Vehicle control device and vehicle control method

Abstract

A vehicle control device and a vehicle control method are provided to ensure safe driving and maintain and improve the driver's driving ability. The vehicle control device performs the following processing: full function replacement processing, in which the vehicle is controlled to perform all the multiple driving functions in the case where it is detected that any one of the multiple driving functions of the driver has been lost or has a sign of being lost; optimization processing, in which the vehicle is controlled to eliminate the temporary reduction in driving performance by giving the driver physical stimulation or by providing the driver with information that makes the driver aware of the temporary reduction in driving performance in the case where it is detected that the driving performance of any one of the multiple driving functions of the driver is being chronically reduced, and the driving performance is maintained or improved by providing the driver with information that assists the driver in exerting the driving performance.

Description

Technical Field

[0001] The present invention relates to a vehicle control device and a vehicle control method, and in particular to a vehicle control device and a vehicle control method for driving assistance. Background Art

[0002] In the past, a vehicle that can be driven by automatic driving technology (or autonomous driving technology) has been developed. Under automatic driving control, the vehicle actively performs vehicle operations to drive (SAE automatic driving level is 3 or above). That is, the driver does not need to operate the accelerator, brake, steering wheel, etc. The automatic driving technology is useful for drivers with normal driving ability, especially for elderly people with reduced driving ability or people with mild cognitive impairment (MCI) from the perspective of driving safety.

[0003] On the other hand, the driver has a need to drive the vehicle by himself. However, if the required driving ability required of the driver by the traffic environment, etc. is not commensurate with the driver's current driving ability, the driver will feel bored with driving, or on the contrary feel psychological pressure. Therefore, the applicant has proposed a vehicle control device, which provides driving assistance or driving load to balance the required driving ability with the current driving ability (for example, refer to patent document 1). In this vehicle control device, the driver can drive the vehicle in a state where the required driving ability is commensurate with the current driving ability. As a result, regardless of the difficulty of the traffic environment and the size of the current driving ability, the driver can drive safely in an enjoyable and concentrated state.

[0004] Prior art literature

[0005] Patent Literature

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

[0007] Problems to be solved by the invention

[0008] In the technology described in Patent Document 1, the necessary driving assistance is provided when the current driving ability of the driver is relatively insufficient, so the safety of vehicle driving is improved. However, in this technology, since the driver relies on the vehicle to make up for the insufficient driving ability, it is not possible to maintain and improve the driver's driving ability. Therefore, in this technology, the driver's safe driving life cannot be extended.

[0009] The present invention has been made to solve such a problem, and an object of the present invention is to provide a vehicle control device and a vehicle control method that can maintain and improve the driving ability of the driver while ensuring safe driving through automatic driving.

[0010] Means for solving problems

[0011] In order to achieve the above-mentioned purpose, the vehicle control device of the present invention performs driving assistance control on a vehicle that uses multiple driving functions including a driving function, a parking function and a turning function by using the vehicle operation of the driver's multiple driving functions, so that the vehicle drives according to the traffic environment and the driving environment around the vehicle, wherein the vehicle control device is configured to perform the following processing: full-function replacement processing, when it is detected that any one of the multiple driving functions possessed by the driver has been lost or has a sign of being lost, the vehicle is controlled so that the vehicle replaces the execution of all the multiple driving functions; optimization processing, when it is detected that the driving performance of any one of the multiple driving functions possessed by the driver has been temporarily reduced, the vehicle is controlled to eliminate the temporary reduction in driving performance by giving the driver physical stimulation or by providing the driver with information that makes the driver aware of the temporary reduction in driving performance; and auxiliary processing, when it is detected that the driving performance of any one of the multiple driving functions possessed by the driver is slowly reducing, the vehicle is controlled to maintain or improve the driving performance by providing the driver with information that assists the driving performance.

[0012] According to the present invention thus constituted, in the case where any of the driver's driving abilities have been lost or in the case where there are signs of such loss, the vehicle replaces and performs all driving functions, thereby ensuring the safety of vehicle driving. In addition, according to the present invention, in the case where any of the driving performance has temporarily decreased, the driver is given a physical stimulus, or information is provided to the driver to make him aware of the temporary decrease in the driving performance, thereby restoring the driver's temporarily decreased driving ability and allowing the driver to continue driving. In addition, according to the present invention, in the case where any of the driving performance is being chronically decreased, the driving performance is maintained or improved by providing the driver with information to assist the performance of the driving performance, thereby not only replacing the function with the vehicle, but actively enabling the driver to perform the driving performance himself, while the vehicle makes up for the driver's lack of ability or promotes the improvement of the driver's ability. Therefore, while ensuring safe driving through automatic driving, the driver's driving ability can be maintained and improved through driving.

[0013] In addition, in the present invention, it is preferred that a weak function replacement process is also performed, in which, when it is detected that the driving performance of any one of the multiple driving functions possessed by the driver has temporarily decreased or is slowly decreasing, the vehicle is controlled so that the vehicle replaces the driving function of the driver having the driving performance.

[0014] According to the present invention thus constituted, even if the driver's driving ability is low, the driving function associated with the insufficient driving performance can be replaced by the vehicle. Therefore, the safety of vehicle travel can be ensured, and the driver can extend the driving life without giving up driving.

[0015] Furthermore, in the present invention, preferably, the plurality of driving functions possessed by the driver include a perception function of perceiving a traffic environment and a driving environment, a judgment function of judging a driving operation required in the traffic environment and the driving environment, and an operation function of performing a driving operation.

[0016] According to the present invention thus constituted, it is determined whether the driver has a predetermined driving performance for each of the plurality of driving functions, thereby being able to identify a weak function with low driving performance and appropriately select the weak function to be optimized or assisted.

[0017] Furthermore, in the present invention, it is preferable that, in the support process, information of different contents is provided according to a plurality of driving functions of the driver.

[0018] According to the present invention constituted in this manner, it is possible to provide appropriate auxiliary information according to the type of weak function.

[0019] In addition, a vehicle control method according to another aspect of the present invention performs driving assistance control on a vehicle that is driving using multiple driving functions including a driving function, a parking function, and a turning function by using the vehicle operation of the driver's multiple driving functions, so that the vehicle drives according to the traffic environment and the driving environment around the vehicle, wherein the vehicle control method comprises: a full-function replacement step, in which, when it is detected that any one of the multiple driving functions possessed by the driver has been lost or has a sign of being lost, the vehicle is controlled so that the vehicle replaces the execution of all the multiple driving functions; an optimization step, in which, when it is detected that the driving performance of any one of the multiple driving functions possessed by the driver has been temporarily reduced, the vehicle is controlled to eliminate the temporary reduction in the driving performance by giving the driver physical stimulation or by providing the driver with information that makes the driver aware of the temporary reduction in the driving performance; and an assistance step, in which, when it is detected that the driving performance of any one of the multiple driving functions possessed by the driver is slowly reducing, the vehicle is controlled to maintain or improve the driving performance by providing the driver with information that assists the driving performance.

