Vehicle control device, vehicle control method, and vehicle control program

Abstract

To provide a vehicle control device that allows a driver to easily customize a specific drive support function.SOLUTION: A vehicle control device 1 executes: a process for controlling a notification device 30 so that information regarding a specific drive support DAn among a plurality of sorts of drive supports is provided to a driver during a predetermined period Tn after a start of control of the own vehicle so that the specific drive support DAn is provided to the driver; and / or a process for changing a value assigned to a parameter as setting information for a function of providing the specific drive support DAn when the driver executes a predetermined operation within the predetermined period Tn.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a vehicle control device, a vehicle control method, and a vehicle control program that control a vehicle so that a predetermined driving assistance is provided to a driver when a predetermined condition is met, to assist the driver's driving operation. [Background technology]

[0002] There has been proposed a vehicle control device equipped with a driving assistance function that controls the vehicle so that a predetermined driving assistance is provided to the driver when a predetermined condition is met, to assist the driver in driving the vehicle (see, for example, Patent Document 1 below). This vehicle control device (hereinafter referred to as the "conventional device") is equipped with many (multiple types) of driving assistance functions. The conventional device is equipped with, as driving assistance functions, for example, an automatic braking function that automatically brakes the vehicle when the vehicle rapidly approaches a preceding vehicle, and an automatic steering function that automatically steers the vehicle to position it in the center of the lane in the width direction when there is a high possibility that the vehicle will deviate from the lane in which the vehicle is traveling. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2022-083797 Summary of the Invention

[0004] Incidentally, there has been proposed a vehicle control device of this kind that is configured to customize (adjust) the conditions for starting the provision of each driving support and the mode of driving support (setting information of driving support function) according to the driver's preference. In this case, for example, an image used to customize the driving support function is displayed on the display device. This image includes an image showing the name (abbreviation) of the driving support function, a value (current value) assigned to a parameter related to the success or failure of the condition, and a value (current value) assigned to a parameter related to the mode of driving support. Then, the driver can change the values ​​assigned to various parameters (customize a specific driving support function) by operating an operation device (for example, a push button switch, a touch panel, etc.) mounted on the vehicle. Hereinafter, this function is referred to as a "conventional customization function." In addition, the customization can be performed when the vehicle is generally stopped (for example, from the time when the ignition switch transitions to the on state until the vehicle starts).

[0005] Here, when the vehicle control device has a large number of driving assistance functions, when customizing the functions, a list of the names (abbreviations consisting of the initial letters (alphabet) when written in English) is first displayed on the display device. When the driver operates the operation device to select (designate) the driving assistance function that the driver wishes to customize, the image (list) displayed on the display device is switched to an image used to customize the selected driving assistance function. In general, it is rare for a driver to be familiar with the names and contents (effects obtained by the driving assistance functions) of all the driving assistance functions, as well as the procedures for customizing them. Most drivers proceed with customizing each driving assistance function while referring to an instruction manual in order to customize each driving assistance function. In this way, it is relatively difficult to customize a driving assistance function.

[0006] One object of the present invention is to provide a vehicle control device that allows a driver to easily customize a specific driving assistance function.

[0007] In order to solve the above problems, a vehicle control device (1) of the present invention comprises: The vehicle includes a processor (10) having a driving assistance function (DAFn) that controls a host vehicle so that a predetermined driving assistance (DAn) is provided to a driver of the host vehicle when a predetermined condition (Xn) is met. The processor, A process of controlling a notification device (30) so that information (Gn) regarding a specific driving assistance among the multiple types of driving assistance is provided to the driver during a predetermined period (Tn) after a time point (t0) at which control of the vehicle is started, and / or A process of changing values ​​assigned to parameters (TTCth, TTDth, BFd, STd) as setting information of a function that provides the specific driving assistance when the driver performs a predetermined operation within the predetermined period of time; The apparatus is configured to execute the following steps:

