JP6567243B2 - Driving support device, server, and driving support method - Google Patents

Description

  The present invention relates to a driving support device, a server, and a driving support method.

  Some vehicle navigation devices execute offset correction using an output from a gyro sensor when it is determined that the vehicle is stopped as an offset error. Patent Document 1 discloses a vehicle navigation device that controls execution of offset correction based on a vehicle speed pulse, an output of a gyro sensor, and a steering sensor value.

Japanese Patent Laying-Open No. 2015-184111 ([0017])

  The vehicle navigation device disclosed in Patent Document 1 controls the execution of offset correction using the steering sensor value, but the offset correction is not executed during the period when the steering sensor value exceeds the threshold value. It is just what is configured. In this configuration, when the offset correction is not performed for a long time, there is a problem that the offset error accumulates and the position of the vehicle displayed on the navigation screen is shifted.

  The present invention has been made to solve the above-described problems, and can prevent a displacement of the vehicle due to the accumulation of an offset error, and can provide a driving assistance device with high accuracy in output angular velocity information, An object is to obtain a server and a driving support method.

  A driving support device according to the present invention is mounted on a vehicle or brought into a vehicle, an angular velocity information acquisition unit that acquires angular velocity information output by an angular velocity sensor, and a temperature information acquisition unit that acquires temperature information around the angular velocity sensor, A steering wheel angle information acquisition unit that acquires steering wheel angle information indicating a steering angle of a steering wheel in the vehicle, a time information acquisition unit that acquires time information indicating a time elapsed since the start of the vehicle engine, and temperature information Learning angular velocity information corresponding to steering wheel steering angle information and time information is acquired from the learning information storage unit, and it is determined whether or not the value indicated by the angular velocity information is within an allowable range of the value indicated by the learned angular velocity information; If the value is within the allowable range, the learning control unit that outputs the learning angular velocity information and the value indicated by the angular velocity information are outside the allowable range of the value indicated by the learning angular velocity information. If it is determined in section, and a correction controller to alleviate the condition for executing the offset correction of the angular velocity sensor.

  According to the present invention, it is possible to obtain a driving assistance device, a server, and a driving assistance method that can prevent positional deviation of the host vehicle due to accumulation of offset error and that have high accuracy in the angular velocity information that is output.

It is explanatory drawing which shows the structure of the driving assistance device which concerns on Embodiment 1, and its periphery. 4 is a flowchart illustrating an operation of the driving support apparatus according to the first embodiment. 4 is a flowchart illustrating an operation of the driving support apparatus according to the first embodiment. 3A and 3B are diagrams illustrating a hardware configuration example of the driving support apparatus according to the first embodiment. It is explanatory drawing which shows a structure at the time of comprising so that a driving assistance device may cooperate with a server.

Embodiment 1 FIG.
Hereinafter, in order to describe the present invention in more detail, modes for carrying out the present invention will be described with reference to the accompanying drawings.

  FIG. 1 is an explanatory diagram showing the configuration of the driving support device 100 according to the first embodiment and its surroundings.

  The driving support device 100 is, for example, a car navigation device mounted on a vehicle or a portable terminal that is carried by a passenger and brought into the vehicle. The mobile terminal is, for example, a portable navigation device, a tablet PC, or a smartphone.

  The driving support apparatus 100 includes a control unit 10, an angular velocity sensor 50, a temperature sensor 70, and the like. The control unit 10 includes an angular velocity information acquisition unit 11, a steering wheel steering angle information acquisition unit 12, a temperature information acquisition unit 13, a time information acquisition unit 14, a learning control unit 15, a known information storage unit 16, a learning information storage unit 17, and a correction control. A unit 18, a vehicle position information generation unit 19, a GPS signal acquisition unit 20, and the like are configured.

  The angular velocity information acquisition unit 11 acquires angular velocity information output from the angular velocity sensor 50. The angular velocity information acquisition unit 11 outputs the angular velocity information to the learning control unit 15. The angular velocity sensor 50 is, for example, a gyro sensor.

  The angular velocity information output from the angular velocity sensor 50 includes errors due to drift characteristics, individual differences among vibrators, and the like. Further, the angular velocity information output by the angular velocity sensor 50 includes an error caused by the temperature of the environment in which the angular velocity sensor 50 is mounted. In particular, immediately after the engine is started, the temperature of the mounting environment rises greatly, so that the error included in the angular velocity information output by the angular velocity sensor 50 becomes large.

