Vehicle control device

Abstract

A vehicle control device that achieves maintenance and improvement of a driver's driving ability is provided. The vehicle control device (100) performs: a man-machine performance requirement setting process that sets a driving performance requirement required for a vehicle (1) to travel in a traffic environment and a travel environment; a driving performance determination process that determines whether each of a plurality of driving functions that a driver has satisfies the driving performance requirement; a poor function determination process that determines a driving function of the driver that has a driving performance that does not satisfy the driving performance requirement among the plurality of driving functions that the driver has as a poor function; a driving function replacement process that controls a driving function of the vehicle in such a manner that the vehicle (1) replaces the determined poor function; and a driving performance assistance process that provides information to the driver to cause the driving performance of the determined poor function to approach a level of the driving performance requirement, and causes the driver and the vehicle (1) to exhibit the driving performance requirement by performing the driving function replacement process and / or the driving performance assistance process.

Description

Technical Field

[0001] This invention relates to vehicle control devices, and more particularly to vehicle control devices for driving assistance. Background Technology

[0002] Previously, vehicles capable of operating through autonomous driving technology (or self-driving technology) have been developed. Under autonomous driving control, the vehicle autonomously performs its own operations (SAE Level 3 and above). That is, the driver does not need to operate the accelerator, brakes, steering wheel, or other vehicle controls. Autonomous driving technology is beneficial for drivers with normal driving abilities, and especially beneficial from a driving safety perspective for elderly people with reduced driving ability and those with mild cognitive impairment (MCI).

[0003] On the other hand, drivers have the desire to drive themselves. However, if the required driving ability based on traffic conditions does not match the driver's current driving ability, the driver may feel bored or even stressed. Therefore, in order to balance the required driving ability with the current driving ability, the applicant has proposed a vehicle control device that provides driving assistance or reduces driving load (see, for example, Patent Document 1). In this vehicle control device, the driver can drive the vehicle in a state where the required driving ability matches the current driving ability. As a result, the driver can drive safely in a state of enjoyment and focus, regardless of the difficulty of the traffic environment or the level of current driving ability.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent No. 6555649 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] In the technology described in Patent Document 1, necessary driving assistance is provided when the driver's current driving ability is relatively insufficient, thereby improving vehicle driving safety. However, in this technology, the driver relies on the vehicle due to insufficient driving ability, and therefore cannot maintain or improve the driver's driving ability. Therefore, this technology cannot extend the driver's safe driving lifespan.

[0009] The present invention was made to solve the above-mentioned problems, and its purpose is to provide a vehicle control device that can maintain and improve the driver's driving ability.

[0010] Methods for solving problems

[0011] To achieve the above objectives, the present invention provides a vehicle control device that provides driver assistance control for a vehicle operating using multiple driving functions, including driving, parking, and turning, by utilizing the driver's operation of multiple driving functions. This allows the vehicle to operate according to the surrounding traffic and driving environments. The vehicle control device is characterized by performing the following processes: human-machine performance requirement setting process, which sets the driving performance requirements for the vehicle in the traffic and driving environments; driving performance determination process, which determines whether the driving performance of each of the multiple driving functions possessed by the driver meets the driving performance requirements; defective function determination process, which identifies driving functions of the driver that do not meet the driving performance requirements as defective functions; driving function substitution process, which controls the vehicle by having it perform the determined defective function in lieu of the driver's performance; and driving performance assistance process, which provides information to the driver to bring the driving performance of the determined defective function closer to the driving performance requirement level. By performing the driving function substitution process and / or the driving performance assistance process, the driver and the vehicle achieve the required driving performance.

[0012] According to the present invention configured as described above, when a driver's driving ability is partially or completely low, the vehicle takes over the driving functions performed by the driver with the low driving ability. Thus, in this invention, the function allocation between the driver and the vehicle in the human-machine system is automatically performed to compensate for driving performance requirements. Therefore, even if the driver's driving ability is low, the driving functions corresponding to the insufficient driving performance are replaced by the vehicle. Thus, in this invention, vehicle driving safety can be ensured, and the driver can extend their driving life without abandoning driving. Furthermore, in this invention, driving functions with low driving performance identified as detrimental functions are trained based on driving performance assistance processing. Therefore, in this embodiment, the driver can maintain or improve their driving ability for detrimental functions.

[0013] Furthermore, in this invention, it is preferable that the driving performance assistance processing is a process that reports the vehicle operation that the driver should perform in response to a malfunction. In this invention, the driver learns the vehicle operation that should be performed in response to a malfunction, thereby maintaining or improving driving function.

[0014] Furthermore, in this invention, it is preferable that the driver's multiple driving functions include at least a perception function for detecting the traffic environment and driving environment, a judgment function for determining the vehicle operation that should be performed in the traffic environment and driving environment, and an operation function for performing the vehicle operation that should be performed in the traffic environment and driving environment. In the driving performance judgment process, it is determined whether each driving performance corresponding to the perception function, judgment function, and operation function meets the driving performance requirements. In this invention, the driving performance judgment process determines whether the driver possesses the prescribed driving performance for each of the multiple driving functions. Therefore, in this invention, it is possible to identify undesirable functions with low driving performance.

[0015] Furthermore, in this invention, it is preferable to provide information in different ways based on multiple driving functions of the driver during the driving performance assistance process. In this configuration, appropriate assistance information can be provided according to the type of adverse function.

[0016] Invention Effects

[0017] The vehicle control device according to the present invention can maintain and improve the driver's driving ability. Attached Figure Description

[0018] Figure 1 This is an explanatory diagram of vehicle control according to an embodiment of the present invention.

[0019] Figure 2 This is a block diagram of a vehicle control device according to an embodiment of the present invention.

[0020] Figure 3 This is an explanatory diagram illustrating the processing flow of the vehicle control device according to an embodiment of the present invention.

[0021] Figure 4 This is an explanatory diagram of a previous human-machine system.

[0022] Figure 5 This is an explanatory diagram of the human-machine system according to an embodiment of the present invention.

[0023] Figure 6 This is a flowchart of a driving assistance control method according to an embodiment of the present invention.

[0024] Figure 7 This is a flowchart of a driving assistance control method according to an embodiment of the present invention.

[0025] Figure 8 This is a flowchart of the delay report processing according to an embodiment of the present invention.

[0026] Explanation of reference numerals in the attached figures

[0027] 1 vehicle

[0028] 10 Controllers

[0029] 20 Vehicle-mounted devices

[0030] 40 Control device

[0031] 50 Information Reporting Devices

[0032] 100 Vehicle control devices Detailed Implementation

[0033] Hereinafter, a vehicle control device according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0034] First, refer to Figure 1 A general description of the vehicle control provided by the vehicle control device according to an embodiment of the present invention will be given. Figure 1 This is an explanatory diagram of vehicle control.