[0020] According to the present invention thus constituted, it is also possible to maintain and improve the driver's driving ability while ensuring safe driving through automatic driving.

[0021] Effects of the Invention

[0022] According to the vehicle control device and the vehicle control method of the present invention, it is possible to maintain and improve the driving ability of the driver while ensuring safe driving through automatic driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is an explanatory diagram of vehicle control according to the embodiment of the present invention.

[0024] Figure 2 This is a block diagram of a vehicle control device according to an embodiment of the present invention.

[0025] Figure 3 It is an explanatory diagram showing the processing flow of the vehicle control device according to the embodiment of the present invention.

[0026] Figure 4 This is an illustration of a conventional human-machine system.

[0027] Figure 5 It is an explanatory diagram of a human-machine system according to an embodiment of the present invention.

[0028] Figure 6 This is a flowchart of the driving assistance control according to the embodiment of the present invention.

[0029] Description of Reference Numerals

[0030] 1 Vehicle

[0031] 10 Controller

[0032] 20 Vehicle-mounted devices

[0033] 40 Vehicle Control System

[0034] 50 Information notification device

[0035] 100 Vehicle Control Devices DETAILED DESCRIPTION

[0036] Hereinafter, a vehicle control device and a vehicle control method according to embodiments of the present invention will be described with reference to the drawings.

[0037] First, refer to Figure 1 The outline of vehicle control provided by the vehicle control device according to the embodiment of the present invention will be described. Figure 1 This is a diagram for explaining vehicle control.

[0038] The vehicle control device 100 of this embodiment (see Figure 2) is constructed on the premise that the driver actively performs vehicle operations of the vehicle 1. Therefore, the vehicle control device 100 assists the vehicle operations of the vehicle 1 at an appropriate level according to the state of the driver. That is, in this embodiment, in principle, driving assistance control of the vehicle 1 is provided in a manner that fills the gap between the vehicle operations that the driver wants to perform and the vehicle operations that the driver can perform. For example, it is mainly to assist the driver's driving function that has been reduced. Moreover, the vehicle control device 100 is configured to automatically switch the vehicle 1 to automatic driving control at a specified time.

[0039] Specifically, when the driver has normal driving ability, the vehicle control device 100 intervenes in the vehicle operation only at a specific time to perform driving assistance control (automatic acceleration, automatic braking, automatic steering, etc.). The so-called specific time is, for example, when the driver's driving ability is temporarily reduced (for example, fatigue, sleepiness) or when the driving environment is difficult (for example, the surrounding traffic conditions are complex, the road shape is complex, and the surrounding is dark). In addition, when a part of the driver's (for example, the elderly, MCI) driving ability is reduced (for example, insufficient muscle strength to operate the steering wheel), the vehicle control device 100 compensates for the reduced driving ability. In addition, the vehicle control device 100 performs driving assistance control to maintain or restore the reduced driving ability, or to further improve the driving ability.

[0040] On the other hand, when an abnormal sign that the driver's consciousness level or driving ability is about to decrease sharply or will decrease for a specified time (several minutes to tens of minutes) is detected (for example, when an acute disease occurs or when the sleepiness level is high), the vehicle control device 100 performs driving assistance control to maintain safe driving. In addition, in the event of an abnormality in which the driver's consciousness or driving ability has been lost, in order to avoid an accident, the vehicle control device 100 performs automatic driving control and performs processing to notify the outside of the emergency.

[0041] Next, refer to Figure 2 The configuration of a vehicle control device according to an embodiment of the present invention will be described. Figure 2 is a block diagram of the vehicle control device. Figure 2 As shown, the vehicle control device 100 mainly includes a controller 10 such as an ECU (Electronic Control Unit), an in-vehicle device 20 , a vehicle control system 40 , and an information notification device 50 .

[0042] The vehicle-mounted device 20 includes an in-vehicle camera 21, an out-vehicle camera 22, a radar 23, multiple vehicle behavior sensors for detecting the behavior of the vehicle 1 (vehicle speed sensor 24, acceleration sensor 25, yaw rate sensor 26) and multiple operation detection sensors for detecting the driver's operation (steering angle sensor 27, steering torque sensor 28, accelerator opening sensor 29, brake pedaling amount sensor 30), a positioning device 31, a navigation device 32, and an information communication device 33.

[0043] In addition, the vehicle control system 40 includes an engine control system 41, a brake control system 42, and a steering control system 43 corresponding to the driving function, parking function, and turning function of the vehicle, respectively. In addition, the information notification device 50 includes a display device 51, a sound output device 52, an information transmission device 53, and a plurality of actuators 54.

[0044] The controller 10 is composed of a computer device including a processor 11, a memory 12 storing various programs and data executed by the processor 11, an input / output device, etc. The controller 10 is configured to output a control signal for performing vehicle control (driving assistance control and automatic driving control) to the vehicle control system 40 and the information notification device 50 based on a signal received from the vehicle-mounted device 20.

[0045] The in-vehicle camera 21 captures the driver of the vehicle 1 and outputs image information. The controller 10 particularly determines the driver's facial expression and upper body posture based on the image information.

[0046] The vehicle exterior camera 22 captures the surroundings of the vehicle 1 (typically the front of the vehicle 1) and outputs image information. The controller 10 determines the objects outside the vehicle and their positions based on the image information. The objects include at least traffic participants and the boundaries of the road. Specifically, the objects include surrounding moving bodies (vehicles, pedestrians, etc.) and immovable structures (obstacles, parked vehicles, roads, dividing lines, stop lines, traffic signals, traffic signs, intersections, etc.).

[0047] The radar 23 measures the position and speed of an object existing around the vehicle 1 (typically in front of the vehicle 1). For example, the radar 23 can use a millimeter wave radar, a laser radar (LIDAR), an ultrasonic sensor, or the like.

[0048] The vehicle speed sensor 24 detects the speed (vehicle speed) of the vehicle 1. The acceleration sensor 25 detects the acceleration of the vehicle 1. The yaw rate sensor 26 detects the yaw rate generated by the vehicle 1. The steering angle sensor 27 detects the rotation angle (steering angle) of the steering wheel 43b of the vehicle 1. The steering torque sensor 28 detects the rotation torque accompanying the rotation of the steering wheel 43b. The accelerator opening sensor 29 detects the depression amount of the accelerator pedal 41b. The brake depression amount sensor 30 detects the depression amount of the brake pedal 42b.