[0008] During a predetermined period after the provision of driving assistance by the driving assistance function of the vehicle control device according to the present invention is started, information about the driving assistance function (for example, the name (abbreviation), contents, customization procedure, etc. of the driving assistance function) is provided to the driver. Therefore, the driver can obtain (recognize) information about the driving assistance without referring to an instruction manual. This makes it easier for the driver to use the conventional customization function. Also, as described above, in the conventional device, the driver needs to specify the driving assistance function to be customized. In contrast, in the vehicle control device according to the present invention, during a predetermined period after the provision of driving assistance by the driving assistance function (control of the vehicle) is started, the driving assistance function (the driving assistance provided immediately before) is selected as a target for customization, and the driver can customize the driving assistance function by performing a predetermined operation within the predetermined period. As described above, according to the vehicle control device according to the present invention, the driver can easily customize a specific driving assistance function.

[0009] In one aspect of the present invention, there is provided a vehicle control device comprising: The parameters include a first parameter related to whether a condition for starting the provision of the specific driving assistance is met, and a second parameter related to a mode of the specific driving assistance.

[0010] This allows the driver to easily customize the conditions (sensitivity) under which the provision of the specific driving assistance is started and the mode (intensity) of the driving assistance.

[0011] In a vehicle control device according to another aspect of the present invention, When the driver performs the predetermined operation within the predetermined period, the processor changes the values ​​assigned to the first parameters (TTCth, TTDth) and the second parameters (BFd, STd) collectively.

[0012] This enables the driver to customize the condition (sensitivity) under which the provision of a specific driving assistance is started and the mode (intensity) of the specific driving assistance all at once by performing a single operation.

[0013] Furthermore, a vehicle control method and a vehicle control program according to the present invention include steps (processing) executed by devices constituting the vehicle control device described above. [Brief description of the drawings]

[0014] [Figure 1] FIG. 1 is a block diagram of a vehicle control device according to an embodiment of the present invention. [Diagram 2] FIG. 2 is a first example of an image displayed as information related to driving assistance provided to the driver. [Diagram 3] FIG. 3 is a second example of an image displayed as information related to driving assistance provided to the driver. [Figure 4] FIG. 4 is a flowchart of a program executed to realize the information providing function and the simple customization function. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] (Summary) A vehicle control device 1 according to an embodiment of the present invention is mounted on a vehicle V (own vehicle) equipped with an automatic driving function. The vehicle control device 1 is provided with a driving assistance function DAFn (n=1, 2, . . .) that controls the own vehicle so that driving assistance DAn (n=1, 2, . . .) that assists the driver's driving operation is provided when a predetermined condition Xn (n=1, 2, . . .) is satisfied under a situation in which the automatic driving function is disabled (a situation in which the driver is performing a driving operation independently). Furthermore, the vehicle control device 1 is provided with an information providing function that displays information (abbreviation and setting information (values ​​assigned to various parameters)) related to one driving assistance DAn during a predetermined period Tn after the point in time when the driving assistance DAn is provided. In addition, the vehicle control device 1 is provided with a simple customization function that changes the condition Xn (sensitivity) for starting the provision of the driving assistance DAn and the degree (strength) of the driving assistance DAn according to the manner of the operation when the driver performs a predetermined operation within the period Tn.

[0016] (Specific configuration) As shown in FIG. 1, the vehicle control device 1 includes an ECU 10, an on-vehicle sensor 20, a notification device 30, a drive device 40, a braking device 50, and a steering device 60.

[0017] The ECU 10 includes a microcomputer equipped with a CPU 10a, a ROM 10b (flash ROM), a RAM 10c, a timer 10d, etc. The ECU 10 is connected to other ECUs provided in the host vehicle via a CAN (Controller Area Network).

[0018] The on-vehicle sensor 20 includes a millimeter wave radar 21, a camera 22, a speed sensor 23, and a switch 24.

