Vehicle control system

Abstract

This vehicle control system is provided with: a detection unit (11) that detects an operation by a driver on a vehicle; a surroundings sensing means (12) that senses the surroundings of the vehicle; and a control unit (13) that includes a travel control unit (130) that controls travel of the vehicle in accordance with an operation on the vehicle, a driving assistance determination unit (131) that determines the necessity of driving assistance to the driver in accordance with a surrounding situation of the vehicle, and a driving assistance execution unit (132) that executes driving assistance to the driver in accordance with the surrounding situation of the vehicle. The driving assistance execution unit executes driving assistance in accordance with a determination result of the driving assistance determination unit. The control unit (13) includes a driving assistance adjustment unit (134) that records and analyzes the execution state of the driving assistance execution unit (132), and adjusts the degree of driving assistance on the basis of the analysis result of the execution state.

Description

Technical Field

[0001] The present invention relates to a vehicle control system and the like. Background Art

[0002] In advanced driver assistance systems (ADAS) such as forward collision warning (FCW), in order to achieve the safety and comfort of the driver, pedestrians, etc., various sensors in the vehicle are used to grasp the surrounding conditions and provide accurate displays and warnings to the driver, or assist the driver in operating the steering wheel, brakes, etc.

[0003] As one of the FCWs, a vehicle obstacle detection device is known in the prior art, which uses a radar to detect an obstacle in front of the vehicle and performs safety confirmation such as automatic control to avoid danger to the vehicle.

[0004] For example, in Patent Document 1, as shown in paragraphs 1 to 3 and Figure 1 The invention discloses a vehicle obstacle detection device, which uses a vehicle estimated trajectory calculation device, a camera and a radar device, wherein the vehicle estimated trajectory calculation device calculates the estimated driving trajectory of the vehicle according to the current steering angle, etc., the camera captures the road conditions (white lines and objects), and the radar device detects objects in front of the vehicle, thereby determining whether the object on the estimated driving trajectory is a dangerous obstacle and whether the object on the road is a dangerous obstacle based on the estimated driving trajectory, road and object. The vehicle obstacle detection device also includes a warning unit, which issues a warning to the driver of the vehicle corresponding to the severity of the danger.

[0005] Reference List

[0006] Patent Literature

[0007] Patent Document 1: JP2004-110394A Summary of the invention

[0008] Incidentally, drivers have different driving skills due to factors such as attention and reaction ability (instinct reaction). When it is assumed that the vehicles are driving in the same road environment, drivers with high driving skills drive the vehicle in a way that does not cause warnings, while drivers with low driving skills will make dangerous driving behaviors that cause many warnings.

[0009] Therefore, it is preferable to strengthen (or advance) warnings to drivers who drive dangerously, and to implement driving that does not trigger warnings. In other words, it is preferable that ADAS warnings to drivers are performed based on driver characteristics (e.g., habits, personality, attention, age, instinctive reactions, etc.). In addition, it is difficult for sensors to grasp road conditions based on road environments at specific locations (nighttime, etc.), and unnecessary warnings may be erroneously triggered. In other words, the higher the accuracy of the warning, the more preferable it is.

[0010] In the above-mentioned Patent Document 1, these problems are not mentioned at all, and there is no suggestion regarding countermeasures therefor.

[0011] The object of the present invention is to provide a vehicle control system capable of issuing accurate warnings according to the characteristics of the driver. Another object of the present invention will become apparent to those skilled in the art by referring to one aspect and preferred embodiments described below and the accompanying drawings.

[0012] Solutions to the problem

[0013] For easy understanding of the outline of the present invention, one aspect according to the present invention will be described below.

[0014] In a first aspect, a vehicle control system comprises:

[0015] A detection unit configured to detect a driver's operation of the vehicle;

[0016] a surrounding sensing unit configured to sense surrounding conditions of the vehicle; and

[0017] a control unit, the control unit comprising a driving control unit, a driving assistance determination unit and a driving assistance execution unit, wherein the driving control unit controls the driving of the vehicle in response to the operation on the vehicle, the driving assistance determination unit determines the necessity of driving assistance for the driver according to the surrounding conditions of the vehicle, and the driving assistance execution unit executes the driving assistance according to the determination result of the driving assistance determination unit, wherein

[0018] The control unit includes a driving assistance adjustment unit that records and analyzes an execution state of the driving assistance execution unit and adjusts a degree of driving assistance based on an analysis result of the execution state.

[0019] According to the first aspect, the control unit (driving assistance adjustment unit) records and analyzes the execution state (e.g., the number of executions) of the driving assistance performed by the driving assistance execution unit, and adjusts the degree of driving assistance based on the analysis result of the execution state. Here, "driving assistance" is, for example, notification of the determination result of the driving assistance performed by the driving assistance determination unit and / or intervention of driving control such as automatic braking performed by the driving control unit. "Driving assistance degree" refers to the execution time of driving assistance and / or the degree of adjustment of the execution intensity of driving assistance.

[0020] As described above, for example, the execution degree of the driver corresponding to the notification (warning) issued from the ADAS to the driver is recorded as the execution state of the driving assistance, and the driving assistance degree is adjusted based on the analysis result, so that the driver can be notified more accurately. Similarly, for a driver who receives a large number of notifications (warnings), driving control can be intervened more accurately. In other words, it is possible to assist safe driving by adjusting the driver who receives a large number of warnings and has a strong tendency to drive dangerously to strengthen (advance) warnings and prompt driving that does not trigger warnings, and on the other hand, it is possible to respect the driver's autonomous driving by adjusting the warning to weaken (postpone) the driver who has a strong tendency to drive safely, and it is possible to eliminate the discomfort caused by unnecessary warnings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] [ Figure 1 ] Figure 1 : is a block diagram showing a system configuration example of a vehicle control system according to an embodiment of the present invention.

[0022] [ Figure 2 ] Figure 2 : is a diagram showing an example of a data structure of a driving assistance state recording unit in a vehicle control system according to an embodiment of the present invention, which data are recorded in a non-volatile memory in the system.

[0023] [ Figure 3 ] Figure 3 is a flowchart showing basic processing operations of a vehicle control system according to an embodiment of the present invention.

[0024] [ Figure 4 ] Figure 4 It is shown Figure 3 Flowchart of the detailed processing flow of "Recording and analyzing driver characteristics" in the basic operation flowchart shown.

[0025] [ Figure 5 ] Figure 5 It is shown Figure 3 This is a flowchart of the detailed processing flow of "Location Recording and Analysis" in the basic operation flowchart shown.

[0026] [ Figure 6 ] Figure 6 is shown in the Figure 5 This is a flowchart of the detailed processing flow of “avoidance action determination” in the flowchart of the detailed processing flow of the processing of “recording and analyzing a point” shown in FIG.

[0027] [ Figure 7 ] Figure 7 It is shown Figure 3 This is a flowchart of the detailed processing flow of “comprehensive determination of driving assistance execution degree” in the basic operation flowchart shown.

[0028] Reference Mark List

[0029] 11. Detection unit

[0030] 12 surrounding sensing units

[0031] 13 Control Unit

[0032] 14 Notification Unit

[0033] 15 Vehicle mechanism unit

[0034] 16GPS / Map

[0035] 17 Vehicle external communication unit

[0036] 20CAN

[0037] 130 Driving control unit

[0038] 131 Driving assistance judgment unit

[0039] 132 Driving assistance execution unit

[0040] 133 Driving assistance status recording unit

[0041] 134 Driving assistance adjustment unit

[0042] 135 Driving Assistance Reliability Estimation Unit DETAILED DESCRIPTION

[0043] The best embodiment to be described below is for easy understanding of the present invention. Therefore, it should be noted that those skilled in the art will not unduly limit the present invention by the embodiment described below.

[0044] (Configuration of vehicle control system)

[0045] Will refer to Figure 1 A configuration example of a vehicle control system according to an embodiment of the present invention (hereinafter referred to as the present embodiment) is described.

[0046] like Figure 1As shown, the vehicle control system according to the present embodiment includes at least a detection unit 11, a surrounding sensing unit 12, a control unit 13, and a notification unit 14. These units are commonly connected via a control area network (CAN) 20. A global positioning system (GPS), a map database (GPS / map 16), and a vehicle external communication unit 17 may be further connected to the CAN 20. For example, the latest map information can be obtained by communicating with an external center (not shown) via the vehicle external communication unit 17 based on vehicle to X (V2X) type communication, and stored in the GPS / map 16.