[0049] The positioning device 31 includes a GPS receiver and / or a gyro sensor to detect the position of the vehicle 1 (current vehicle position information). The navigation device 32 stores map information internally and can provide the map information to the controller 10. The controller 10 can calculate the entire driving path to the destination (including driving lanes, intersections, traffic signals, etc.) based on the map information and the current vehicle position information.

[0050] The information communication device 33 communicates with external communication equipment, such as vehicle-to-vehicle communication with other vehicles and road-to-vehicle communication with communication devices outside the vehicle, receives various driving information and traffic information (traffic congestion information, speed limit information, etc.), and provides it to the controller 10.

[0051] The engine control system 41 controls the driving force of an engine device (internal combustion engine, motor, etc.) of the vehicle 1. The controller 10 drives the engine device to accelerate or decelerate the vehicle 1 by sending a control signal to the engine control device 41a based on input from the accelerator pedal 41b.

[0052] The brake control system 42 controls the driving force of the brake device of the vehicle 1. The brake control system 42 includes a brake actuator such as a hydraulic pump and a valve unit. The controller 10 can drive the brake device to decelerate the vehicle 1 by sending a control signal to the brake control device 42a based on the input from the brake pedal 42b.

[0053] 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, a motor of an electric power steering system, etc. The controller 10 can drive the steering device and change the traveling direction of the vehicle 1 by sending a control signal to the steering control device 43a based on the input from the steering wheel 43b.

[0054] The display device 51 can visually display auxiliary information (visual information) for assisting vehicle operation to the driver in the display area. Specifically, the display device 51 is a HUD (head-up display). The display area is equivalent to the size of the entire or a part of the front windshield of the vehicle 1, and the auxiliary information is displayed in the driver's field of vision. In addition, a liquid crystal display can also be used instead of the HUD.

[0055] The sound output device 52 is, for example, a speaker, and can provide the driver with auxiliary information (auditory information) for assisting vehicle operation.

[0056] The information transmitting device 53 can transmit information related to driving assistance to an external information communication device (for example, a driver's portable information terminal).

[0057] The actuator 54 is composed of a motor, a gear mechanism, etc. The plurality of actuators 54 are configured to move the plurality of operating parts (e.g., the accelerator pedal 41b, the brake pedal 42b, the steering wheel 43b) operated by the driver when driving the vehicle 1 in the operating direction without the input of the driver. The controller 10 can output a control signal to each actuator 54 to make the corresponding operating part perform the desired behavior.

[0058] In addition, the vehicle control system of the present embodiment is configured to operate (for example, the engine control system, the brake control system, and the steering control system) in a drive-by-wire manner, and the operation input from the operating unit is sent as a control signal via the controller 10, and the drive device corresponding to the operating unit receives the control signal and drives based on the control signal. Therefore, the controller 10 can output the control signal to the drive device independently of the operation of the operating unit based on the actuator 54.

[0059] Next, refer to Figure 3 The processing flow of the vehicle control device according to the embodiment of the present invention will be described. Figure 3 : is an explanatory diagram showing the processing flow of the vehicle control device. Specifically, Figure 3 This means that the controller 10 processes input information from the vehicle-mounted device 20 to provide various vehicle controls (driving assistance control, automatic driving control) using the vehicle control system 40 and the information notification device 50 .

[0060] The contents of vehicle control include ADAS (Advanced Driver Assistance System), automatic acceleration, automatic braking, automatic steering, automatic vehicle attitude stabilization control, automatic driving (level 3 or above), maintenance assistance processing for the driver's driving ability and improvement assistance processing. ADAS includes at least auxiliary functions (automatic entry avoidance control) for following the front vehicle, preventing collision with the front vehicle, and preventing lane departure. Automatic vehicle attitude stabilization control is a control used to stabilize the attitude of the vehicle 1, that is, the vehicle dynamics (pitch, roll, yaw) to prevent skidding, rollover, etc.

[0061] The in-vehicle device 20 continuously transmits the acquired information to the controller 10. The controller 10 performs the following calculations or evaluations based on the acquired information.

[0062] The controller 10 evaluates the traffic environment (traffic environment evaluation) around the vehicle 1 based on input information from the external camera 22, the radar 23, the positioning device 31, the navigation device 32 (map information), etc. Specifically, the controller 10 calculates the position and speed of objects (vehicles, pedestrians, boundary lines, guardrails, stop lines, traffic signs, etc.) around the vehicle 1.

[0063] In addition, the controller 10 evaluates the driver's physical function (physical function evaluation) based on the information of the steering angle sensor 27, the steering torque sensor 28, the brake pedal amount sensor 30, the in-vehicle camera 21, etc. Specifically, the controller 10 estimates the level of the driver's physical function of operating the operating unit with an appropriate operating amount and operating speed, or visually capturing the visual stimulation outside the vehicle. The difference between the operating amount and operating speed (steering angle, steering angular velocity, the pedaling amount, pedaling speed or brake oil pressure of the brake pedal 42b, etc.) actually input by the driver through the operating unit and the target operating amount and operating speed when driving on the target driving path is used to evaluate whether the driver is operating with an appropriate operating amount and operating speed. Based on the driving requirements (destination, etc.), the results of the traffic environment evaluation, the driving environment evaluation, the physical function evaluation, etc. are used to calculate the target driving path so that the vehicle 1 can travel safely and efficiently.

[0064] In addition, the controller 10 evaluates the driving environment around the vehicle 1 (driving environment evaluation) based on information from the vehicle exterior camera 22, the vehicle speed sensor 24, the acceleration sensor 25, the positioning device 31, etc. Specifically, the controller 10 estimates the physical quantities that affect the vehicle dynamics (for example, the curve radius of the driving road, the road friction coefficient).

[0065] In addition, the controller 10 calculates the current vehicle dynamics of the vehicle 1 (vehicle dynamics calculation) based on information from the vehicle speed sensor 24, the acceleration sensor 25, the yaw rate sensor 26, etc. The vehicle dynamics include speed, acceleration, yaw rate, and three-axis rotational moments (pitch, yaw, roll), etc.

[0066] In addition, the controller 10 determines the driver's sobriety (sobriety determination) based on the image information of the in-vehicle camera 21. For example, the sobriety is evaluated by the opening of the driver's eyes and / or mouth, the position or posture of the driver's upper body. The sobriety can be evaluated in four levels (zero, low, medium, and high sobriety).

