VEHICLE CONTROL

Abstract

Vehicle control system comprising: -a device operation deactivation module (12) that deactivates operation of devices operated inside a vehicle (1) equipped with the vehicle controller when the vehicle (1) is traveling at least at a predetermined speed; - an external information detection module (2) which detects information about the external environment of the vehicle (1); -a risk detection module (9) that calculates or determines a risk for the vehicle (1) on the basis of the external information determined by the external information determination module (2); - a driving operation assistance module (11) that provides assistance for a driving operation of the vehicle (1) directly, by a notification, for example in the form of a warning, or by both, on the basis of either a risk calculation result or a risk determination result for the vehicle (1) provided by the risk detection module (9) on the basis of the external information; and -a device operation activation module (13) which activates an operation of the devices deactivated by the device operation deactivation module (12) when the driving process assistance module (11) performs an assistance during a driving process of the vehicle (1), wherein the risk detection module (9) predicts whether the risk for the vehicle (1) calculated or determined on the basis of the external information increases before the elapse of a predetermined time; and wherein the device operation activation module (13) activates an operation of the devices that have been deactivated by the device operation deactivation module (12) when the driving operation assistance module (11) performs assistance in a driving operation of the vehicle (1) on the basis of the external information and when the risk detection module (9) has not predicted that the risk for the vehicle (1) will increase before the elapse of the predetermined time, and wherein the risk detection module (9) determines the predetermined time based on any one of information on a state of the vehicle (1), information on a state of the driver, and a combination of these information, in addition to the external information determined by the external information determination module (2).

Description

BACKGROUND 1. Technical field

[0001] The present invention relates to a vehicle control system for improving safety during vehicle travel. 2. Relevant state of the art

[0002] Today, motor vehicles often incorporate functions that are directed toward processes other than driving. For example, various in-vehicle devices, such as a vehicle navigation system and an audio device, are installed near the driver's seat. To operate the in-vehicle devices while driving, the driver shifts their line of sight from the direction of travel of the vehicle to the relevant device.

[0003] Therefore, to ensure safety while the vehicle is moving, technology is used that makes it impossible to perform any input operation on the navigation system and the like while the vehicle is moving. However, if it is completely impossible to perform any input operation on the vehicle navigation system and the like, the driver cannot change the destination or route while driving, thus resulting in a loss of comfort.

[0004] For this reason, technology has been developed that allows a driver to perform input operations on devices mounted on a vehicle while driving while still ensuring safety during driving. For example, Japanese Unexamined Patent Application Publication JP H8-184449 A discloses a technique that disables operation of the display of a car navigation device by the driver while the vehicle is moving. Specifically, a detector that determines whether the vehicle is moving or not, and a detection sensor that detects operation by the driver and operation by a passenger are provided. When the vehicle is not moving, operation of the display is enabled, whereas when the vehicle is moving, operation by the driver is disabled.is not possible and operation by the passenger is possible.

[0005] By enabling operation by a person other than the driver, even while the vehicle is moving, as described above, limitations in comfort can be reduced while ensuring safety. However, if, for example, there is no passenger present, it remains impossible to perform any input operation on the vehicle navigation system or the like while the vehicle is moving.

[0006] Furthermore, since it is necessary to determine whether the operator is the driver or another passenger, a complex mechanism is required. Furthermore, if the detector incorrectly identifies the operator, safety cannot be guaranteed.

[0007] US 2005 / 0 038 573 A1 relates to vehicle safety and the management of vehicle infotainment systems. Specifically, US 2005 / 0 038 573 A1 relates to a vehicle information and task manager that reduces the likelihood of vehicle accidents due to distractions caused by the driver's operation of communication / multimedia devices while driving.

[0008] In addition, reference is also made to US 2011 / 0 224 897 A1, JP H10 - 221 094 A, US 2004 / 0 209 594 A1 and US 2013 / 0 274 997 A1. BRIEF DESCRIPTION OF THE INVENTION

[0009] The present invention has been made in view of the above-described circumstances, and the object of the present invention is to provide a vehicle control system capable of providing both safety and convenience of use of equipment mounted in a vehicle.

[0010] The object underlying the invention is achieved by a vehicle control system having the features of independent patent claim 1. Advantageous developments of the vehicle control system according to the invention are specified in dependent claims 2 to 4. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The drawings show: Fig. 1 is a general schematic diagram of a vehicle equipped with a vehicle control system according to an embodiment of the present invention; Fig. 2 a block diagram explaining the input and output of control signals in the vehicle control system; Fig. 3 a diagram explaining a risk assessment process; Fig. 4 is a diagram explaining an assistance command process; Fig. 5 is a diagram for explaining a driving assistance control process; Fig. 6 is a diagram for explaining a device actuation-deactivation control process; Fig. 7 is a diagram for explaining a device operation activation control process; and Fig. 8 is a diagram for explaining a device operating process. DETAILED DESCRIPTION

[0012] A preferred embodiment of the present invention will be described in detail below with reference to the drawings. Fig. 1 illustrates a vehicle 1 equipped with a vehicle controller according to an embodiment. The vehicle 1 includes an image pickup device 2 that acquires information from outside the vehicle 1; a vehicle state detection device 3 that detects, for example, a driving state of the vehicle 1; a controller 4 that controls the vehicle 1 based on a risk to the vehicle 1; a vehicle navigation system 5 provided at the driver's seat of the vehicle 1; and a warning device 6 that issues a warning in the form of a display, sound, vibration, or the like to the driver at the driver's seat.

[0013] The image pickup device 2 serving as an external information acquiring module according to the present invention includes two front cameras provided at the front of the vehicle 1 and acquires image data by capturing images of the external environment of the vehicle 1 at predetermined time intervals (e.g., every 4 milliseconds).

[0014] In the present embodiment, the image pickup device 2 is arranged inside the vehicle 1 near the front windshield of the vehicle 1 and picks up images in the forward direction of the vehicle 1, but the invention is not limited to this, and a camera that picks up images in the lateral direction or in the rearward direction of the vehicle 1 may also be provided.

[0015] The vehicle state detection device 3 detects the traveling speed of the vehicle 1, the torque acting on the vehicle 1 and the steering angle of the vehicle 1 and acquires vehicle speed data corresponding to the detected traveling speed, torque data corresponding to the detected torque and steering angle data corresponding to the detected steering angle.

[0016] The controller 4 is a CPU or ECU, for example. As in Fig. 2, the controller 4 includes a driving assistance controller 7 that provides driving assistance to the vehicle 1 based on information acquired by the image pickup device 2 and the vehicle state detection device 3, and a control device 8 for equipment mounted in the vehicle 1 that controls the equipment mounted in the vehicle 1.

