Vehicle driving assistance device, vehicle driving assistance method and storage medium storing a vehicle driving assistance program

Abstract

A vehicle driving assistance device (10) executes driving assistance control to assist a driver of a host vehicle (100) in driving operations. When a probability of an erroneous operation is less than or equal to a predetermined probability of an erroneous operation upon detecting a change operation performed by the driver to request a change in an execution state of the driving assistance control, the device (10) changes the execution state as requested by the detected change operation. The probability of an erroneous operation indicates the probability that the driver of the host vehicle (100) erroneously performed the change operation and increases with increasing probability.If the probability of an erroneous operation is greater than the predetermined probability of an erroneous operation upon detection of the change operation, the device (10) does not change the execution state or performs a change of the execution state that is less than or equal to a predetermined probability of an erroneous operation than that requested by the detected change operation.

Description

BACKGROUND area

[0001] The present device relates to a vehicle driving assistance device, a vehicle driving assistance method, and a storage medium storing a vehicle driving assistance program. Description of the state of the art

[0002] A vehicle driving assistance device is known that performs driving assistance control to assist an operation of a driver of a vehicle. In such a vehicle driving assistance device, various switches are provided on a steering wheel of the vehicle, which the driver operates to start and stop the driving assistance control. When such switches are provided on the steering wheel, it is easy for the driver to operate these switches, but there is a possibility that the driver may accidentally operate the switches. Therefore, for example, a vehicle driving assistance control device is also known that is configured to determine whether it is permissible to start the driving assistance control based on the type of road on which the vehicle is traveling when the switch for starting the driving assistance control is operated (see, for example, JP 2009-143354 A).This conventional vehicle assistance device is configured not to start the driving assistance control if it is not permitted to start the driving assistance control.

[0003] Conventional vehicle control assistance devices determine the permissibility of driving assistance control only based on the road type the vehicle is currently traveling on. Therefore, conventional vehicle driving assistance devices cannot initiate driving assistance control even if the driver does not mistakenly operate the switch. SUMMARY

[0004] The object of the present invention is to provide a vehicle driving assistance device, a vehicle driving assistance method, and a storage medium storing a vehicle driving assistance program, which can change an execution state of the driving assistance control, taking into account the possibility that the operation requesting the change of the execution state of the driving assistance control was erroneously executed by the driver.

[0005] A vehicle driving assistance device according to the present invention includes an electronic control unit that executes driving assistance control to assist a driver of a self-vehicle in operations. When (i) the electronic control unit detects a change operation performed by the self-vehicle driver to request a change in an execution state of the driving assistance control, and (ii) a probability of erroneous operation is less than or equal to a predetermined probability of erroneous operation, the electronic control unit is configured to change the execution state as requested by the detected change operation. The probability of erroneous operation indicates a possibility that the self-vehicle driver has performed the change operation in error and increases with increasing probability.If the probability of an erroneous operation is greater than the predetermined probability of an erroneous operation upon detecting the change operation, the electronic control unit is configured to not change the execution state or to perform an operation less than or equal to a predetermined probability of an erroneous operation than that requested by the detected change operation.

[0006] According to the present device, whether or not to execute the execution state of the driving assistance control is determined based on the probability of an erroneous operation, or a manner of changing the execution state of the driving assistance control is adjusted based on the probability of an erroneous operation. The probability of an erroneous operation indicates the possibility that the operation requested to change the execution state of the driving assistance control will be erroneously executed by the driver. Therefore, the execution state of the driving assistance control is changed while taking into account the possibility that the driver has erroneously executed the requested operation to change the execution state of the driving assistance control.

[0007] In the vehicle driving assistance device according to one aspect of the present invention, the probability of an erroneous operation may decrease with increasing driver operation frequency. In this aspect, the driver operation frequency may be the number of times the same change operation as the currently detected change operation has been performed in the past by the driver of the host vehicle on the same type of road as the road on which the host vehicle is traveling at the time of the current detection of the change operation. Alternatively, the probability of an erroneous operation may decrease with increasing market operation frequency.The market operation frequency may be the number of times an operation requesting a change of the same type as the change requested by the currently detected change operation has been performed in the past by a driver of another vehicle on the road of the same type as the road on which the own vehicle is traveling at the time of the current detection of the change operation. Alternatively, the probability of erroneous operation may decrease with increasing recommendation level. The recommendation level may be the degree to which the change requested by the currently detected change operation is recommended on the road on which the own vehicle is traveling at the time of the current detection of the change operation.

[0008] According to the vehicle control device of this aspect of the present invention, the execution state of the driving assistance control is changed depending on at least one of the driver operation frequency, market operation frequency, and recommendation degree.

[0009] In the driving assistance device according to another aspect of the present invention, when the electronic control unit determines not to change the execution state when the probability of an erroneous operation is greater than the predetermined probability of an erroneous operation upon detecting the change operation, the electronic control unit may be configured to send an approval request notification to the driver of the own vehicle to request approval for changing the execution state. In this aspect, the electronic control unit may be configured to change the execution state if the driver of the own vehicle who receives the approval request notification approves the change of the execution state.

[0010] According to the vehicle driving assistance device of this aspect of the present invention, the execution state of the driving assistance control is changed when the driver of the own vehicle agrees to the change of the execution state even if it is determined that the execution state should not be changed.

[0011] In the vehicle driving assistance device according to another aspect of the present invention, the probability of erroneous operation may decrease as the driver confirmation frequency increases. The driver confirmation frequency may be the number of times the driver of the host vehicle has approved the change in the past in response to the approval request notification performed in response to the detection of the same operation as the currently detected change operation on the roads of the same type as the road on which the host vehicle is traveling at the time of the current detection of the change operation.

[0012] According to the vehicle driving assistance device of this aspect of the present invention, the execution state of the driving assistance control is changed depending on the driver confirmation frequency.

[0013] In the driving assistance device according to another aspect of the present invention, the electronic control unit may be configured to notify the driver of the own vehicle that the execution state is changed when the electronic control unit determines to perform the change operation less than or equal to a predetermined value of the execution state required by the detected change operation.

[0014] According to the vehicle driving assistance device of this aspect of the present invention, when a relatively high probability of erroneous operation is determined to change the execution state, the driver of the own vehicle is notified that the execution state is being changed. Thus, the driver of the own vehicle can be prevented from feeling uncomfortable.

[0015] In the driving assistance device according to another aspect of the invention, when (i) the detected changing operation is the operation requesting a change of a control amount for the own vehicle by the driving assistance controller, and (ii) the electronic control unit determines to execute the operation less than or equal to a predetermined execution state requested by the detected changing operation, the electronic control unit may be configured to change the control amount to a lesser extent than requested by the detected changing operation upon detection of the changing operation.

[0016] According to the vehicle driving assistance device of this aspect of the present invention, when the probability of erroneous operation is relatively high, the amount of operation is small. This can prevent the driver of the own vehicle from feeling uncomfortable.

[0017] In the driving assistance device according to another aspect of the present invention, when the electronic control unit determines not to change the execution state when the probability of an erroneous operation is greater than the predetermined probability of an erroneous operation upon detecting the change operation, the electronic control unit may be configured to perform a change notification to notify the driver of the own vehicle that the execution state is being changed. In this aspect, the electronic control unit may be configured to change the execution state when a predetermined time has elapsed since the change notification was executed.

[0018] According to the vehicle driving assistance device of this aspect of the present invention, when the probability of an erroneous operation is relatively high, the driver of the vehicle is notified that the execution state is being changed, and the execution state is then changed after the predetermined time has elapsed. In this way, the driver of the own vehicle can be prevented from feeling uncomfortable.

[0019] A vehicle driving assistance method according to the present invention is a method for executing driving assistance control to assist a driver of a self-vehicle in operations. The vehicle driving assistance method includes a step of, when a probability of an erroneous operation is less than or equal to a predetermined probability of an erroneous operation upon detecting a change operation performed by the self-vehicle driver to request a change in an execution state of the driving assistance control, changing the execution state according to the requested change operation. The probability of an erroneous operation indicates a possibility that the self-vehicle driver has performed the change operation in error and increases with increasing probability.The vehicle driving assistance method includes a step of, when the probability of an erroneous operation is greater than the predetermined probability of an erroneous operation upon detection of the change operation, not changing the execution state or performing a change of the execution state less than or equal to a predetermined one than that requested by the detected change operation.

[0020] For the reasons described above, according to the vehicle driving assistance method of the present invention, the execution state of the driving assistance control is changed taking into account the possibility that the driver has erroneously executed the operation requesting the change of the execution state of the driving assistance control.

[0021] A computer-readable storage medium according to the present invention stores a vehicle driving assistance program that executes driving assistance control to assist a driver of a self-vehicle in operations. The driving assistance control program is configured to (i) request a change in an execution state of the driving assistance control upon detecting a change operation performed by the self-vehicle driver when a probability of an erroneous operation is less than or equal to a predetermined probability of an erroneous operation, and (ii) change the execution state as requested by the detected change operation. The probability of an erroneous operation indicates a possibility that the self-vehicle driver has performed the change operation in error and increases with increasing probability.The vehicle driving assistance program is configured to, when the probability of an erroneous operation is greater than the predetermined probability of an erroneous operation upon detecting the change operation, not change the execution state or to perform less than or equal to a predetermined probability of the execution state as requested by the detected change operation.