[0067] In addition, the controller 10 determines whether there is a predicted risk in the traffic environment evaluation and the driving environment evaluation. The predicted risk includes traffic risks caused by the traffic environment (for example, the vehicle 1 collides with other vehicles) and driving risks caused by the driving environment that affects the vehicle dynamics (for example, spinning at a curve). Moreover, the controller 10 evaluates the risk reduction behavior of the driver for the predicted risk based on information from the vehicle-mounted device 20 and the in-vehicle camera 21 (risk reduction behavior evaluation).

[0068] Risks include vehicle accidents such as collisions of vehicle 1, and states where the posture stability of vehicle 1 is lost or reduced (spinning, rollover, etc.). Risk objects that are the cause of risk generation include traffic participants (other vehicles, pedestrians, etc.), guardrails, boundary lines, traffic signals (red lights), stop lines, etc. In addition, risk objects include risk-generating locations on the road (inner apex of a curve, etc.). These objects become risk objects when the current vehicle behavior (vehicle dynamics) is likely to generate risk in the near future (for example, within a specified time such as 10 seconds). Risk reduction behavior is an action taken by the driver in response to predicted risks, in particular, a vehicle operation (acceleration, braking, and / or steering) performed to reduce the probability of occurrence of predicted risks. For example, when the predicted paths of vehicle 1 and other vehicles intersect and a collision of these vehicles is predicted, risk reduction behavior is a vehicle operation that reduces the probability of collision or a vehicle operation that sets the closest distance between vehicle 1 and other vehicles to a specified distance or more. In addition, risk objects may also include the following objects: objects that are unlikely to generate risk at the current moment but should be perceived during driving; objects that are likely to generate risk at a time later than the specified time.

[0069] In addition, the risk reduction behavior also includes the action of perceiving a risk object (e.g., another vehicle with a possibility of collision, or the vicinity of the inner vertex of a curve) before the driver operates the operating unit. For example, based on the image information of the in-vehicle camera 21, the driver's sight toward the risk object or taking a posture to deal with the risk (i.e., the driver perceives the risk object) is also included in the risk reduction behavior.

[0070] In addition, the controller 10 evaluates the driver's current cognitive load (cognitive load evaluation) based on the results of the traffic environment evaluation. The controller 10, for example, performs the following evaluation in accordance with the vehicle speed: the more objects there are within a specified distance from the vehicle 1, the greater the driver's cognitive load. The cognitive load can be evaluated, for example, at three levels (low, medium, and high). In addition, the controller 10 can also analyze / learn the driver's cognitive ability level and update it based on the driver's vehicle operation and line of sight direction information. In this case, the cognitive load evaluation can be calculated by the ratio of the current cognitive load to the driver's cognitive ability level.

[0071] In addition, the controller 10 stores a vehicle model that specifies the physical motion of the vehicle 1 in the storage unit. The vehicle model represents the relationship between the specifications (mass, wheelbase, etc.) and physical changes (speed, acceleration, steering angle, etc.) of the vehicle 1 through the equation of motion. In addition, the results of the driving environment evaluation (for example, the road friction coefficient) can also be applied to the vehicle model.

[0072] In addition, the controller 10 stores the driver model of the driver driving the vehicle 1 in the storage unit. The controller 10 analyzes and learns the driver's operating characteristics based on the input information from the vehicle-mounted device 20, and updates the driver model at any time. The driver model represents the driver's operating characteristics, including the operation amount relative to a specific operation under certain conditions, the reaction delay time (time constant), etc. In addition, in the driver model, the results of cognitive load evaluation (the degree of cognitive load) and the results of physical function evaluation can also be applied. For example, under the condition of high cognitive load, the driver model is corrected to reduce the driver's operating ability. In addition, if it is judged that the pedaling force or wrist strength is low according to the result of the physical function evaluation, it is reflected in the time constant related to the operation amount and operation speed of the operating unit. The controller 10 can predict the driver's operation by using the driver model. In addition, the controller 10 also stores the ideal driver model representing the operating characteristics of an ideal driver with high driving ability in the storage unit, and can also predict the ideal operation.

[0073] The controller 10 can calculate the vehicle dynamics predicted to occur in the near future from now by applying the input information from the vehicle-mounted device 20 to the vehicle model and the driver model (vehicle dynamics prediction calculation). That is, the controller 10 can predict the vehicle operation (type of operation, operation amount, operation timing, etc.) performed by the driver at a specified period of time after now (for example, 10 seconds) by inputting the current conditions (traffic environment, driving environment, cognitive load, body function) into the driver model and the vehicle model, and calculate the predicted vehicle dynamics generated by the predicted vehicle operation.

[0074] Moreover, the controller 10 performs a driving ability evaluation. The driving ability indicates the level of the driver's ability to avoid various risks. The controller 10 evaluates or calculates the driving ability for risk based on the results of the risk reduction behavior evaluation (the risk reduction behavior performed by the driver), the difference between the predicted vehicle dynamics and the actual vehicle dynamics, and the results of the cognitive load evaluation (the degree of cognitive load). The driving ability for risk can be, for example, the necessary risk reduction time required for the driver to reduce the predicted risk. The necessary risk reduction time can be the time from the start of the risk reduction behavior to the disappearance of the predicted risk, or the time required from the driver's perception of the risk to the completion of the risk reduction behavior. In this case, if the driving ability is evaluated as low, the necessary risk reduction time is set to a larger value and output.

[0075] The controller 10 uses, for example, a driver model to calculate a predicted driving path of the vehicle 1 at a future time assuming that the current vehicle behavior continues for a specified time. When the specified time reaches a certain time, the risk can no longer be avoided on the predicted driving path at that time. Moreover, the time until the risk occurs (risk margin time) can also be set as the necessary time to reduce the risk on the predicted driving path calculated at this time.

[0076] The controller 10 can use the calculated driving ability evaluation to update the driving ability data. The driving ability of the driver changes over time. For example, a novice driver tends to improve his driving ability, while an elderly person tends to reduce his driving ability. The driving ability data can also be set to multiple driving ability data sets corresponding to multiple evaluation periods. For example, it is possible to create short-term (from now to 1 to 6 months ago), medium-term (from now to 3 to 9 months ago), and long-term (from now to 1 to 2 years ago) driving ability data sets.

[0077] The controller 10 performs function redistribution calculations based on the current vehicle dynamics, the results of the driving ability evaluation (current driving ability), the results of the cognitive load evaluation, and the results of the physical function evaluation. The controller 10 performs driving assistance control or automatic driving control based on the calculation. During normal driving, the driver (e.g., a beginner, an elderly person) uses his own driving function (perception function, judgment function, physical function) to exert driving performance. However, in the case where the driver cannot avoid the predicted risk (i.e., in the case where the driver's driving performance does not meet the driving ability required to avoid the predicted risk), the controller 10 performs driving assistance control so that the vehicle 1 performs the driving function associated with the insufficient driving ability instead. In addition, in an abnormal situation (e.g., loss of consciousness), for example, automatic driving control is performed, and the driver's driving function is replaced by the corresponding equivalent function of the vehicle 1.