[0047] The detection unit 11 is a sensor that detects the driver's operation on the vehicle or the behavior of the vehicle, and includes an inertial sensor (IMU (Inertial Measurement Unit)) in addition to sensors such as an accelerator opening sensor, a brake stroke sensor, a vehicle speed sensor (wheel speed sensor), and a steering angle sensor installed on components of the vehicle. The inertial sensor can measure the driving condition and posture of the vehicle using a three-axis acceleration sensor and a three-axis angular velocity sensor (gyro sensor) (detecting translational motion in three axial directions according to acceleration [m / s2] and detecting rotational motion according to angular velocity [deg / s]).

[0048] The surrounding sensing unit 12 is, for example, a camera that senses the surrounding conditions of the vehicle. The control unit 13 uses the GPS / map 16 when acquiring map coordinates when analyzing a location described later, and uses the vehicle external communication unit 17 when recording predetermined information described later in the cloud DB.

[0049] The control unit 13 is a block serving as a control center, which performs driving assistance through ADAS such as forward collision warning (FCW). Therefore, the control unit 13 includes at least a travel control unit 130, a driving assistance determination unit 131, a driving assistance execution unit 132, and a driving assistance adjustment unit 134.

[0050] The driving control unit 130 has a function of controlling the driving of the vehicle in response to the driver's operation on the vehicle, analyzes information based on signals from sensors installed on various units of the vehicle, and mainly controls the vehicle mechanism unit 15, which includes torque adjustment from the engine (transmission system), braking operation (brake system) and steering operation (steering system) in operations such as starting, stopping and turning of the vehicle.

[0051] The driving assistance determination unit 131 has a function of determining the necessity of driving assistance for the driver according to the vehicle surrounding conditions. The driving assistance determination unit 131 determines the necessity of notifying the driver and intervening in driving control (compulsory control) that helps driving according to the vehicle surrounding conditions such as obstacles on the driving road or the vehicle ahead.

[0052] The driving assistance execution unit 132 has a function of executing driving assistance according to the determination result of the driving assistance determination unit 131. In other words, according to the determination result of the driving assistance determination unit 131, the driving assistance execution unit 132 performs notification (warning) to the driver and intervention (compulsory control) of driving control that helps driving according to the vehicle surrounding conditions.

[0053] The driving assistance adjustment unit 134 has the following functions: recording the execution status of the driving assistance performed by the driving assistance execution unit 132 (for example, the total (lifetime) execution times or the latest execution times of FCW), analyzing the execution status, and adjusting the execution time or execution intensity of the intervention of notification (warning) and driving control performed by the driving control unit based on the analysis results of the execution status (advancing or delaying the execution time or strengthening or weakening the execution intensity).

[0054] The control unit 13 also includes a driving assistance state recording unit 133, which records the execution state of the driving assistance performed by the driving assistance execution unit 132. The driving assistance state recording unit 133 records information about the type and frequency of the ADAS function executed, whether there is an avoidance action after execution (whether there is braking or changing the route, turning the accelerator on or off, etc.), and the execution location (the location and direction of the vehicle's travel).

[0055] For example, in the case of FCW, the following information is recorded: information required for analyzing driver characteristics, such as the total (lifetime) number of executions of FCW, the latest number of executions, and the execution rate of the driving distance (time); and information required for analyzing the location where the vehicle is traveling, such as the location, time, and surrounding environment such as weather where ADAS functions are performed.

[0056] Due to the limitation of recording capacity, the driving assistance state recording unit 133 records all information required for analyzing the driver's characteristics. However, as information required for analyzing the location, only the surrounding environment information of the location where the host vehicle travels is recorded, and memory usage is saved.

[0057] When the cloud service is used, all information required for analyzing the driver's characteristics and information required for analyzing the location can be recorded as a cloud database (DB). Figure 2 An example of the data structure in this case is shown in .

[0058] according to Figure 2 In the data items of the cloud DB, as “analysis information of driver characteristics”, the total number of executions 133a of ADAS functions such as automatic emergency braking (AEB) and lane departure warning (LDW) other than forward collision warning (FCW), the number of executions 133b of ADAS functions for the latest scheduled driving distance or time, the lifetime driving distance (time) 133c, the execution rate 133d of each ADAS relative to the lifetime driving distance (time), the execution rate 133e of each ADAS relative to the latest scheduled driving distance (time), and the adjustment result 133f of the execution degree of ADAS relative to the driver characteristics can be recorded as data items.

[0059] As "analysis information for locations", information 133g about the execution location, time, driving direction and surrounding environment of the ADAS function, the type and number of ADAS executed at each location 133h, information 133i about whether there is an avoidance action when the ADAS function is executed at each location, the ADAS effective operation rate 133j at each location, and the adjustment result 133k of the execution degree of ADAS at each location can be recorded as data items.

[0060] The control unit 13 may further include a driving assistance reliability estimation unit 135 that estimates the reliability of the determination result of the driving assistance determination unit 131 at each location. After the driving assistance is performed by the driving assistance execution unit 132, the driving assistance reliability estimation unit 135 may estimate the reliability of the determination result of the driving assistance determination unit 131 at each location based on whether there is a driver operation and whether there is a vehicle behavior. The reliability here refers to the driving assistance execution success rate or failure rate obtained by dividing the number of avoidance actions by the number of executions.

[0061] The notification unit 14 is, for example, a display, a speaker, etc. that notifies the driver of danger by display, sound, etc. when the possibility of collision with the front obstacle is high. For a two-wheeled vehicle, when the vehicle approaches the front obstacle and the collision risk increases, somatosensory perception can be performed by a vibrator, etc.

[0062] (Operation of vehicle control system)

[0063] Below, we will refer to Figures 3 to 7 The flowchart shown describes Figure 1 and Figure 2 The operation of the vehicle control system according to the present embodiment is shown.

[0064] In the control unit 13, the travel control unit 130 controls the travel of the vehicle according to the operation of the driver on the vehicle. Specifically, the travel control unit 130 analyzes information based on the signal from the sensor obtained from the detection unit 11, and mainly controls the vehicle mechanism unit 15 related to the torque adjustment (transmission system) from the engine, the braking operation (brake system) and the steering operation (steering system) in the operation such as starting, stopping and steering of the vehicle.

[0065] Here, the driving assistance determination unit 131 determines the necessity of notification to the driver and intervention (compulsory control) of driving control by ADAS such as automatic braking, which helps driving, based on the vehicle surrounding conditions obtained from the surrounding sensing unit 12, such as obstacles on the driving road or the vehicle in front. In addition, based on the determination result of the driving assistance determination unit 131, the driving assistance execution unit 132 notifies (warns) the driver via the notification unit 14 based on the vehicle surrounding conditions, and also executes intervention (compulsory control) of driving control that helps driving ("determination and execution of necessity of driving assistance" in step S00).

[0066] The driving assistance adjustment unit 134 records the number of executions (lifetime execution number and / or latest execution number) of the driving assistance by the ADAS executed by the driving assistance execution unit 132 as the driver characteristic in the driving assistance state recording unit 133. Subsequently, the driving assistance adjustment unit 134 compares the number of executions of the driving assistance by the ADAS recorded in the driving assistance state recording unit 133 with the "first predetermined reference", "second predetermined reference" or "initial reference", and adjusts the degree of driving assistance according to the result (step S10: recording and analysis of driver characteristics).

[0067] Here, the "degree of driving assistance" refers to, for example, the degree of adjustment of the execution time (starting distance) of driving assistance and / or the execution intensity of driving assistance, and the driving assistance adjustment unit 134 makes adjustments according to the degree to advance (postpone) the execution time (starting distance) and / or strengthen (weaken) the execution intensity. In addition, the "first predetermined reference" is, for example, an upper (UP) reference (threshold) of the number of executions of driving assistance performed by the driving assistance execution unit 132 and is used to switch the execution degree of driving assistance, and, for example, when the number of executions of FCW exceeds the upper reference (first predetermined reference), the execution degree of FCW is adjusted to be increased (UP). In addition, the "second predetermined reference" is a lower (DOWN) reference (threshold) of the number of executions used when switching the execution degree of driving assistance performed by the driving assistance execution unit 132, and, for example, when the number of executions of FCW is less than the lower reference (second predetermined reference), the execution degree of FCW is adjusted to be decreased (DOWN).

[0068] The “initial reference” is, for example, a default reference (threshold value) set by default, which is used to switch the execution degree of driving assistance performed by the driving assistance execution unit 132. In addition, the “execution time” refers to the starting distance (time) of issuing a notification (warning) via the notification unit 14, and the “execution intensity” refers to the intensity of the warning such as volume, light intensity, or vibration when the notification (alarm) is issued by sound, light, or vibration.

[0069] In this way, the driving assistance adjustment unit 134 can analyze the execution frequency of driving assistance by recording the total (lifetime) execution times and / or the latest execution times of the driving assistance performed by the driving assistance execution unit 132, and can more accurately notify drivers who receive a large number of notifications, and can also more accurately intervene in driving control for drivers who receive a large number of notifications.