[0022] For the reasons described above, according to the vehicle driving assistance program of the present invention, the execution state of the driving assistance control is changed taking into account the possibility that the driver has erroneously performed the operation requesting the change of the execution state of the driving assistance control.

[0023] The vehicle driving assistance device according to the present invention may be configured to learn the driver operation frequency and the market operation frequency, and may be configured to perform the learning using AI technology such as so-called machine learning or deep learning.

[0024] The components of the present invention are not limited to the embodiments of the present invention described below with reference to the drawings. Other objects, other features, and associated advantages of the present invention will be readily understood from the description of the embodiments of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a diagram of a vehicle driving assistance device according to an embodiment of the present invention. Fig. 2 is a representation of a steering wheel of a private vehicle. Fig. 3 is a flowchart showing a routine executed by the vehicle driving assistance device according to the present embodiment. Fig. 4 is an illustration showing a scene in which a preceding vehicle is in front of the own vehicle. Fig. 5 is an illustration showing a scene in which there is no preceding vehicle in front of the own vehicle. Fig. 6 is a graph showing probabilities of erroneous operation for each combination of the type of road on which the host vehicle is traveling at the time of detecting a change operation and the type of change operation. DETAILED DESCRIPTION

[0025] Hereinafter, a vehicle driving assistance device, a vehicle driving assistance method, and a vehicle driving assistance program according to an embodiment of the present invention will be described with reference to the drawings. Fig. 1 shows the vehicle driving assistance device 10 according to the present embodiment of the invention. The vehicle driving assistance device 10 is mounted on a self-driven vehicle 100. The vehicle driving assistance device 10 will be described below using an example in which a driver of the self-driven vehicle 100 is a person who rides in the self-driven vehicle 100 and drives the self-driven vehicle 100 (ie, a driver of the self-driven vehicle 100).

[0026] However, the driver of the own vehicle 100 may also be a person who remotely operates the own vehicle 100 without riding in the own vehicle 100 (that is, a remote driver of the own vehicle 100). When the driver of the own vehicle 100 is the remote driver, the vehicle driving assistance device 10 is mounted on the own vehicle 100 and on a remote control device installed outside the own vehicle 100 to remotely control the own vehicle 100, and the functions of the vehicle driving assistance device 10 described below are shared between the vehicle driving assistance device 10 mounted on the own vehicle 100 and the vehicle driving assistance device 10 mounted on the remote control device.

[0027] The vehicle driving assistance device 10 is equipped with a device that executes driving assistance control to assist the driver of the own vehicle 100 in the operation of driving (e.g., acceleration, deceleration, steering, etc. of the own vehicle 100).

[0028] As in Fig. As shown in Figure 1, the vehicle driving assistance device 10 is equipped with an ECU (electronic control unit) 90 as a control device. The ECU 90 has a microcomputer as its main component. The microcomputer includes a CPU, a storage medium such as a ROM, a RAM, and a non-volatile memory, and an interface, among other things. The CPU is configured to realize various functions by executing instructions, programs, or routines stored in the storage medium. Specifically, in this embodiment, the vehicle driving assistance device 10 stores programs that implement various controls executed by the vehicle driving assistance device 10 in the storage medium.

[0029] In this embodiment, the vehicle driving assistance device 10 includes only one ECU 90, but it may be configured to include multiple ECUs, each ECU sharing the functions of the vehicle driving assistance device 10 described below.

[0030] The vehicle driving assistance device 10 may also be configured to update the programs stored in the storage medium through wireless communication (e.g., Internet communication) with an external device.

[0031] The own vehicle 100 is equipped with an accelerator pedal 21, an accelerator pedal operation amount sensor 22, a brake pedal 23, a brake pedal operation amount sensor 24, a drive device 31 and a brake device 32.

[0032] The accelerator pedal operation amount sensor 22 is electrically connected to the ECU 90. The vehicle driving assistance device 10 obtains an operation amount of the accelerator pedal 21 as an accelerator operation amount AP through the accelerator pedal operation amount sensor 22.

[0033] The brake pedal operation amount sensor 24 is electrically connected to the ECU 90. The vehicle driving assistance device 10 obtains an operation amount of the brake pedal 23 as the brake pedal operation amount BP from the brake pedal operation amount sensor 24.

[0034] The drive device 31 outputs a driving force to be applied to the host vehicle 100. The drive device 31 is electrically connected to the ECU 90. The vehicle driving assistance device 10 controls an operation of the drive device 31 to control the driving force to be applied to the host vehicle 100. When the vehicle driving assistance device 10 is not performing the driving assistance control described below, the vehicle driving assistance device 10 controls the driving force output from the drive device 31 based on the operation amount of the accelerator pedal AP.

[0035] The braking device 32 applies braking force to the host vehicle 100. The braking device 32 is electrically connected to the ECU 90. The vehicle driving assistance device 10 controls the braking force applied to the host vehicle 100 by operating the braking device 32. When the vehicle driving assistance device 10 is not performing the driving assistance control described below, the vehicle driving assistance device 10 controls the braking force applied to the host vehicle 100 by the braking device 32 based on the operation amount of the brake pedal BP.

[0036] In addition, the host vehicle 100 is equipped with a notification device 40. The notification device 40 provides various notifications to the driver of the host vehicle 100. In this exemplary embodiment, the notification device 40 comprises an audio device 41 and a display device 42.

[0037] The audio device 41 is, for example, a device that includes a speaker. The audio device 41 is electrically connected to the ECU 90. The vehicle driving assistance device 10 provides various notifications to the driver of the host vehicle 100 by outputting various sounds from the audio device 41.

[0038] The display device 42 is, for example, a device that includes a display. The display device 42 is electrically connected to the ECU 90. The vehicle driving assistance device 10 provides the driver of the host vehicle 100 with various notifications by displaying various images on the display device 42.

[0039] A notification of a requested approval, a start notification, a stop notification, a change notification, etc., which will be described later, are provided by the notification device 40. That is, the approval request notification, the start notification, the stop notification, the change notification, etc. are provided by audio notifications from the audio device 41 and / or image notifications from the display device 42.

[0040] Furthermore, the own vehicle 100 is equipped with a start switch 51, a cancellation switch 52, a continuation switch 53, a speed increase switch 54, a speed decrease switch 55 and an inter-vehicle distance change switch 56 as operating devices 50.

[0041] The operating devices 50 are operated by the driver to request the vehicle control device 10 to execute an execution state of the driving assistance control (e.g., adaptive cruise control and constant cruise control, which will be described later). The operating devices 50 are provided at locations that are easy to operate for the driver of the host vehicle 100. In this embodiment, the operating devices 50 are mounted on a steering wheel 105 of the host vehicle 100, as shown in Fig. 2 shown.

[0042] The start switch 51 is operated by the driver. The start switch 51 is electrically connected to the ECU 90. When the start switch 51 is operated, the vehicle driving assistance device 10 detects a start operation as a change operation. The start operation prompts the vehicle driving assistance device 10 to start the driving assistance control.

[0043] The cancel switch 52 is operated by the driver. The cancel switch 52 is electrically connected to the ECU 90. When the cancel switch 52 is operated, the vehicle driving assistance device 10 detects a cancel operation as a change operation. The cancel operation requests the vehicle driving assistance device 10 to cancel or terminate the driving assistance control.

[0044] The resume switch 53 is operated by the driver. The resume switch 53 is electrically connected to the ECU 90. When the resume switch 53 is operated, the vehicle driving assistance device 10 detects a resume operation as a change operation. The resume operation requests the vehicle driving assistance device 10 to resume the driving assistance control.

[0045] The speed increase switch 54 is operated by the driver. The speed increase switch 54 is electrically connected to the ECU 90. When the speed increase switch 54 is operated, the vehicle driving assistance device 10 detects a speed increase operation as a change operation. The speed increase operation prompts the vehicle driving assistance device 10 to increase a set vehicle speed Vset in the driving assistance control.

[0046] The speed reduction switch 55 is operated by the driver. The speed reduction switch 55 is electrically connected to the ECU 90. When the speed reduction switch 55 is operated, the vehicle driving assistance device 10 detects a speed reduction operation as a change operation. The speed reduction operation prompts the vehicle driving assistance device 10 to reduce the set vehicle speed Vset in the driving assistance control.

[0047] The inter-vehicle distance change switch 56 is operated by the driver. The inter-vehicle distance change switch 56 is electrically connected to the ECU 90. When the vehicle driving assistance device 10 detects an operation to change the distance between the vehicles as a change operation, the change operation prompts the vehicle driving assistance device 10 to change a set vehicle distance Dset in the driving assistance control.

[0048] Furthermore, the own vehicle 100 is equipped with a confirmation switch 61 and a rejection switch 62. In this embodiment, the confirmation switch 61 and the rejection switch 62 are also mounted on the steering wheel 105 of the own vehicle 100, as shown in Fig. 2 shown.

[0049] The confirmation switch 61 is operated by the driver. The confirmation switch 61 is electrically connected to the ECU 90. When the confirmation switch 61 is operated, the vehicle driving assistance device 10 detects an operation for approval. The approval operation is an operation in which the driver approves a change in the execution state of the driving assistance control, which is notified by an approval request notification described later.

[0050] The rejection switch 62 is also operated by the driver. The rejection switch 62 is electrically connected to the ECU 90. When the rejection switch 62 is operated, the vehicle driving assistance device 10 detects a rejection operation. The rejection operation is an operation in which the driver rejects the change in the execution state of the driving assistance control, which was notified by the permission request notification described later.