[0078] In addition, the controller 10 compares the result of the driving ability evaluation (the current driving ability for the predicted risk) with the driving ability data, and when the current driving ability is lower than the past driving ability, performs assistance (including automatic driving) to compensate for the lowered driving ability. In addition, when the driver's sobriety is moderate (for example, mild drowsiness), the controller 10 performs processing to wake the driver up (for example, blowing cold air to the driver), and when the driver's sobriety is low (for example, severe drowsiness, loss of consciousness), performs automatic driving.

[0079] Next, a human-machine system composed of a driver and a vehicle according to an embodiment of the present invention will be described. Figure 4 This is an illustration of a conventional human-machine system. Figure 5 It is an explanatory diagram of the human-machine system according to the present embodiment.

[0080] like Figure 4 As shown, for driving a vehicle, the driver (human) has at least perception function, judgment function and operation function (or physical function), and uses these driving functions to exert perception performance, judgment performance and operation performance (or driving performance). The driver uses the perception function to capture an object (perception performance), uses the judgment function to select or determine the vehicle operation to be performed for the captured object (judgment performance), and uses the operation function to perform the selected vehicle operation with appropriate operation amount and timing (operation performance). On the other hand, the vehicle has at least driving function, parking function and turning function. The vehicle utilizes these driving functions through the vehicle operation performed by the driver, thereby exerting driving performance, braking performance and steering stability performance to drive.

[0081] In this way, if the driver uses the perception performance, judgment performance and operation performance to operate the vehicle, the vehicle can exert the driving performance, braking performance and steering stability performance. As a result, the vehicle as a human-machine system can achieve safe driving. In the past, an interface between the driver's function and the vehicle's function was provided on the vehicle to efficiently exert the three properties of the vehicle. As a result, the comprehensive vehicle performance (for example, braking ability, fuel economy, etc.) is improved.

[0082] During autonomous driving, the vehicle replaces all or most of the driver's perception, judgment, and physical functions. For example, the vehicle's onboard camera, acceleration sensor, radar, etc. replace the perception function. The vehicle's computer replaces the judgment function. The onboard actuator replaces the physical function. Exceptionally, the driver only needs to have the physical function to give the minimum instructions such as starting the engine, and may not have most driving functions and driving abilities (driving performance).

[0083] Figure 5 An example of a human-machine system of the present embodiment is shown. In the present embodiment, a driving function replacement process and a driving performance assistance process (maintenance assistance and improvement assistance) are performed. For a driver with low driving ability (e.g., a beginner, an elderly person), at least any one of the driving performances (perception, judgment, operation) related to the driving function (perception, judgment, operation) is at a low level. In addition, a driver with average driving ability (ordinary driver) may also have a relatively low level of driving performance.

[0084] In this embodiment, when it is detected that the driver's driving ability is low when a risk is predicted (or encountered), the vehicle control device 100 performs a driving function replacement process in which the driving function (weak 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 the vehicle operation so that the vehicle 1 only assists the lower driving function (weak function). As a result, even if part of the driver's driving ability is reduced, the driving function of the human-machine system composed of the driver and the vehicle 1 can be maintained. Figure 5 In the example, the driver's judgment function and judgment performance are replaced by equivalent functions and performances of the vehicle 1.

[0085] Furthermore, in the present embodiment, the vehicle control device 100 executes the driving performance assisting process for maintaining or recovering the driving ability of the weak function when executing the driving function replacing process. Figure 5The Z function for executing the auxiliary processing is shown in FIG. Through this processing, the driver is prompted to take actions to maintain or restore the driving ability within a specified time for the weak functions of the driver's driving functions (perception, judgment, and operation). If the driver's driving ability is restored to a level that can avoid the predicted risk, the driving function replacement processing and driving performance auxiliary processing are no longer executed.

[0086] Furthermore, in the present embodiment, in a normal state when no prediction risk is detected, the vehicle control device 100 executes a drivability support process for improving the drivability of the driver. Figure 5 The X function for executing the assist process is shown in FIG. In this process, the driver is prompted to improve his driving ability within a predetermined time for at least a weak function among the driver's driving functions. Figure 5 , a case where the driver's operating performance is lower than the required level is exemplified.

[0087] The driving performance assistance process for improving the driver's driving performance is a process that provides the driver with suggestions on the driving actions that the driver should perform in order to improve the driver's driving ability to a higher level. For example, the driver is taught the recommended vehicle operations of a senior driver with higher driving ability. This is equivalent to the driver learning driving skills from the senior driver. Through this assistance process, the driver can learn exemplary vehicle operations for the perception function, judgment function, and operation function that he is not good at, thereby improving his driving ability.

[0088] Next, a description will be given of a process flow of driving assistance control by the vehicle control device according to the embodiment of the present invention. Figure 6 The controller 10 receives a driving request (destination, etc.) from the driver or the outside via an input device (eg, navigation device 32, information communication device 33), and then repeatedly performs driving assistance control at regular intervals (eg, every 0.1 seconds).

[0089] First, if Figure 6 As shown, the controller 10 obtains information from the vehicle-mounted device 20 at a predetermined time interval (for example, every 0.1 seconds) (S1). The controller 10 performs processes such as traffic environment evaluation, driving environment evaluation, body function evaluation, risk reduction behavior evaluation, and vehicle dynamics calculation based on the obtained information.

[0090] In addition, the controller 10 calculates the target driving path (S2) based on the acquired information and driving requirements. The target driving path includes the target driving trajectory (position information of multiple positions) from now to a specified time later (for example, 10 seconds later) and the speed at each position on the trajectory. The controller 10 uses the results of driving requirements and traffic environment evaluation, driving environment evaluation, physical function evaluation, etc. to calculate the target driving path in a manner with specified safety and driving efficiency. The controller 10 can calculate multiple target driving paths that meet specified constraints (for example, the lateral acceleration is below a specified value). For example, when there is an obstacle in front of the vehicle 1, the controller 10 can set multiple target driving paths for avoiding the obstacle. In addition, even if the vehicle 1 deviates from the target driving path, it can also travel on other driving paths. However, because other driving paths are lower than the specified benchmark, the driving efficiency and ride comfort are poor.

[0091] In addition, the controller 10 calculates the target vehicle dynamics for traveling on the target driving path (S3). The target vehicle dynamics include the speed, acceleration, yaw rate, three-axis rotation torque (pitch, yaw, roll), etc. at each position on the target driving path. The target vehicle dynamics is a control target value used when the vehicle 1 performs driving assistance control and automatic driving control. A plurality of target vehicle dynamics (or control target values) can be set corresponding to a plurality of target driving paths.