  The angular velocity sensor 50 outputs angular velocity information indicating that the angular velocity is 0 deg / s when the vehicle is stopped. However, when the above error is included, the angular velocity information output from the angular velocity sensor 50 does not become the angular velocity of 0 deg / s even when the vehicle is stopped. Therefore, it is necessary to correct the angular velocity output from the angular velocity sensor 50 when the vehicle is stopped as an offset error and to remove the offset error so that the angular velocity is 0 deg / s (hereinafter referred to as offset correction). Although details will be described later, the correction control unit 18 in the control unit 10 controls execution of the offset correction.

  The steering wheel angle information acquisition unit 12 acquires steering wheel angle information from the camera 60 mounted on the vehicle. The camera 60 is mounted at a position where the vehicle handle can be imaged, and images the handle. The camera 60 calculates the steering angle of the steering wheel and outputs steering wheel steering angle information. When a DMS (Driver Monitor System) is mounted on the vehicle, the DMS camera is also used as the camera 60, so that the cost can be reduced.

  The temperature information acquisition unit 13 acquires temperature information from the temperature sensor 70. The temperature sensor 70 is attached around the angular velocity sensor 50. The temperature sensor 70 measures the temperature of the environment in which the angular velocity sensor 50 is mounted, and outputs temperature information.

  The time information acquisition unit 14 acquires time information from the ECU 80 mounted on the vehicle. The ECU 80 measures the elapsed time since the start of the vehicle engine, and outputs the elapsed time as time information.

  The functions of the learning control unit 15, the known information storage unit 16, the learning information storage unit 17, and the correction control unit 18 will be described later.

  The GPS signal acquisition unit 20 acquires a GPS signal via a GPS antenna 90 mounted on the vehicle. The GPS signal acquisition unit 20 outputs the GPS signal to the vehicle position information generation unit 19.

The own vehicle position information generation unit 19 generates own vehicle position information based on the angular velocity information acquired from the learning control unit 15 and the GPS signal acquired from the GPS signal acquisition unit 20.
The own vehicle position information generation unit 19 outputs the generated own vehicle position information to a display control unit (not shown). A display control part produces | generates the navigation information displayed on a display part (not shown).
In FIG. 1, the GPS antenna 90 is separated from the driving support device 100, but the GPS antenna 90 may be built in the driving support device 100.

Next, the operation will be described.
2A and 2B are flowcharts showing the operation of the driving support apparatus 100 according to Embodiment 1. FIG. The operation of the driving support apparatus 100 shown in FIGS. 2A and 2B is repeated while the power of the driving support apparatus 100 is ON, and ends when the power of the driving support apparatus 100 is turned OFF.

When the power of the driving support device 100 is turned on, the learning control unit 15 acquires angular velocity information from the angular velocity information acquisition unit 11 at a constant cycle. The learning control unit 15 acquires the angular velocity information, and acquires steering wheel angle information, temperature information, and time information from the steering wheel angle information acquisition unit 12, the temperature information acquisition unit 13, and the time information acquisition unit 14, respectively. (Step ST1).
The learning control unit 15 determines whether or not the time information acquired in step ST1 is less than a threshold (hereinafter referred to as a first threshold) (step ST2). The first threshold is, for example, 180 [s].

  In step ST2, when the learning control unit 15 determines that the time information acquired in step ST1 is less than the first threshold (step ST2: YES), the learning control unit 15 acquires the steering wheel steering angle acquired in step ST1. Based on the information, the temperature information, and the time information, preset angular velocity information is acquired from the known information storage unit 16 (step ST3).

  In the known information storage unit 16, preset angular velocity information is stored in association with steering wheel steering angle information, temperature information, and time information. The preset angular velocity information is information that is determined based on angular velocity information that a general angular velocity sensor outputs after the time determined by the first threshold (for example, 180 [s]) has elapsed. When the time information acquired in step ST1 is less than the first threshold value, the angular velocity information acquired by the angular velocity information acquisition unit 11 is affected by the temperature associated with the engine start, and is likely to include an error. Therefore, immediately after the engine is started, the following processing is performed using preset angular velocity information.

  The learning control unit 15 compares the angular velocity information acquired in step ST1 (hereinafter referred to as detected angular velocity information) with the preset angular velocity information acquired in step ST3, and a value indicated by the detected angular velocity information is set in advance. It is determined whether the value indicated by the angular velocity information is within an allowable range (step ST4). The permissible range of the value indicated by the preset angular velocity information is a range in which an upper limit value and a lower limit value are set in consideration of the accuracy with the value indicated by the preset angular velocity information as a median value. For example, when the value indicated by the preset angular velocity information is 10 deg / s, 5 to 15 deg / s is an allowable range.