[0035] The vehicle control device 100 of this embodiment (see reference) Figure 2 This system is configured based on the premise that the driver can autonomously operate the vehicle 1. Therefore, the vehicle control device 100 assists the driver in operating the vehicle 1 at an appropriate level according to the driver's state. That is, in this embodiment, in principle, driving assistance control of the vehicle 1 is provided to compensate for the difference between the vehicle operation that the driver wants to perform and the vehicle operation that the driver is able to perform. For example, it mainly assists the driver in reducing driving functions. Moreover, the vehicle control device 100 is configured to automatically switch the vehicle 1 to automatic driving control at a predetermined time.

[0036] Specifically, when the driver possesses normal driving ability, the vehicle control device 100 intervenes in vehicle operation only at specific times to perform driver assistance control (automatic acceleration, automatic braking, automatic steering, etc.). Specific times include, for example, when the driver's driving ability is temporarily reduced (e.g., fatigue, drowsiness) or when the driving environment is relatively difficult (e.g., complex surrounding traffic conditions, complex road shapes, dim lighting). Furthermore, when a driver's (e.g., an elderly person, MCI) driving ability is partially reduced (e.g., insufficient force to operate the steering wheel), the vehicle control device 100 compensates for the reduced driving ability. In addition, the vehicle control device 100 performs driver assistance control to maintain or restore reduced driving ability, or to further enhance driving ability.

[0037] On the other hand, when abnormal signs of a sudden or sustained decrease in the driver's level of awareness or driving ability are detected (e.g., during the onset of an acute illness or when the level of drowsiness is high), the vehicle control unit 100 performs driver assistance control to maintain safe driving. Furthermore, in the event of an abnormal loss of driver awareness or driving ability, in order to avoid an accident, the vehicle control unit 100 executes automatic driving control and reports an emergency to the outside world.

[0038] Next, refer to Figure 2 The configuration of the vehicle control device according to an embodiment of the present invention will be described. Figure 2 This is a block diagram of the vehicle control system. For example... Figure 2 As shown, the vehicle control device 100 mainly includes a controller 10 such as an ECU (Electronic Control Unit), an on-board device 20, a vehicle control system 40, and an information reporting device 50.

[0039] The vehicle-mounted device 20 includes an in-vehicle camera 21, an external camera 22, a radar 23, multiple vehicle motion sensors (vehicle speed sensor 24, acceleration sensor 25, yaw rate sensor 26) for detecting the movement of the vehicle 1, multiple operation detection sensors (steering angle sensor 27, steering torque sensor 28, accelerator opening sensor 29, brake pedal pressure sensor 30) for detecting the driver's operation, a positioning device 31, a navigation device 32, and an information communication device 33.

[0040] In addition, the vehicle control system 40 includes an engine control system 41, a brake control system 42, and a steering control system 43, which correspond to the vehicle's driving, parking, and turning functions, respectively. Furthermore, the information reporting device 50 includes a display device 51, a voice output device 52, an information transmission device 53, and multiple actuators 54.

[0041] The controller 10 comprises a computer device including a processor 11, a memory 12 storing various programs and data executed by the processor 11, and input / output devices. The controller 10 is configured to output control signals for vehicle control (driving assistance control and automatic driving control) to the vehicle control system 40 and the information reporting device 50 based on signals received from the vehicle-mounted device 20.

[0042] The in-vehicle camera 21 captures images of the driver of vehicle 1 and outputs image information. The controller 10 uses this image information to specifically identify the driver's facial expressions and upper body posture.

[0043] The external camera 22 captures images of the area surrounding the vehicle 1 (typically the front of the vehicle 1) and outputs image information. Based on this image information, the controller 10 determines objects outside the vehicle and their positions. Objects include at least traffic participants and the boundaries of the roadway. Specifically, objects include moving bodies (vehicles, pedestrians, etc.) and stationary structures (obstacles, parked vehicles, roads, traffic markings, stop lines, traffic signals, traffic signs, intersections, etc.).

[0044] Radar 23 determines the position and speed of objects present around vehicle 1 (typically in front of vehicle 1). For example, radar 23 can use millimeter-wave radar, lidar (LIDAR), ultrasonic sensors, etc.

[0045] Vehicle speed sensor 24 detects the speed of vehicle 1. Acceleration sensor 25 detects the acceleration of vehicle 1. Yaw rate sensor 26 detects the yaw rate generated in vehicle 1. Steering angle sensor 27 detects the rotation angle of steering wheel 43b of vehicle 1 (steering angle). Steering torque sensor 28 detects the rotational torque accompanying the rotation of steering wheel 43b. Accelerator pedal opening sensor 29 detects the amount of pressure applied to accelerator pedal 41b. Brake pedal application sensor 30 detects the amount of pressure applied to brake pedal 42b.

[0046] The positioning device 31 includes a GPS receiver and / or a gyroscope sensor to detect the position of vehicle 1 (current vehicle position information). The navigation device 32 stores map information internally and can provide map information to the controller 10. The controller 10 can calculate the overall driving route to the destination (including driving lanes, intersections, traffic signals, etc.) based on the map information and the current vehicle position information.

[0047] The information communication device 33 communicates with external communication equipment. For example, the information communication device 33 performs vehicle-to-vehicle communication with other vehicles and road-to-road communication with external communication devices, receives various driving information and traffic information (traffic congestion information, speed limit information, etc.), and provides them to the controller 10.

[0048] The engine control system 41 controls the driving force of the engine unit (internal combustion engine, electric motor, etc.) of the vehicle 1. The controller 10 sends a control signal to the engine control unit 41a based on the input from the accelerator pedal 41b, thereby driving the engine unit to accelerate or decelerate the vehicle 1.

[0049] The brake control system 42 controls the driving force of the brake device of the vehicle 1. The brake control system 42 includes, for example, brake actuators such as a hydraulic pump and a valve unit. The controller 10 sends a control signal to the brake control device 42a based on the input from the brake pedal 42b, thereby driving the brake device and decelerating the vehicle 1.

[0050] The steering control system 43 controls the driving force of the steering device of the vehicle 1. The steering control system 43 includes, for example, an electric motor of an electric power steering system. The controller 10 sends a control signal to the steering control device 43a based on the input from the steering wheel 43b, thereby driving the steering device and changing the direction of travel of the vehicle 1.

[0051] The display device 51 can visually display auxiliary information (visual information) to assist the driver in operating the vehicle within the display area. Specifically, the display device 51 is a HUD. The display area is equivalent to the size of the entire windshield or a portion of the vehicle 1, and the auxiliary information is displayed within the driver's field of vision. Alternatively, a liquid crystal display can be used instead of a HUD.