[0092] Furthermore, the controller 10 calculates the driving performance requirements for the driver and the vehicle 1, i.e., the operation amount of the target vehicle operation (accelerator opening, brake pedaling amount, steering angle, etc.) or the control signal (human-machine performance requirement setting process) for the vehicle control system 40 in order to realize the physical quantity of the target vehicle dynamics at each position on the target driving path. The driving performance requirements having a predetermined range are set through a plurality of target driving paths.

[0093] Next, the controller 10 determines whether the driver has a weak function among the driving functions (S4). Specifically, the controller 10 determines whether the driving functions (perception function, judgment function, and operation function) have achieved the driving performance required to avoid the predicted risk.

[0094] For example, the controller 10 predicts the risk that will occur within a specified time through the current vehicle behavior (vehicle dynamics) based on the traffic environment evaluation and the driving environment evaluation. The controller 10 calculates the time from now until the predicted risk (traffic risk and driving risk) occurs (i.e., the risk margin time TTR (time to risk)). The risk margin time TTR is the expected time until the vehicle 1 enters the risk area when maintaining the current vehicle behavior (vehicle dynamics such as speed and acceleration). The so-called entry into the risk area is, for example, a position in a curved road where the vehicle 1 is predicted to collide with other vehicles or the vehicle 1 spins.

[0095] For the perception function, the controller 10 determines whether a risk object is perceived (for example, whether the driver has directed his sight toward the risk object, tilted his head or upper body to face the lateral G) before a specified time (for example, before a specified time of the predicted risk occurrence time, or before the vehicle 1 deviates from any target driving path) based on the result of the risk reduction behavior evaluation. If the driver does not perceive the risk object before the specified time, the controller 10 determines the perception function as a weak function.

[0096] For the judgment function, the controller 10 determines whether the driver has made appropriate judgments for risk reduction and started recommended risk reduction behaviors before the above-mentioned specified time based on the results of the risk reduction behavior evaluation. Recommended risk reduction behaviors are target vehicle operations (e.g., acceleration, braking, steering operations) for target vehicle dynamics. If the target vehicle dynamics are achieved, the risk is avoided. For example, in the case where a braking operation is required to avoid a collision with an obstacle ahead, the controller 10 determines whether a braking operation has been started based on information from the brake pedaling amount sensor 30. In addition, in the case where a steering operation is required to avoid a collision with an obstacle ahead, the controller 10 determines whether a steering operation has been started based on information from the steering angle sensor 27. In the case where the driver has not started the recommended risk reduction behavior until the specified time, the controller 10 determines the judgment function as a weak function.

[0097] For the operation function, the controller 10 determines whether the driver has properly performed the vehicle operation of the risk reduction behavior in a manner that reduces the probability of the predicted risk to zero (mainly whether the vehicle operation amount is appropriate). Therefore, in addition to the current vehicle dynamics, the controller 10 also considers the changes in vehicle dynamics caused by the risk reduction behavior and uses the vehicle model to calculate the probability of the predicted risk. In the case where the driver does not properly perform the vehicle operation of the risk reduction behavior, the controller 10 determines the operation function as a weak function.

[0098] When there is no weak function (S4: No), the controller 10 ends the process because the probability of occurrence of the predicted risk becomes zero within a predetermined time.

[0099] On the other hand, when there is a weak function (S4: Yes), the controller 10 determines how the driver's driving ability is reduced for the weak function (S5). Specifically, the controller 10 determines: (1) whether any of the driver's driving functions has been lost or whether there is a sign of loss (Function Loss / Sign); (2) whether the driving performance of any of the driver's driving functions has temporarily decreased (Temporary); or (3) whether the driving performance of any of the driver's driving functions is chronically decreasing (Chronic).

[0100] When the driver's alertness is low or the driver has lost driving ability (for example, severe drowsiness, loss of consciousness), the controller 10 determines that any of the driving functions has been lost. When an abnormal sign that the driving ability will drop sharply or will drop for a specified time (several minutes to tens of minutes) is detected (for example, during an acute illness or when the drowsiness level is high), the controller 10 determines that there are signs of loss of any of the driving functions (S5: loss of function / sign).

[0101] In this case, the controller 10 controls the vehicle 1 using the vehicle control system 40 so that the vehicle 1 performs all of the plurality of driving functions in substitution (S6: all-function substitution processing). That is, the automatic driving control is performed. Thereafter, the controller 10 ends the processing.

[0102] In addition, when the driver's alertness is at a medium level (for example, when fatigue or mild drowsiness of the driver is detected), the controller 10 determines that the driving performance of any one of the driving functions has temporarily decreased ( S5 : temporarily).

[0103] In this case, the controller 10 controls the vehicle 1 to eliminate the temporary reduction in driving performance by giving the driver a physical stimulus or by providing the driver with information that makes the driver aware of the temporary reduction in driving performance (S7: optimization processing). For example, the controller 10 gives the driver a visual, auditory or tactile noise with a frequency band (15 to 20 kHz) that is effective for maintaining wakefulness and a degree that the driver is not aware of, or blows cold air to the driver, thereby achieving recovery of wakefulness.

[0104] In addition, the controller 10 may highlight the risk object in the display area using the display device 51, or notify the presence of the risk object ("there is an obstacle ahead" etc.) using a voice through the voice output device 52. The driver is prompted by such a notification to perceive the risk object, thereby eliminating the temporary reduction in the driver's perception performance.

[0105] In addition, the controller 10 may also notify the driver of appropriate judgment actions for driving on the target driving path using the information notification device 50. Thus, the driver can know appropriate driving judgments, and at least the temporary reduction in judgment performance can be eliminated. Specifically, the controller 10 displays the driving operation auxiliary information including the content and sequence of the target vehicle operation that the driver should perform in response to the risk through the display device 51, or notifies by voice through the voice output device 52.

[0106] In addition, the controller 10 may also use the information notification device 50 to notify the driver of the appropriate operation amount and operation timing for driving on the target driving path through the operation of the operation unit. As a result, the driver can grasp the appropriate operation and at least eliminate the temporary reduction in operation performance. Specifically, the controller 10 uses the actuator 54 to move the operation unit (for example, the brake pedal 42b, the steering wheel 43b) for intervening vehicle control to an operation position corresponding to the appropriate operation amount.

[0107] Then, the controller 10 controls the vehicle 1 by using the vehicle control system 40 so that the vehicle 1 performs the driving function having the temporarily reduced driving performance in place ( S8 : weak function replacement processing).

[0108] Specifically, when the perception performance is temporarily reduced, the controller 10 sets the detected risk object as a tracking object and performs tracking control.