  The learning control unit 15 compares the detected angular velocity information with preset angular velocity information, and determines that the value indicated by the detected angular velocity information is within an allowable range of the value indicated by the preset angular velocity information (step (ST4: YES), the learning control unit 15 outputs the preset angular velocity information to the vehicle position information generation unit 19 (step ST5).

  The own vehicle position information generation unit 19 generates and outputs own vehicle position information based on the preset angular velocity information acquired from the learning control unit 15 and the GPS signal acquired from the GPS signal acquisition unit 20 (step) ST6). When the process of step ST6 ends, the process returns to step ST1.

  On the other hand, in step ST4, the learning control unit 15 determines that the value indicated by the detected angular velocity information is outside the allowable range of the value indicated by the preset angular velocity information (step ST4: NO), the learning control unit 15 Outputs information indicating that it is outside the permissible range (hereinafter referred to as “outside permissible range information”) to the correction control unit 18 (step ST7).

  When the correction control unit 18 acquires information outside the allowable range from the learning control unit 15, the correction control unit 18 relaxes the condition for executing the offset correction (step ST8).

Here, the relaxation of the condition for executing the offset correction will be described.
The correction control unit 18 normally performs control so as to execute offset correction when it is determined that the vehicle is stopped. For example, the correction control unit 18 determines that the vehicle is stopped when information indicating that the vehicle speed is zero is acquired from the ECU 80.

  When the correction control unit 18 acquires out-of-tolerance information from the learning control unit 15, the correction control unit 18 also determines that the vehicle is traveling straight in addition to the case where it is determined that the vehicle is stopped. Control to perform offset correction. The correction control unit 18 determines that the vehicle is traveling straight when the value indicated by the steering wheel steering angle information is a value within a certain range for a certain time.

The correction control unit 18 determines whether or not the condition for executing the offset correction is satisfied (step ST9).
If it is determined that the condition for executing the offset correction is satisfied (step ST9: YES), the correction control unit 18 outputs an execution signal to the angular velocity sensor 50 (step ST10). Thereby, offset correction is executed.
If the correction control unit 18 determines that the condition for executing the offset correction is not satisfied (step ST9: NO), the correction control unit 18 repeats the process of step ST9 without executing the offset correction. However, if it is not determined that the condition for executing the offset correction is satisfied even after the predetermined time has elapsed, the process ends and the process returns to step ST1. When offset correction is executed in step ST10, the process returns to step ST1.

  In step ST2, when the learning control unit 15 determines that the time information acquired in step ST1 is greater than or equal to the first threshold (step ST2: NO), the learning control unit 15 acquires the steering wheel steering angle acquired in step ST1. Based on the information, temperature information, and time information, learning angular velocity information corresponding to them is acquired from the learning information storage unit 17 (step ST11).

The learning information storage unit 17 stores learning angular velocity information. The learned angular velocity information is angular velocity information calculated by the learning control unit 15, and is an average value of angular velocity information output in the past by the angular velocity sensor 50 under the same conditions (steering wheel steering angle information, temperature information, and time information).
If it is determined that the detected angular velocity information acquired in step ST1 is to be learned (YES in step ST12 described later), the learning control unit 15 calculates new learning angular velocity information and learns the calculated new learning angular velocity information. The information is stored in the information storage unit 17. Note that the learning information storage unit 17 stores a default value of learning angular velocity information corresponding to each condition (handle steering angle information, temperature information, and time information).

  The learning control unit 15 compares the detected angular velocity information with the learned angular velocity information, and determines whether or not the value indicated by the detected angular velocity information is within the allowable range of the value indicated by the learned angular velocity information (step ST12). The allowable range of the value indicated by the learned angular velocity information is a range in which an upper limit value and a lower limit value are set in consideration of the accuracy with the value indicated by the learned angular velocity information as a median value. For example, when the value indicated by the learning angular velocity information is 10 deg / s, the allowable range is 5 to 15 deg / s.

  The learning control unit 15 compares the detected angular velocity information and the learned angular velocity information, and determines that the value indicated by the detected angular velocity information is within the allowable range of the value indicated by the learned angular velocity information (step ST12: YES). The control unit 15 outputs the learned angular velocity information to the own vehicle position information generation unit 19 (step ST13).