[0052] The voice output device 52 is, for example, a speaker, capable of providing the driver with auxiliary information (auditory information) to assist in vehicle operation.

[0053] The information transmitting device 53 can send information related to driving assistance to external information communication devices (such as the driver's portable information terminal).

[0054] The actuator 54 is composed of an electric motor, a gear mechanism, etc. Multiple actuators 54 are configured to move multiple operating parts (e.g., accelerator pedal 41b, brake pedal 42b, steering wheel 43b) operated by the driver while driving the vehicle 1 in the operating direction without driver input. The controller 10 outputs control signals to each actuator 54, enabling the corresponding operating parts to perform the desired action.

[0055] Furthermore, the vehicle control system (e.g., engine control system, brake control system, steering control system) of this embodiment operates in a drive-by-wire manner. Operation inputs from the operating unit are sent as control signals via the controller 10. The drive unit corresponding to the operating unit receives the control signals and drives based on them. Thus, the controller 10 can output control signals to the drive unit independently of the operation of the operating unit controlled by the actuator 54.

[0056] Next, refer to Figure 3 The processing flow of the vehicle control device according to an embodiment of the present invention will be described. Figure 3 This is an explanatory diagram illustrating the processing flow of the vehicle control unit. Specifically, Figure 3 The controller 10 is shown to provide various vehicle controls (driving assistance control, automatic driving control) by processing input information from the on-board unit 20, using the vehicle control system 40 and the information reporting device 50.

[0057] Vehicle control encompasses ADAS (Advanced Driver Assistance Systems), automatic acceleration, automatic braking, automatic steering, automatic vehicle stability control, autonomous driving (Level 3 and above), and auxiliary processing to maintain and enhance driver capability. ADAS must include at least auxiliary functions such as following the vehicle ahead, preventing collisions with the vehicle ahead, and preventing lane departure (automatic approach and avoidance control). Automatic vehicle stability control is used to stabilize the vehicle's attitude, i.e., its dynamics (pitch, roll, yaw), and prevent skidding, rollover, etc.

[0058] The on-board unit 20 continuously sends the acquired information to the controller 10. Based on the acquired information, the controller 10 performs the following calculations or evaluations.

[0059] The controller 10 evaluates the traffic environment surrounding the vehicle 1 based on input information from external cameras 22, radar 23, positioning device 31, navigation device 32 (map information), etc. (traffic environment evaluation). Specifically, the controller 10 calculates the positions and speeds of objects around the vehicle 1 (vehicles, pedestrians, boundary lines, guardrails, stop lines, traffic signs, etc.).

[0060] Furthermore, the controller 10 evaluates the driver's physical function (physical function evaluation) based on information from the steering angle sensor 27, steering torque sensor 28, brake pedal pressure sensor 30, in-vehicle camera 21, etc. Specifically, the controller 10 infers the level of the driver's physical function, such as operating the control unit with appropriate amount and speed of operation, or visually capturing external stimuli. Whether the driver operates with appropriate amount and speed of operation is evaluated by the difference between the amount and speed of operation actually input by the driver through the control unit (steering angle, steering angular velocity, brake pedal pressure 42b, pressure speed, or brake hydraulic pressure, etc.) and the target amount and speed of operation when driving on the target driving path. The target driving path is calculated based on the driving request (destination, etc.) using traffic environment evaluation, driving environment evaluation, physical function evaluation, etc., in a way that allows the vehicle 1 to drive safely and efficiently.

[0061] Furthermore, the controller 10 evaluates the driving environment surrounding the vehicle 1 based on information from the external camera 22, vehicle speed sensor 24, acceleration sensor 25, positioning device 31, etc. (driving environment evaluation). Specifically, the controller 10 infers physical quantities that affect the vehicle's dynamics (e.g., the radius of curvature of the driving road, the coefficient of road surface friction).

[0062] In addition, the controller 10 calculates the current vehicle dynamics of the vehicle 1 based on information from the vehicle speed sensor 24, acceleration sensor 25, yaw rate sensor 26, etc. (vehicle dynamics calculation). Vehicle dynamics include speed, acceleration, yaw rate, and three-axis rotational torque (pitch, yaw, roll), etc.

[0063] Furthermore, the controller 10 determines the driver's level of alertness (alertness assessment) based on image information from the in-vehicle camera 21. For example, alertness is evaluated based on the degree of opening of the driver's eyes and / or mouth, and the position or posture of the driver's upper body. Alertness can be evaluated in four stages (alertness zero, low, medium, and high).

[0064] Furthermore, the controller 10 determines whether there is a predicted risk in the traffic environment evaluation and driving environment evaluation. The predicted risk includes traffic risks caused by the traffic environment (e.g., collision between vehicle 1 and other vehicles) and driving risks caused by the driving environment that affects vehicle dynamics (e.g., spinning on a curve). Moreover, the controller 10 evaluates the driver's risk avoidance behavior in response to the predicted risk based on information from the on-board device 20 and the in-vehicle camera 21, etc. (risk avoidance behavior evaluation).

[0065] Risks include vehicle accidents such as collisions with other vehicles, and states where vehicle 1 loses or reduces its attitude stability (spinning, rollover, etc.). Risk objects that can cause risks include traffic participants (other vehicles, pedestrians, etc.), guardrails, boundary lines, traffic signals (red lights), stop lines, etc. Furthermore, risk objects include risk-generating points on the road (the inside apex of a curve, etc.). These objects become risk objects if, given the current vehicle behavior (vehicle dynamics), a risk may occur in the near future (e.g., within a specified timeframe such as 10 seconds). Risk avoidance behavior is the driver's action in response to predicted risks, particularly vehicle operations (acceleration, braking, and / or steering) performed to reduce the probability of a predicted risk occurring. For example, if a collision is predicted between vehicle 1 and other vehicles on a predicted path intersection, vehicle operations that reduce the probability of a collision, or vehicle operations that bring vehicle 1 closer to other vehicles to a specified distance or greater. Furthermore, objects that, while not currently likely to pose a risk, should be perceived during driving, and objects that may pose a risk in the future beyond a specified timeframe, can also be included in the risk object category.

[0066] Furthermore, risk avoidance behavior also includes the driver's actions of perceiving a risky object (such as other vehicles with a potential collision or the vicinity of the inside apex of a curve) before operating the control unit. For example, the driver's gaze toward the risky object and the posture taken to deal with the risk based on image information from the in-vehicle camera 21 (i.e., the driver perceives the risky object) are also included in risk avoidance behavior.