[0109] In addition, when it is judged that the performance is temporarily reduced, the controller 10 performs vehicle control for invalidating the driver's vehicle operation or covering it with other vehicle operations to avoid risks. In the vehicle 1 of the wire control drive mode, even if the driver operates the operating unit, due to the invalidation of the vehicle operation, a control signal will not be generated based on the operation of the operating unit. For example, suppose that in the case of avoiding an obstacle in front, the driver performs a steering operation in a way that passes by the side of the obstacle. On the other hand, because the oncoming vehicle is approaching, the target vehicle operation is deceleration by braking operation (that is, the target driving path is set to a path for deceleration in front of the obstacle). In this situation, the controller 10 invalidates the steering operation and outputs a control signal to the brake control device 42a to stop in front of the obstacle. On the contrary, in the case where the target vehicle operation is a steering operation but the driver performs a braking operation, the controller 10 invalidates the braking operation and outputs a control signal to the steering control device 43a to avoid the obstacle.

[0110] In addition, when the performance of the operating function is temporarily reduced, the controller 10 performs vehicle control for avoiding risks. For example, when the driver steps on the brake pedal 42b to avoid a collision with an obstacle, but the amount of stepping is insufficient due to the driver's small stepping force, the controller 10 outputs a control signal of an appropriate operation amount to the brake control device 42a to stop in front of the obstacle. In addition, when the driver operates the steering wheel 43b to avoid a collision with an obstacle, but the amount of operation is insufficient due to the driver's small wrist force, the controller 10 outputs a control signal of an appropriate operation amount to the steering control device 43a to ensure a gap with the obstacle. After the weak function replacement processing, the controller 10 ends the processing.

[0111] Furthermore, the controller 10 compares the result of the driving ability evaluation (current driving ability for predicted risk) with the driving ability data and determines that the driving performance of any of the driver's driving functions is slowly decreasing if the current driving ability is lower than the past driving ability (S5: chronic).

[0112] In this case, the controller 10 controls the vehicle 1 to maintain or improve the drivability by providing the driver with information for assisting the performance of the drivability ( S9 : assisting process).

[0113] Specifically, when the perception performance is gradually reduced, the controller 10 uses the information notification device 50 to notify the driver of the way in which the perception function is exerted by the experienced driver with high driving ability in order to drive on the target driving route, so that the driver's driving performance (perception performance) is close to the level that can drive on the target driving route. In this way, the driver can learn the perception actions (perception objects, timing, etc.) of the experienced driver who has become a model, and improve the perception performance. In this embodiment, the vehicle operation includes the perception action.

[0114] For example, when the driver does not perceive the target to be perceived when turning right, the controller 10 visually highlights the target to be perceived in the display area of ​​the display device 51. In addition, the controller 10 may use the sound output device 52 to notify the target to be perceived.

[0115] In addition, when the driver does not perceive overspeed, the controller 10 limits the visible range in front of the driver's vehicle to a narrower range. In this case, the display device 51 displays the portion corresponding to the peripheral portion of the front windshield in the display area as darker (or, reduces transparency), so that the driver can observe the narrow range of the outside through the front windshield. Thus, the driver feels that the moving speed of the external scenery in the narrow visual field is faster, so it is easy to notice that the speed of the vehicle 1 has exceeded the speed. In addition, the controller 10 can also use the display device 51 and the sound output device 52 to notify the vehicle 1 of the overspeed state.

[0116] Furthermore, when the driver does not perceive the external G, the controller 10 notifies the driver of the fact that the external G is acting on the vehicle 1 through the display device 51 and the sound output device 52 , and notifies the driver of the posture to be taken.

[0117] In addition, when the judgment performance is gradually reduced, the controller 10 uses the information notification device 50 to notify the driver of the way in which the judgment function of the experienced driver with high driving ability is performed in order to drive on the target driving route, so that the driver's driving performance (judgment performance) is close to the level that can drive on the target driving route. In this way, the driver can learn the judgment actions of the experienced driver who has become a model in order to drive on the target driving route, and improve the judgment performance.

[0118] For example, when the driver temporarily turns the steering wheel to the left when turning right and then turns the steering wheel to the right, the controller 10 notifies the driver of the driving operation assistance information after the driving is completed using the information notification device 50. In this case, the driving operation assistance information includes information indicating the vehicle operation (left turn operation) performed by the driver when turning right and information indicating the target vehicle operation that the driver should perform when turning right.

[0119] Furthermore, for example, when the driver starts a braking operation or a steering operation late on a curve, the driving operation assistance information includes information indicating the driver's vehicle operation on the curve and information indicating a target vehicle operation that the driver should perform on the curve.

[0120] Furthermore, the driving operation assisting information may be notified while the vehicle 1 is traveling. However, since the driver may be confused after being notified of the assisting information, in this embodiment, the assisting information is notified after the driving is completed for the determination function.

[0121] In addition, when the operability is gradually reduced, the controller 10 notifies the driver of the appropriate operation amount and operation speed of the operation unit for driving on the target driving route using the information notification device 50, so that the driver's driving performance (operation performance) is close to the level that can drive on the target driving route. In this way, the driver can learn the operation actions (operation amount, operation speed, etc.) of the senior driver who has become a model, and improve the operability.

[0122] For example, when the driver turns right by operating the steering wheel 43b, but the rotation operation amount is small due to the driver's smaller wrist strength, and the actual driving path deviates from the target driving path, the controller 10 can use the display device 51 and / or the sound output device 52 to notify the driver of the fact that the rotation operation speed of the steering wheel 43b is small, the actual operation amount and the target operation amount, the actual path and the visual representation of the target driving path, etc.

[0123] In addition, for example, when the driver steps on the brake pedal 42b on a curve, but the driver's smaller stepping force results in a smaller stepping speed, and the actual driving path is closer to the outside than the target driving path, the controller 10 can use the display device 51 and / or the sound output device 52 to notify the driver of the fact that the stepping speed of the brake pedal 42b is smaller, the actual operating speed and the target operating speed, and the visual representation of the actual path and the target driving path.

[0124] After the assist process in step S9, the controller 10 controls the vehicle 1 using the vehicle control system 40 so that the vehicle 1 performs the driving function with the gradually decreasing driving performance instead (S8: weak function replacement process). After the weak function replacement process, the controller 10 ends the process.

[0125] Although the embodiments of the present invention have been described above, the specific configurations and means of the present invention can be arbitrarily changed and improved within the scope of the technical concept of each invention described in the claims. Such modified examples will be described below.

[0126] First of all, the problems to be solved by the invention and the effects of the invention are not limited to the above contents. The present invention can also solve problems not described above or achieve effects not described above. In addition, sometimes only part of the described problems can be solved or only part of the described effects can be achieved.