[0017] The driving assistance controller 7 is activated with the switching on of an ignition device of the engine of the vehicle 1 or an engine control starter which acts as a power source and which is, for example, an ignition switch (not shown) which forms the switch of the starter device of an electric motor, or it is activated at a time which is predetermined on the basis of a signal due to such activation, the driving assistance controller 7 carrying out driving assistance for the vehicle 1 at all times at which the switch is in an activated state.

[0018] The driving assistance controller 7 includes a risk detection module 9 that detects and determines a risk for the vehicle 1, an assistance command module 10 that instructs the execution of a driving operation of the vehicle 1 based on the risk for the vehicle 1 determined by the risk detection module 9, and a driving operation assistance module 11 that controls a warning and assistance regarding the driving operation of the vehicle 1 depending on the command from the assistance command module 10.

[0019] The risk detection module 9 calculates and determines the risk to the vehicle 1 based on external information obtained by analyzing the image data acquired by the image pickup device 2. In the present embodiment, the risk detection module 9 determines the presence or absence of objects, including preceding vehicles, pedestrians, and obstacles, present in the traveling direction of the vehicle 1, the distance from the vehicle 1 to the object, the traveling direction of the vehicle 1 with respect to the lane, and the like based on the image data acquired by the image pickup device 2.

[0020] Furthermore, the risk detection module 9 calculates and determines the risk posed to the vehicle 1 based on the torque data and steering angle data obtained by the vehicle state detection device 3. In the present embodiment, the risk detection module 9 also determines a type of torque acting on the vehicle 1, such as yaw, pitch, or roll, and the magnitude of the torque based on the torque data obtained by the vehicle state detection device 3, and also determines the steering angle of the vehicle 1 based on the steering angle data, the magnitude of the torque, or a combination thereof.

[0021] The risk detection module 9 performs a comprehensive analysis and determination of the risk for the vehicle 1 using the various types of information obtained based on the image data, moment data and steering angle data.

[0022] For example, the risk detection module 9 calculates the relative position between the vehicle 1 and the object, such as a preceding vehicle, a pedestrian, and an obstacle, based on the image data, moment data, steering angle data, elapsed time, etc., or a combination thereof, and makes a determination as to whether the risk has increased or not.

[0023] When judging that there is no object in the traveling direction of vehicle 1 or the distance from vehicle 1 to the object in the traveling direction of vehicle 1 is large, based on the moment data and steering angle data, etc., it is determined that the risk has not increased. On the other hand, when judging that there is an obstacle within a close distance from vehicle 1 in the traveling direction of vehicle 1, it is determined that the risk has increased.

[0024] Furthermore, the risk detection module 9 predicts and determines whether the risk to the vehicle 1 will increase in the future (after a predetermined time has elapsed). Specifically, the risk detection module 9 predicts the time based on the image data, the moment data, the steering angle data, the driver's state data such as the driver's posture and driving time, and driving history data such as the amount or number of operations of the steering wheel, accelerator pedal, and brake pedal up to a predetermined time, for example, 10 seconds in advance.

[0025] The risk detection module 9 can specify this prediction time using all of the image data, moment data, steering angle data, driver condition data, and driving history data, or can specify the prediction time based on any combination of these data. The risk detection module 9 makes a prediction and determines whether the detected risk will increase before the specified prediction time has elapsed from the current time.

[0026] The risk detection module 9 can determine the risk for the vehicle 1 only on the basis of the image data acquired by the image recording device 2, or it can determine the risk for the vehicle 1 only on the basis of the momentary data and / or the steering data acquired by the vehicle state detection device 3.

[0027] Furthermore, the risk detection module 9 can determine the risk for the vehicle 1 based on the vehicle speed data detected by the vehicle state detection device 3 in addition to the image data, moment data and the like.

[0028] Furthermore, the risk detection module 9 can determine the risk to the vehicle 1 based on the integrated value of each risk value. Specifically, the risk detection module 9 can determine and integrate a risk value derived from the image data, a risk value derived from the moment data, a risk value derived from the steering angle data, etc., and use the integrated value of these risk values to determine the risk to the vehicle 1.

[0029] For example, if it is determined that there is no preceding vehicle, pedestrian, or obstacle in the direction of travel of vehicle 1, the risk value decreases. If it is determined that a preceding vehicle is traveling in the direction of travel of vehicle 1, the risk value increases as the distance from vehicle 1 to the preceding vehicle decreases. Furthermore, the risk value decreases the lower the torque acting on vehicle 1, and the closer the steering angle is to the straight-ahead direction of vehicle 1, the lower the risk value also decreases.

[0030] For example, even if the distance from vehicle 1 to the preceding vehicle is not short, the integrated value of the individual risk values will be high if the moment acting on vehicle 1 is strong. The individual risk values may also be affected by other risks, such as the risk of injury to an occupant based on the seating position and posture of the occupant.

[0031] Here, even when calculating the individual risk values, the risk detection module 9 may determine whether or not each individual risk value is equal to or less than a predetermined value, instead of determining the risk to the vehicle 1 based on the integrated value of the individual risks. Alternatively, the risk to the vehicle 1 may also be determined using the maximum value of the individual risk values instead of the integrated value of the individual risks.

[0032] Furthermore, the risk detection module 9 can create a risk map that displays the distribution of the risk potential of the vehicle 1 on the basis of the image data acquired by the image recording device 2, and calculate and determine the risk for the vehicle 1 on the basis of the created risk map.

[0033] In this case, for example, multiple risk potential distributions based on the road type and obstacle type, etc., located in the vicinity of vehicle 1 are generated based on the image data, and a risk map is created by merging these risk potentials. According to the created risk map, the risk is then determined based on whether the distribution of risk potentials has increased relatively and whether vehicle 1 is close to the risk potential.

[0034] Furthermore, the risk detection module 9 can determine a risk distribution based on a characteristic amount of the image data acquired by the image recording device 2 and determine the risk for the vehicle 1 based on this risk distribution.

[0035] For example, the risk determined from the characteristic value of the image data is higher if an object detected in the vicinity of vehicle 1 from the image data is a vehicle and not road infrastructure, and the risk is even higher if the object is not a vehicle but a pedestrian. A risk distribution representing the risk level is illustrated by contour lines. The risk detection module 9 accesses the risk distribution and determines the risk for vehicle 1 based on the condition of vehicle 1, etc.