[0051] In addition, the own vehicle 100 is equipped with a vehicle speed detection device 71 and an environmental information detection device 72.

[0052] The vehicle speed detection device 71 detects a traveling speed of the host vehicle 100. The vehicle speed detection device 71 includes, for example, wheel sensors provided on each wheel of the host vehicle 100. The vehicle speed detection device 71 is electrically connected to the ECU 90. The vehicle driving assistance device 10 obtains the traveling speed of the host vehicle 100 as a host vehicle speed V through the vehicle speed detection device 71.

[0053] The environmental information acquisition device 72 obtains information about the surroundings of the host vehicle 100 as environmental information IS. The environmental information acquisition device 72 includes, for example, electromagnetic wave sensors such as radar sensors and image sensors such as camera sensors.

[0054] The surrounding information acquisition device 72 is electrically connected to the ECU 90. The vehicle driving assistance device 10 obtains data about objects present in the surroundings of the vehicle 100 (i.e., object information IO) as surrounding information IS from the surrounding information acquisition device 72. The vehicle driving assistance device 10 also obtains image data (i.e., image information IC) about an area in front of the host vehicle 100 as surrounding information IS through the surrounding information acquisition device 72. <Operation von Fahrzeugfahrassistenzvorrichtungen>

[0055] Next, an operation of the vehicle driving assistance device 10 will be described. The vehicle driving assistance device 10 is configured to Fig. 3 at predetermined time intervals, and when predetermined conditions are satisfied, execute the following cruise control or the constant speed cruise control as the automatic driving control and the driving assistance control.

[0056] The following cruise control is a control for driving the own vehicle 100, wherein the operation of the drive device 31 and the brake device 32 is autonomously or automatically controlled so that a vehicle distance D is maintained at the set vehicle distance Dset when a preceding vehicle 200 is present, as shown in Fig. 4. The preceding vehicle 200 is another vehicle traveling in a lane in which the host vehicle 100 is traveling, and another vehicle located within a predetermined distance in front of the host vehicle 100. The inter-vehicle distance D is a distance between the host vehicle 100 and the preceding vehicle 200. The set inter-vehicle distance Dset is a distance set by the driver. The driver can set the set inter-vehicle distance Dset by operating the inter-vehicle distance change switch 56.

[0057] When the distance D between the vehicles becomes greater than the set distance Dset while the subsequent cruise control is being executed, it becomes necessary to accelerate the host vehicle 100. At this time, the vehicle driving assistance device 10 increases the driving force applied from the driving device 31 to the host vehicle 100 to accelerate the host vehicle 100.

[0058] In this embodiment, when the speed V of the own vehicle increases to the set vehicle speed Vset while the subsequent cruise control is being executed, the vehicle driving assistance device 10 causes the own vehicle 100 to drive while autonomously or automatically controlling the operation of the drive device 31 and the brake device 32 to maintain the speed V of the own vehicle at the set vehicle speed Vset.

[0059] The set vehicle speed Vset is the vehicle speed set by the driver. The driver can increase the set vehicle speed Vset by operating the speed increase switch 54 and decrease the set vehicle speed Vset by operating the speed decrease switch 55.

[0060] On the other hand, when the inter-vehicle distance D becomes shorter than the set inter-vehicle distance Dset while the subsequent cruise control is being executed, it becomes necessary to decelerate the host vehicle 100. At this time, the vehicle driving assistance device 10 reduces the driving force applied by the drive device 31 to the host vehicle 100, or sets the driving force applied by the drive device 31 to the host vehicle 100 to zero and applies the braking force from the braking device 32 to the host vehicle 100, thereby decelerating the host vehicle 100.

[0061] The vehicle driving assistance device 10 determines whether the preceding vehicle 200 is present or not based on the surrounding information IS. Furthermore, the vehicle driving assistance device 10 obtains the distance D between the vehicles based on the surrounding information IS.

[0062] The constant speed cruise control is a control for driving the own vehicle 100, wherein the operation of the drive device 31 and the brake device 32 is autonomously or automatically operated so that the speed V of the own vehicle is maintained at the set vehicle speed Vset when there is no preceding vehicle 200, as shown in Fig. 5 shown.

[0063] When the speed V of the own vehicle drops below the set vehicle speed Vset during the execution of the constant speed cruise control, it becomes necessary to accelerate the own vehicle 100. At this time, the vehicle driving assistance device 10 increases the driving force applied by the driving device 31 to the own vehicle 100 to accelerate the own vehicle 100.

[0064] On the other hand, when the speed V of the own vehicle becomes higher than the set vehicle speed Vset during the execution of the constant speed cruise control, it becomes necessary to decelerate the own vehicle 100. At this time, the vehicle driving assistance device 10 reduces the driving force applied by the drive device 31 to the own vehicle 100 or sets the driving force applied by the drive device 31 to the own vehicle 100 to zero and applies the braking force from the braking device 32 to the own vehicle 100, thereby decelerating the own vehicle 100.

[0065] The vehicle driving assistance device 10 may be configured to execute control to assist steering of the host vehicle 100, such as lane control, as the driving assistance control. Lane keeping control is a control for autonomously controlling an operation of a steering device of the host vehicle 100 so that the host vehicle 100 travels along a median of a lane, thereby assisting the steering of the host vehicle 100.

[0066] At a predetermined time, the vehicle driving assistance device 10 starts a process from a step S300 shown in Fig. 3, the process proceeds to step S305 and determines whether the change operation is detected.

[0067] The change operation is performed by the driver to request the vehicle driving assistance device 10 to change the execution state of the driving assistance control. In this embodiment, the change operation includes the start operation (i.e., the operation that requests the start of the driving assistance control), the cancel operation (i.e., the operation that requests the cancellation or suspension of the driving assistance control), the resume operation (i.e., the operation that requests the restart of the suspended driving assistance control), the speed increase operation (i.e., the operation that requests the increase of the set vehicle speed Vset), the speed decrease operation (i.e., the operation that requests the decrease of the set vehicle speed Vset), and the inter-vehicle distance change operation (i.e., the operation that requests the change of the set inter-vehicle distance Dset).

[0068] When the vehicle driving assistance device 10 detects the change operation, the vehicle driving assistance device 10 determines “Yes” in step S305, proceeds to a step S310, and obtains a first probability of erroneous operation P1.

[0069] The first probability of erroneous operation P1 is an index value indicating the possibility that the driver has erroneously operated the change operation. The first probability of erroneous operation P1 increases as the possibility that the driver has erroneously operated the change operation increases. The probability of erroneous operation P1 decreases as the recommendation level increases. The recommendation level is a degree to which it is recommended to change the execution state of the driving assistance control requested by the change operation on a road on which the host vehicle 100 is traveling at the time of the current detection of the change operation.

[0070] Specifically, the vehicle driving assistance device 10 obtains the first probability of erroneous operation P1 as follows.

[0071] That is, in this embodiment, several types of roads on which vehicles can travel are preselected as predetermined roads Rset. The roads preselected as predetermined roads Rset include, for example, a road on which a vehicle turns right or left, a curved road, a parking lot, and a main road on a highway.

[0072] The first probability of erroneous operation P1 is preset for each combination of the type of road and the type of change operation and is stored in the storage medium.

[0073] For example, when (i) the road on which the host vehicle 100 is traveling at the time of the current detection of the change operation is the predetermined road Rset, and (ii) the type of road is such that it is not desirable to change the execution state of the driving assistance control as requested by the detected change operation (ie, when the recommendation degree is low), the first probability of erroneous operation P1 corresponding to the combination of the type of road and the type of the detected change operation is set to a relatively large value.

[0074] On the other hand, when (i) the road on which the host vehicle 100 is traveling at the time of the current detection of the change operation is the predetermined road Rset, and (ii) it is a road where it is desirable to change the execution state of the driving assistance control as requested by the detected change operation (that is, when the recommendation degree is high), the first probability of erroneous operation P1 corresponding to the combination of the type of road and the type of the detected change operation is set to a relatively small value.

[0075] The vehicle driving assistance device 10 acquires the type of road on which the host vehicle 100 is traveling when detecting the change operation, and obtains from the storage medium the first probability of erroneous operation P1 corresponding to the combination of the detected type of road and the type of the detected change operation. The vehicle driving assistance device 10 acquires the type of road on which the host vehicle 100 is traveling based on the environmental information IS and a driving state of the host vehicle 100, such as a driving state, a braking state, and a steering state of the host vehicle 100.

[0076] Subsequently, the vehicle driving assistance device 10 proceeds to a step S315 and obtains a second probability of erroneous operation P2.

[0077] The second erroneous operation probability P2 is an index value indicating the possibility that the driver has erroneously operated the change operation. The second erroneous operation probability P2 increases as the probability that the driver has erroneously operated the change operation increases. In this embodiment, the second erroneous operation probability P2 decreases as the market operation frequency increases. The market operation frequency is a frequency with which the operation requiring the same type of change as the change in the execution state of the driving assistance control requested by the currently detected change operation has previously been performed by drivers of other vehicles on roads of the same type as the road on which the host vehicle 100 is traveling at the time of the current detection of the change operation.

[0078] Specifically, the vehicle driving assistance device 10 obtains the second probability of erroneous operation P2 as follows.