[0067] Furthermore, the controller 10 evaluates the driver's current cognitive load (cognitive load assessment) based on the results of a traffic environment assessment. For example, the controller 10 assesses the driver's cognitive load as greater based on the number of objects within a specified distance of the vehicle 1, depending on the vehicle speed. Cognitive load can be evaluated in three stages (low, medium, and high). Additionally, the controller 10 can analyze / learn and update the driver's cognitive ability level based on information about the driver's vehicle operation and line of sight. In this case, the cognitive load assessment can be calculated as the ratio of the current cognitive load to the driver's cognitive ability level.

[0068] Furthermore, the controller 10 stores a vehicle model that defines the physical motion of the vehicle 1 in its storage unit. The vehicle model expresses the relationship between the specifications of the vehicle 1 (mass, wheelbase, etc.) and physical changes (speed, acceleration, steering angle, etc.) through equations of motion. In addition, the vehicle model can also incorporate the results of driving environment evaluation (e.g., road surface friction coefficient).

[0069] Furthermore, the controller 10 stores a driver model of the driver of the vehicle 1 in its storage unit. Based on input information from the on-board device 20, the controller 10 analyzes and learns the driver's operational characteristics and continuously updates the driver model. The driver model represents the driver's operational characteristics, including the amount of operation corresponding to a specific operation under a certain condition, reaction delay time (time constant), etc. In addition, the driver model can also incorporate the results of cognitive load assessment (the degree of cognitive load) and physical function assessment. For example, under conditions of high cognitive load, the driver model is corrected in a way that the driver's operational ability decreases. Furthermore, if the results of the physical function assessment indicate low pedaling force and arm strength, this is reflected in the time constant related to the amount of operation and speed of operation. By using the driver model, the controller 10 can predict the driver's operations. Additionally, the controller 10 can also store an ideal driver model representing the operational characteristics of an ideal driver with high driving ability in its storage unit and predict ideal operations.

[0070] The controller 10 applies input information from the onboard device 20 to the vehicle model and the driver model, and is able to calculate the predicted vehicle dynamics (vehicle dynamics prediction calculation) for the period from now to the near future. That is, the controller 10 can input current conditions (traffic environment, driving environment, cognitive load, physical function) into the driver model and the vehicle model, thereby predicting the vehicle operations (type of operation, amount of operation, timing of operation, etc.) to be performed by the driver from now until a specified period later (e.g., 10 seconds later), and calculate the predicted vehicle dynamics resulting from the predicted vehicle operations.

[0071] Furthermore, the controller 10 evaluates driving ability. Driving ability represents the level of a driver's ability to avoid various risks. Based on the results of risk avoidance behavior evaluation (the risk avoidance behaviors performed by the driver), the difference between predicted vehicle dynamics and actual vehicle dynamics, and the results of cognitive load evaluation (the degree of cognitive load), the controller 10 evaluates or calculates driving ability in response to risks. Driving ability in response to risks can, for example, be set as the necessary time for the driver to avoid a predicted risk. The necessary time for risk avoidance can also be set as the time from the start of the risk avoidance behavior until the predicted risk disappears, or the time from when the driver perceives the risk until the risk avoidance behavior is completed. In this case, if the driving ability is evaluated as low, the necessary time for risk avoidance is output as a larger value.

[0072] Controller 10, for example, uses a driver model to calculate the predicted driving path of vehicle 1 at a future time, assuming the current vehicle behavior continues for a specified time. When the specified time is reached, the predicted driving path at that time cannot avoid the risk. Furthermore, the time from when the risk occurs on the predicted driving path calculated at this time (risk margin time) can be set as the necessary time for risk avoidance.

[0073] The controller 10 can update driving ability data using the calculated driving ability evaluation. A driver's driving ability changes over time. For example, novice drivers tend to improve their driving ability, while older drivers tend to decline. Multiple driving ability datasets can also be set up corresponding to multiple evaluation periods. For example, short-term (current to 1-6 months ago), medium-term (current to 3-9 months ago), and long-term (current to 1-2 years ago) driving ability datasets can be created.

[0074] Controller 10 performs function reallocation calculations based on current vehicle dynamics, the results of driving ability evaluation (current driving ability), the results of cognitive load evaluation, and the results of physical function evaluation. Controller 10 then performs either driver assistance control or automatic driving control based on this calculation. During normal driving, the driver (e.g., a beginner or an elderly person) utilizes their own driving functions (perception, judgment, and physical functions) to achieve driving performance. However, when the driver is unable to avoid predicted risks (i.e., the driver's driving performance does not meet the driving ability required to avoid predicted risks), controller 10 performs driver assistance control by having vehicle 1 perform the driving functions associated with the insufficient driving ability. Furthermore, in abnormal situations (e.g., loss of consciousness), such as when automatic driving control is executed, the driver's driving functions are replaced by the corresponding equivalent functions of vehicle 1.

[0075] Furthermore, the controller 10 compares the results of the driving ability evaluation (current driving ability in relation to predicted risks) with driving ability data, thereby performing assistance (including autonomous driving) to compensate for the reduced driving ability when the current driving ability is lower than the past driving ability. Additionally, when the driver's alertness is at a moderate level (e.g., mild drowsiness), the controller 10 performs actions to wake the driver (e.g., blowing cold air onto the driver), and when the driver's alertness is low (e.g., severe drowsiness, loss of consciousness), it performs autonomous driving.

[0076] Next, the human-machine system consisting of a driver and a vehicle in the embodiments of the present invention will be described. Figure 4 These are diagrams illustrating traditional human-machine systems. Figure 5 This is an explanatory diagram of the human-machine system in this embodiment.

[0077] like Figure 4 As shown, a driver (human) possesses at least three driving functions: perception, judgment, and operation (or physical functions). Using these driving functions, the driver utilizes perception, judgment, and operation (or motor performance). The driver uses perception to detect objects (perception performance), uses judgment to select or determine the appropriate vehicle operation to be performed (judgment performance), and uses operation to execute the selected vehicle operation with appropriate input and timing (operation performance). On the other hand, a vehicle possesses at least driving, parking, and turning functions. These driving functions are utilized through vehicle operations performed by the driver, thereby enabling the vehicle to perform driving, braking, and handling stability.

[0078] Thus, if the driver utilizes their perception, judgment, and operational skills to operate the vehicle, the vehicle will perform its driving, braking, and handling stability functions. As a result, the vehicle, as a human-machine system, can achieve safe driving. Previously, to ensure the efficient operation of these three vehicle functions, an interface was provided between the driver's functions and the vehicle's functions. This improved the vehicle's overall performance (e.g., braking ability, fuel consumption).