[0070] Will refer to it later Figure 4 The flowchart shown describes the details of the above-mentioned "recording and analysis process of driver characteristics (step S10)".

[0071] Next, the driving assistance adjustment unit 134 performs the process of "recording and analyzing the location" (step S20). The driving assistance adjustment unit 134 records the execution state of the driving assistance performed by the driving assistance execution unit 132 in the driving assistance state recording unit 133 in association with the location (position information) when the driving assistance execution unit 132 performs the driving assistance. In addition, the execution state can be further recorded in association with the route of the vehicle, or can be further recorded in association with the surrounding environment of the vehicle acquired by the surrounding sensing unit 12.

[0072] Subsequently, the driving assistance adjustment unit 134 compares the information related to the location when the driving assistance is performed, which is recorded in the driving assistance state recording unit 133, with the "first predetermined reference", "second predetermined reference" or "initial reference", and adjusts the degree of driving assistance according to the result. By analyzing the characteristics of the driving assistance determination unit 131 (for example, the sensor of the detection unit 11) based on the driving conditions recorded in association with the location, driving assistance for the driver can be performed in consideration of the characteristics of the driving assistance determination unit 131. Therefore, a safer and more comfortable vehicle can be provided.

[0073] The driving assistance adjustment unit 134 can record the number of executions at each location together with the reliability in the driving assistance state recording unit 133 as the execution state of the driving assistance executed by the driving assistance execution unit 132, and can control to advance the execution time and / or strengthen the execution intensity when the reliability of the number of executions at each location exceeds the first predetermined benchmark. Here, "reliability" refers to the execution success rate or failure rate of driving assistance (for example, the execution success rate or failure rate of FCW) obtained by dividing the number of avoidance actions after the notification (warning) is issued by the execution number of driving assistance. Therefore, it is possible to more actively assist the driver's driving at locations with high reliability.

[0074] Will refer to it later Figure 5 and Figure 6 The shown flowchart describes the details of the above-mentioned "recording and analysis of locations (step S20)".

[0075] Subsequently, the driving assistance adjustment unit 134 performs a “comprehensive determination of the execution degree of driving assistance” process based on the analysis result of the characteristics related to the driver characteristics and the place by the driving assistance determination unit 131 (step S30 ).

[0076] In step S30, the driving assistance execution level is adjusted based on the two analysis results, namely, the driver characteristics and the characteristics of the driving assistance execution unit (sensor of the detection unit 11). Here, by pre-determining the analysis result as the main axis of determination and setting the base value (here, the emphasis is placed on the driver characteristics), and setting the remaining analysis results as adjustment values ​​(here, the characteristics of the driving assistance execution unit 132), the execution degree of driving assistance that follows the emphasized analysis result can be achieved.

[0077] Will refer to it later Figure 7 The illustrated flowchart describes the details of the above-mentioned “comprehensive determination of the degree of execution of driving assistance” (step S30 ).

[0078] (Recording and analysis of driver characteristics)

[0079] Figure 4 It is shown Figure 3 Flowchart of the detailed operation flow of "Recording and Analysis of Driver Characteristics (Step S10)" in FIG. 1. In the following description, it is assumed that FCW is performed as an example of driving assistance, and the operation of the control unit 13 (driving assistance adjustment unit 134) will be mainly described.

[0080] according to Figure 4, the driving assistance adjustment unit 134 first determines whether the driving assistance execution unit 132 is executing FCW (step S101). Here, when it is determined that FCW is being executed ("Yes" in step S101), the driving assistance adjustment unit 134 updates the value of the counter that counts the total (lifetime) execution times each time the driving assistance execution unit 132 executes driving assistance through FCW (step S102), and updates the counter that counts the latest execution times (step S103).

[0081] The counter is built into the driving assistance adjustment unit 134 or allocated to the built-in RAM by the program, and is updated each time the FCW is executed. When the execution of the FCW is stopped ("No" in step S101), the total (lifetime) execution times and the latest execution times counted and updated by each counter are recorded in the driving assistance state recording unit 133 (steps S104 and S105).

[0082] Next, the total (lifetime) number of executions of FCW is used to calculate the execution rate as the optimal unit of driving assistance adjustment. This is called the "total (lifetime) execution rate of FCW". The calculation execution condition of the total (lifetime) execution rate of FCW is "vehicle travel distance ≥ total (lifetime) execution rate calculation distance", and if this condition is not met, the total (lifetime) execution rate of FCW will be fixed to a default value. The default value is a value that the execution degree of FCW described later will not become "LOW".

[0083] The total (lifetime) execution rate of FCW [% / slot] is calculated by dividing the total (lifetime) execution number of FCW by the number of calculation slots. Here, the number of calculation slots is a number obtained by dividing the vehicle travel distance by one slot distance (calculation distance unit, such as 10 km).

[0084] Next, the execution rate as the optimal unit of driving assistance adjustment is calculated using the latest execution number of FCW. This is called "the latest execution rate of FCW". The calculation execution condition of the latest execution rate of FCW is set to "the number of buffers of the execution number ≥ the number of buffers required for calculation", and if this condition is not met, the latest execution rate of FCW is fixed to a default value. The default value is a value that the execution degree of FCW described later remains default.

[0085] It is assumed that the above buffer is allocated to the RAM built in the driving assistance adjustment unit 134. As a buffering method, the number of buffers required for calculation is obtained by dividing the latest scheduled driving distance by a segment distance (calculation distance unit, such as 100km), and the number of FCW executions for each segment distance is counted and stored in the calculation buffer (the number of FCW executions in one latest segment distance). Each time the vehicle completes driving of a segment distance, the driving assistance adjustment unit 134 copies the value of the calculation buffer to the storage buffer array also allocated in the RAM, and then clears the calculation buffer. The number of elements of the storage buffer array is the number of buffers required for calculation.

[0086] The latest execution rate of FCW [% / segment] is calculated by dividing the total value of the number of FCW executions stored in the buffer array by the number of buffers required for calculation. Here, the number of calculation segments is the [number] obtained by dividing the vehicle travel distance by one segment distance (e.g., 10 km).

[0087] Description Back Figure 4 . The driving assistance adjustment unit 134 records the total (lifetime) execution times and the latest execution times of FCW as driving assistance status in the driving assistance status recording unit 133 (steps S104 and S105). Subsequently, the driving assistance adjustment unit 134 calculates the total (lifetime) execution rate by dividing the total (lifetime) execution times of driving assistance performed by the driving assistance execution unit 132 by the calculation distance unit (one segment distance, for example, 100km) (step S106), and records the total (lifetime) execution rate in the driving assistance status recording unit 133 (step S108). In addition, the latest execution times are divided by the calculation distance unit (one segment distance, for example, 100km) to calculate the latest execution rate (step S107), and the latest execution rate is recorded in the driving assistance status recording unit 133 (step S109). Next, the driving assistance adjustment unit 134 determines whether the latest execution rate of FCW exceeds the upper reference (first predetermined reference) based on the driving assistance status recorded in the driving assistance status recording unit 133 (step S110).

[0088] Here, when the latest execution rate of FCW exceeds the upper benchmark (first predetermined benchmark) ("Yes" in step S110), the driving assistance adjustment unit 134 makes an adjustment to increase (UP) the execution degree of FCW (step S111). Specifically, the adjustment is made to advance the execution time of FCW executed by the driving assistance execution unit 132 or to strengthen the execution intensity. The adjustment can be made to advance the execution time of FCW and strengthen the execution intensity.

[0089] By adjusting the degree of execution of FCW by the driving assistance execution unit 132 in this manner, the driving assistance adjustment unit 134 can increase the degree of driving assistance for a driver who frequently receives notifications and / or interventions of driving assistance, thereby more actively assisting the driver's driving.

[0090] On the other hand, when the latest execution rate of FCW does not exceed the upper reference (first predetermined reference) (No in step S110 ), the driving assistance adjustment unit 134 determines whether the execution degree of FCW exceeds the default reference (initial reference) (step S112 ).

[0091] Here, when the execution degree of the FCW exceeds the default reference (initial reference) ("Yes" in step S112), the driving assistance adjustment unit 134 makes an adjustment to reduce (DOWN) the execution degree of the FCW (step S113). Specifically, the driving assistance adjustment unit 134 makes an adjustment to postpone the execution time of the FCW executed by the driving assistance execution unit 132 or to reduce the execution intensity. It is also possible to make an adjustment to postpone the execution time of the FCW and reduce the execution intensity.