[0079] That is, the vehicle driving assistance device 10 obtains the number of times the other vehicle has traveled on the predetermined road Rset in the past as a market travel number Ntr_m for each type of the predetermined road Rset. Furthermore, the vehicle driving assistance device 10 obtains the number of times the change operation was performed by the driver of the other vehicle while the other vehicle was traveling on the predetermined road Rset in the past as a market operation number Nop_m for each type of change operation and for each type of the predetermined road Rset.

[0080] The vehicle driving assistance device 10 then obtains a value obtained by dividing the market operation number Nop_m by the market travel number Ntr_m for each predetermined road Rset of the same type and for each change operation of the same type as the market operation frequencies for each combination of the same type of predetermined road Rset and the same type of change operations.

[0081] The vehicle driving assistance device 10 then obtains the second erroneous operation probability P2 for each combination of the same predetermined road type Rset and the same type of change operations based on the operated market operation frequency, and stores the operated second erroneous operation probability P2 in the storage medium. Here, the second erroneous operation probability P2 for each combination of the road type and the type of change operation decreases as the market operation frequency increases.

[0082] Therefore, the second erroneous operation probability P2 obtained when the change operation is detected while the host vehicle 100 is moving on the predetermined road Rset decreases as the number of times the driver of the other vehicle has performed the operation executing the change of the same type as the change of the execution state of the driving assistance control requested by the currently detected change operation increases when the other vehicle has moved on the road of the same type as the predetermined road Rset on which the host vehicle 100 is moving in the past.

[0083] The second probability of erroneous operation P2 obtained when the start operation requesting the driving assistance control is detected while the own vehicle 100 is traveling on a curved road, for example, decreases as the number of times the driver of the other vehicle performed the start operation requesting the driving assistance control when the other vehicle was traveling earlier on the curved road increases.

[0084] When the vehicle driving assistance device 10 detects the change operation, the vehicle driving assistance device 10 acquires the type of road on which the host vehicle 100 is currently traveling, and acquires the second probability of erroneous operation P2 corresponding to the combination of the detected type of road and the type of change operation currently detected from the storage medium.

[0085] In this embodiment, the vehicle driving assistance device 10 obtains data on the market travel number Ntr_m and the market operation number Nop_m from an external device via wireless communication.

[0086] Subsequently, the vehicle driving assistance device 10 proceeds to a step S320 and obtains a third probability of erroneous operation P3.

[0087] The third probability of erroneous operation P3 is an index value indicating the possibility that the driver has erroneously operated the change operation. The third probability of erroneous operation P3 increases with the probability that the driver has erroneously operated the change operation. In this embodiment, the third probability of erroneous operation P3 decreases with the increase in the driver operation frequency. The driver operation frequency is the frequency with which the driver of the host vehicle 100 has performed the same change operation as the currently detected change operation in the past on a road of the same type as the road on which the host vehicle 100 is traveling at the time of the current detection of the change operation.

[0088] Specifically, the vehicle driving assistance device 10 obtains the third probability of erroneous operation P3 as follows.

[0089] That is, the vehicle driving assistance device 10 obtains the number of times the host vehicle 100 has traveled on the predetermined road Rset in the past as a host vehicle travel number Ntr_d for each type of the predetermined road Rset. Furthermore, the vehicle driving assistance device 10 obtains the number of times the change operation was performed by the driver of the host vehicle 100 while the host vehicle 100 was traveling on the predetermined road Rset in the past time as a driver operation number Nop_d for each type of change operation and for each type of the predetermined road Rset.

[0090] The vehicle driving assistance device 10 then obtains a value obtained by dividing the number of driver operations Nop_d by the number of trips of the own vehicle Ntr_d for each predetermined road Rset of the same type and for each change operation of the same type as the driver operation frequency for each combination of the same type of predetermined road Rset and the same type of change operations.

[0091] The vehicle driving assistance device 10 then obtains the third erroneous operation probability P3 for each combination of the same predetermined road type Rset and the same type of change operation based on the operated driver operation frequency, and stores the operated third erroneous operation probability P3 in the storage medium. Here, the third erroneous operation probability P3 corresponding to each combination of the road type and the type of change operation decreases with increasing driver operation frequency.

[0092] Therefore, the third probability of erroneous operation P3 obtained when the change operation is detected while the own vehicle 100 is traveling on the predetermined road Rset decreases as the number of times the same change operation as the currently detected change operation was performed by the driver of the own vehicle 100 when the own vehicle 100 was previously traveling on the road of the same type as the predetermined road Rset on which the own vehicle 100 is currently traveling increases.

[0093] For example, the third erroneous operation probability P3 obtained when the start operation requesting the driving assistance control is detected while the own vehicle 100 is moving on the curved road decreases as the number of times the start operation requesting the driving assistance control was performed by the driver of the own vehicle 100 while the own vehicle 100 was moving on the curved road in the past increases.

[0094] When the vehicle driving assistance device 10 detects the change operation, the vehicle driving assistance device 10 acquires the type of road on which the own vehicle 100 is traveling, and acquires the third probability of erroneous operation P3 corresponding to the combination of the detected type of road and the type of change operation currently detected from the storage medium.

[0095] The vehicle driving assistance device 10 may be configured to obtain the third probability of erroneous operation P3 as follows.

[0096] That is, the vehicle driving assistance device 10 refers to the number of times the permission request notification described below was performed to the driver of the own vehicle 100 due to the change operation operated by the driver of the own vehicle 100 while the own vehicle 100 was moving on the predetermined road Rset in the previous time as a permission request notification number Nno_ap for each type of change operation and for each type of predetermined road Rset, and refers to the number of times the driver of the own vehicle 100 performed a change operation in response to the permission request notification as a permission operation number Nop_ap for each type of change operation and for each predetermined road Rset.

[0097] Then, the vehicle driving assistance device 10 obtains a value obtained by dividing the number of approval operations by the number of approval request notifications for each predetermined road Rset of the same type and for each change operation of the same type as the driver operation frequency for each combination of the same type of predetermined road Rset and the same type of change operations.

[0098] The vehicle driving assistance device 10 then obtains the third erroneous operation probability P3 for each combination of the same type of predetermined road Rset and the same type of change operation based on the detected driver confirmation frequency, and stores the detected third erroneous operation probability P3 in the storage medium. At this time, the third erroneous operation probability P3 corresponding to each combination of the predetermined road Rset and the change operation decreases as the driver operation frequency increases.

[0099] Therefore, the third probability of erroneous operation P3 obtained when the change operation is detected while the own vehicle 100 is moving on the predetermined road Rset decreases as the number of times the driver of the own vehicle 100 performed the approval operation earlier than the driver of the own vehicle 100 performed the change operation of the same type as the currently detected change operation while the own vehicle 100 was moving on the road of the same type as the predetermined road Rset on which the own vehicle 100 is currently moving increases.

[0100] For example, the third probability of erroneous operation P3 obtained when the start operation requested to start the driving assistance control is detected while the own vehicle 100 is moving on the curved road decreases as the number of times the driver of the own vehicle 100 has performed the start operation requested to start the driving assistance control in response to the notification of the release request made earlier while the own vehicle 100 is moving on the curved road increases.

[0101] The vehicle driving assistance device 10 acquires the type of road on which the host vehicle 100 is traveling when detecting the change operation, and extracts from the storage medium the third probability of erroneous operation P3 corresponding to the combination of the currently detected type of road and the type of the currently detected change operation.

[0102] The vehicle driving assistance device 10 then proceeds to a step S325 and obtains a probability of erroneous operation P.

[0103] The probability of an erroneous operation P is the sum of (i) a value (=P1-k1) obtained by multiplying the first probability of an erroneous operation P1 obtained in step S310 by a first coefficient k1, (ii) a value (=P2-k2) obtained by multiplying the second probability of an erroneous operation P2 acquired in step S315 by a second coefficient k2, and (iii) a value (=P3-k3) obtained by multiplying the third probability of an erroneous operation P3 acquired in step S320 by a third coefficient k3 (P=P1-k1+P2-k2+P3-k3).

[0104] The probability of an erroneous operation P is therefore an index value that indicates the possibility that the driver has erroneously operated the change operation. The probability of an erroneous operation P increases with the probability that the driver has erroneously operated the change operation.

[0105] Using the first coefficient k1, the second coefficient k2, and the third coefficient k3, the probability of erroneous operation P is calculated by weighting the first probability of erroneous operation P1, the second probability of erroneous operation P2, and the third probability of erroneous operation P3, respectively. The first coefficient k1, the second coefficient k2, and the third coefficient k3 can be adjusted accordingly depending on which of the factors of recommendation level, market operation frequency, and driver operation frequency should be emphasized in determining whether the change operation is an erroneous operation.

[0106] In this embodiment, the first coefficient k1, the second coefficient k2, and the third coefficient k3 are set so that their sum is "1." In this embodiment, the third coefficient k3 is set to a value greater than the first coefficient k1 and the second coefficient k2. That is, the first coefficient k1, the second coefficient k2, and the third coefficient k3 are set so that the most important factor is the driver's operation frequency in determining whether the change operation is an erroneous operation or not.

[0107] The vehicle driving assistance device 10 determines that there is a low probability that the driver of the host vehicle 100 performed the change operation by mistake when the probability of an erroneous operation P is equal to or less than a small probability of an erroneous operation Ps. Further, the vehicle driving assistance device 10 determines that there is a medium probability that the driver of the host vehicle 100 performed the change operation by mistake when the probability of an erroneous operation P is greater than the small probability of an erroneous operation Ps and equal to or less than a large probability of an erroneous operation Pg.Further, the vehicle driving assistance device 10 determines that there is a high possibility that the driver of the own vehicle 100 has erroneously performed the change operation when the probability of erroneous operation P is larger than the large probability of erroneous operation Pg.