[0079] In autonomous driving, the vehicle replaces all or most of the driver's perception, judgment, and physical functions. For example, perception is replaced by onboard cameras, acceleration sensors, and radar. Judgment is replaced by the vehicle's computer. Physical functions are replaced by onboard actuators. The driver only needs to possess the bare minimum physical functions required for tasks such as starting the engine; they do not need to possess the vast majority of driving functions and abilities (driving performance).

[0080] Figure 5 An example of the human-machine system in this embodiment is shown. In this embodiment, driving function substitution processing and driving performance assistance processing (maintaining assistance and improving assistance) are performed. Drivers with lower driving abilities (e.g., beginners, elderly people) have at least one of the driving performance aspects (perception, judgment, operation) related to driving functions (perception, judgment, operation) at a lower level. In addition, drivers with average driving abilities (ordinary drivers) may also have a relatively low level of driving performance.

[0081] In this embodiment, when a predicted risk is detected (or, when a risk is encountered), and the driver's driving ability is low, the vehicle control device 100 performs a driving function substitution process where the driving function (defective function) associated with the driver's low driving ability is replaced by the corresponding function of the vehicle 1. In this process, the vehicle control device 100 detects the driving function (perception, judgment, operation) with lower performance among the driver's driving functions and intervenes in vehicle operation by having the vehicle 1 only assist the lower driving function (defective function). Therefore, even if some of the driver's driving ability is reduced, the driving function of the human-machine system consisting of the driver and the vehicle 1 can be maintained. Figure 5 In this example, the driver's judgment function and judgment performance are replaced by the equivalent functions and performance of vehicle 1.

[0082] Furthermore, in this embodiment, when the vehicle control device 100 performs driving function substitution processing, it performs driving performance assistance processing (first assistance processing) to maintain or restore the driving ability of the malfunctioning function. Figure 5The Z function used to perform this assistance process is shown. This process prompts the driver to take actions to maintain or restore driving ability within a specified time in response to impaired driving functions (perception, judgment, and operation). If the driver's driving ability recovers to a level capable of avoiding predicted risks, the driving function substitution process and driving performance assistance process cease execution.

[0083] Furthermore, in this embodiment, when no predicted risk is detected under normal circumstances, the vehicle control device 100 performs a driving performance assistance process (second assistance process) to improve the driver's driving performance. Figure 5 Function X, used to perform this assistance process, is shown. In this process, for at least one detrimental function in the driver's driving ability, the driver is prompted to improve their driving ability within a specified time. Figure 5 As an example, the text illustrates a situation where the driver's operational performance is lower than the required level.

[0084] The second type of assistance involves providing drivers with suggestions related to the driving behaviors they should perform, aiming to elevate their driving abilities to a higher level. For example, teaching a driver recommended vehicle operations by a highly skilled, experienced driver. This is equivalent to the driver learning driving skills from a senior driver. Through this assistance, drivers learn demonstrative vehicle operations for functions they are less proficient in, such as perception, judgment, and operation, thereby improving their driving abilities.

[0085] Next, the processing flow of the driving assistance control of the vehicle control device according to the embodiment of the present invention will be described. Figure 6 , Figure 7 This is a flowchart of driver assistance control. Figure 8 This is a flowchart of the delayed report processing. After receiving a driving request (destination, etc.) from the driver or an external input device (e.g., navigation device 32, information communication device 33), the controller 10 performs driving assistance control repeatedly at intervals (e.g., every 0.1 seconds).

[0086] First, such as Figure 6 As shown, the controller 10 obtains information from the on-board device 20 every predetermined time interval (e.g., every 0.1 seconds) (S1). Based on the obtained information, the controller 10 performs processing such as traffic environment evaluation, driving environment evaluation, physical function evaluation, risk avoidance behavior evaluation, and vehicle dynamic calculation.

[0087] Furthermore, the controller 10 calculates a target driving path (S2) based on the acquired information and the driving request. The target driving path includes the target driving trajectory (position information of multiple locations) from the current time to a predetermined time later (e.g., 10 seconds later) and the speed at each location on the trajectory. The controller 10 uses the driving request and the results of traffic environment evaluation, driving environment evaluation, physical function evaluation, etc., to calculate the target driving path in a manner with prescribed safety and driving efficiency. The controller 10 can calculate multiple target driving paths that meet prescribed restrictions (e.g., lateral acceleration is below a predetermined value). For example, if there is an obstacle in front of the vehicle 1, the controller 10 can set multiple target driving paths to avoid the obstacle. In addition, even if the vehicle 1 deviates from the target driving path, it can still drive on other driving paths. However, since other driving paths are below the prescribed benchmark, the driving efficiency and ride comfort are poor.

[0088] Furthermore, controller 10 calculates the target vehicle dynamics (S3) for driving on the target travel path. The target vehicle dynamics include speed, acceleration, yaw rate, and 3-axis rotational torques (pitch, yaw, roll) at various locations along the target travel path. The target vehicle dynamics are the control target values ​​used by vehicle 1 when performing driver assistance control and automatic driving control. Multiple target vehicle dynamics (or control target values) can be set corresponding to multiple target travel paths.

[0089] Furthermore, in order to realize the physical quantities of the target vehicle's dynamics at various locations along the target driving path, the controller 10 calculates the driving performance requirements for the driver and vehicle 1, i.e., the operational quantities of the target vehicle's operation (accelerator opening, brake pedal pressure, steering angle, etc.), or the control signals for the control system 40 (human-machine performance requirement setting processing). Based on multiple target driving paths, driving performance requirements within a specified range are set.

[0090] Next, controller 10 determines whether there is a predicted risk (S4). Specifically, controller 10 determines, based on traffic environment evaluation and driving environment evaluation, whether there is a possibility of risk arising within a specified time according to the current vehicle behavior (vehicle dynamics). Controller 10 calculates the time from the current moment until the predicted risk (traffic risk and driving risk) arises (i.e., the risk margin time TTR). If the risk margin time TTR is less than a specified time (e.g., 10 seconds), it is determined that a predicted risk exists. The risk margin time TTR is the expected time from when vehicle 1 maintains its current vehicle behavior (speed, acceleration, etc.) until it enters the risk area. Entering the risk area could be, for example, a collision between vehicle 1 and another vehicle, or a position within a curve where vehicle 1 is predicted to rotate.

[0091] The situation where a predicted risk exists (S4: Yes) is explained. In this case, the controller 10 determines whether each driving function (perception function, judgment function, operation function) has performed the driving performance required for risk avoidance (driving performance judgment processing).