[0092] By adjusting the degree of execution of FCW by the driving assistance execution unit 132 in this manner, the driving assistance adjustment unit 134 can weaken the degree of driving assistance for a driver who rarely receives notification and / or intervention of driving assistance, thereby respecting the driver's autonomous driving.

[0093] On the other hand, when the execution degree of FCW does not exceed the default reference (No in step S112), the driving assistance adjustment unit 134 determines whether the lifetime execution count of FCW is equal to or less than a lower reference (a second predetermined reference) (step S114).

[0094] Here, when the total (lifetime) execution count of the FCW is equal to or less than the lower reference ("Yes" in step S114), the driving assistance adjustment unit 134 makes an adjustment to reduce (DOWN) the execution degree of the FCW (step S115). Specifically, the execution time of the FCW executed by the driving assistance execution unit 132 is postponed, or an adjustment is made to reduce the execution intensity. It is also possible to make an adjustment to advance the execution time of the FCW and reduce the execution intensity.

[0095] By adjusting the degree of execution of FCW by the driving assistance execution unit 132 in this manner, the driving assistance adjustment unit 134 can weaken the degree of driving assistance for a driver who rarely receives notification and / or intervention of driving assistance, thereby respecting the driver's autonomous driving.

[0096] The following table () shows the Figure 4 The flowchart in the figure shows an example of setting the execution degree of FCW.

[0097] [Table 1]

[0098] Example of setting the execution level of FCW

[0099]

[0100] Here, it is shown that the execution level of FCW is set to four levels, namely, "low", "default", "medium" and "high", when the execution level of FCW is switched to "low", the condition is that the execution level of FCW does not exceed the lower benchmark (the second predetermined benchmark), when the execution level of FCW is switched to "medium", the condition is that the execution level of FCW exceeds the upper benchmark 1 (the first predetermined benchmark), and when the execution level of FCW is switched to "high", the condition is that the execution level of FCW exceeds the upper benchmark 2 (the second predetermined benchmark).

[0101] When the execution degree of FCW is switched to "default", the condition is that the execution degree of FCW is equal to or less than the lower reference (second predetermined reference) and exceeds the upper reference (first predetermined reference).

[0102] In addition, when the execution level of FCW is "low", the execution time (starting distance) of the notification is standard, and the execution strength is set to be weaker than "default". In addition, when the execution level of FCW is "default", both the execution time and the execution strength of the notification are set to standard. When the execution level of FCW is "medium", the execution time of the notification is set to be earlier than "default", and the execution strength is set to be stronger than "default". When the execution level of FCW is "high", the execution time of the notification is set to be earlier than the execution time of the notification in the case of "medium", and the execution strength is set to be stronger than the execution strength in the case of "medium".

[0103] In the analysis of the driver's characteristics, when the total (lifetime) number of executions (or execution rate) of FCW and the latest number of executions (or execution rate) of FCW are both low, the execution degree of the above FCW shifts, and when these executions (rates) exceed a threshold, the execution degree of FCW increases, and when these executions (rates) are below a threshold, the execution degree decreases. In addition, as for the execution degree of FCW, the degree is not limited, and notifications (warnings) can be freely set for each degree.

[0104] (Location Recording and Analysis)

[0105] Figure 5 It is shown Figure 3 The following is a flowchart of the detailed processing flow of "Location Recording and Analysis" in Figure 5 The flowchart in Figure 1The operation of the control unit 13 (driving assistance adjustment unit 134) shown in FIG.

[0106] according to Figure 5 , the control unit 13 (driving assistance adjustment unit 134) first determines whether the driving assistance execution unit 132 is executing FCW (step S201). Here, when FCW is executed ("Yes" in step S201), the driving assistance execution unit 132 determines the place where FCW is executed and the entry direction (route) of the vehicle as the FCW execution state every time driving assistance is executed (step S202). The place and the entry direction (route) of the vehicle are determined based on the position information measured by the GPS / map 16 and the map (map coordinates).

[0107] Subsequently, the driving assistance adjustment unit 134 determines whether the FCW is executed during the day or at night as the FCW execution state (step S203). Here, since the image quality (camera image) of the information acquired by the surrounding sensing unit 12 varies according to day / night not only depending on the location, it is easy to output a notification (warning) or difficult to output a notification (alarm), and therefore, by acquiring environmental information such as day / night and weather when the FCW is executed for each location, it is possible to appropriately analyze the intervention of the notification and / or driving assistance according to the specification, which is advantageous.

[0108] Here, when the environmental information around the vehicle is acquired by the surrounding sensing unit 12 including the camera, for example, the dynamic range adjustment function of the camera (recognizing the brightness and adjusting the shutter time or gain value) is used, a threshold value for determining whether the adjustment value is daytime or nighttime is set, and daytime or nighttime can be determined based on whether the adjustment value is large or small. In order to calibrate the determination result, the clock information in the GPS reception information acquired from the GPS / map 16 can be referred to.

[0109] Subsequently, the driving assistance adjustment unit 134 associates the FCW execution status with the execution location, and further associates the FCW execution status with the vehicle route representing the path to enter the location and the vehicle's surrounding environment (such as day / night, sunny / rainy weather conditions), and records each execution number (each execution rate) in the driving assistance status recording unit 133 (step S204).

[0110] Subsequently, the driving assistance adjustment unit 134 determines whether the driver's operation after executing FCW has taken an evasive action (step S205). Here, the evasive action of FCW indicates, for example, the driver's operation behavior to avoid collision with the obstacle ahead, and is generally considered to be: stopping the vehicle's deceleration by braking or turning off the accelerator before the collision occurs; steering wheel operation to avoid intersection between the obstacle and the vehicle's route; changing the route due to vehicle tipping in the case of a two-wheeled vehicle; rapid acceleration to avoid intersection between the obstacle and the vehicle's route, etc.

[0111] Therefore, the inertial sensor (IMU sensor) of the detection unit 11 is used to detect the vehicle behavior caused by the vehicle operation performed by the driver when taking the evasive action. As described above, the inertial sensor can measure the driving condition and posture of the vehicle using a three-axis acceleration sensor and a three-axis angular velocity sensor (gyro sensor) (detecting translational motion in three axes according to acceleration [m / s2] and detecting rotational motion according to angular velocity [deg / s]).

[0112] Figure 6 The detailed flow of the "avoidance action determination" process performed in step S205 is shown. Figure 6 The driving assistance adjustment unit 134 first determines whether the driver performs a deceleration operation (step S2051). The deceleration operation can be determined by comparing the accelerator closing operation amount with a preset threshold value, or by comparing the brake lever holding amount with a preset threshold value.

[0113] Here, when it is determined that the accelerator closing operation amount is equal to or greater than a predetermined value (threshold) or the brake lever operation amount exceeds the threshold ("Yes" in step S2051), the driving assistance adjustment unit 134 recognizes the "avoidance action" performed by the driver (step S2055).

[0114] On the other hand, when it is determined that the accelerator closing operation amount does not exceed the threshold value or the brake lever holding amount does not exceed the threshold value ("No" in step S2051), the driving assistance adjustment unit 134 further determines whether the vehicle has a deceleration behavior (step S2052). The deceleration behavior of the vehicle can be determined by checking whether the deceleration amount of the vehicle exceeds the threshold value or whether the deceleration acceleration (IMU_G) in the Z direction of the inertial sensor of the detection unit 11 exceeds the threshold value. The deceleration acceleration can be the change amount of the pitch.

[0115] Here, when the deceleration amount of the vehicle exceeds the threshold value or the IMU_G exceeds the threshold value ("Yes" in step S2052), the driving assistance adjustment unit 134 determines that "there is an avoidance action" (step S2055). On the other hand, when the deceleration amount of the vehicle does not exceed the threshold value or the IMU_G does not exceed the threshold value ("No" in step S2052), the driving assistance adjustment unit 134 further determines whether the roll change amount (IMU_Roll change amount) in the X direction of the inertial sensor of the detection unit 11 exceeds the threshold value or the yaw change amount (IMU_Yaw change amount) in the Y direction of the inertial sensor exceeds the threshold value (step S2053).

[0116] Here, when the roll change amount in the X direction of the inertial sensor (IMU_roll change amount) exceeds the threshold value or the yaw change amount in the Y direction of the inertial sensor (IMU_yaw change amount) exceeds the threshold value ("Yes" in step S2053), the driving assistance adjustment unit 134 determines that "there is an avoidance action" (step S2055). On the other hand, when the roll change amount in the X direction of the inertial sensor (IMU_roll change amount) does not exceed the threshold value or the yaw change amount in the Y direction (IMU_yaw change amount) does not exceed the threshold value ("No" in step S2053), the driving assistance adjustment unit 134 determines that the driver "does not take an avoidance action" (step S2054).