[0108] Accordingly, for example, as in Fig.6, when the start operation (ie, the change operation requested to start the driving assistance control) is detected in a right / left turn scene (ie, a scene in which the host vehicle 100 turns right or left), the probability of erroneous operation P is greater than the high probability of erroneous operation Pg, and the driving assistance control device 10 determines that the probability of erroneous operation (ie, the possibility that the change operation was erroneously performed) is high. When the start operation is detected in a curved road driving scene (ie,in a scene where the host vehicle 100 is traveling on the curved road), the probability of erroneous operation P is greater than the small probability of erroneous operation Ps and equal to or less than the large probability of erroneous operation Pg, and the vehicle driving assistance device 10 determines that the possibility of erroneous operation is medium. When the start operation is detected in a parking lot traveling scene (ie, in a scene where the host vehicle 100 is traveling in the parking lot), the probability of erroneous operation P is greater than the large probability of erroneous operation Pg, and the vehicle driving assistance device 10 determines that the possibility of erroneous operation is high. When the start operation is detected in a highway traveling scene (ie,in a scene where the host vehicle 100 is traveling on the main road of the highway), the probability of erroneous operation P is equal to or smaller than the small probability of erroneous operation Ps, and the vehicle driving assistance device 10 determines that the possibility of erroneous operation is small.

[0109] When the cancellation operation (that is, the change operation that requests to cancel or stop the driving assistance control) is detected in the right / left turn scene, the probability of an erroneous operation P is equal to or less than the small probability of an erroneous operation Ps, and the vehicle assistance control device 10 determines that the probability of an erroneous operation is low. When the cancellation of the operation is detected in the curved road driving scene, the probability of an erroneous operation P is equal to or less than the small probability of an erroneous operation Ps, and the vehicle driving assistance device 10 determines that the possibility of an erroneous operation is low.In addition, the vehicle driving assistance device 10 determines that the probability of erroneous operation is low ( ) when the aborted operation is detected in the parking lot driving scene, and the probability of erroneous operation is equal to or less than the small probability of erroneous operation Ps. When the aborted operation is detected in the highway driving scene, the probability of erroneous operation P is greater than the large probability of erroneous operation Pg, and the vehicle driving assistance device 10 determines that the possibility of erroneous operation is high.

[0110] When the resumption operation (i.e., the change operation requesting the resumption of the driving assistance control) is detected in the right / left turn scene, the probability of erroneous operation P is greater than the high probability of erroneous operation Pg, and the driving assistance control device 10 determines that the probability of erroneous operation is high. When the resumption operation is detected in the curved road driving scene, the probability of erroneous operation P is greater than the high probability of erroneous operation Pg, and the vehicle driving assistance device 10 determines that the possibility of erroneous operation is high.When the resume operation is detected in the parking lot driving scene, the probability of erroneous operation P is greater than the large probability of erroneous operation Pg, and the vehicle driving assistance device 10 determines that the possibility of erroneous operation is high. When the resume operation is detected in the highway driving scene, the probability of erroneous operation P is equal to or less than the small probability of erroneous operation Ps, and the vehicle driving assistance device 10 determines that the possibility of erroneous operation is low.

[0111] Furthermore, when the speed increase operation (that is, the change operation that requests an increase in the set vehicle speed Vset) is detected in the right-turn or left-turn scene, the probability of erroneous operation P is greater than the small probability of erroneous operation Ps and equal to or less than the large probability of erroneous operation Pg, and the vehicle driving assistance device 10 determines that the possibility of erroneous operation is medium. Furthermore, when the speed increase operation is detected in the curved road driving scene, the probability of erroneous operation P is greater than the small probability of erroneous operation Ps and equal to or less than the large probability of erroneous operation Pg, and the vehicle driving assistance device 10 determines that the possibility of erroneous operation is medium.When the speed increase operation is detected in the parking lot driving scene, the probability of erroneous operation P is greater than the high probability of erroneous operation Pg, and the vehicle driving assistance device 10 determines that the possibility of erroneous operation is high. When the speed increase operation is detected in the highway driving scene, the probability of erroneous operation P is greater than the high probability of erroneous operation Pg, and the vehicle driving assistance device 10 determines that the possibility of erroneous operation is high.

[0112] In addition, when the speed reduction operation (that is, the change operation requested to reduce the set vehicle speed Vset) is detected in the right / left turn scene, the probability of erroneous operation P is greater than the small probability of erroneous operation Ps and is equal to or less than the large probability of erroneous operation Pg, and the vehicle driving assistance device 10 determines that the possibility of erroneous operation is medium. Further, when the speed reduction operation is detected in the curved road driving scene, the probability of erroneous operation P is equal to or less than the small probability of erroneous operation Ps, and the vehicle driving assistance device 10 determines that the possibility of erroneous operation is low.When the speed reduction operation is detected in the parking lot driving scene, the probability of erroneous operation P is equal to or less than the small probability of erroneous operation Ps, and the vehicle driving assistance device 10 determines that the possibility of erroneous operation is low. When the speed reduction operation is detected in the highway driving scene, the probability of erroneous operation P is equal to or less than the small probability of erroneous operation Ps, and the vehicle driving assistance device 10 determines that the possibility of erroneous operation is low.

[0113] Furthermore, when the inter-vehicle distance operation (that is, the change operation that requests the change of the set inter-vehicle distance Dset) is detected in the right / left turn scene, the probability of erroneous operation P is greater than the small probability of erroneous operation Ps and is equal to or less than the large probability of erroneous operation Pg, and the vehicle driving assistance device 10 determines that the possibility of erroneous operation is medium. When the inter-vehicle operation is detected in the curved road driving scene, the probability of erroneous operation P is greater than the small probability of erroneous operation Ps and is equal to or less than the large probability of erroneous operation Pg, and the vehicle driving assistance device 10 determines that the probability of erroneous operation is medium.Furthermore, when the operation between vehicles is detected in the parking lot driving scene, the probability of erroneous operation P is greater than the small probability of erroneous operation and is equal to or less than the large probability of erroneous operation Pg, and the vehicle driving assistance device 10 determines that the possibility of erroneous operation is medium. When the operation of the distance between vehicles is detected in the highway driving scene, the probability of erroneous operation P is equal to or less than the small probability of erroneous operation Ps, and the vehicle driving assistance device 10 determines that the possibility of erroneous operation is low.

[0114] More specifically, after the vehicle driving assistance device 10 obtains the probability of erroneous operation P in step S325, the vehicle driving assistance device 10 proceeds the process to step S330 and determines whether a small probability condition Cs is satisfied.

[0115] The low probability condition Cs is satisfied when the probability of an erroneous operation P is equal to or less than the low probability of an erroneous operation Ps (P ≤ Ps). That is, the low probability condition Cs is satisfied when the probability that the driver of the host vehicle 100 erroneously operated the change operation is low.

[0116] If the low probability condition Cs is satisfied, the vehicle driving assistance device 10 determines "Yes" in step S330, proceeds to step S335, and executes a low probability process. After that, the vehicle driving assistance device 10 proceeds to step S395 and terminates the process of this routine once.

[0117] The small probability process executed in step S335 is as follows.

[0118] For example, if the change operation is the operation requested to start the subsequent cruise control, the process with low probability is a process to start the subsequent cruise control. That is, the process with low probability is a process to execute the normal subsequent cruise control.

[0119] In the case where the change operation is the requested operation to stop (or cancel) the following cruise control, the low probability process is a process to stop the following cruise control.

[0120] In the case where the change operation is the operation requested to start the constant-speed cruise control, the low-probability process is a process to start the constant-speed cruise control. That is, the low-probability process is a process to run the normal constant-speed cruise control.

[0121] In the case where the change operation is the requested operation to stop (or cancel) the constant speed cruise control, the low probability process is a process to stop the constant speed cruise control.

[0122] In this way, when the probability of erroneous operation P is less than or equal to a predetermined probability of erroneous operation (in this embodiment, the small probability of erroneous operation Ps), when the vehicle assist device 10 detects the change operation (in this embodiment, the operation requesting to start or stop the following cruise control or the constant speed cruise control), the vehicle driving assistance device 10 changes the execution state of the driving assistance control (in this embodiment, the start or stop of the following cruise control or the constant speed cruise control) according to the request by the detected change operation (in this embodiment, the request to start or stop the following cruise control or the requestto start or stop the speed controller at a constant speed).

[0123] When the change operation is the resumption operation (e.g., the operation requesting the resumption of the following cruise control or the constant speed cruise control), if the probability of erroneous operation P is equal to or smaller than the predetermined probability of erroneous operation (e.g., the small probability of erroneous operation Ps), when the vehicle control device 10 detects the change operation, the vehicle control device 10 changes the execution state of the driving assistance control (e.g., resumes the following cruise control or the constant speed cruise control) as requested by the detected change operation.