[0036] Furthermore, the risk detection module 9 can determine the risk for the vehicle 1 by assessing the driver's internal state. In this case, the risk detection module 9 generates a model parameter, for example, by learning from the image data acquired by the image recording device 2 and the driving process data for the driver.

[0037] This model parameter is used to determine a relationship between the driving environment risk level and an operating characteristic value with respect to the driver, as well as to estimate the driver's current internal state. The estimated driver internal state and the driving environment risk are compared to determine the risk for Vehicle 1.

[0038] In this way, the risk detection module 9 of the driver assistance control 7 performs a calculation based on the detected environment of the vehicle 1 in order to convert the risk into a parameter by calculation and to estimate the risk potential as well as to create a risk map and thereby determine the risk for the vehicle 1.

[0039] The assistance command module 10 makes a decision as to whether or not to perform assistance for the driver's driving operation based on the risk to the vehicle 1 determined by the risk detection module 9, and instructs the driving operation assistance module 11 to perform assistance for the driving operation. For example, the assistance command module 10 makes the decision to perform assistance for the driving operation in cases where the risk to the vehicle 1, as determined by the risk detection module 9, is equal to or greater than a predetermined level, as well as in cases where the risk to the vehicle 1 tends to increase.

[0040] In the present embodiment, driving assistance is performed by the driving assistance module 11 only when the assistance command module 10 has made a decision to perform driving assistance, but it is also possible to make the decision as to whether or not the driving assistance module 11 should perform driving assistance based on the risk determined by the risk detection module 9 without involving an instruction from the assistance command module 10, and it is also possible to cause the driving assistance module 11 to provide driving assistance at all times.

[0041] In response to a command from the assistance command module 10, the driving operation assistance unit 11 analyzes the various types of data input from the image pickup device 2 and the vehicle state detection device 3 via the assistance command module 10 and controls the assistance of the driving operation of the vehicle 1 and warnings regarding the driving operation.

[0042] In other words, the driving assistance module 11 adjusts the driving amount, braking amount, and steering amount of the vehicle 1 depending on the external conditions of the vehicle 1, the driving speed of the vehicle 1, and the like, and provides assistance to enhance the driving safety of the vehicle 1 and make the driving process more comfortable for the driver. Furthermore, a warning to prompt the driver to brake the vehicle 1 or the like is issued depending on the external conditions of the vehicle 1.

[0043] The driving operation assistance of the vehicle 1 performed by the driving operation assistance module 11 is controlled based on the risk to the vehicle 1. In the present embodiment, the driving operation assistance module 11 performs a control operation for adjusting the driving amount, the braking amount, and the steering torque of the vehicle 1, thereby avoiding or reducing the risk to the vehicle 1 detected by the risk detection module 9.

[0044] The method for controlling the driving assistance is not limited to the method described above. For example, the driving assistance module 11 may calculate collision conditions of the vehicle 1 with an obstacle or the like, and further, the driving assistance module 11 may adjust the driving amount and / or the braking amount, as well as the steering amount of the vehicle 1, to avoid a collision of the vehicle 1 with the obstacle or the like and reduce collision damage.

[0045] In this case, for example, the relative position of vehicle 1 and the obstacle or the like is calculated based on the image data. The collision conditions with an obstacle or the like when vehicle 1 is traveling at the current vehicle speed and steering angle are calculated, and the risks related to the collision position, the physical constitution, and the posture of the occupants, etc., are calculated and summed.

[0046] If the calculated collision conditions indicate that a collision can be avoided, a warning is issued to the user through a notification module, such as warning device 6, and driving assistance is also controlled to avoid a collision. The notification module may use a visual indication or a mechanical movement, such as vibration. If a collision of the vehicle 1 with an obstacle or the like is unavoidable, driving assistance is also controlled to minimize the cumulative risks to the occupants.

[0047] Furthermore, the driving process assistance module 11 can create a risk map indicating the distribution of the risk potential of the vehicle 1 based on the image data acquired by the image acquisition device 2, and can create a target travel route for the vehicle 1 based on the created risk map. In this case, for example, a plurality of risk potential distributions based on the road type and obstacle type, etc., in the surroundings of the vehicle 1 are generated based on image data, and a risk map is created by synthesizing these risk potentials.

[0048] A target route that avoids a region with a high risk potential distribution is created based on the generated risk map, and the driving assistance process is rationally controlled depending on the target route.

[0049] Furthermore, the driving process assistance module 11 can control the driving process assistance based on the risk to the vehicle 1 determined by the risk detection module 9 and through risk minimization trajectory planning. In this case, the risk detection module 9 detects the risk to the vehicle 1 based on the characteristic magnitude of the image data determined by the image recording device 2.

[0050] This risk is higher, for example, if an object detected from the image data in the vicinity of vehicle 1 is a vehicle and not road infrastructure, whereby the risk is even higher if the object is a pedestrian and not a vehicle.

[0051] The driving process assistance module 11 represents the distribution ratios of the detected risk in the form of contours, and the trajectory or path of movement to be driven by the vehicle 1 is planned such that the vehicle 1 avoids places where the contours are high and drives to places where the risk is lowest.

[0052] A controller is then implemented to adjust the drive amount, the braking amount, and the steering amount of the vehicle 1 in such a manner that the position of the vehicle 1 agrees with the planned trajectory.

[0053] In this way, the driving operation assistance module 11 implements control for assisting the driving operation by adjusting the driving amount and / or the braking amount, the steering amount and the like of the vehicle 1 and / or by issuing warnings depending on the external conditions of the vehicle 1 and the state of the vehicle 1.

[0054] In the present embodiment, the risk detection module 9, the assistance command module 10, and the driving operation assistance module 11 constitute the driving assistance controller 7 of the controller 4. However, the invention is not limited to this, and these modules may also be provided as separate control devices. In this case, data is directly input to the assistance command module 10 and the driving operation assistance module 11 from the image capture device 2 and the vehicle state detection device 3, and the assistance command module 10 and the driving operation assistance module 11 each determine the risk to the vehicle 1 and control the driving operation assistance.

[0055] The vehicle-mounted equipment control device 8 includes an operation deactivation controller 12 that performs a control operation for deactivating the operation of the vehicle navigation system 5, and an operation activation controller 13 that performs a control operation for activating the operation of the vehicle navigation system 5 that has been deactivated by the operation deactivation controller 12.

[0056] The operation disabling controller 12, which is the device operation disabling module of the present invention, performs a control operation for disabling an operation of the car navigation system 5 when the speed of the vehicle 1 is equal to or greater than a predetermined value.