[0117] When the vehicle behavior is determined to be caused by the avoidance action (braking operation or accelerator operation) performed by the driver, the driving assistance adjustment unit 134 needs to collect the vehicle behavior in advance, such as IMU_acceleration G in the Z direction, IMU_roll change in the X direction and IMU_yaw change in the Y direction as IMU output parameters, and set the optimal threshold through testing, simulation, etc.

[0118] Description Back to Figure 5 Flowchart in . Figure 5 In the process, when it is determined that "there is an avoidance action" ("Yes" in step S206) after determining whether there is an avoidance action (step S205), the driving assistance adjustment unit 134 updates (+1) the number of avoidance actions for each location, route, and day or night counted and recorded in step S204 (step S207).

[0119] Incidentally, the driving assistance reliability estimation unit 135 calculates reliability (FCW execution reliability) every time the driving assistance execution unit 132 executes FCW or at predetermined intervals (step S208). Here, the reliability is the FCW execution success rate or failure rate calculated by dividing the number of avoidance actions caused by the driver's operation by the number of executions of FCW after the driving assistance execution unit 132 issues a notification (warning) via the notification unit 14. The FCW execution success rate or failure rate is calculated for each location, route, and day / night.

[0120] When “no avoidance action” is determined in step S206 (“No” in step S206 ), the driving assistance adjustment unit 134 causes the driving assistance reliability estimation unit 135 to calculate the reliability (FCW execution reliability) without updating the number of avoidance actions (step S208 ).

[0121] Subsequently, the driving assistance adjustment unit 134 determines whether the reliability (FCW execution reliability) calculated by the driving assistance reliability estimation unit 135 exceeds the upper reference (first predetermined reference) (step S209). Here, when it is determined that the reliability (FCW execution reliability) exceeds the upper reference (first predetermined reference), the driving assistance adjustment unit 134 performs an adjustment to increase (UP) the execution degree of the FCW (step S210). Specifically, an adjustment is performed to advance the execution time of the FCW executed by the driving assistance execution unit 132 or to strengthen the execution intensity. An adjustment may also be performed to advance the execution time of the FCW and strengthen the execution intensity.

[0122] Therefore, it is possible to more actively assist the driver's driving in an environment such as a place, a route, a daytime, or a sunny day where the reliability (FCW execution reliability) is high.

[0123] On the other hand, when it is determined that the reliability (FCW execution reliability) calculated by the driving assistance reliability estimation unit 135 does not exceed the upper benchmark (first predetermined benchmark) ("No" in step S209), the driving assistance adjustment unit 134 further determines whether the execution degree of FCW exceeds the default benchmark (initial benchmark) (step S211).

[0124] Here, when it is determined that the execution degree of the FCW exceeds the default reference (initial reference) ("Yes" in step S211), the driving assistance adjustment unit 134 performs adjustment to reduce (DOWN) the execution degree of the FCW (step S212). Specifically, the driving assistance adjustment unit 134 performs adjustment to postpone the execution time of the FCW executed by the driving assistance execution unit 132 or reduce the execution intensity. It is also possible to perform adjustment to postpone the execution time of the FCW and reduce the execution intensity.

[0125] Therefore, for drivers who receive less notification and / or intervention, driving assistance is reduced so that the driver's autonomous driving can be respected.

[0126] On the other hand, when it is determined that the execution degree of FCW does not exceed the default benchmark ("No" in step S211), the driving assistance adjustment unit 134 further determines whether the reliability (execution reliability of FCW) is equal to or lower than the lower benchmark (second predetermined benchmark) (step S213).

[0127] Here, when the reliability (FCW execution reliability) is determined to be equal to or less than the lower reference (second predetermined reference) ("Yes" in step S213), the driving assistance adjustment unit 134 makes an adjustment to reduce (DOWN) the degree of execution of the FCW (step S214). Specifically, the driving assistance adjustment unit 134 makes an adjustment to postpone the execution time of the FCW executed by the driving assistance execution unit 132 or to reduce the execution intensity. It is also possible to make an adjustment to advance the execution time of the FCW and reduce the execution intensity.

[0128] Therefore, for drivers who receive less notification and / or intervention, driving assistance is reduced so that the driver's autonomous driving can be respected.

[0129] (Comprehensive determination of the degree of execution of driving assistance)

[0130] In the vehicle control system according to the present embodiment, when the execution degree of driving assistance is finally determined, the execution degree of driving assistance is determined based on the two analysis results of the driver characteristics and the characteristics of the driving assistance determination unit 131. In addition, by pre-determining the analysis result as the main axis of determination and setting the "base value" (here, the emphasis is placed on the driver characteristics), and setting the remaining analysis results as "adjustment values" (here, the characteristics of the driving assistance execution unit), it is possible to achieve the execution degree of driving assistance that follows the emphasized analysis result.

[0131] The following shows “Example of adjustment of execution degree of FCW”.

[0132] [Table 2]

[0133] Example of FCW execution level adjustment

[0134]

[0135] According to , regarding the execution degree of FCW, when the execution degree of FCW is finally determined (as the "determination value") with the "basic value" as the driver characteristic and the "adjustment value" as the characteristic of the driving assistance determination unit 131, when the analysis result of the execution status based on the driver's characteristics ("basic value") indicates that the execution time of the driving assistance is advanced and / or the execution intensity of the driving assistance execution unit 132 is strengthened (the "medium" setting level), and the analysis result of the execution status based on the characteristics of the driving assistance determination unit 131 ("adjustment value") indicates that the execution time is postponed and / or the execution intensity is weakened (the "low" setting level), the table finally indicates that both the execution time and the execution intensity remain unchanged (the "determination value" is the "default" adjustment level).

[0136] In this way, when the driving assistance adjustment unit 134 adjusts the execution degree of the driving assistance performed by the driving assistance execution unit 132 based on the two analysis results of the driver characteristics and the characteristics of the driving assistance determination unit 131 (for example, the sensor of the detection unit 11), by pre-determining the analysis result as the main axis of determination and setting the "basic value" (here, the focus is on the driver characteristics), and setting the remaining analysis results as the "adjustment value" (here, the characteristics of the driving assistance determination unit 131), the execution degree of the driving assistance that follows the emphasized analysis results can be achieved.

[0137] In the case where the degree of execution of FCW is finally determined (as the "determination value") with the "base value" as the driver characteristic and the "adjustment value" as the characteristic of the driving assistance determination unit 131, as shown in as the "range allowed for adjustment", the adjustment of the characteristic of the driving assistance determination unit 131 is limited to the range of ±1 (first range) of the base value (main axis), and therefore it is possible to achieve analysis results that comply with the driver characteristics that should be respected.

[0138] Figure 7 It is shown Figure 3 , and the process follows the "Example of Adjusting the FCW Execution Degree" shown in the above . Figure 7 The flowchart in Figure 1 The operation of the control unit 13 (driving assistance adjustment unit 134) shown in FIG.

[0139] exist Figure 7 In the process, the driving assistance adjustment unit 134 first performs the recording and analysis process of the driver's characteristics (step S301). Figure 3 Step S10 in the flowchart and Figure 4In summary, in step S301, the driving assistance adjustment unit 134 records the number of executions of the driving assistance performed by the driving assistance execution unit 132 (the number of lifetime executions and / or the latest executions) in the driving assistance state recording unit 133 as the driver characteristic, compares the recorded number of executions of the driving assistance with the upper benchmark (the first predetermined benchmark), the lower benchmark (the second predetermined benchmark) or the default benchmark (the initial benchmark), and analyzes the degree of driving assistance based on the result.

[0140] Subsequently, from the perspective of focusing on the driver's characteristics, the driving assistance adjustment unit 134 sets the analysis result of the driver's characteristics (the execution degree of FCW) as a “base value” (step S302 ).

[0141] Next, the driving assistance adjustment unit 134 performs the process of "recording and analyzing the location" (step S303). Figure 3 Step S20 in the flowchart and Figure 5 In summary, in step S303, the driving assistance adjustment unit 134 records the number of executions of the driving assistance performed by the driving assistance execution unit 132 in association with the location (position information) at the time of execution, etc., and compares the number of executions of the driving assistance with the upper benchmark (first predetermined benchmark), the lower benchmark (second predetermined benchmark) or the default benchmark (initial benchmark) based on information related to the recorded location, etc. (which may include the route and the surrounding environment), and analyzes the degree of driving assistance based on the result.

[0142] Next, the driving assistance adjustment unit 134 sets the analysis result of the point as an “adjustment value” for adjusting the preset “basic value” (step S304 ).