[0019] The millimeter wave radar 21 includes a transmission / reception unit and a signal processing unit. The transmission / reception unit emits millimeter wave band radio waves (hereinafter referred to as "millimeter waves") ahead of the vehicle and receives millimeter waves (reflected waves) reflected by a three-dimensional object (such as a preceding vehicle) located within the emission range. The signal processing unit calculates the distance between the vehicle and the three-dimensional object, the speed of the three-dimensional object, etc. based on the time from when the transmission / reception unit emits the millimeter wave to when it receives the reflected wave, the phase difference between the transmitted millimeter wave and the received reflected wave, the attenuation level of the reflected wave, etc., and transmits the calculation result to the ECU 10.

[0020] The camera 22 includes an imaging device and an image analysis device. The imaging device is, for example, a digital camera with an imaging element formed of a CCD (charge coupled device). The imaging device is, for example, attached to the front of the vehicle cabin. The imaging device is directed forward. The imaging device captures an image of a predetermined area in front of the vehicle at a predetermined frame rate to obtain image data. The imaging device provides the image data to the image analysis device. The image analysis device can analyze the obtained image data to identify the type of object (preceding vehicle, pedestrian, etc.) located in front of the vehicle. The image analysis device also obtains (calculates) information on the behavior of a preceding vehicle located in front of the vehicle based on changes in the image (time-series data consisting of multiple image data). For example, the image analysis device obtains (calculates) the speed (relative speed) of the preceding vehicle relative to the vehicle based on changes in the position and size of the license plate of the preceding vehicle within the angle of view. The image analysis device transmits the above calculation results to the ECU 10.

[0021] The speed sensor 23 detects the rotation speed (wheel speed) of each wheel of the host vehicle, and calculates the host vehicle speed (behavior of the host vehicle) based on the wheel speed of each wheel. The speed sensor 23 transmits the host vehicle speed to the ECU 10.

[0022] The switch 24, which will be described in detail later, is composed of push-button switches 24a and 24b used when customizing the driving assistance function DAFn. The switches 24a and 24b are incorporated into the spokes of the steering wheel. The driver can press the switch 24a or the switch 24b while operating the steering wheel. The ECU 10 monitors the on / off state of the switch 24.

[0023] The notification device 30 includes an image display device and an audio device. The image display device and the audio device are incorporated in, for example, an instrument panel of the vehicle. The image display device displays an image in accordance with an image display command obtained from the ECU 10. The audio device reproduces audio in accordance with an audio reproduction command obtained from the ECU 10.

[0024] The drive unit 40 generates a driving force and applies the driving force to driving wheels among the wheels (left front wheel, right front wheel, left rear wheel, and right rear wheel). The drive unit 40 includes an engine ECU, an internal combustion engine, a transmission, etc. The engine ECU obtains a target value of the driving force from the ECU 10. The engine ECU controls a throttle valve (opening degree of an electromagnetic valve) of the internal combustion engine so that the driving force applied to the driving wheels matches the target value. The output (driving force) of the internal combustion engine is transmitted to the driving wheels via the transmission and a driving force transmission mechanism (e.g., a drive shaft).

[0025] If the vehicle is a hybrid vehicle (HEV), the engine ECU matches the driving force generated by either or both of the "internal combustion engine and electric motor" as the vehicle driving source to a target value. If the vehicle is an electric vehicle (BEV), the electric motor ECU can be used instead of the engine ECU. The electric motor ECU matches the driving force generated by the "electric motor" as the vehicle driving source to a target value.

[0026] The braking device 50 applies braking force to the wheels. The braking device 50 includes a brake ECU, a hydraulic circuit, and a brake caliper. The hydraulic circuit includes a reservoir, an oil pump, various valve devices, a hydraulic sensor, etc., which are not shown. The brake caliper is a hydraulic actuator equipped with a cylinder and a piston. When oil is supplied to the cylinder, the piston is pushed out of the cylinder. A brake pad is provided at the tip of the piston, and this brake pad is pressed against the brake disc. The brake ECU obtains a target value of the braking force from the ECU 10. The brake ECU controls the hydraulic circuit so that the braking force applied to the wheels matches the target value.