  The learning control unit 15 calculates new learning angular velocity information based on the detected angular velocity information acquired in step ST1 and the learning angular velocity information acquired in step ST12, and the new learning angular velocity information is stored in the learning information storage unit 17. (Step ST14). Thereby, the learning angular velocity information stored in the learning information storage unit 17 is updated.

  The own vehicle position information generation unit 19 generates and outputs own vehicle position information based on the learned angular velocity information acquired from the learning control unit 15 and the GPS signal acquired from the GPS signal acquisition unit 20 (step ST15). When the process of step ST15 ends, the process returns to step ST1.

  In step ST12, when the learning control unit 15 determines that the value indicated by the detected angular velocity information is not within the allowable range of the value indicated by the learning angular velocity information (step ST12: NO), the learning control unit 15 sets the information outside the allowable range. Is output to the correction controller 18 (step ST16).

  When the correction control unit 18 acquires information outside the allowable range from the learning control unit 15, the correction control unit 18 relaxes the condition for executing the offset correction (step ST17).

The correction control unit 18 determines whether or not the condition for executing the offset correction is satisfied (step ST18).
When it is determined that the condition for executing the offset correction is satisfied (step ST18: YES), the correction control unit 18 outputs an execution signal to the angular velocity sensor 50 (step ST19). Thereby, offset correction is executed.
If the correction control unit 18 determines that the condition for executing the offset correction is not satisfied (step ST18: NO), the correction control unit 18 repeats the process of step ST18. However, if it is not determined that the condition for executing the offset correction is satisfied even after the predetermined time has elapsed, the process ends and the process returns to step ST1. When offset correction is executed in step ST19, the process returns to step ST1.

  In step ST12, the learning control unit 15 obtains a difference value between the value indicated by the detected angular velocity information and the value indicated by the learned angular velocity information, and continuously determines that the difference value is less than the threshold value a certain number of times. The period for obtaining the angular velocity information, the steering wheel steering angle information, the temperature information, and the time information described in step ST1 of FIG. 2A may be controlled to be longer. Thereby, when the output of the angular velocity sensor 50 is stable, the processing load of the control unit 10 can be reduced.

In addition, when the vehicle enters a multi-story parking lot, a tunnel or the like and cannot receive a GPS signal via the GPS antenna 90, the vehicle position information generation unit 19 is in an autonomous navigation state. When the vehicle position information generation unit 19 enters the autonomous navigation state, the vehicle position information generation unit 19 may output a signal indicating that (autonomous navigation state signal) to the learning control unit 15.
When the learning control unit 15 acquires the autonomous navigation state signal from the vehicle position information generation unit 19, the learning control unit 15 sets the cycle for acquiring the angular velocity information, the steering angle information, the temperature information, and the time information described in step ST <b> 1 of FIG. 2A. Control to shorten. In the autonomous navigation state, there is a high possibility that the position deviation of the own vehicle will occur. However, by increasing the number of times the correction process is executed as such a configuration, it is possible to prevent the position deviation of the own vehicle from occurring.

Next, a hardware configuration example of the driving assistance apparatus 100 according to Embodiment 1 will be described.
3A and 3B are diagrams illustrating a hardware configuration example of the driving support apparatus 100.
Angular velocity information acquisition unit 11, steering wheel steering angle information acquisition unit 12, temperature information acquisition unit 13, time information acquisition unit 14, learning control unit 15, correction control unit 18, own vehicle position information generation unit 19, and GPS signal acquisition unit 20 These functions are realized by a processing circuit.
The driving support device 100 includes a processing circuit for realizing the above functions. The processing circuit may be the processing circuit 500 as dedicated hardware, or may be the processor 502 that executes a program stored in the memory 501.

  Further, the known information storage unit 16 and the learning information storage unit 17 in the driving support device 100 are a memory 501. The processing circuit 500 and the processor 502 are connected to the angular velocity sensor 50 and the temperature sensor 70. The memory 501 is connected to the processing circuit 500 and the processor 502.

  As shown in FIG. 3A, when the processing circuit is dedicated hardware, the processing circuit 500 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, and an ASIC (Application Specific Integrated Circuit). , FPGA (Field Programmable Gate Array), or a combination thereof. Angular velocity information acquisition unit 11, steering wheel steering angle information acquisition unit 12, temperature information acquisition unit 13, time information acquisition unit 14, learning control unit 15, correction control unit 18, own vehicle position information generation unit 19, and GPS signal acquisition unit 20 These functions may be realized by a plurality of processing circuits 500, or the functions of the respective units may be realized by a single processing circuit 500.