[0143] Subsequently, when the "base value" does not exceed the "adjustment value" ("Yes" in step S305), the driving assistance adjustment unit 134 further determines whether the "base value" exceeds the "adjustment value" (step S306). Here, when the "base value" exceeds the "adjustment value" ("Yes" in step S306), the driving assistance adjustment unit 134 sets the previous "base value" as the execution degree of the adjusted FCW (step S308), and when the "base value" does not exceed the "adjustment value" ("No" in step S306), the driving assistance adjustment unit 34 reduces the execution degree of the previous FCW by one level ("base value-1") and sets the degree as the execution degree of the adjusted new FCW (step S307).

[0144] When the "base value" exceeds the "adjustment value" in step S305 ("No" in step S305), the driving assistance adjustment unit 134 increases the execution degree of the previous FCW by one level ("base value+1") and sets the degree as the adjusted new FCW execution degree (step S309).

[0145] As described above, as shown in the "Example of Adjusting the FCW Execution Degree" in the above , when the FCW execution degree is finally determined (as the "determination value"), even when the difference (level difference) between the ranges of the "base value" and the "adjustment value" is two levels, the adjustment of the characteristics by the driving assistance determination unit 131 is limited to the range of "base value (main axis) ±1" (first range), as shown in the "range allowed for adjustment". Thus, it is possible to achieve an analysis result that follows the driver's characteristics that should be respected. Here, in order to respect the analysis result set as the "base value" and utilize the analysis result in driving control, the adjustment of the FCW execution degree is limited to the range of "base value ±1".

[0146] The functions of the control unit 13 described above can be realized by a program for causing a computer to function and for causing the computer to function as the function blocks 130 to 135. In this case, the control unit 13 includes a computer including at least one control device (e.g., a processor) and at least one storage device (e.g., a RAM) as hardware for executing the program described above. By executing the program described above by the control device and the storage device, control of each function block described in this embodiment can be realized.

[0147] The above program may be recorded on one or more computer-readable recording media, not temporarily. The recording medium may or may not be provided in the control unit 13. In the latter case, the above program may be provided to the above control unit 13 via any wired or wireless transmission medium.

[0148] At least a portion of the functions of each of the above-mentioned control blocks can also be implemented by a logic circuit. For example, an integrated circuit in which a logic circuit used as each of the above-mentioned functional blocks is formed is also included in the scope of the present invention. In addition, the functions of each functional block can also be implemented by, for example, a quantum computer. In addition, each of the processes described in this embodiment can be performed by artificial intelligence (AI). In this case, AI can be operated on the control unit 13 of this embodiment, or can be operated on another device (e.g., a cloud server, etc.).

[0149] (Effects of Embodiment)

[0150] As described above, according to the vehicle control system of this embodiment, for example, Figure 3As shown in the flowchart, the control unit 13 (driving assistance adjustment unit 134) records and analyzes the execution state of the driving assistance performed by the driving assistance execution unit 132 (step S10), and adjusts the driving assistance degree based on the analysis result of the execution state (step S30).

[0151] Therefore, it is possible to more accurately notify a driver who receives a large number of notifications. In other words, it is possible to assist safe driving by adjusting the driver who receives a large number of warnings and has a strong tendency to drive dangerously to strengthen (advance) warnings and prompt driving that does not trigger warnings, and on the other hand, it is possible to respect the driver's autonomous driving by adjusting the driver who has a strong tendency to drive safely, and it is possible to eliminate the discomfort caused by unnecessary warnings. Similarly, for a driver who receives a large number of notifications, it is possible to intervene in driving control more accurately.

[0152] According to the vehicle control system of this embodiment, for example, Figure 4 As shown in the flowchart, the driving assistance adjustment unit 134 records the lifetime execution rate calculated based on the total (lifetime) execution times of the driving assistance executed by the driving assistance execution unit 132 and / or the latest execution rate calculated based on the latest execution times (steps S101 to S105), and adjusts the driving assistance degree by analyzing the recorded lifetime execution rate and / or the latest execution rate (steps S106 to S111). By adjusting the driving assistance degree based on the execution rate calculated in this way, it is possible to more accurately notify a driver who receives a large number of notifications, and similarly, for a driver who receives a large number of notifications, it is possible to more accurately intervene in driving control. The same effect can be obtained by recording and analyzing the execution times instead of the execution rate as the execution state of the driving assistance of the driving assistance execution unit 132.

[0153] In addition, according to the vehicle control system of the present embodiment, for example, Figure 4 As shown in the flowchart, when the execution rate of the driving assistance executed by the driving assistance execution unit 132 exceeds the first predetermined benchmark (upper benchmark) ("Yes" in step S110), the execution time is advanced and / or the execution intensity is adjusted (step S111). Therefore, by advancing the execution time (starting distance (time)) of the driving assistance execution unit and / or strengthening the execution intensity (warning intensity) for the driver who receives a large number of driving assistance executions, it is possible to more actively assist the driving of the driver who frequently receives notifications and / or the intervention of the driving control, and contribute to safe driving.

[0154] According to the vehicle control system of this embodiment, for example, Figure 4As shown in the flowchart, when the execution rate of the driving assistance performed by the driving assistance execution unit 132 does not exceed the first predetermined benchmark (upper benchmark) ("No" in step S110), the driving assistance adjustment unit 134 determines whether the execution time and / or execution intensity exceeds the initial benchmark (step S112), and when it exceeds the initial benchmark ("Yes" in step S112), the driving assistance adjustment unit 34 controls to postpone the execution time and / or weaken the execution intensity (step S113). Therefore, for the driver who receives less notification and / or intervention of driving control, the driver's autonomous driving can be respected, and the discomfort caused by unnecessary warnings can be eliminated.

[0155] According to the vehicle control system of this embodiment, for example, Figure 4 As shown in the flowchart, the driving assistance adjustment unit 134: records the total (lifetime) execution rate and the latest execution rate as the execution state of the driving assistance executed by the driving assistance execution unit 132 (steps S101 to S109); when the first predetermined benchmark (upper benchmark) and the second predetermined benchmark (lower benchmark) are used and the latest execution rate of FCW exceeds the first predetermined benchmark ("Yes" in step S110), an adjustment is made to increase the execution degree of FCW (step S111); and when the total (lifetime) execution rate is less than the second benchmark ("Yes" in step S114), an adjustment is made to reduce the execution degree of FCW (step S115). Therefore, the driving of a driver who frequently receives notifications and / or interventions of driving control can be more actively assisted, and for a driver who receives fewer notifications and / or interventions of driving control, the driver's autonomous driving can be respected by weakening the driving assistance.

[0156] In addition, according to the vehicle control system of the present embodiment, for example, Figure 4As shown in the flowchart, the driving assistance adjustment unit 134: records the total (lifetime) execution rate and the latest execution rate as the execution status of the driving assistance executed by the driving assistance execution unit 132 (steps S101 to S109); when the first predetermined benchmark (upper benchmark), the initial benchmark (default benchmark) and the second predetermined benchmark (lower benchmark) are used and the latest execution rate of FCW exceeds the first predetermined benchmark (upper benchmark) ("Yes" in step S110), control is performed to increase the execution degree of FCW (step S111); when the latest execution rate of FCW does not exceed the first predetermined benchmark (upper benchmark) ("No" in step S110) and exceeds the initial benchmark (default benchmark) ("Yes" in step S112), the execution degree of FCW is reduced (step S113); and when the total (lifetime) execution rate drops below the second predetermined benchmark (lower benchmark) ("Yes" in step S114), control is performed to reduce the execution degree of FCW (step S115). Therefore, the driving of a driver who frequently receives notifications and / or interventions in travel control can be more actively assisted, and for a driver who receives fewer notifications and / or interventions in travel control, the driver's autonomous driving can be respected by weakening the driving assistance.

[0157] According to the vehicle control system of the present embodiment, the driving assistance adjustment unit 134 does not determine whether the execution rate exceeds the first predetermined benchmark until the driving distance or driving time of the vehicle or the execution rate of the driving assistance performed by the driving assistance execution unit 132 exceeds the threshold value (for example, "vehicle driving distance ≥ lifetime execution rate calculation distance"). As described above, when the driving assistance adjustment unit 134 determines whether the driving assistance execution unit 132 has issued notifications and / or interventions in driving control multiple times, the accuracy of the adjustment can be further improved by recording the number of executions and execution rates of driving assistance. Therefore, the driving of a driver who frequently receives notifications and / or interventions in driving control can be more actively assisted, and for a driver who receives fewer notifications and / or interventions in driving control, the driver's autonomous driving can be respected by weakening the driving assistance.