[0057] In other words, if the vehicle 1 is traveling at the predetermined speed, for example, 10 km / h, or a higher speed, and an operation of the vehicle navigation system 5 is performed, no function of the vehicle navigation system 5 corresponding to this operation occurs. Control can also be implemented such that actual operation of the vehicle navigation system 5 is deactivated or impossible while the vehicle is traveling.

[0058] When predetermined conditions exist, the operation activation controller 13, which is the device operation activation module of the present invention, executes a control operation for activating the operation of the car navigation system 5 that has been deactivated by the operation deactivation controller 12.

[0059] In other words, even when the vehicle 1 is traveling at the predetermined speed or higher, operation of the vehicle navigation system 5 is enabled or activated if predetermined conditions exist.

[0060] The specific details will be described below, but the operation activation controller 13 performs a control operation such that the driving operation assistance module 11 performs assistance of the driving operation of the vehicle 1, and when the risk to the vehicle 1 is within a predetermined range, the driving operation assistance module 11 performs a control operation for enabling operation of the vehicle navigation system 5.

[0061] The vehicle-mounted equipment control device 8 and the driving operation assistance module 11 both implement a control process based on the risk to the vehicle 1 as determined by the risk detection module 9, wherein the risk to the vehicle 1 used by the vehicle-mounted equipment control device 8 and the risk used by the driving operation assistance module 11 may be the same or different from each other.

[0062] For example, the vehicle-mounted equipment control device 8 may perform a control operation by predicting the risk that may occur during an occupant's operation of the vehicle-mounted equipment, and the driving operation assistance module 11 may perform a control operation by determining the actual risk to be avoided for the vehicle 1.

[0063] To illustrate a concrete example, when the distance between the vehicle 1 and the object is 100 m, the operation activation controller 13 of the vehicle-mounted equipment control device 8 may judge that the risk to the vehicle 1 is equal to or less than the predetermined level and execute a control operation for enabling operation of the vehicle-mounted equipment, while the driving operation assist module 11 may judge that the risk is to be avoided, and the driving operation assist module 11 may execute a control operation for adjusting the driving amount or the steering amount of the vehicle 1.

[0064] Further, when the vehicle 1 is reversing and there is no obstacle in the direction of reversing, the operation-deactivation controller 12 of the vehicle-mounted equipment control device 8 may consider the risk equal to or higher than the predetermined level and execute a control operation for deactivating operation of the vehicle-mounted equipment, while the assistance command module 10 may determine that there is no risk to be avoided and thus issue no command for controlling assistance of the driving operation.

[0065] The vehicle navigation system 5 is a vehicle-mounted device located near the driver's seat of the vehicle 1 and having a touchscreen display 51. The touchscreen display 51 has a function for displaying map information and the like, as well as a function for receiving operations performed by the driver. The driver can retrieve map information, recognize a route, etc., by operating the touchscreen display 51.

[0066] The warning device 6 is a loudspeaker provided on the driver's seat of the vehicle 1 and emits a warning sound or a voice message into the vehicle cabin. The warning device 6 can be combined with the vehicle navigation system 5. In particular, the vehicle navigation system 5 can be configured to emit a warning sound or a voice message and provide a warning display. For example, a notification sound that informs pedestrians and the like outside the vehicle about the approaching vehicle 1 can also be emitted to the outside instead of inside the vehicle cabin.

[0067] Fig. 2 shows a block diagram for explaining the formation of a vehicle control area of the vehicle 1. As in Fig. As shown in Figure 2, the image pickup device 2 and the vehicle condition detection device 3 are connected to the input side of the risk detection module 9 of the driver assistance controller 7. Thus, the image data acquired by the image pickup device 2 and the vehicle speed data, torque data, steering angle data, and the like acquired by the vehicle condition detection device 3 are input to the risk detection module 9.

[0068] On the other hand, the assistance command module 10 and the vehicle-mounted equipment controller 8 are connected to the output side of the risk detection module 9 of the assistance command module 10. The driving operation assistance module 11 is connected to the output side of the assistance command module 10, and further connected to the output side of the driving operation assistance module 11 are the vehicle-mounted equipment controller 8, the warning device 6, a driving output command module 14 that executes a control operation for adjusting the driving amount for the driving operation of the vehicle 1, a braking command module 15 that executes a control operation for adjusting the braking device of the vehicle 1, and a steering command module 16 that adjusts the steering amount of the steering wheel of the vehicle 1.

[0069] Thus, risk determination data and vehicle speed data, etc., from the risk detection module 9 and assistance data from the driving operation assistance module 11 are input to the vehicle-mounted equipment control device 8. Furthermore, respective control signals are output from the driving operation assistance module 11 to the warning device 6, the driving output command module 14, the braking command module 15, and the steering command module 16, respectively.

[0070] The vehicle navigation system 5 is connected to the output side of the actuation / deactivation controller 12 and the actuation / activation controller 13 of the vehicle-mounted equipment control device 8. Thus, signals such as a deactivation signal or an activation signal can be output from the vehicle-mounted equipment control device 8 to the vehicle navigation system 5.

[0071] In the present embodiment, the vehicle-mounted equipment control device 8 is capable of outputting signals to the car navigation system 5, but the invention is not limited thereto, and the vehicle-mounted equipment control device 8 may also be capable of outputting signals to other vehicle-mounted equipment, such as an audio device or the air conditioning module, for purposes other than a drive operation for a vehicle running operation.

[0072] Furthermore, the image data acquired by the image pickup device 2, the vehicle speed data acquired by the vehicle state detection device 3, and the like can be directly output to the control device 8 for the equipment mounted in the vehicle without passing through the risk detection module 9.

[0073] The travel output command module 14 outputs a signal instructing acceleration or deceleration of the vehicle 1 to a drive control device (not shown) that controls the driving power source of the vehicle 1. The drive control device is capable of increasing or decreasing the driving amount of the vehicle 1, independently of the operation of the accelerator pedal, in response to a command from the travel output command module 14.

[0074] The brake command module 15 outputs a signal instructing application of the brakes to a brake control device (not shown), which implements a control for actuating the braking device of the vehicle 1 in response to a braking operation performed by the driver. The brake control device is capable of controlling the actuation of the braking device of the vehicle 1 and adjusting the magnitude of the braking operation, regardless of whether or not a braking operation is present, in accordance with a command from the brake command module 15.

[0075] The steering command module 16 outputs a signal instructing a steering amount of a steering device to a steering control device (not shown), which executes control for operating the steering device of the vehicle 1 in accordance with a driver's operation of the steering wheel. The steering control device is capable of changing the steering amount of the steering device of the vehicle 1 independently of the steering wheel operation in accordance with a command from the steering command module 16.