[0027] The steering device 60 adjusts the steering angle of the steered wheels (left front wheel and right front wheel). The steering device 60 includes a steering ECU and a steering mechanism (steering wheel, rod, etc.). The steering device 60 further includes an actuator (e.g., an electric motor) that drives the steering mechanism to change the steering angle, and a steering angle sensor that acquires the steering angle (actual steering angle) of the steered wheels. The steering ECU acquires a target value of the steering angle from the ECU 10, and controls the actuator so that the actual steering angle output from the steering angle sensor matches the target value.

[0028] (Driving assistance functions) The vehicle control device 1 includes a plurality of types of driving assistance functions DAFn (n=1, 2, . . .). The ECU 10 sequentially determines whether a condition Xn for starting to provide the driving assistance DAn is satisfied. When the condition Xn is satisfied, the ECU 10 starts to provide the driving assistance DAn. For example, the vehicle control device 1 includes an automatic braking function (PCS=Pre Crash Safety system) as the driving assistance function DAF1, which automatically brakes the host vehicle when the host vehicle rapidly approaches an obstacle (a preceding vehicle). Specifically, the ECU 10 calculates (predicts) a time TTC that the host vehicle takes to contact the obstacle based on various information acquired from the in-vehicle sensor 20. When the time TTC is equal to or less than a threshold TTCth, it is determined that the condition X1 is satisfied. Then, the ECU 10 controls the braking device 50 so that the braking force BF applied to the wheels of the host vehicle coincides with a preset target value BFd.

[0029] For example, the vehicle control device 1 includes, as the driving assistance function DAF2, an automatic steering function (LDA=Lane Departure Alert) that steers the host vehicle to be located at the center of the lane width direction when there is a high possibility that the host vehicle will depart from the lane in which the host vehicle is traveling. Specifically, the ECU 10 calculates a speed vector vy in the lateral direction of the host vehicle (the width direction of the lane in which the host vehicle is traveling) based on various information acquired from the on-board sensor 20. The ECU 10 calculates (predicts) a time TTD that the host vehicle will take to depart from the lane in which the host vehicle is traveling based on the direction and magnitude of the speed vector vy and the position of the host vehicle in the width direction of the lane in which the host vehicle is traveling. The ECU 10 determines that the condition X2 is satisfied when the time TTD is equal to or less than a threshold value TTDth, and controls the steering device 60 so that a steering torque ST in the opposite direction to the direction of the speed vector vy is applied to the steering wheel and the magnitude of the torque ST coincides with a target value STd.

[0030] The vehicle control device 1 also has, as driving assistance functions, a function for notifying that a preceding vehicle has started moving, a function for notifying that there is a vehicle approaching from the left or right when the vehicle enters an intersection, etc. The vehicle control device 1 also has, as driving assistance functions, an automatic braking function (PDA = Proactive Driving Assist) that detects the cutting in of a preceding vehicle or an adjacent vehicle and, when it detects that the depression depth of the accelerator pedal has become "0", gently decelerates the vehicle so that the inter-vehicle distance between the preceding vehicle or the adjacent vehicle and the vehicle is maintained at or above a threshold value.

[0031] (Information provision function) The ECU 10 starts providing the driving assistance DAn and at the same time causes the notification device 30 to display an image Gn representing the abbreviation of the driving assistance DAn and setting information related to the driving assistance DAn (see FIG. 2 and FIG. 3). The setting information includes, for example, information (current setting value) representing the ease of satisfaction of the condition Xn for starting the provision of the driving assistance DAn and the degree (strength) of the driving assistance DAn. In this embodiment, the "sensitivity and strength" are classified into three levels ("high", "medium", and "low"). However, the "sensitivity and strength" may be classified into more levels. In addition, the minimum level of the "sensitivity" and / or the "strength" may be "0". In other words, the driving assistance function DAFn may be set to an off state. In this embodiment, the "sensitivity" level and the "strength" level are the same.