[0124] Alternatively, in the situation where the changing operation is the speed increase operation, the speed decrease operation, or the distance between vehicles operation (e.g., the operation requesting to increase the set vehicle speed Vset, the operation requesting to decrease the set vehicle speed Vset, or the operation requesting to change the set distance between vehicles Dset), if the probability of erroneous operation P is equal to or smaller than the predetermined probability of erroneous operation (e.g., the small probability of erroneous operation Ps), when the vehicle driving assistance device 10 detects the changing operation, the driving assistance controller 10 changes the execution state of the driving assistance control as requested by the detected changing operation (e.g.,increases the set vehicle speed Vset by an increase amount requested by the detected speed increase operation, decreases the set vehicle speed Vset by a decrease amount requested by the detected speed decrease operation, or changes the set vehicle distance Dset by a change amount requested by the detected vehicle distance operation).

[0125] On the other hand, when the low probability condition Cs is not satisfied, the vehicle driving assistance device 10 determines "No" in step S330, proceeds to a step S340, and determines whether or not a high probability condition Cg is satisfied.

[0126] The high probability condition Cg is satisfied when the probability of an erroneous operation P is greater than the high probability of an erroneous operation Pg (P>Pg). That is, the condition Cg is satisfied when there is a high probability of an erroneous operation by the driver of the host vehicle 100 during the change operation.

[0127] If the high probability condition Cg is satisfied, the vehicle driving assistance device 10 determines "Yes" in step S340, proceeds to step S345, and executes a high probability process. Then, the vehicle driving assistance device 10 proceeds to step S395 and terminates the process of this routine once.

[0128] The high probability process performed in step S345 is as follows.

[0129] For example, if the change operation is the operation that requests starting the following cruise control, and a driving situation of the own vehicle 100 is an acceleration request scene, the process of high probability is a process of executing the permission request notification to the driver without starting the following cruise control. The acceleration request scene here is one in which it is necessary to accelerate the own vehicle 100 through the following vehicle control when the following vehicle control is started in response to the change operation. The permission request executed at this time requests the driver to approve the starting of the following cruise control (that is, the change of the execution state of the driving assistance control).In this case, if the vehicle driving assistance device 10 detects the permission operation (ie, when the driver performs the permission operation), the vehicle driving assistance device 10 starts subsequent cruise control. However, if the vehicle driving assistance device 10 detects the refusal (ie, the driver performs the refusal), the vehicle driving assistance device 10 does not start subsequent cruise control.

[0130] In this case, if the probability of erroneous operation P is greater than the predetermined probability of erroneous operation (in this embodiment, the small probability of erroneous operation Ps), when the vehicle driving assistance device 10 detects the change operation (in this embodiment, the operation that requests to start the following driving assistance control), the vehicle driving assistance device 10 does not change the execution state of the driving assistance control (in this embodiment, the following driving assistance control is not started).

[0131] Furthermore, in this case, if the vehicle driving assistance device 10 determines not to change the execution state of the driving assistance control after detecting the change operation, the vehicle driving assistance device 10 performs the approval request to the driver of the host vehicle 100 to request approval for changing the execution state. In this case, the vehicle driving assistance device 10 changes the execution state if the driver of the host vehicle 100 approves the change of the execution state.

[0132] For example, if the change operation is the operation requested to start the subsequent vehicle control, and the driving situation of the own vehicle 100 is a scene where deceleration is requested, the process with a high probability is a process of performing a start notification, starting the subsequent vehicle control, and accelerating the own vehicle 100 at a normal acceleration rate Ga_s. That is, the process with a high probability is a process of performing the start notification and executing the normal subsequent cruise control. Here, the deceleration request scene is one in which it is necessary to decelerate the own vehicle 100 through the subsequent cruise control when the subsequent cruise control is started in response to the change operation.The start notification performed at this time informs the driver that the subsequent cruise control is being started.

[0133] The standard acceleration rate Ga_s for the following cruise control is the normal acceleration rate for accelerating the own vehicle 100 through the following cruise control.

[0134] If the change operation is an operation requesting the stopping (or cancellation) of the following cruise control, and the driving situation of the host vehicle 100 is one in which the preceding vehicle 200 is located, the process is likely to be that the permission request notification is transmitted to the driver without stopping the following cruise control. The permission request notification performed at this time requests the driver to approve the stopping of the following cruise control (that is, the change of the execution state of the driving assistance control). In this case, when the vehicle driving assistance device 10 detects the operation of the approval (that is, the driver performs the operation of the approval), the vehicle driving assistance device 10 stops the following cruise control.On the other hand, if the vehicle driving assistance device 10 detects the refused operation (ie, the driver performs the refused operation), the vehicle driving assistance device 10 does not stop the subsequent cruise control.

[0135] In this case, if the probability of erroneous operation P is greater than the predetermined probability of erroneous operation (in this embodiment, the small probability of erroneous operation Ps), when the vehicle control support device 10 detects the change operation (in this embodiment, the operation that requests to stop the subsequent driving assistance control), the vehicle control support device 10 does not change the execution state of the driving assistance control (in this embodiment, it does not stop the subsequent driving assistance control).

[0136] Moreover, in this case, if the vehicle driving assistance device 10 determines not to change the execution state of the driving assistance control after detecting the change operation, the vehicle driving assistance device 10 performs the permission request to the driver of the host vehicle 100 to request permission to change the execution state. In this case, the vehicle driving assistance device 10 changes the execution state if the driver of the host vehicle 100 approves the change of the execution state.

[0137] If the change operation is an operation that requires stopping (or canceling) the following cruise control, and the driving situation of the host vehicle 100 is one in which the preceding vehicle 200 is not present, the process is likely to be that a permission request notification is transmitted to the driver without stopping the following cruise control. The permission request notification performed at this time requests the driver to approve the stopping of the following cruise control (that is, the change of the execution state of the driving assistance control). In this case, when the vehicle driving assistance device 10 detects the approval operation (that is, the driver executes the approval operation), the vehicle driving assistance device 10 stops the following cruise control.On the other hand, if the vehicle driving assistance device 10 detects the refused operation (ie, the driver performs the refused operation), the vehicle driving assistance device 10 does not stop the subsequent cruise control.

[0138] In this case, if the probability of erroneous operation P is greater than the predetermined probability of erroneous operation (in this embodiment, the small probability of erroneous operation Ps), when the vehicle driving assistance device 10 detects the change operation (in this embodiment, the operation that requests to stop the following driving assistance control), the vehicle driving assistance device 10 does not change the execution state of the driving assistance control (in this embodiment, it does not stop the following driving assistance control).

[0139] Moreover, in this case, if the vehicle driving assistance device 10 determines not to change the execution state of the driving assistance control after detecting the change operation, the vehicle driving assistance device 10 performs the permission request to the driver of the host vehicle 100 to request permission to change the execution state. In this case, the vehicle driving assistance device 10 changes the execution state if the driver of the host vehicle 100 approves the change of the execution state.

[0140] Furthermore, for example, in the case where the change operation is the operation requested to start the constant-speed cruise control, and the driving scene of the own vehicle 100 is the acceleration request scene, the process of high probability is a process of executing the permission request notification to the driver without starting the constant-speed cruise control. The acceleration request scene is a scene in which it is necessary to accelerate the own vehicle 100 through the constant-speed cruise control when the constant-speed cruise control is started in response to the change operation. The permission request executed at this time requests the driver to approve the start of the constant-speed cruise control (that is, the change of the execution state of the driving assistance control).In this case, if the vehicle driving assistance device 10 detects the operation of the approval (ie, the driver performs the operation of the approval), the vehicle driving assistance device 10 starts the constant speed cruise control. Conversely, if the vehicle driving assistance device 10 detects the refusal of the operation (ie, the driver performs the refusal), the vehicle driving assistance controller 10 does not start the constant speed cruise control.

[0141] In this case, if the probability of erroneous operation P is greater than the predetermined probability of erroneous operation (in this embodiment, the small probability of erroneous operation Ps), when the vehicle driving assistance device 10 detects the change operation (in this embodiment, the operation requesting to start the constant speed driving assistance control), the vehicle driving assistance device 10 does not change the execution state of the driving assistance control (in this embodiment, it does not start the constant speed driving assistance control).

[0142] Moreover, in this case, if the vehicle driving assistance device 10 determines not to change the execution state of the driving assistance control after detecting the change operation, the vehicle driving assistance device 10 performs the permission request to the driver of the host vehicle 100 to request permission to change the execution state. In this case, the vehicle driving assistance device 10 changes the execution state if the driver of the host vehicle 100 approves the change of the execution state.

[0143] If the change operation is the operation requested to start the constant-speed cruise control, and the driving situation of the own vehicle 100 is a deceleration request scene, the process with high probability is a process of executing the start notification, starting the constant-speed cruise control, and decelerating the own vehicle 100 at a default deceleration rate Gd_s. That is, the process with high probability is a process of executing the start notification and executing the normal constant-speed cruise control. Here, the deceleration request scene is one in which it is necessary to decelerate the own vehicle 100 through the constant-speed cruise control when the constant-speed cruise control is started in response to the change operation.The start notification performed at this time tells the driver that the cruise control will start at a constant speed.

[0144] The default deceleration rate Gd_s for constant speed cruise control is the normal deceleration rate of the own vehicle 100 realized by constant speed cruise control.