[0092] First, the controller 10 determines, for the detection function, whether the driver has exercised the detection performance to prevent the vehicle 1 from deviating from the target driving path (S10). Specifically, based on the result of the risk avoidance behavior evaluation, the controller 10 determines whether the risk object was detected before a specified time (e.g., before the specified time of the predicted risk occurrence time, or before the vehicle 1 deviates from all target driving paths). (e.g., whether the driver's gaze is directed towards the risk object, or whether the head and upper body are tilted in a manner opposite to the lateral G).

[0093] If the driver fails to perform their perception function (S10: No), the controller 10 determines the driver's perception function as a malfunction and executes a driving function replacement process (S11) that replaces the driver's perception function with the corresponding function of the vehicle 1. In this process, the controller 10 sets the detected risk object as the tracking object and executes tracking control.

[0094] Furthermore, the controller 10 performs a first auxiliary process (S12) for maintaining perception performance. The controller 10 uses the information reporting device 50 to report the presence of a risk object that should be perceived in order to drive on the target driving path, thereby bringing the driver's driving performance (perception performance) close to the level required to drive on the target driving path. This prompts the driver to use their own eyes to perceive the risk object. In this embodiment, vehicle operation includes the driver's action of perceiving a risk object. Specifically, the controller 10 uses the display device 51 to highlight the risk object in the display area. Furthermore, the controller 10 reports the appearance of the risk object ("There is an obstacle ahead," etc.) via the voice output device 52. Urged by this report, the driver repeatedly performs the action of perceiving the risk object, thereby maintaining or restoring the driver's perception performance.

[0095] On the other hand, if the driver has exercised their perception ability (S10: Yes), the controller 10 determines, for the judgment function, whether the driver has exercised their judgment ability (S13). Specifically, based on the result of the risk avoidance behavior evaluation, the controller 10 determines whether the driver has made an appropriate judgment for risk avoidance before the aforementioned predetermined time and has started the recommended risk avoidance behavior. The recommended risk avoidance behavior is the target vehicle operation (e.g., acceleration, braking, steering operation) required for the target vehicle dynamics. If the target vehicle dynamics are achieved, the risk is avoided. For example, if braking operation is required to avoid a collision with an obstacle in front, the controller 10 determines whether braking operation has started based on information from the brake pedal pressure sensor 30. Furthermore, if steering operation is required to avoid a collision with an obstacle in front, the controller 10 determines whether steering operation has started based on information from the steering angle sensor 27.

[0096] If the driver fails to exercise judgment (S13: No), the controller 10 determines the driver's judgment function as a faulty function and executes a driving function replacement process (S14) that replaces the driver's judgment function with the corresponding function of the vehicle 1. In this process, the controller 10 disables the driver's vehicle operation or performs override control through other vehicle operations to execute vehicle control for risk avoidance. In the vehicle 1 driven by wire, even if the driver operates the control unit, control signals are no longer generated based on the operation of the control unit due to the invalidation of vehicle operation.

[0097] For example, in the case of avoiding an obstacle ahead, suppose the driver performs a steering maneuver to pass the obstacle from the side. On the other hand, due to the approach of an oncoming vehicle, the target vehicle's operation is a deceleration based on braking (i.e., the target travel path is set as a path to decelerate in front of the obstacle). In this situation, the controller 10 disables the steering operation and outputs a control signal to the brake control device 42a to stop in front of the obstacle. Conversely, if the target vehicle's operation is a steering maneuver, but the driver applies the brakes, the controller 10 disables the brake operation and outputs a control signal to the steering control device 43a to avoid the obstacle.

[0098] Furthermore, the controller 10 executes a first auxiliary process (S15) for determining performance maintenance. In this embodiment, during the processing of step S15, the controller 10 stores driving operation assistance information in the memory 12 and sets the assistance flag F to "1". Moreover, after driving ends, the controller 10 uses the information reporting device 50 to report the driving operation assistance information to the driver so that the driver's driving performance (judgment performance) approaches the level at which driving is possible on the target driving path. The driving operation assistance information includes information indicating the vehicle operation performed by the driver in response to risks, and information indicating the target vehicle operation that the driver should perform in response to risks.

[0099] The information stored as driving operation assistance information includes vehicle operations performed by the driver (in the above example, operations of the steering wheel 43b or the brake pedal 42b) and target vehicle operations (operations of the brake pedal 42b or the steering wheel 43b). This information may also include the time elapsed for the amount of operation of the operating units (brake pedal 42b, steering wheel 43b, etc.). Furthermore, this information may also include image information from the in-vehicle camera 21 indicating the operating status of the operating units operated by the driver, and image information of potential hazards captured by the external camera 22.

[0100] like Figure 8 As shown, when driving of vehicle 1 ends (S70: Yes), controller 10 determines whether the assist flag F is set to "1" (S71). If assist flag F is "1" (S71: Yes), controller 10 uses information transmission device 53 to send the stored driving operation assistance information to the driver's portable information terminal registered in memory 12 (S72), and sets assist flag F to "0" (S73). Furthermore, controller 10 can also display the driving operation assistance information using display device 51. Additionally, controller 10 can determine that driving has ended, for example, when it detects an engine shutdown (IG shutdown) signal from vehicle 1 and / or when it detects that the speed of vehicle 1 is zero.

[0101] This process allows the driver to recall situations where their judgment was flawed while driving, and simultaneously compare the vehicle actions they actually performed with the target vehicle actions they should have taken. Therefore, the driver can, based on the driving conditions, at least prevent the deterioration of their judgment-related driving performance, or at least maintain it.

[0102] Furthermore, although driving assistance information can be reported while vehicle 1 is in motion, the driver receiving the reported assistance information may become confused. Therefore, in this embodiment, for the judgment function, assistance information is reported after driving has ended.

[0103] On the other hand, if the driver has demonstrated good judgment (S13: Yes), the controller 10 determines whether the driver has demonstrated good operational performance (S16). Specifically, the controller 10 determines whether the driver has appropriately performed risk-avoidance vehicle operations (mainly whether the amount of vehicle operation is appropriate) to reduce the probability of the predicted risk to zero. Therefore, the controller 10 considers the changes in vehicle dynamics caused by risk-avoidance behavior in addition to the current vehicle dynamics, and uses a vehicle model to calculate the probability of the predicted risk.

[0104] If the driver performs well (S16: Yes), the controller 10 terminates processing because the probability of the predicted risk becomes zero within a specified time. On the other hand, if the driver selects and performs the correct vehicle operation to avoid the risk, but the amount of vehicle operation is insufficient, the predicted risk still cannot be avoided.