[0158] According to the vehicle control system of this embodiment, for example, Figure 5 As shown in the flowchart of , the driving assistance adjustment unit 134 records the execution state of the driving assistance performed by the driving assistance execution unit 132 in association with the location at the time of execution (steps S201 to S204), and analyzes the execution state of each location (steps S209 to S214). In this way, by specifying the location at the time of analysis, the intervention of the notification and / or the travel control can be appropriately analyzed. In addition to the location, the path (route) to the location and the environmental information of the day / night are recorded in association with the execution state of the driving assistance, and the intervention of the notification and / or the travel control can be appropriately analyzed by specifying the environmental information.

[0159] According to the vehicle control system of this embodiment, for example, Figure 5 As shown in the flowchart of , the driving assistance adjustment unit 134 records the number of executions at each location together with the execution reliability calculated by the driving assistance reliability estimation unit 135 (the execution success rate or failure rate of driving assistance obtained by dividing the number of avoidance actions after notification by the number of executions of driving assistance) as the execution state of driving assistance executed by the driving assistance execution unit (step S208), and when the execution reliability of each location exceeds the first predetermined benchmark ("Yes" in step S209), an adjustment is made to advance the execution time and / or increase the execution intensity (step S210). Therefore, the driver's driving can be more actively assisted at locations with high execution reliability.

[0160] According to the vehicle control system of this embodiment, for example, Figure 5 and Figure 6 As shown in the flowchart of FIG. 1 , the driving assistance adjustment unit 134 adjusts the driving assistance adjustment unit 134 based on the presence or absence of the driver's operation and / or the presence or absence of the vehicle behavior ( Figure 6 The execution times and reliability of each location are recorded as the execution status ( Figure 5 ), and when the execution reliability of the execution times of each location exceeds the first predetermined benchmark (upper benchmark) ( Figure 5 In step S209, if "Yes", the execution time is advanced and / or the execution intensity is strengthened ( Figure 5 Therefore, it is possible to more actively assist the driver's driving at a location with high reliability.

[0161] According to the vehicle control system of this embodiment, for example, Figure 5 As shown in the flowchart of , when the execution reliability of the number of executions of the driving assistance executed by the driving assistance execution unit 132 does not exceed the first predetermined benchmark (upper benchmark) ("No" in step S209), the driving assistance adjustment unit 134 further determines whether the execution time and / or execution intensity exceeds the initial benchmark (default benchmark) (step S211). In addition, when the execution time and / or execution intensity does not exceed the initial benchmark (lower benchmark) ("No" in step S211), the execution time is postponed and / or the execution intensity is weakened (step S212).

[0162] In other words, less driving assistance is provided to drivers who receive less notification and / or intervention of assisted driving (perform less evasive action after a warning is issued). This can reduce discomfort to the driver and respect the driver's autonomous driving. By using sensors installed on the vehicle to detect the driver's braking operation, accelerator operation, steering wheel operation, etc. after the warning is issued, it can be determined whether there is an evasive action.

[0163] According to the vehicle control system of this embodiment, for example, Figure 5 As shown in the flowchart, when the reliability of the number of executions of driving assistance calculated by the driving assistance reliability estimation unit 135 does not exceed the initial benchmark (default benchmark) ("No" in step S211), and the reliability of the number of executions at each location is the second predetermined benchmark (lower benchmark) ("Yes" in step S213), the driving assistance adjustment unit 134 makes adjustments to postpone the execution time and / or weaken the execution intensity (step S214). In other words, less driving assistance is provided to drivers who rarely receive notifications and / or assisted driving interventions (perform fewer evasive actions after issuing warnings). In this way, it is possible to reduce the discomfort caused to the driver and respect the driver's autonomous driving.

[0164] According to the vehicle control system of this embodiment, for example, Figure 7 As shown in the flowchart of , by analyzing the driver's characteristics using all execution states recorded in the driving assistance state recording unit 133 (step S301), and analyzing the characteristics of the driving assistance determination unit 131 based on the driving conditions recorded in association with the location (step S303), the characteristics of the driving assistance determination unit 131 can be considered in the driver's characteristics and adjusted (steps S305 to S309). Therefore, safer and more comfortable driving assistance can be provided.

[0165] According to the vehicle control system of the present embodiment, for example, as shown in the "Example of Adjusting the Execution Degree of FCW" of , when the execution degree of FCW is finally determined (as the "determination value") with the "base value" as the individual characteristic and the "adjustment value" as the characteristic of the execution degree of the driving assistance determination unit 131 relative to the FCW, when the analysis result of the execution state based on the driver's characteristics ("base value") indicates that the execution time of the driving assistance is advanced and / or the execution intensity of the driving assistance execution unit 132 is strengthened (the "medium" setting level), and the analysis result of the execution state based on the characteristics of the driving assistance determination unit 131 ("adjustment value") indicates that the execution time is postponed and / or the execution intensity is weakened (the "low" setting level), the "determination value" is finally the "default" adjustment level, and both the execution time and the execution intensity remain unchanged.

[0166] As described above, when the degree of execution of driving assistance is adjusted based on the two analysis results of the driver characteristics and the characteristics of the driving assistance determination unit 131, by pre-determining the analysis result as the main axis of determination and setting the "base value" (here, the focus is on the driver characteristics), and setting the remaining analysis results as the "adjustment value" (here, the characteristics of the driving assistance determination unit 131), the degree of execution of driving assistance can be achieved in accordance with the analysis results that should be emphasized.

[0167] According to the vehicle control system of the present embodiment, for example, as shown in the "Example of adjusting the degree of execution of FCW" of , relative to the degree of execution of FCW, when the "base value" is used as the driver characteristic and the "adjustment value" is used as the characteristic of the driving assistance determination unit 131, the degree of execution of FCW is finally determined (as the "determination value"), even when the difference (level difference) between the range of the "base value" and the "adjustment value" is two levels, as shown in the "range allowed for adjustment" in , the adjustment of the characteristic by the driving assistance determination unit 131 is limited to the range of "basic value ±1" (first range), and therefore, it is possible to achieve an analysis result that follows the driver characteristics that should be respected.

[0168] As described above, according to the vehicle control system of this embodiment, it is possible to strengthen (in advance) the warning to the driver who is driving dangerously, and to prompt the driver to drive without triggering a warning. In other words, the ADAS warning to the driver can be executed according to the characteristics of the driver (e.g., habits, personality, attention, age, instinctive reaction, etc.). In addition, the accuracy of the warning can also be improved.

[0169] (Revise)

[0170] According to the vehicle control system of the present embodiment, the control unit 13 (driving assistance adjustment unit 134) has been described as adjusting the degree of driving assistance (adjusting the execution time of driving assistance and / or the execution intensity of driving assistance) based on the analysis result of the execution state of driving assistance recorded in the driving assistance state recording unit 133, but instead of the analysis, machine learning using the correlation between the data items recorded in the driving assistance state recording unit 133 can be used. In this case, for example, when it is learned that ADAS works at the same location, the execution time of the notification can be advanced and / or the execution intensity can be strengthened, and when the avoidance action after the notification is not detected, it is determined that the notification is a useless warning, and the execution time of the notification can be postponed and / or the execution intensity can be weakened. In addition, in the case where ADAS works, by accumulating the type and location (location information) in the cloud, a service that takes over the learning information can be provided in the case of replacing the vehicle.

[0171] By using a cloud server, it is possible to reduce the burden on resources installed in the vehicle, such as a processor and RAM, and it is possible to analyze the driving assistance execution state and adjust the execution degree of driving assistance with high accuracy.

[0172] According to the vehicle control system of this embodiment, the control unit 13 (driving assistance adjustment unit 134) has been described as recording and analyzing the number of executions of driving assistance as the execution status of driving assistance, but instead of the number of executions, the execution rate calculated based on the number of executions (total number of executions / number of calculation segments, number of calculation segments = vehicle driving distance / one segment distance (for example, 100 km)) can be recorded and analyzed.

[0173] According to the vehicle control system of this embodiment, the driving condition of the driving assistance execution unit 132 is recorded in association with the place at the time of execution, but the execution status of each driver can be analyzed by recording the execution status of each driver in association with the driver information. Providing a mechanism to guarantee an individual (the same person) is useful for taking over services when changing vehicles, etc.

[0174] In the vehicle control system according to the present embodiment, as an example, the control unit 13 (driving assistance execution unit 132) is described as executing FCW in the ADAS function, but the present invention is not limited to FCW, and the execution times of each of the advanced emergency braking system (AEBS), adaptive cruise control (ACC), lane departure warning (LDW), blind spot detection (BSD), adaptive front lighting system (AFS), traffic sign recognition (TSR), etc. can also be similarly recorded and analyzed, so that the driving assistance can be adjusted.

[0175] The present invention is not limited to the above-described exemplary embodiments, and a person skilled in the art can easily change the above-described exemplary embodiments to the scope included in the claims.