[0145] If the change operation is an operation requesting the stopping (or cancellation) of the constant-speed cruise control, the process is likely to be that a permission request notification is transmitted to the driver without stopping the constant-speed cruise control, regardless of the driving situation of the host vehicle 100. The permission request notification performed at this time requests the driver to approve the stopping of the constant-speed cruise control (that is, the change of the execution state of the driving assistance control). In this case, when the vehicle driving assistance device 10 detects the operation of the approval (that is, the driver executes the operation of the approval), the vehicle driving assistance device 10 stops the constant-speed cruise control.On the other hand, if the vehicle driving assistance device 10 detects the refusal operation (ie, the driver performs the refusal operation), the vehicle driving assistance device 10 does not stop the constant speed cruise control.

[0146] In this case, if the probability of erroneous operation P is greater than the predetermined probability of erroneous operation (in this embodiment, the small probability of erroneous operation Ps), when the vehicle assist device 10 detects the change operation (in this embodiment, the operation requesting to stop the constant speed driving assistance control), the vehicle assist device 10 does not change the execution state of the driving assistance control (in this embodiment, it does not stop the constant speed driving assistance control).

[0147] In this case, if the vehicle driving assistance device 10 determines not to change the execution state of the driving assistance control after detecting the change operation, the vehicle driving assistance device 10 executes the permission request to the driver of the host vehicle 100 to request permission to change the execution state. In this case, if the driver of the host vehicle 100 approves the change of the execution state, the vehicle driving assistance device 10 changes the execution state.

[0148] On the other hand, if the high probability condition Cg is not satisfied, the vehicle driving assistance device 10 determines "No" in step S340, proceeds to step S350, and executes a medium probability process. Then, the vehicle driving assistance device 10 proceeds to step S395 and terminates the process of this routine once.

[0149] The media probability process executed in step S350 is as follows.

[0150] For example, if the change operation is the operation requested to start the following vehicle control, and the driving scene of the own vehicle 100 is the acceleration request scene, the medium probability process is a process of executing the start notification, starting the following vehicle control, and accelerating the own vehicle 100 at an acceleration rate smaller than the standard acceleration rate Ga_s. That is, the medium probability process is a process of executing the start notification, starting the following vehicle control, and gradually accelerating the own vehicle 100. Here, the acceleration request scene is one in which it is necessary to accelerate the own vehicle 100 through the following cruise control when the following vehicle control is started in response to the change operation.The start notification performed at this time informs the driver that the subsequent cruise control is being started.

[0151] In this case, when the probability of erroneous operation P is greater than the predetermined probability of erroneous operation (in this embodiment, the small probability of erroneous operation Ps), when the vehicle support device 10 detects the change operation (in this embodiment, the operation requesting the start of the following driving assistance control), the vehicle support device 10 performs the more gradual change of the execution state of the driving assistance control (in this embodiment, the start of the following cruise control and the acceleration at a lower acceleration rate than the standard acceleration rate Ga_s) than the change of the execution state of the driving assistance control,which is requested by the currently detected change operation (in this embodiment, starting the subsequent speed controller and accelerating at the standard acceleration rate Ga_s).

[0152] In this case, when the drive device 10 determines to perform the more gradual change of the execution state of the driving assistance control beyond the change of the execution state of the driving assistance control requested by the detected change operation, the drive device 10 notifies the driver of the own vehicle 100 that the execution state of the driving assistance control is changed (in this embodiment, the subsequent cruise control is started).

[0153] Also, in this case, where the change operation requests a change in a control amount for the own vehicle 100 by the driving assistance controller (in this embodiment, a change in the acceleration rate of the own vehicle 100 realized by the following vehicle speed control from zero to the standard acceleration rate Ga_s), and the vehicle driving assistance device 10 determines to perform the more gradual change in the execution state of the driving assistance controller than the change in the execution state of the driving assistance controller requested by the detected change operation, when the change operation is detected, the vehicle driving assistance device 10 changes the operation amount to a lesser extent than requested by the detected change operation (in this embodiment,to change the acceleration rate of the own vehicle 100 through the subsequent cruise control from zero to an acceleration rate that is smaller than the standard acceleration rate Ga_s).

[0154] In the situation where the changing operation is the operation of increasing speed, decreasing speed, or increasing the distance between the vehicles, if the probability of an erroneous operation P is equal to or less than the predetermined probability of an erroneous operation (for example, the small probability of an erroneous operation Ps), when the vehicle driving assistance device 10 detects the changing operation, the vehicle driving assistance device 10 changes the control amount to a lesser extent than requested by the detected changing operation (in this embodiment, the set vehicle speed Vset is increased by an amount less than requested by the detected speed increase operation, the set vehicle speed Vset is decreased by an amount less than requested by the detected speed decrease operation,or the set follow-up distance Dset is changed by an amount less than requested by the detected inter-vehicle distance operation).

[0155] Furthermore, for example, in the case where the change operation is the operation requesting the start of the following distance control, and the driving scene of the own vehicle 100 is the deceleration request scene, the medium-probability process is a process of executing the start notification, starting the following distance control, and decelerating the own vehicle 100 at the default deceleration rate of Gd_s. That is, the medium-probability process is a process of executing the start notification and executing the normal following cruise control. Here, the deceleration request scene is one in which it is necessary to decelerate the own vehicle 100 through the following cruise control when the following cruise control is started in response to the detected change operation.The start notification performed at this time informs the driver that the subsequent cruise control is being started.

[0156] The standard deceleration rate Gd_s here is the normal deceleration rate that is achieved when the own vehicle 100 is braked by the started cruise control.

[0157] For example, if the change operation is the operation that requests the stopping (or cancellation) of the following cruise control, and the driving scene of the host vehicle 100 is one in which the preceding vehicle 200 is located, the process with medium probability is a process of performing the permission request notification to the driver without stopping the following cruise control. The permission request notification performed at this time requests the driver to approve the stopping of the following cruise control (that is, the change of the execution state of the driving assistance control). In this case, when the vehicle driving assistance device 10 detects the operation of the approval (that is, the driver performs the operation of the approval), the vehicle driving assistance device 10 stops the following cruise control.On the other hand, if the vehicle driving assistance device 10 detects the refused operation (ie, the driver performs the refused operation), the vehicle driving assistance device 10 does not stop the subsequent cruise control.

[0158] In this case, if the probability of erroneous operation P is greater than the predetermined probability of erroneous operation (in this embodiment, the small probability of erroneous operation Ps), when the vehicle control support device 10 detects the change operation (in this embodiment, the operation requesting the stop of the subsequent driving assistance control), the vehicle control support device 10 does not change the execution state of the driving assistance control (in this embodiment, it does not stop the subsequent driving assistance control).

[0159] In this case, if the vehicle driving assistance device 10 determines not to change the execution state of the driving assistance control after detecting the change operation, the vehicle driving assistance device 10 executes the permission request to the driver of the host vehicle 100 to request permission to change the execution state. In this case, the vehicle driving assistance device 10 changes the execution state if the driver of the host vehicle 100 approves the change of the execution state.

[0160] When the change operation is an operation requesting the stopping (or cancellation) of the following cruise control, and the driving situation of the host vehicle 100 is one in which the preceding vehicle 200 is not present, the process with medium probability is a process of executing a stop notification without stopping the following cruise control and stopping the following cruise control when a predetermined time Tth has elapsed since the stop notification was executed. The stop notification executed at this time notifies the driver that the following cruise control is stopped.

[0161] In this case, if the probability of erroneous operation P is greater than the predetermined probability of erroneous operation (in this embodiment, the small probability of erroneous operation Ps), when the vehicle control support device 10 detects the change operation (in this embodiment, the operation requesting to stop the subsequent driving assistance control), the vehicle control support device 10 does not change the execution state of the driving assistance control (in this embodiment, it does not stop the subsequent driving assistance control).

[0162] Moreover, in this case, if the vehicle driving assistance device 10 determines not to change the execution state of the driving assistance control after detecting the change operation, the vehicle driving assistance device 10 executes a change notification to notify the driver of the host vehicle 100 that the execution state of the driving assistance control is being changed. In this case, the vehicle driving assistance device 10 changes the execution state of the driving assistance control when the predetermined time Tth has elapsed since the execution of the change notification.

[0163] For example, if the change operation is the operation that requests the start of the constant-speed cruise control, and the driving scene of the own vehicle 100 is the acceleration request scene, the medium-probability process is a process of executing the start notification, starting the constant-speed cruise control, and accelerating the own vehicle 100 at an acceleration smaller than the default acceleration rate Ga_s. That is, the medium-probability process is a process of executing the start notification, starting the constant-speed cruise control, and gradually accelerating the own vehicle 100.The acceleration request scenario here is one in which it is necessary to accelerate the host vehicle 100 at a constant speed through the cruise control when the cruise control is started in response to the detected change operation. The start notification performed at this time notifies the driver that the constant speed cruise control is started.

[0164] The default acceleration rate Ga_s for constant speed cruise control is the normal acceleration rate achieved by the started constant speed cruise control.

[0165] In this case, when the probability of erroneous operation P is greater than the predetermined probability of erroneous operation (in this embodiment, the small probability of erroneous operation Ps), when the vehicle driving assistance device 10 detects the change operation (in this embodiment, the operation requesting the start of the constant speed driving assistance control), the vehicle driving assistance device 10 performs the more gradual change of the execution state of the driving assistance control (in this embodiment, starting the constant speed cruise control and controlling the host vehicle 100 with a lower acceleration than the standard acceleration Ga_s) than the change of the execution state of the driving assistance control,which is requested by the detected change operation (in this embodiment, the cruise control starts at a constant speed and accelerates the own vehicle 100 with the standard acceleration Ga_s).