  As shown in FIG. 3B, when the processing circuit is the processor 502, the angular velocity information acquisition unit 11, the steering wheel steering angle information acquisition unit 12, the temperature information acquisition unit 13, the time information acquisition unit 14, the learning control unit 15, and the correction control unit. 18. Each function of the vehicle position information generation unit 19 and the GPS signal acquisition unit 20 is realized by software, firmware, or a combination of software and firmware. Software or firmware is described as a program and stored in the memory 501. The processor 502 reads out and executes the program stored in the memory 501, thereby realizing the function of each unit. That is, the driving support apparatus 100 includes a memory 501 for storing a program that, when executed by the processor 502, results in the steps shown in FIGS. 3A and 3B described later being executed. In addition, this program includes an angular velocity information acquisition unit 11, a steering wheel angle information acquisition unit 12, a temperature information acquisition unit 13, a time information acquisition unit 14, a learning control unit 15, a correction control unit 18, a host vehicle position information generation unit 19, It can also be said that the computer executes the procedure or method of the GPS signal acquisition unit 20.

Here, the processor 502 is a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or the like.
The memory 501 may be a RAM (Random Access Memory), a ROM (Read Only Memory), an EPROM (Erasable Programmable ROM), or a nonvolatile or volatile semiconductor memory such as a flash memory, a hard disk, a flexible disk, or the like. The magnetic disk may be an optical disk such as a CD (Compact Disc) or a DVD (Digital Versatile Disc).

  Note that the angular velocity information acquisition unit 11, the steering wheel steering angle information acquisition unit 12, the temperature information acquisition unit 13, the time information acquisition unit 14, the learning control unit 15, the correction control unit 18, the own vehicle position information generation unit 19, and the GPS signal acquisition A part of each function of the unit 20 may be realized by dedicated hardware, and a part may be realized by software or firmware. As described above, the processing circuit in the driving support apparatus 100 can realize the functions described above by hardware, software, firmware, or a combination thereof.

Next, a case where the driving support device 100 is configured to cooperate with the server 200 installed outside the vehicle will be described.
FIG. 4 is an explanatory diagram illustrating a configuration when the driving support device 100 is configured to cooperate with the server 200. As illustrated in FIG. 4, the communication unit 30 of the driving support device 100 and the communication unit 40 of the server 200 are connected to be communicable. In this configuration, the server 200 has the configuration of the control unit 10. In this configuration, the server 200 executes the function of the control unit 10 based on the information acquired from the vehicle, and outputs the execution result to the driving support device 100.

  As described above, the driving support apparatus 100 according to the first embodiment is mounted on the vehicle or brought into the vehicle, and the angular velocity information acquisition unit 11 that acquires the angular velocity information output from the angular velocity sensor 50, and the surroundings of the angular velocity sensor 50 The temperature information acquisition unit 13 for acquiring the temperature information of the vehicle, the steering wheel angle information acquisition unit 12 for acquiring the steering angle information indicating the steering angle of the steering wheel in the vehicle, and the time elapsed since the engine of the vehicle was started. The time information acquisition unit 14 that acquires time information, the temperature information, the steering angle information, and the learning angular velocity information corresponding to the time information are acquired from the learning information storage unit 17, and the value indicated by the angular velocity information is the learning angular velocity information. It is determined whether or not the value is within the allowable range. If the value is within the allowable range, the learning control unit 15 that outputs learning angular velocity information and the angular velocity information indicate Value comprises the source is outside the range of values indicated by the learned angular velocity information when it is determined by the learning control unit 15, and a correction control unit 18 to relax the condition for executing the offset correction of the angular velocity sensor. As a result, it is possible to prevent the vehicle from being displaced due to the accumulation of offset error, and to obtain the driving assistance device 100 with high accuracy in the angular velocity information that is output.

  Note that the present invention can be modified in any constituent element of the embodiment or omitted in the embodiment within the scope of the invention.

  The driving assistance apparatus according to the present invention is suitable for being mounted on a vehicle because it can prevent positional deviation of the host vehicle due to accumulation of offset error and the accuracy of the output angular velocity information is high.