Claims

1. A vehicle control system, comprising: A detection unit configured to detect a driver's operation of the vehicle; A surrounding sensing unit configured to sense surrounding conditions of the vehicle; as well as A control unit, the control unit comprising a driving control unit, a driving assistance determination unit and a driving assistance execution unit, wherein the driving control unit controls the driving of the vehicle in response to the operation on the vehicle, the driving assistance determination unit determines the necessity of driving assistance for the driver according to the surrounding conditions of the vehicle, and the driving assistance execution unit executes the driving assistance according to the determination result of the driving assistance determination unit, wherein The control unit includes a driving assistance adjustment unit that records and analyzes an execution state of the driving assistance execution unit and adjusts a degree of the driving assistance based on an analysis result of the execution state.

2. The vehicle control system according to claim 1, wherein: The adjustment of the degree of the driving assistance performed by the driving assistance adjustment unit is an adjustment of the execution timing of the driving assistance and / or the execution intensity of the driving assistance.

3. The vehicle control system according to claim 1, wherein: The driving assistance performed by the driving assistance execution unit is notification and / or intervention of driving control performed by the driving control unit according to a determination result of the driving assistance determination unit.

4. The vehicle control system according to claim 1, wherein: The driving assistance adjustment unit records at least the following as the execution status: a lifetime execution rate obtained by dividing the lifetime execution number of the driving assistance executed by the driving assistance execution unit by a calculation distance unit; and / or a latest execution rate obtained by dividing the latest execution number by a calculation distance unit.

5. The vehicle control system according to claim 4, wherein: The driving assistance adjustment unit recording an execution rate of the driving assistance executed by the driving assistance execution unit as the execution state, and When the execution rate of the driving assistance exceeds a first predetermined reference, the execution timing of the driving assistance execution unit is advanced and / or the execution intensity of the driving assistance execution unit is enhanced.

6. The vehicle control system according to claim 5, wherein: When the execution rate does not exceed the first predetermined benchmark, The driving assistance adjustment unit determining whether the execution time and / or execution intensity of the driving assistance execution unit exceeds an initial reference, and When the execution time and / or the execution intensity is equal to or less than the initial benchmark, the execution time is postponed and / or the execution intensity is weakened.

7. The vehicle control system according to claim 1, wherein: The driving assistance adjustment unit recording the lifetime execution rate and / or the latest execution rate of the driving assistance as the execution state of the driving assistance execution unit, When the latest execution rate exceeds a first predetermined benchmark, advancing the execution time of the driving assistance and / or strengthening the execution intensity of the driving assistance, and When the lifetime execution rate drops below a second predetermined benchmark, the execution time is postponed and / or the execution intensity is weakened.

8. The vehicle control system according to claim 1, wherein: The driving assistance adjustment unit At least the following are recorded as the execution status: a lifetime execution rate obtained by dividing the lifetime execution number of the driving assistance executed by the driving assistance execution unit by a calculation distance unit; and / or a latest execution rate obtained by dividing the latest execution number by a calculation distance unit, When the latest execution rate exceeds a first predetermined benchmark, the execution time of the driving assistance execution unit is advanced and / or the execution intensity of the driving assistance execution unit is strengthened, When the latest execution rate does not exceed the first predetermined benchmark, determining whether the execution time and / or the execution intensity exceeds an initial benchmark, When the execution time and / or the execution intensity exceeds the initial benchmark, the execution time is postponed and / or the execution intensity is weakened, When the execution time and / or the execution intensity does not exceed the initial benchmark, determining whether the lifetime execution rate drops below a second predetermined benchmark, and When the lifetime execution rate drops below the second predetermined benchmark, the execution intensity is weakened.

9. The vehicle control system according to claim 5, wherein: The driving assistance adjustment unit does not determine whether the execution count exceeds the first predetermined reference until the travel distance or travel time of the vehicle or the execution count of the driving assistance execution unit exceeds a threshold value.

10. The vehicle control system according to claim 1, wherein: The driving assistance adjustment unit records the execution status of the driving assistance execution unit in association with a location when the driving assistance execution unit is executed, and analyzes the execution status for each location when the driving assistance execution unit is executed.

11. The vehicle control system according to claim 10, wherein: The driving assistance adjustment unit further records the execution state of the driving assistance execution unit in association with the route of the vehicle when the driving assistance execution unit is executed, and analyzes the execution state of the driving assistance execution unit for each route.

12. The vehicle control system according to claim 10 or 11, wherein: The driving assistance adjustment unit further records the execution state of the driving assistance execution unit in association with the surrounding environment of the vehicle when the driving assistance execution unit is executed, and analyzes the execution state of the driving assistance execution unit for each environment.

13. The vehicle control system according to claim 10, further comprising: a driving assistance reliability estimation unit configured to estimate the reliability of the determination result of the driving assistance determination unit for each location, wherein: The driving assistance adjustment unit records the execution times and reliability of the driving assistance execution unit at each location as the execution status of the driving assistance execution unit; and when the reliability of the execution times at each location exceeds a first predetermined benchmark, the execution time of the driving assistance execution unit is advanced and / or the execution intensity of the driving assistance execution unit is strengthened.

14. The vehicle control system according to claim 10, further comprising: a driving assistance reliability estimation unit configured to estimate the reliability of the determination result of the driving assistance determination unit for each location based on the presence or absence of the driver's operation and / or the presence or absence of the vehicle's behavior after the driving assistance execution unit executes, wherein: The driving assistance adjustment unit recording the number of executions of the driving assistance execution unit for each location together with the reliability as the execution status of the driving assistance execution unit, and When the reliability of the execution times at each location exceeds a first predetermined reference, the execution timing of the driving assistance execution unit is advanced and / or the execution intensity of the driving assistance execution unit is enhanced.

15. The vehicle control system according to claim 13 or 14, wherein: The driving assistance adjustment unit When the reliability of the execution times of the driving assistance execution unit does not exceed the first predetermined reference, determining whether the execution time and / or the execution intensity exceeds an initial reference, and When the execution time and / or the execution intensity exceeds the initial benchmark, the execution time is postponed and / or the execution intensity is weakened.

16. The vehicle control system according to claim 13 or 14, wherein: The driving assistance adjustment unit When the reliability of the number of executions does not exceed an initial reference, determining whether the reliability of the number of executions at each location is equal to or less than a second predetermined reference, and When the reliability of the execution times is equal to or less than the second predetermined benchmark, the execution time is postponed and / or the execution intensity is weakened.

17. The vehicle control system according to claim 1, wherein: The driving assistance adjustment unit recording all the execution states of the driving assistance execution unit without associating the execution states with the locations at which the driving assistance execution unit is executed, and analyzing the driver characteristics as the execution states of the driving assistance execution unit, and The execution state of the driving assistance executing unit is recorded in association with a location when the driving assistance executing unit is executed, and a feature of the driving assistance determining unit as the execution state of the driving assistance executing unit is analyzed for each location.

18. The vehicle control system according to claim 17, wherein: When the analysis result of the execution state based on the driver's characteristics indicates to advance the execution time of the driving assistance execution unit and / or strengthen the execution strength of the driving assistance execution unit, and the analysis result of the execution state based on the characteristics of the driving assistance determination unit indicates to postpone the execution time and / or weaken the execution strength, The driving assistance adjustment unit finally maintains both the execution timing and the execution intensity.

19. The vehicle control system according to claim 17, wherein: The driving assistance adjustment unit When the analysis result of the execution state based on the driver's characteristics indicates to advance the execution time and / or strengthen the execution intensity, and the analysis result of the execution state based on the characteristics of the driving assistance determination unit indicates to maintain the execution time and / or maintain the execution intensity, finally the execution time is advanced and / or the execution intensity is strengthened within a first range, and When the analysis result of the execution status based on the driver's characteristics indicates to advance the execution time and / or strengthen the execution intensity, and the analysis result of the execution status based on the characteristics of the driving assistance determination unit indicates to advance the execution time and / or strengthen the execution intensity, the execution time is ultimately advanced and / or the execution intensity is strengthened to the same extent as the first range.

20. The vehicle control system according to claim 17, wherein: The driving assistance adjustment unit When the analysis result of the execution state based on the driver's characteristics indicates postponing the execution time and / or weakening the execution intensity, and the analysis result of the execution state based on the characteristics of the driving assistance determination unit indicates maintaining the execution time and / or maintaining the execution intensity, finally postponing the first execution time and / or weakening the execution intensity within a first range, and When the analysis result of the execution status based on the driver's characteristics indicates postponing the execution time and / or weakening the execution intensity, and the analysis result of the execution status based on the characteristics of the driving assistance determination unit indicates postponing the execution time and / or weakening the execution intensity, the execution time is ultimately postponed and / or the execution intensity is weakened to the same extent as the first range.

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