display is included in a smartphone, an automotive navigation system or a TV system.