[0127] In addition, the above-mentioned optimization processing, alternative processing and auxiliary processing are examples. According to each driving function, various optimization processing can be adopted to eliminate the temporary reduction in the driving performance of the function, various alternative processing for the vehicle to perform the function, and various auxiliary processing to maintain or improve the driving performance of the function.

[0128] Finally, the effects of the vehicle control device 100 according to the present embodiment and the modified example of the present embodiment will be described.

[0129] The vehicle control device 100 of the present embodiment performs driving assistance control on a vehicle 1 that is driven using multiple driving functions including a driving function, a parking function, and a turning function, by vehicle operation using multiple driving functions of the driver, so that the vehicle 1 drives according to the traffic environment and driving environment around the vehicle 1. The vehicle control device 100 is configured to perform the following processing: full function replacement processing (S6), when it is detected that any one of the multiple driving functions of the driver has been lost or has a sign of being lost, the vehicle 1 is controlled to replace all the multiple driving functions; optimization processing (S7), when it is detected that the driving performance of any one of the multiple driving functions of the driver has been temporarily reduced, the vehicle 1 is controlled to eliminate the temporary reduction in driving performance by giving the driver a physical stimulus or providing the driver with information that makes the driver aware of the temporary reduction in driving performance; and assistance processing (S9), when it is detected that the driving performance of any one of the multiple driving functions of the driver is slowly reducing, the vehicle 1 is controlled to maintain or improve the driving performance by providing the driver with information that assists the driver in exercising the driving performance.

[0130] Thus, in the present embodiment, when any of the driver's driving abilities has been lost or when there is a sign of such loss, the vehicle 1 replaces the execution of all driving functions, thereby ensuring the safety of vehicle travel. In addition, in the present embodiment, when any of the driving performance has been temporarily reduced, the driver is given a physical stimulus, or information is provided to the driver to make him aware of the temporary reduction in the driving performance, thereby enabling the driver's temporarily reduced driving ability to recover and allowing the driver to continue driving. In addition, in the present embodiment, when any of the driving performance is being chronically reduced, the driving performance is maintained or improved by providing the driver with information to assist the performance of the driving performance, thereby not only replacing the function with the vehicle 1, but also enabling the driver to actively perform the driving performance, while the vehicle 1 makes up for the driver's lack of ability or promotes the improvement of the driver's ability. Therefore, while ensuring safe driving through automatic driving, the driver's driving ability can be maintained and improved through driving.

[0131] In addition, in the present embodiment, the vehicle control device 100 also performs a weak function replacement process (S8), in which, when it is detected that the driving performance of any one of the plurality of driving functions possessed by the driver has temporarily decreased or is slowly decreasing, the vehicle 1 is controlled so that the vehicle 1 replaces the driving function of the driver having the driving performance. Thus, in the present embodiment, even if the driving ability of the driver is low, the driving function associated with the insufficient driving performance is replaced by the vehicle 1. Therefore, in the present embodiment, the safety of vehicle driving can be ensured, and the driver can extend the driving life without giving up driving.

[0132] In addition, in the present embodiment, the plurality of driving functions of the driver include a perception function of perceiving a traffic environment and a driving environment, a judgment function of judging a driving operation required in a traffic environment and a driving environment, and an operation function of performing a driving operation. In the present embodiment thus constituted, through a driving performance judgment process, it is judged whether the driver has a prescribed driving performance for each of the plurality of driving functions. Thus, in the present embodiment, a weak function with a relatively low driving performance can be determined, and the weak function to be subjected to an optimization process or an auxiliary process can be appropriately selected.

[0133] In addition, in the present embodiment, in the assist process, information of different contents is provided according to the plurality of driving functions of the driver. In the present embodiment configured in this way, appropriate assist information can be provided according to the type of the weak function.

Claims

1. A vehicle control device, which performs driving assistance control on a vehicle that uses multiple driving functions including a driving function, a parking function, and a turning function by using a vehicle operation of multiple driving functions by a driver, so that the vehicle drives according to the traffic environment and driving environment around the vehicle, characterized in that: The vehicle control device is configured to execute the following processing: Full function replacement processing, when it is detected that any one of the plurality of driving functions possessed by the driver has been lost or has a sign of being lost, controlling the vehicle so that the vehicle replaces all of the plurality of driving functions; optimization processing, in the case where it is detected that the driving performance of any one of the plurality of driving functions possessed by the driver has temporarily decreased, controlling the vehicle to eliminate the temporary decrease in driving performance by giving the driver a physical stimulus or by providing the driver with information that makes the driver aware of the temporary decrease in driving performance; as well as The assist process controls the vehicle to maintain or improve the driving performance by providing the driver with information that assists the driver in exerting the driving performance when it is detected that the driving performance of any one of the plurality of driving functions possessed by the driver is gradually decreasing.

2. The vehicle control device according to claim 1, characterized in that: The vehicle control device is configured to also perform weak function replacement processing. In this weak function replacement processing, when it is detected that the driving performance of any one of the multiple driving functions possessed by the driver has temporarily decreased or is slowly decreasing, the vehicle is controlled so that the vehicle replaces the driving function of the driver with the driving performance.

3. The vehicle control device according to claim 1 or 2, characterized in that: The plurality of driving functions possessed by the driver include a perception function of perceiving the traffic environment and the driving environment, a judgment function of judging a driving operation required in the traffic environment and the driving environment, and an operation function of performing the driving operation.

4. The vehicle control device according to any one of claims 1 to 3, characterized in that: In the assistance process, information of different contents is provided according to a plurality of driving functions of the driver.

5. A vehicle control method, which performs driving assistance control on a vehicle that uses multiple driving functions including a driving function, a parking function, and a turning function by using a vehicle operation of multiple driving functions of a driver, so that the vehicle drives according to the traffic environment and driving environment around the vehicle, characterized in that: The vehicle control method comprises: a full function replacement step, in which, when it is detected that any one of the plurality of driving functions possessed by the driver has been lost or is showing a sign of being lost, the vehicle is controlled so that the vehicle performs all of the plurality of driving functions instead; an optimization step of, when it is detected that the driving performance of any one of the plurality of driving functions possessed by the driver has temporarily decreased, controlling the vehicle to eliminate the temporary decrease in driving performance by giving the driver a physical stimulus or by providing the driver with information that makes the driver aware of the temporary decrease in driving performance; as well as The assisting step is to control the vehicle to maintain or improve the driving performance by providing the driver with information that assists the driver in exerting the driving performance when it is detected that the driving performance of any one of the plurality of driving functions possessed by the driver is gradually decreasing.

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