[0076] Next, a risk determination process for calculating and determining the risk for the vehicle 1, which is executed by the risk detection module 9, will be described with reference to Fig. 3. The Fig. The process flow illustrated in Figure 3 is executed at predetermined intervals (e.g., every 4 milliseconds).

[0077] First, in a step S1, the image data acquired by the image recording device 2 as well as the vehicle speed data, the moment data and the steering angle data acquired by the vehicle state detection device 3 are input into the risk detection module 9.

[0078] In a step S2, the risk detection module 9 calculates and determines the risk for the vehicle 1 based on the image data, vehicle speed data, moment data and steering angle data input in the step S1.

[0079] In this processing as described above, the risk detection module 9 determines the presence or absence of obstacles or the like in the traveling direction of the vehicle 1, and calculates the relative positions of the vehicle 1 and objects such as a preceding vehicle, a pedestrian, an obstacle, and the like based on the distance from the vehicle 1 to the obstacle, the moment and steering angle of the vehicle 1, the elapsed time, etc., or a combination thereof, and the risk detection module 9 determines whether or not the risk is equal to or higher than a predetermined level and whether or not the risk has increased.

[0080] In a step S3, the risk detection module 9 predicts and determines whether the risk to the vehicle 1 determined in step S2 increases or not after the elapse of a predetermined period of time. This predetermined period of time is determined by the risk detection module 9 based on any of the image data, the vehicle speed data, the moment data, the steering angle data, the driver condition data, and the driving history data, or a combination of these data.

[0081] The driver condition data is data indicating the driver's posture, continuous driving time, etc. Furthermore, the driving history data is data indicating the amount of operation of the steering wheel, accelerator pedal, and brake pedal from a predetermined period before to the current time.

[0082] The predetermined time period used by the risk detection module 9 in risk prediction is not limited to this, and may be set at any time in advance, or may be determined based on the characteristics of the vehicle 1 and the driver, etc. In this case, the characteristics of the vehicle 1 are the model and weight of the vehicle 1, etc., and the characteristics of the driver are the age and physical condition of the driver, etc.

[0083] In a step S4, the risk detection module 9 specifies the determination results in step S2 as risk determination data and outputs the risk determination data to the assistance command module 10

[0084] In a step S5, the risk detection module 9 outputs the prediction result in step S3 as prediction data and outputs this prediction data to the control device 8 for the equipment mounted in the vehicle.

[0085] In step S6, the risk detection module 9 outputs the vehicle speed data input in step S1 to the vehicle-mounted equipment control device 8. When the processing in this step is completed, the risk determination process ends.

[0086] Next, the assistance command process executed by the assistance command module 10 for instructing the driving operation assistance module 11 to implement assistance for a driving operation will be explained with reference to Fig. 4. The Fig. The process flow illustrated in Figure 4 is executed at predetermined intervals (e.g., every 4 milliseconds).

[0087] First, in a step S11, the risk determination data indicating the determination result of the risk for the vehicle 1 generated by the risk detection module 9 is input from the risk detection module 9 to the assistance command module 10.

[0088] In step S12, the assistance command module 10 determines whether or not to perform driving assistance. Specifically, the assistance command module 10 analyzes the risk determination data input in step S11, and in cases where the risk to the vehicle 1 is equal to or higher than a predetermined level, or where the risk to the vehicle 1 has increased, a determination is made to perform driving assistance.

[0089] In contrast, if the risk for vehicle 1 is at or below the predetermined level and there is no tendency for the risk to increase, a determination is made not to perform assistance for the driving process. The prediction data can be input to the assistance command module 10, which can access the prediction result for vehicle 1 and make the decision whether or not to perform assistance for the driving process.

[0090] Furthermore, even if the risk to the vehicle 1 tends to increase, the assistance command module 10 may decide not to perform assistance for the driving operation, provided the increase in risk is small. In step S13, the assistance command module 10 proceeds to step S14 if the determination is made in step S12 to perform assistance for the driving operation, while it terminates the assistance command process if the determination is made not to perform assistance for the driving operation.

[0091] In step S14, the assistance command module 10 outputs an assistance command signal for instructing the execution of assistance for the driving operation to the driving operation assistance module 11.

[0092] In a step S15, the assistance command module 10 outputs the risk determination data input by the risk detection module 9 to the driving process assistance module 11, whereupon the assistance command process is terminated.

[0093] With reference to Fig. 5, a description of the driving process assistance control process for executing an assistance for the driving process of the vehicle 1 and for issuing warnings, as carried out by the driving process assistance module 11, is given. Fig. The process flow illustrated in Figure 5 is executed at predetermined intervals (e.g., every 4 milliseconds).

[0094] First, in step S21, the driving operation assistance module 11 determines whether or not an assistance command signal has been input from the assistance command module 10. If an assistance command signal has been input, the driving operation assistance module 11 proceeds to step S22, and in step S22, risk determination data from the assistance command module 10 is input to the driving operation assistance module 11. Conversely, if no assistance command signal has been input, the driving operation assistance module 11 terminates the driving operation assistance control process.

[0095] In step S23, the driving operation assistance module 11 determines which type of assistance should be performed for the driving operation based on the risk determination data input in step S22. The driving operation assistance module 11 can determine the environment detected based on the external conditions of the vehicle 1 and the state of the vehicle 1 by analyzing the risk determination data.

[0096] The driving operation assistance module 11 makes the decision to perform assistance to reduce the vehicle speed by adjusting the driving amount of the vehicle 1 in cases where the vehicle speed is, for example, higher than a predetermined speed. Furthermore, when the torque acting on the vehicle 1 is greater or when it is anticipated that the vehicle 1 will deviate from the lane in which it is traveling, the driving operation assistance module 11 makes the decision to perform assistance to change the steering amount of the steering device.

[0097] Furthermore, if a pedestrian is present in front of the vehicle 1, the driving assistance module 11 decides to activate the braking device and also provides assistance by warning the driver. In other words, the driving assistance module 11 decides to provide assistance to make the driving of the vehicle 1 more comfortable and safer, depending on the risk posed to the vehicle 1.

[0098] The driving process assistance module 11 can receive the image data, moment data and steering angle data directly from the image recording device 2 or the vehicle state detection device 3 and make a determination as to what type of assistance is to be carried out for the driving process.

[0099] In a step S24, the driving operation assistance module 11 outputs control signals based on the driving operation assistance method determined in step S23 to the warning device 6, the driving output command module 14, the braking command module 15, and the steering command module 16. The warning device 6, which has received a control signal when a warning has been issued, outputs a warning tone and a voice message to the interior of the passenger compartment.