  DESCRIPTION OF SYMBOLS 10 Control part, 11 Angular velocity information acquisition part, 12 Steering wheel steering angle information acquisition part, 13 Temperature information acquisition part, 14 Time information acquisition part, 15 Learning control part, 16 Known information storage part, 17 Learning information storage part, 18 Correction control Unit, 19 vehicle position information generation unit, 20 GPS signal acquisition unit, 30, 40 communication unit, 50 angular velocity sensor, 60 camera, 70 temperature sensor, 80 ECU, 90 GPS antenna, 100 driving support device, 200 server.

Claims (8)

A driving support device mounted on a vehicle or brought into the vehicle,
Angular velocity information acquisition unit for acquiring angular velocity information output by the angular velocity sensor;
A temperature information acquisition unit for acquiring temperature information around the angular velocity sensor;
A steering wheel angle information acquisition unit for acquiring steering wheel angle information indicating a steering angle of the steering wheel in the vehicle;
A time information acquisition unit for acquiring time information indicating a time elapsed since the start of the engine of the vehicle;
Learning angular velocity information corresponding to the temperature information, steering wheel steering angle information, and time information is acquired from a learning information storage unit, and a value indicated by the angular velocity information is within an allowable range of a value indicated by the learning angular velocity information. A learning control unit that outputs the learning angular velocity information when it is within the allowable range;
A correction control unit that relaxes a condition for performing offset correction of the angular velocity sensor when the learning control unit determines that the value indicated by the angular velocity information is outside an allowable range of the value indicated by the learned angular velocity information; A driving support device provided.   The learning control unit calculates new learning angular velocity information based on the angular velocity information and the learning angular velocity information, and stores the new learning angular velocity information in the learning information storage unit. Driving assistance device.   The correction control unit performs control so as to execute the offset correction not only when it is determined that the vehicle is stopped but also when it is determined that the vehicle is traveling straight. The driving support device according to Item 1.   The correction control unit determines that the vehicle is traveling straight when the value indicated by the steering wheel steering angle information is a value within a certain range for a certain time. Driving assistance device.   When the learning control unit continuously determines that the difference value between the value indicated by the angular velocity information and the value indicated by the learning angular velocity information is less than a threshold, the angular velocity information, the temperature information, The driving support device according to claim 1, wherein a period for acquiring the steering wheel steering angle information and the time information is lengthened.   When the learning control unit acquires a signal indicating that the vehicle is in an autonomous navigation state from the vehicle position information generation unit that generates the vehicle position information based on the GPS signal, the angular velocity information, the temperature information, the steering wheel The driving support device according to claim 1, wherein a period for acquiring the corner information and the time information is shortened. A server that is mounted on a vehicle or that is communicably connected to a driving support device that is brought into the vehicle,
Angular velocity information acquisition unit for acquiring angular velocity information output by the angular velocity sensor;
A temperature information acquisition unit for acquiring temperature information around the angular velocity sensor;
A steering wheel angle information acquisition unit for acquiring steering wheel angle information indicating a steering angle of the steering wheel in the vehicle;
A time information acquisition unit for acquiring time information indicating a time elapsed since the start of the engine of the vehicle;
Learning temperature velocity information corresponding to the temperature information, the steering wheel steering angle information, and the time information is acquired from a learning information storage unit, and a value indicated by the angular velocity information is within an allowable range of a value indicated by the learning angular velocity information. A learning control unit that determines whether or not there is, and outputs the learning angular velocity information when it is within the allowable range;
A correction control unit that relaxes a condition for performing offset correction of the angular velocity sensor when the learning control unit determines that the value indicated by the angular velocity information is outside an allowable range of the value indicated by the learned angular velocity information; Server to provide. An angular velocity information acquisition unit acquiring angular velocity information output by the angular velocity sensor;
A temperature information acquisition unit acquiring temperature information around the angular velocity sensor;
A handle steering angle information acquisition unit acquiring handle steering angle information indicating a steering angle of a handle in the vehicle;
A time information acquisition unit acquiring time information indicating a time elapsed since the start of the engine of the vehicle;
A learning control unit acquires learning angular velocity information corresponding to the temperature information, the steering wheel steering angle information, and the time information from a learning information storage unit, and a value indicated by the angular velocity information is a value indicated by the learning angular velocity information. Determining whether it is within the allowable range, and if within the allowable range, outputting the learning angular velocity information;
When the correction control unit determines that the value indicated by the angular velocity information in the learning control unit is outside the allowable range of the value indicated by the learned angular velocity information, the correction control unit relaxes the condition for performing the offset correction of the angular velocity sensor. A driving support method comprising steps.

Images