[0105] Therefore, if the driver fails to perform their operational function (S16: No), the driver's operational function is determined to be a faulty function, and a driving function substitution process (S17) is executed, replacing the driver's operational function with the corresponding function of vehicle 1. In this process, the controller 10 performs vehicle control for risk avoidance. For example, if the driver depresses the brake pedal 42b to avoid a collision with an obstacle, but the depressing amount is insufficient due to the driver's small depressing force, the controller 10 outputs a control signal with an appropriate operating amount to the brake control device 42a to stop the vehicle in front of the obstacle. Furthermore, if the driver operates the steering wheel 43b to avoid a collision with an obstacle, but the operating amount is insufficient due to the driver's small arm strength, the controller 10 outputs a control signal with an appropriate operating amount to the steering control device 43a to ensure a clearance from the obstacle.

[0106] Furthermore, the controller 10 performs a first auxiliary process (S18) for maintaining operational performance. Using the information reporting device 50, the controller 10 reports to the driver, through the operation of the control unit, the appropriate amount of operation and the timing of operation required for driving on the target driving path, so that the driver's driving performance (operational performance) approaches the level required for driving on the target driving path. Thus, the driver can understand the appropriate operation and at least maintain driving performance corresponding to the operational function. Specifically, the controller 10 uses an actuator 54 to move the control unit (e.g., brake pedal 42b, steering wheel 43b) used for intervention to the operating position corresponding to the appropriate amount of operation.

[0107] Next, the scenario with no predicted risk (S4: No) will be explained. In this case, the controller 10 determines whether each driving function (perception function, judgment function, operation function) has achieved the prescribed level of driving performance (driving performance judgment processing).

[0108] First, the controller 10 determines, for example, whether the driver has exercised the necessary perception performance for driving on the target driving path (or performing the target vehicle operation) (S20). The controller 10 sets objects to be perceived based on a defined traffic environment (e.g., other vehicles driving around vehicle 1) and driving environment (e.g., entering a curve). If the driver fails to perceive the objects to be perceived at the appropriate time, it determines that the driver has not properly exercised the necessary perception performance. The objects to be perceived are set by analyzing and learning data from experienced drivers' actions (line of sight, posture, etc.). Situations deemed as inappropriate exercise of necessary perception performance include, for example, failing to perceive the target object the driver should be aware of, speeding, external G-forces, etc. The controller 10 makes the above determination, for example, based on image information from the in-vehicle camera 21.

[0109] For example, when turning right at an intersection on a road where traffic flows on the left, if no objects (such as other vehicles or pedestrians) are observed on the right or ahead, it is determined that the driver has not noticed the objects that should be noticed. Furthermore, if the vehicle speed exceeds an appropriate speed limit while cornering, it is determined that speeding has not been noticed. Additionally, if an appropriate driving posture is not adopted while cornering (e.g., the upper body and head are not tilted in a manner opposite to the lateral G), it is determined that the external G has not been noticed. Alternatively, step S20 can be determined as positive if the object that should be detected does not exist.

[0110] If the driver fails to demonstrate awareness (S20: No), the controller 10 determines the driver's awareness function as a defective function and executes a second auxiliary process to improve awareness performance (S22). The controller 10 uses the information reporting device 50 to report to the driver how a highly skilled driver would perform their awareness function to navigate the target driving path, thereby improving the driver's driving performance (awareness performance) to a level sufficient for navigating the target path. As a result, the driver can learn from the awareness behaviors (object detection, timing, etc.) of a highly skilled driver as a model and improve their awareness performance. In this embodiment, vehicle operation includes awareness behaviors.

[0111] For example, if the driver fails to notice a target that should be noticed while making a right turn, the controller 10 visually emphasizes the target on the display area of ​​the display device 51. Alternatively, the controller 10 can also use the voice output device 52 to report the target that should be noticed.

[0112] Furthermore, if the driver is unaware of speeding, the controller 10 narrows the driver's field of vision in front of the vehicle. In this case, the display device 51 dims (or reduces the transparency) a portion of the display area corresponding to the periphery of the windshield, narrowing the area the driver can visually confirm outside through the windshield. As a result, the driver perceives the external scenery moving faster within the narrower field of vision, making it easier to notice that vehicle 1 is speeding. Additionally, the controller 10 can also use the display device 51 and the voice output device 52 to report that vehicle 1 is speeding.

[0113] Furthermore, if the driver is unaware of external G, the controller 10 reports the external G applied to the vehicle 1 via the display device 51 and the voice output device 52, and reports the posture the driver should take.

[0114] On the other hand, if the driver has exercised their perception ability (S20: Yes), the controller 10 determines, for the judgment function, whether the driver has exercised their judgment ability (S23). Specifically, the controller 10 determines whether the driver has selected and started a target vehicle operation (e.g., acceleration, braking, steering operation), and whether they have not performed a vehicle operation different from the target vehicle operation. Vehicle operations different from the target vehicle operation include useless and redundant vehicle operations (e.g., whether they have performed unnecessary serpentine driving on a straight road).

[0115] If the driver fails to perform judgment (S23: No), the controller 10 determines the driver's judgment function as a faulty function and executes a second auxiliary process to improve judgment performance (S25). In this case, the controller 10 does not invalidate the driver's vehicle operation or perform override control through other vehicle operations.

[0116] For example, when making a right turn, if the driver initially turns the steering wheel to the left and then turns it to the right, the controller 10, as described in step S15, stores the driving assistance information in the memory 12 and sets the assistance flag F to "1". Furthermore, as referred to... Figure 8 As explained, the controller 10 uses the information reporting device 50 to report driving operation assistance information to the driver after driving, so that the driver's driving performance (judgment performance) approaches the level at which they can drive on the target driving path. In this case, the driving operation assistance information includes information indicating the vehicle operation performed by the driver when turning right (left turn operation), and information indicating the target vehicle operation that the driver should perform when turning right.

[0117] Furthermore, for example, in a curve, where the driver's braking and steering operations are initiated late, the driving assistance information includes information indicating the driver's vehicle operations on the curve, as well as information indicating the target vehicle operations that the driver should perform on the curve.

[0118] Through this process, the driver learns the judgment behavior of experienced drivers as a model in order to drive on the target driving path, thereby improving judgment performance. Additionally, although driving assistance information can be reported while the vehicle 1 is in motion, the driver receiving the reported assistance information may become confused. Therefore, in this embodiment, for the judgment function, assistance information is reported after driving has ended.

[0119] On the other hand, if the driver has demonstrated judgment (S23: Yes), the controller 10 determines whether the driver has demonstrated operational performance for the operational function (S26). Specifically, the controller 10 determines whether the vehicle operation has been performed appropriately (mainly whether the amount of vehicle operation is appropriate). More specifically, the controller 10 determines whether the difference between the target amount of operation and the driver's actual amount of operation exceeds a predetermined threshold, or whether the difference in the amount of operation has caused the actual driving path to deviate from the target driving path by more than a threshold (or, whether the actual vehicle dynamics have deviated from the target vehicle dynamics by more than a threshold).