[0100] Furthermore, the drive output command module 14 outputs a command signal to the drive control device in accordance with the input control signal. Furthermore, the brake command module 15 outputs a command signal to the brake control device in accordance with the input control signal. Furthermore, the steering command module 16 outputs a command signal to the steering control device in accordance with the input control signal.

[0101] In step S25, the driving operation assistance module 11 outputs a driving operation assistance execution signal indicating the execution of driving operation assistance to the vehicle-mounted equipment control device 8. Thus, the vehicle-mounted equipment control device 8 can recognize that assistance is being performed for the driving operation of the vehicle 1. When the flow of the present step is completed, the driving operation assistance control process ends.

[0102] Next, a device operation deactivation control process for deactivating an operation of the vehicle-mounted equipment, which is executed by the operation deactivation controller 12 of the vehicle-mounted equipment control device 8, will be described with reference to Fig. 6. The Fig. The process flow illustrated in Figure 6 is executed at predetermined intervals (e.g., every 4 milliseconds).

[0103] First, in a step S31, vehicle speed data is input from the risk detection module 9 to the actuation-deactivation controller 12. The vehicle speed data may also be input directly from the vehicle state detection device 3 to the actuation-deactivation controller 12.

[0104] In step S32, the operation-deactivation controller 12 determines whether the speed of the vehicle 1 is less than a predetermined value. Specifically, the operation-deactivation controller 12 analyzes the vehicle speed data input in step S31 and determines whether the vehicle 1 is stationary or traveling at a speed less than a predetermined value, for example, 10 km / h. If the speed of the vehicle 1 is less than 10 km / h, the flow proceeds to step S34, and if the vehicle speed is equal to or greater than 10 km / h, the flow proceeds to step S33.

[0105] In step S33, the operation-disabling controller 12 starts or continues to output an operation-disabling signal to the vehicle navigation system 5. When the operation-disabling controller 12 starts outputting an operation-disabling signal to the vehicle navigation system 5, as well as in cases where the operation-disabling signal is already being output, the operation-disabling signal continues to be output. When the processing in this step is completed, the device operation-disabling control process ends.

[0106] In step S34, the operation disabling controller 12 stops outputting the operation disabling signal to the vehicle navigation system 5. As a result, the operation disabling signal is no longer output from the operation disabling controller 12 to the vehicle navigation system 5. When the processing in this step is completed, the device operation disabling control process ends.

[0107] Next, a device operation activation control process executed by the operation activation controller 13 of the vehicle-mounted equipment control device 8 for enabling operation of the vehicle-mounted equipment that has been deactivated will be described with reference to Fig. 7. The Fig. The process flow illustrated in Figure 7 is executed at predetermined intervals (e.g., every 4 milliseconds).

[0108] First, in step S41, the prediction data from the risk detection module 9 is input to the operation activation controller 13. Thus, the operation activation controller 13 obtains data regarding the result of the prediction by the risk detection module 9 regarding whether or not the risk for the vehicle 1 is increasing before a predetermined period of time elapses in step S3.

[0109] In step S42, the operation activation controller 13 determines whether or not the driving operation assistance module 11 is executing a control operation for assisting the driving operation of the vehicle 1. Specifically, the operation activation controller 13 confirms whether or not the implementation signal for executing driving operation assistance has been input from the driving operation assistance module 11, and if the implementation signal for executing driving operation assistance has been input, the operation activation controller 13 determines that the driving operation assistance module 11 is executing a control operation for assisting the driving operation of the vehicle 1.

[0110] A case in which the driving operation assistance module 11 does not perform a control operation for assisting the driving operation of the vehicle 1 means a case in which the risk to the vehicle 1 is equal to or less than a predetermined level, or a case in which the driving operation assistance module 11 does not function due to a problem of some kind, or a case in which the driving operation assistance by the driving operation assistance module 11 has been stopped by an operation performed by the driver.

[0111] In cases where the driving process assistance module 11 executes a control process for assisting the driving process of the vehicle 1, the process continues with a step S43, and in cases where the driving process assistance module 11 does not execute a control process for driving assistance of the vehicle 1, the process continues with a step S48.

[0112] In step S43, the actuation activation controller 13 analyzes the prediction data input in step S41. If the prediction result from the risk detection module 9 indicates that the risk to the vehicle 1 will increase before the predetermined time elapses, the flow proceeds to step S45, and if the prediction result indicates that the risk to the vehicle 1 will not have increased when the predetermined time elapses, the flow proceeds to step S44.

[0113] In step S44, the operation activation controller 13 starts or continues to output an operation activation signal to the car navigation system 5. As a result, the operation activation controller 13 starts outputting an operation activation signal to the car navigation system 5, and in cases where the operation activation signal has already been output, the operation activation signal continues to be output. When the processing in this step is completed, the device operation activation control process ends.

[0114] In step S45, the operation activation controller 13 determines whether or not an operation activation signal is currently being output to the car navigation system 5. In cases where the operation activation signal is currently being output, the flow proceeds to step S46, and in cases where the operation activation signal is not currently being output, the flow proceeds to step S48.

[0115] In step S46, the operation activation controller 13 outputs an activation suspension notification signal to the warning device 6, while setting a value corresponding to a predetermined activation suspension time (e.g., 3 seconds) in an activation suspension timer, which is a timer counter of the storage area of the RAM built into the operation activation controller 13.

[0116] The warning device 6, which has received the activation suspension notification signal, outputs a voice message saying, for example, "the operability of the equipment mounted in the vehicle will end in 3 seconds" to thereby inform the occupants that the operation of the equipment mounted in the vehicle will be deactivated after the lapse of the predetermined time.

[0117] Furthermore, the activation suspension timer performs subtraction at predetermined cycles until the set value becomes "0." The activation suspension time set in the activation suspension timer is desirably the same time as the predetermined time used for risk prediction by the risk detection module 9 in step S3, but the invention is not limited thereto, and it may be any time, including a time shorter than the predetermined time used for risk prediction.

[0118] In step S47, the actuation activation controller 13 determines whether the value of the activation suspension timer set in step S46 is "0" or not. A case where the value of the activation suspension timer is "0" is a case where the activation suspension time set in step S46 has elapsed. If the value of the activation suspension timer is "0," the flow proceeds to step S48, and if the value of the activation suspension timer is not "0," the processing of this step is repeated until the value becomes "0."

[0119] In step S48, the operation activation controller 13 stops outputting the operation activation signal to the car navigation system 5. As a result, the operation activation signal is no longer output from the operation activation controller 13 to the car navigation system 5. When the processing in this step is completed, the device operation activation control process ends.