[0032] Next, a specific example of the image Gn will be described with reference to FIG. 2 and FIG. 3. When the ECU 10 determines that the condition X1 is satisfied, the ECU 10 starts providing the driving assistance DA1 (automatic braking) and simultaneously causes the notification device 30 to display the image G1 (FIG. 2). The image G1 includes an image (text) G1a representing "PCS", which is an abbreviation of the function. The image G1 also includes an image G1b representing the current setting value of "sensitivity and strength". In this example, the "sensitivity" corresponds to the threshold value TTCth of the time TTC, and the "strength" corresponds to the target value BFd of the braking force BF by the automatic braking. In the example shown in FIG. 2(A), the "sensitivity and strength" is "medium". That is, a medium value is assigned to the threshold value TTCth (first parameter) and the target value BFd (second parameter) as the "sensitivity and strength".

[0033] Furthermore, when the ECU 10 determines that the condition X2 is satisfied, the ECU 10 starts providing the driving assistance DA2 (automatic steering) and simultaneously causes the notification device 30 to display an image G2 (FIG. 3). The image G2 includes an image (text) G2a that indicates "LDA", which is an abbreviation of the function. The image G2 also includes an image G2b that indicates the current setting value of "sensitivity and strength". In this example, the "sensitivity" corresponds to the threshold value TTDth of the time TTD, and the "strength" corresponds to the target value STd of the steering torque ST by the automatic steering. In the example shown in FIG. 3(A), the "sensitivity and strength" is "high". That is, a relatively large value is assigned to the threshold value TTDth (first parameter) and the target value STd (second parameter) as the "sensitivity and strength".

[0034] The ECU 10 ends the display of the image Gn (transitions to a non-display state) at time t1 when the time Δt that has elapsed since time t0 when the display of the image Gn started reaches a threshold value Δtn (for example, 30 seconds).

[0035] (Simple customization function) Each time the driver presses the switch 24a during the period Tn during which the image Tn is displayed, the "sensitivity and intensity" level of the driving support function DAFn is changed to a level one step higher than the current level. On the other hand, each time the driver presses the switch 24b during the period Tn, the "sensitivity and intensity" level of the driving support function DAFn is changed to a level one step lower than the current level.

[0036] For example, when the driver presses the switch 24a during the period T1 during which the image G1 shown in FIG. 2A is displayed, the ECU 10 changes the "sensitivity and strength" of the automatic braking function (PCS) as the driving assistance function DAF1 from "medium" to "high" as shown in FIG. 2B. Specifically, the ECU 10 changes the values ​​respectively assigned to the threshold value TTCth of the time TTC and the target value BFd of the braking force from a medium value to a relatively large value. As a result, compared to when the "sensitivity and strength" is "medium," the automatic braking (PCS) becomes easier to start (the start timing is brought forward from the current time), and the braking force BF of the automatic braking from the next time onwards is stronger than the current time.

[0037] Also, for example, when the driver presses the switch 24b during the period T2 during which the image G2 shown in Fig. 3(A) is displayed, the ECU 10 changes the "sensitivity and strength" of the automatic steering function (LDA) as the driving assistance function DAF2 from "high" to "medium" as shown in Fig. 3(B). Specifically, the ECU 10 changes the values ​​respectively assigned to the threshold value TTDth of the time TTD and the target value STd of the steering torque ST from relatively large values ​​to medium values. As a result, automatic steering becomes more difficult to start compared to when the "sensitivity and strength" is "high," and the steering torque ST in the next and subsequent automatic steering is weakened from the current value.