[0120] If the driver performs well (S26: Yes), the controller 10 terminates the process. Conversely, if the driver does not perform well (S26: No), the controller 10 determines the driver's operation as a defective function and executes a second auxiliary process (S28) to improve operational performance. In this auxiliary process, the controller 10 uses the information reporting device 50 to report to the driver the appropriate amount and speed of operation of the control unit required for driving on the target driving path, so that the driver's driving performance (operational performance) approaches the level required to drive on the target driving path. Thus, the driver can learn from the operational behavior (amount, speed, etc.) of a senior driver as a model and improve their operational performance.

[0121] For example, when making a right turn, although the driver performs a right turn operation on the steering wheel 43b, the amount of rotation is small due to the driver's small arm strength. If the actual driving path deviates from the target driving path, the controller 10 can use the display device 51 and / or the voice output device 52 to report to the driver the small rotation speed of the steering wheel 43b, the actual amount of rotation and the target amount of rotation, the actual path and the visual representation of the target driving path, etc.

[0122] Furthermore, for example, in a curve, even if the driver presses the brake pedal 42b, the actual driving path is further out than the target driving path due to the driver's small pressing force and thus the low pressing speed. In such cases, the controller 10 can use the display device 51 and / or the voice output device 52 to report to the driver the low pressing speed of the brake pedal 42b, the actual operating speed and the target operating speed, the actual path and the visual representation of the target driving path, etc.

[0123] The operation of the vehicle control device 100 according to the embodiments of the present invention will be explained below.

[0124] The vehicle control device 100 of this embodiment utilizes multiple driving functions operated by the driver to provide driving assistance control for a vehicle 1 operating using multiple driving functions including driving, parking, and turning, in a manner where the vehicle 1 operates according to the surrounding traffic and driving environment. The vehicle control device 100 executes: a human-machine performance requirement setting process (S3), which sets the driving performance requirements for the vehicle 1 in the traffic and driving environments; a driving performance determination process (S10, S13, S16, S20, S23, S26), which determines whether the driving performance of each of the multiple driving functions possessed by the driver meets the driving performance requirements; and a defective function determination process (S10, S13, S16, S20, S23, S26), which identifies the driving functions possessed by the driver that do not meet the driving performance requirements. The driver's driving function is identified as a defective function; driving function substitution processing (S11, S14, S17) controls the vehicle by having vehicle 1 perform the identified defective function in place; and driving performance assistance processing (S12, S15, S18, S22, S25, S28) provides information to the driver to make the driving performance of the identified defective function approach the required driving performance level. By executing driving function substitution processing and / or driving performance assistance processing, the driver and vehicle 1 are able to perform the required driving performance.

[0125] In this embodiment, where the driver's driving ability is partially or completely low, vehicle 1 takes over the driving functions required for the low driving ability. Therefore, in this embodiment, the function allocation between the driver and vehicle 1 in the human-machine system is automatically performed to compensate for driving performance requirements. Thus, even if the driver's driving ability is low, the driving function corresponding to the insufficient driving performance is replaced by vehicle 1. Therefore, in this embodiment, vehicle driving safety can be ensured, and the driver can extend their driving life without abandoning driving. Furthermore, in this embodiment, driving functions with low driving performance identified as undesirable functions are trained based on driving performance assistance processing. Therefore, in this embodiment, the driver can maintain or improve their driving ability for undesirable functions.

[0126] Furthermore, in this embodiment, it is preferable that the driving performance assistance processing is a process that reports the vehicle operation that the driver should perform in response to a malfunction. In this embodiment, the driver can maintain or improve driving performance by learning the vehicle operation that should be performed in response to the malfunction.

[0127] Furthermore, in this embodiment, it is preferable that the driver's multiple driving functions include at least a perception function for detecting the traffic environment and driving environment, a judgment function for determining the vehicle operation that should be performed in the traffic environment and driving environment, and an operation function for performing the vehicle operation that should be performed in the traffic environment and driving environment. In the driving performance judgment process, it is determined whether each driving performance corresponding to the perception function, judgment function, and operation function meets the driving performance requirements. In this embodiment with such a configuration, the driving performance judgment process determines whether the driver possesses the prescribed driving performance for each of the multiple driving functions. Therefore, in this embodiment, it is possible to identify undesirable functions with low driving performance.

[0128] Furthermore, in this embodiment, it is preferable to provide information in different ways based on multiple driving functions of the driver during the driving performance assistance processing. In this embodiment, with such a configuration, appropriate assistance information can be provided according to the type of adverse function.

Claims

1. A vehicle control device that performs driving assist control of a vehicle that travels using a plurality of travel functions including a traveling function, a parking function, and a turning function, to cause the vehicle to travel in accordance with a traffic environment and a travel environment around the vehicle, by using a plurality of driving functions of a driver operating the vehicle, characterized by executing the following processes: a driver performance requirement setting process that sets a driving performance requirement including a target operation amount of a target vehicle operation on a target travel path that the vehicle is required to travel on the target travel path in the traffic environment and the travel environment; a driving performance determination process that determines whether driving performances of the plurality of driving functions of the driver each satisfy the driving performance requirement; a poor function determination process that determines a driving function of the driver that has a driving performance that does not satisfy the driving performance requirement among the plurality of driving functions of the driver as a poor function; a driving function substitution process that controls the vehicle in a manner in which the vehicle substitutes for the determined poor function; and a driving performance assist process that provides information to the driver to cause the driving performance of the determined poor function to approach a level of the driving performance requirement, the driver and the vehicle being caused to exhibit the driving performance requirement by executing the driving function substitution process and / or the driving performance assist process, the plurality of driving functions of the driver including at least a perception function that perceives a prescribed object outside the vehicle in the traffic environment and the travel environment, a judgment function that judges a target vehicle operation that should be operated in the traffic environment and the travel environment, and an operation function that executes a target operation amount of the target vehicle operation that should be operated in the traffic environment and the travel environment for traveling on the target travel path, in the driving performance determination process, each driving performance corresponding to the perception function, the judgment function, and the operation function is determined whether each driving performance corresponding to the perception function, the judgment function, and the operation function functions to exhibit a role for satisfying the driving performance requirement, the driving performance assist process is a process that reports a vehicle operation that the driver should operate to the driver with respect to the poor function, and the driving performance assist process includes a first assist process for maintaining or restoring a driving ability of the poor function when the driving function substitution process is executed, and a second assist process for improving the driving performance of the driver in a normal time when a predicted risk is not detected.

2. The vehicle control device according to claim 1, characterized in that, in the driving performance assist process, different content information is provided according to the plurality of driving functions of the driver. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​

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