[0120] In the present embodiment, even when assist control of the driving operation of the vehicle 1 is executed by the driving operation assist module 11, a control operation for stopping the output of the operation activation signal is performed in cases where the prediction result from the risk detection module 9 indicates that the risk to the vehicle 1 increases before the elapse of a predetermined time (see step S43 above), but the invention is not limited to this.

[0121] For example, the operation activation controller 13 may receive and analyze the risk determination data from the risk detection module 8 and stop the output of the operation activation signal when the risk determination result indicates that the risk has increased compared to the risk determination result previously input at a predetermined time.

[0122] Next, the device operation processing with respect to the vehicle navigation system 5 will be described with reference to Fig. 8. The Fig. The process flow illustrated in Figure 8 is executed at predetermined intervals (e.g., every 4 milliseconds).

[0123] First, the car navigation system 5 determines whether or not an operation disabling signal has been input from the operation disabling controller 12 in step S51. In cases where the operation disabling signal has been input from the operation disabling controller 12, the flow proceeds to step S52, and in cases where the operation disabling signal has not been input, the flow proceeds to step S53.

[0124] In step S52, the car navigation system 5 determines whether or not an operation activation signal has been input from the operation activation controller 13. In cases where an operation activation signal has been input, the flow proceeds to step S53, and in cases where no operation activation signal has been input, the flow proceeds to step S54.

[0125] In step S53, the car navigation system 5 turns on the operation enable flag stored in the RAM built into the car navigation system 5. When the processing in this step is completed, the flow proceeds to step S55.

[0126] In step S54, the car navigation system executes processing to turn off an operation enable flag stored in the RAM built into the car navigation system 5. When the processing in this step is completed, the flow proceeds to step S55.

[0127] In step S55, the car navigation system 5 determines whether or not an operation signal indicating an operation of the touch screen display 51 is input from the touch screen display 51. If the touch screen display 51 has been operated, the flow proceeds to step S56, and if the touch screen display 51 has not been operated, the device operation process ends.

[0128] In step S56, the car navigation system 5 determines whether the operation enable flag stored in the RAM built into the car navigation system 5 has been turned on. If the operation enable flag is on, the flow proceeds to step S57, and if the operation enable flag is off, the device operation process ends.

[0129] In step S57, the car navigation system 5 executes functions in response to the operations performed on the touch screen display 51. In other words, the car navigation system 5 executes navigation functions such as specifying a destination and audio functions such as selecting music and the like in response to the operations performed on the touch screen display 51. When the processing in this step is completed, the device operation control process ends.

[0130] In the present embodiment, when the touch screen display 51 is operated, the car navigation system 5 determines whether the operation enable flag is on or not, and performs functions depending on those operations when the flag is on. However, the present invention is not limited to this. For example, the power source for the sensory response of the touch screen display 51 may be turned off, so that operations on the touch screen display 51 cannot be accepted when the operation enable flag is off.

[0131] In this way, when the speed of the vehicle 1 is equal to or higher than a predetermined value of 10 km / h, an operation-disabling signal is output from the operation-disabling controller 12 to the vehicle navigation system 5, and a control operation for disabling the operation of the vehicle navigation system 5 is performed.

[0132] However, even if the operation disabling signal is output to the vehicle navigation system 5, in cases where driving assistance control is performed based on the risk determination result, and in cases where the risk prediction result for the vehicle 1 indicates that the risk for the vehicle 1 will not have increased after the lapse of a predetermined time, an operation enabling signal is output from the operation enabling controller 13 to the vehicle navigation system 5. Thus, it is possible to operate the vehicle navigation system 5 even when the speed of the vehicle 1 is equal to or higher than the predetermined value.

[0133] On the other hand, in cases where no assistance control is performed for the driving operation of the vehicle 1, or in cases where the prediction result for the vehicle 1 indicates that the risk for the vehicle 1 increases before the elapse of the predetermined time, no operation activation signal is output from the operation activation controller 13 to the vehicle navigation system 5.

[0134] If the speed of the vehicle 1 is equal to or higher than a predetermined value and no assistance control for a driving operation is executed, then the operation of the vehicle navigation system 5 is not activated or not enabled.

[0135] Furthermore, if the assistance control for a driving operation is stopped or if it is predicted that the risk to the vehicle 1 will increase after allowing operation of the vehicle navigation system 5, allowing operation of the vehicle navigation system 5 is suspended.

[0136] In the present embodiment, when the speed of the vehicle 1 is equal to or higher than a predetermined value, the operation of the car navigation system 5 is enabled if driving assistance control is being executed and it is predicted that the risk to the vehicle 1 will not increase after a predetermined time has elapsed. However, the present invention is not limited to this, and the operation of the car navigation system 5 may also be enabled when the speed of the vehicle 1 is equal to or higher than a predetermined value, provided driving assistance control is being executed.

[0137] Furthermore, it is also possible to enable operation of the vehicle navigation system 5 when the speed of the vehicle 1 is equal to or higher than a predetermined value, provided there is a prediction that the risk to the vehicle 1 will not have increased after the lapse of the predetermined time.

[0138] The vehicle navigation system 5 can be controlled to display "vehicle navigation system currently operable" on the touch screen display 51 when the operation enable flag is on. Furthermore, the vehicle navigation system 5 can be controlled to display "vehicle navigation system currently inoperable" on the touch screen display 51 when the operation enable flag is off. By informing the driver in this way whether the vehicle navigation system 5 can be operated or not, driver convenience can be improved.

[0139] According to the vehicle control configured as described above, when the speed of the vehicle 1 is equal to or greater than a predetermined value, an operation-disabling signal is output from the operation-disabling controller 12 to the vehicle navigation system 5, and a control operation for prohibiting or disabling the operation of the vehicle navigation system 5 is performed.

[0140] However, when driving assistance is performed based on the risk determination for the vehicle 1 by the driving assistance module 11, an operation enable signal is output from the operation enable controller 13 to the vehicle navigation system 5, and operation of the vehicle navigation system 5 is enabled even though an operation disable signal has been output from the operation disable controller 12. As a result, it is possible to achieve both good safety and comfort during vehicle travel, as well as ensure good operability of the device inside the vehicle.

[0141] Furthermore, the risk detection module 9 predicts whether the detected risk for the vehicle 1 will increase before the elapse of a predetermined time. The operation activation controller 13 outputs an operation activation signal to the vehicle navigation system 5 if the prediction result indicates that the risk for the vehicle 1 will not have increased when the predetermined time elapses.