[0166] In this case, when the vehicle driving assistance device 10 determines to perform the more gradual change of the execution state of the vehicle control control beyond the change of the execution state of the vehicle control control requested by the change operation, the vehicle driving assistance device 10 notifies the driver of the own vehicle 100 that the execution state of the vehicle control control is changed.

[0167] Also, in this case, where the change operation is the operation that requests a change in the control amount for the own vehicle 100 by the driving assistance controller (in this embodiment, to change the acceleration rate of the own vehicle 100 by the constant speed cruise control from zero to the standard acceleration rate Ga_s), and the vehicle driving assistance device 10 determines to perform the more gradual change in the execution state of the driving assistance control than the change in the execution state of the driving assistance control requested by the detected change operation upon detecting the change operation, the vehicle driving assistance device 10 changes the operation amount to a lesser extent than the change in the operation amount,which is requested by the detected change operation (in this embodiment, the acceleration rate of the own vehicle 100 is changed from zero to an acceleration smaller than the standard acceleration rate Ga_s by the constant speed cruise control).

[0168] In the situation where the change operation is the speed increase operation or the speed decrease operation, when the probability of erroneous operation P is equal to or smaller than the predetermined probability of erroneous operation (for example, the small probability of erroneous operation Ps), when the vehicle driving assistance device 10 detects the change operation, the vehicle driving assistance device 10 changes the control amount to a lesser extent than requested by the detected change operation (in this embodiment, the set vehicle speed Vset is increased by an amount smaller than requested by the detected speed increase operation, or the set vehicle speed Vset is decreased by an amount,which is less than requested by the detected speed reduction operation).

[0169] For example, if the change operation is the operation that requests the start of constant speed control, and the driving scene of the own vehicle 100 is the deceleration request scene, the medium-probability process is a process of executing the start notification, starting constant speed control, and decelerating the own vehicle 100 at the default deceleration rate Gd_s. That is, the medium-probability process is a process of executing the start notification and executing normal constant speed control. Here, the deceleration request scene is one in which it is necessary to decelerate the own vehicle 100 by the constant speed cruise control when the constant speed cruise control is started in response to the detected change operation.The start notification performed at this time tells the driver that the cruise control will start at a constant speed.

[0170] For example, if the changing operation is the operation that requests to stop (or cancel) the constant speed cruise control, the process with medium probability is a process of performing the stop notification without stopping the constant speed cruise control and stopping the constant speed cruise control when the predetermined time Tth has elapsed since the stop notification was performed, regardless of the driving situation of the own vehicle 100. The stop notification performed at this time notifies the driver that the constant speed cruise control is stopped.

[0171] In this case, if the probability of erroneous operation P is greater than the predetermined probability of erroneous operation (in this embodiment, the small probability of erroneous operation Ps), when the vehicle driving assistance device 10 detects the change operation (in this embodiment, the operation requesting to stop the constant speed driving assistance control), the vehicle driving assistance device 10 does not change the execution state of the driving assistance control (in this embodiment, it does not stop the constant speed driving assistance control).

[0172] Moreover, in this case, if the vehicle driving assistance device 10 determines not to change the execution state of the driving assistance control after detecting the change operation, the vehicle driving assistance device 10 executes a change notification to notify the driver of the host vehicle 100 that the execution state of the driving assistance control is being changed. In this case, the vehicle driving assistance device 10 changes the execution state of the driving assistance control when the predetermined time Tth has elapsed since the execution of the change notification.

[0173] The operation of the vehicle driving assistance device 10 has been described above.

[0174] The vehicle driving assistance device 10 determines whether to change the execution state of the driving assistance control or adjusts the manner in which the execution state of the driving assistance control is changed based on the probability of erroneous operation P. The probability of erroneous operation P indicates the possibility that the operation requesting to change the execution state of the driving assistance control was erroneously executed by the driver of the host vehicle 100. Therefore, the execution state of the driving assistance control is changed taking into account the possibility that the operation requested to change the execution state of the driving assistance control was erroneously executed by the driver of the host vehicle 100.

[0175] The present invention is not limited to the above-mentioned embodiments, and various modified examples can be adopted within the scope of the present invention. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] JP 2009-143354 A

[0002]

Claims

[1] A vehicle driving assistance device (10) comprising an electronic control unit (90) that executes driving assistance control to assist a driver of an own vehicle (100) in driving operations, the electronic control unit (90) being configured to: when (i) the electronic control unit (90) detects a change operation performed by the driver of the own vehicle (100) for requesting a change of an execution state of the driving assistance control, and (ii) a probability of an erroneous operation is less than or equal to a predetermined probability of an erroneous operation, to change the execution state as requested by the detected change operation, wherein the probability of an erroneous operation indicates a probability that the driver of the own vehicle (100) has incorrectly performed the change operation, and increases with increasing probability, if the probability of an erroneous operation is greater than the predetermined probability of an erroneous operation upon detection of the change operation, not to change the execution state or to perform a change of the execution state less than or equal to a predetermined probability of an erroneous operation than that requested by the detected change operation. [2] Vehicle driving assistance device (10) according to claim 1, where the probability of incorrect operation decreases with increasing driver operation frequency, wherein the driver operation frequency is the frequency with which the same change operation as the currently detected change operation was performed in the past by the driver of the own vehicle (100) on the road of the same type as the road on which the own vehicle (100) is moving at the time of the current detection of the change operation, or where the probability of incorrect operation decreases with increasing market operation frequency, wherein the market operation frequency is the frequency with which an operation requiring a change of the same type as the change requested by the currently detected change operation has been performed in the past by a driver of another vehicle on the road of the same type as the road on which the own vehicle (100) is moving at the time of the current detection of the change operation, or where the probability of incorrect operation decreases with increasing recommendation level, wherein the recommendation degree is the degree to which the change requested by the currently detected change operation is recommended on the road on which the own vehicle (100) is moving at the time of the current detection of the change operation. [3] Vehicle driving assistance device (10) according to claim 1, wherein the electronic control unit (90) is configured to: when the electronic control unit (90) determines not to execute the execution state in response to the probability of an erroneous operation being greater than the predetermined probability of an erroneous operation upon detection of the change operation, executes an approval request notification to the driver of the own vehicle (100) to request approval for changing the execution state; and when the driver of the own vehicle (100) receiving the approval request notification approves the change of the execution state, change the execution state. [4] Vehicle driving assistance device (10) according to claim 3, where the probability of incorrect operation decreases with increasing driver confirmation frequency, wherein the driver confirmation frequency is the number of times the driver of the own vehicle (100) has approved the change in the past in response to the approval request notification performed in response to the detection of the same operation as the currently detected change operation on the roads of the same type as the road on which the own vehicle (100) is moving at the time of the current detection of the change operation. [5] The vehicle driving assistance device (10) according to claim 1, wherein the electronic control unit (90) is configured to notify the driver of the own vehicle (100) that the execution state is changed when the electronic control unit (90) determines to perform the execution state less than or equal to a predetermined value than that required by the detected change operation. [6] The vehicle driving assistance device (10) according to claim 1, wherein the electronic control unit (90) is configured to, when (i) the detected changing operation is the operation requesting a change of a control amount for the own vehicle (100) by the driving assistance controller, and (ii) the electronic control unit (90) determines to perform the execution state less than or equal to a predetermined one than that requested by the detected changing operation upon detecting the changing operation, change the control amount to a lesser extent than that requested by the detected changing operation. [7] Vehicle driving assistance device (10) according to claim 1, wherein the electronic control unit (90) is configured to: when the electronic control unit (90) determines not to execute the execution state in response to the probability of an erroneous operation being greater than the predetermined probability of an erroneous operation upon detecting the change operation, perform a change notification to notify the driver of the own vehicle (100) that the execution state is changed; and if a predetermined time has elapsed since the change notification, change the execution state. [8] A vehicle driving assistance method for executing a driving assistance control to assist a driver of a self-owned vehicle (100) in driving operations, the vehicle driving assistance method comprising the steps of: if a probability of erroneous operation is less than or equal to a predetermined probability of erroneous operation upon detecting a change operation performed by the driver of the own vehicle (100) to request a change in an execution state of the driving assistance control, changing the execution state as requested by the detected change operation, wherein the probability of an erroneous operation indicates a probability that the driver of the own vehicle (100) has incorrectly performed the change operation, and increases with increasing probability, if the probability of an erroneous operation is greater than the predetermined probability of an erroneous operation upon detection of the change operation, not to change the execution state or to perform a change of the execution state less than or equal to a predetermined probability of an erroneous operation than that requested by the detected change operation. [9] A computer-readable storage medium storing a vehicle driving assistance program that executes a driving assistance control to assist a driver of a self-owned vehicle (100) in driving operations, the vehicle driving assistance program being configured to: if a probability of erroneous operation is less than or equal to a predetermined probability of erroneous operation upon detecting a change operation performed by the driver of the own vehicle (100) to request a change in an execution state of the driving assistance control, changing the execution state as requested by the detected change operation, wherein the probability of an erroneous operation indicates a probability that the driver of the own vehicle (100) has incorrectly performed the change operation, and increases with increasing probability, if the probability of an erroneous operation is greater than the predetermined probability of an erroneous operation upon detection of the change operation, not to change the execution state or to perform a change of the execution state less than or equal to a predetermined probability of an erroneous operation than that requested by the detected change operation.

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