[0142] Thus, when driving assistance control is being executed and it is predicted that the risk to the vehicle 1 will not increase after a predetermined time has elapsed, the operation of the deactivated vehicle navigation system 5 is enabled. In other words, even when driving assistance control is being executed, the operation of the vehicle navigation system 5 is not enabled in cases where the risk to the vehicle 1 increases. Thus, it is possible to further improve safety by enabling the operation of the in-vehicle equipment while the vehicle is traveling.

[0143] Further, when the operation activation signal is output to the car navigation system 5, the operation activation controller 13 stops outputting the operation activation signal in cases where the risk prediction result for the vehicle 1 indicates that the risk increases before the lapse of a predetermined time, or in cases where the risk for the vehicle 1 has increased compared to the risk determination result from a predetermined time before.

[0144] In other words, if the operation of the equipment installed in the vehicle has been enabled or activated while the vehicle is moving, the possibility of operating the equipment installed in the vehicle is quickly suspended depending on a change in the risk to the vehicle 1. This allows the safety of operating the equipment installed in the vehicle while the vehicle is moving to be further improved.

[0145] Further, the operation activation controller 13 outputs an activation suspension notification signal to the warning device 6 and then stops outputting the operation activation signal when the activation suspension time has elapsed in cases where the activation of the operation of the equipment mounted in the vehicle is to be suspended based on the prediction result from the risk detection module 9.

[0146] As a result, occupants are informed in advance that the ability to operate the in-vehicle devices is about to be suspended. This allows occupants to take action, such as quickly stopping the operation of the in-vehicle devices, before the ability to operate the in-vehicle devices is suspended, thus reducing any inconvenience resulting from the in-vehicle devices suddenly becoming unusable.

[0147] Further, in predicting whether or not the risk for the vehicle 1 increases before the elapse of a predetermined time, the risk detection module 9 specifies the predetermined time based on external information of the vehicle 1 obtained from the image data, information regarding the state of the vehicle 1 obtained from the vehicle speed data, the torque data, and the steering angle data, and information regarding the state of the driver obtained from the data on the state of the driver.

[0148] Furthermore, the risk detection module 9 may determine the predetermined time to be used for predicting the risk to the vehicle 1 by also referring to the driving history data, or it may predetermine the predetermined time, or determine the predetermined time based on the characteristics of the vehicle 1 and the driver, etc. In this way, a more accurate prediction of the risk to the vehicle 1 can be achieved.

[0149] In the present embodiment, the operation disabling controller 12 and the operation enabling controller 13 of the vehicle-mounted equipment control device 8 perform a control operation for disabling or enabling an operation of the car navigation system 5, but the invention is not limited thereto.

[0150] Apart from the vehicle navigation system 5, a variety of other equipment (not shown) for purposes other than a drive operation for the travel of the vehicle, such as an audio device, an air conditioning module, etc., is provided at the driver's seat, and the operation of these equipment during the travel of the vehicle 1 may also be subject to similar control as that of the vehicle navigation system 5 by the vehicle-mounted equipment control device 8.

[0151] In addition to the equipment mounted in the vehicle 1, the operation of mobile phones, portable televisions and the like, which are taken into the vehicle by the driver, for example, can also be controlled by the control device 8 for the equipment mounted in the vehicle.

[0152] Furthermore, in the present embodiment, the risk detection module 9 detects the surroundings of the vehicle 1 by determining the external conditions of the vehicle 1 based on the image data of areas outside the vehicle 1 captured by the image pickup device 2.

[0153] However, the invention is not limited thereto; for example, the risk detection module 9 may detect the external conditions of the vehicle 1 based on data about the external conditions of the vehicle 1 obtained by another device, such as a radar using electromagnetic waves or a sonar using ultrasonic waves. List of reference symbols 1 vehicle 2 Image recording device 3 Vehicle condition detection device 4 Control 5 Vehicle navigation system 6 Warning device 7 Driver assistance control 8 Control device for equipment installed in the vehicle 9 Risk detection module 10 Assistance command module 11 Driving process assistance module 12 Actuation-deactivation control 13 Actuation activation control 14 Travel output command module 15 Brake command module 16 Steering command module 51 Touch screen display

Claims

[1] Vehicle control system comprising: -a device operation deactivation module (12) that deactivates operation of devices operated inside a vehicle (1) equipped with the vehicle controller when the vehicle (1) is traveling at least at a predetermined speed; - an external information detection module (2) which detects information about the external environment of the vehicle (1); -a risk detection module (9) that calculates or determines a risk for the vehicle (1) on the basis of the external information determined by the external information determination module (2); - a driving operation assistance module (11) that provides assistance for a driving operation of the vehicle (1) directly, by a notification, for example in the form of a warning, or by both, on the basis of either a risk calculation result or a risk determination result for the vehicle (1) provided by the risk detection module (9) on the basis of the external information; and -a device operation activation module (13) which activates an operation of the devices deactivated by the device operation deactivation module (12) when the driving process assistance module (11) performs an assistance during a driving process of the vehicle (1), wherein the risk detection module (9) predicts whether the risk for the vehicle (1) calculated or determined on the basis of the external information increases before the elapse of a predetermined time; and wherein the device operation activation module (13) activates an operation of the devices that have been deactivated by the device operation deactivation module (12) when the driving operation assistance module (11) performs assistance in a driving operation of the vehicle (1) on the basis of the external information and when the risk detection module (9) has not predicted that the risk for the vehicle (1) will increase before the elapse of the predetermined time, and wherein the risk detection module (9) determines the predetermined time based on any one of information on a state of the vehicle (1), information on a state of the driver, and a combination of these information, in addition to the external information determined by the external information determination module (2). [2] The vehicle control system according to claim 1, wherein the device operation activation module (13) suspends the activation of the device operation when any of the following conditions exists: when the device operation is activated, the risk calculated or determined by the risk detection module (9) has increased, and when there is a prediction that the risk will increase before the elapse of the predetermined time. [3] The vehicle control system of claim 2, further comprising a notification module that informs the driver in advance of the suspension of the ability to operate the equipment when the equipment operation activation module (13) is to suspend the ability to operate the equipment based on either an increase in risk to the vehicle (1) being detected or a prediction of an increased risk to the vehicle (1). [4] The vehicle controller according to any one of claims 1 to 3, wherein the risk detection module (9) determines the predetermined time based on any one of information on a state of the vehicle (1), information on a state of the driver, and a combination of these information and a combination of information on a driving history up to a predetermined time, in addition to the external information determined by the external information determination module (2).

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