[0038] In addition, when the "sensitivity and intensity" is changed while the driving assistance DA1 or the driving assistance DA2 is being provided, the target value BFd or the target value STd may be changed from that point on.

[0039] In addition, a scene is assumed in which multiple driving assistance DAn are provided in a superimposed manner (multiple driving assistance functions DAFn are activated in a superimposed manner), and the periods Tn corresponding to the driving assistance DAn overlap. In this embodiment, in the scene, only the driving assistance DAn provided last (or first) is set as the target for the operation of the information provision function and the simple customization function.

[0040] Next, a program PR1 executed by the CPU 10a (hereinafter simply referred to as "CPU") to realize the above-mentioned information providing function and simple customization function will be described with reference to Fig. 4. The CPU starts executing the program PR1 at a predetermined cycle.

[0041] The CPU starts execution of the program PR1 from step 100 and proceeds to step 101.

[0042] In step 101, the CPU determines whether or not the provision of driving assistance DAn has started (the driving assistance function DAFn has been activated). If the CPU determines that the provision of driving assistance DAn has started (101: Yes), the CPU proceeds to step 102. On the other hand, if the CPU does not determine that the provision of driving assistance DAn has started (101: No), the CPU proceeds to step 110, where it ends the execution of the program PR1.

[0043] In step 102, the CPU causes the timer 10d to start measuring the time Δt that has elapsed since the time t0 when the provision of the driving assistance DAn is started.

[0044] In step 103, the CPU causes the notification device 30 to display the image Gn. Next, the CPU advances the process to step 104.

[0045] The CPU determines whether or not the switch 24a has been pressed in step 104. If the CPU determines that the switch 24a has been pressed (104: Yes), the process proceeds to step 105. On the other hand, if the CPU does not determine that the switch 24a has been pressed (104: No), the process proceeds to step .

[0046] In step 105, the CPU increases the "sensitivity and intensity" of the driving support function DAFn by one level. If the "sensitivity and intensity" of the driving support function DAFn is already the strongest, the "sensitivity and intensity" is maintained. Next, the CPU proceeds to step .

[0047] The CPU determines whether or not the switch 24b has been pressed in step 106. If the CPU determines that the switch 24b has been pressed (106: Yes), the process proceeds to step 107. On the other hand, if the CPU does not determine that the switch 24b has been pressed (106: No), the process proceeds to step 108.

[0048] In step 107, the CPU weakens the "sensitivity and intensity" of the driving assistance function DAFn by one level. If the "sensitivity and intensity" of the driving assistance function DAFn is already the weakest, the "sensitivity and intensity" is maintained. Next, the CPU proceeds to step .

[0049] In step 108, the CPU determines whether or not the time Δt has reached a threshold value Δtn (the duration of the period Tn). If the CPU determines that the time Δt has reached the threshold value Δtn (108: Yes), the CPU proceeds to step 109. On the other hand, if the CPU does not determine that the time Δt has reached the threshold value Δtn (108: No), the CPU returns the process to step 104.

[0050] The CPU causes the notification device 30 to erase the image Gn in step 109. Next, the CPU proceeds to step 110, where it ends the execution of the program PR1.

[0051] (effect) During a predetermined period Tn after the vehicle control device 1 starts providing the driving assistance DAn, an image Gn including the abbreviation of the driving assistance DAn and setting information of the driving assistance function DAFn (current setting values ​​related to "sensitivity and intensity") is displayed. Then, the driving assistance function DAFn is selected as a target for customization, and the driver can customize the driving assistance function DAFn by pressing the switch 24a or the switch 24b within the period Tn. As described above, the vehicle control device 1 allows the driver to easily customize the driving assistance function DAFn.

[0052] The present invention is not limited to the above-described embodiment, and various modifications can be adopted within the scope of the present invention.

[0053] (Variation 1) When multiple driving assistance DAn are provided in a superimposed manner (multiple driving assistance functions DAFn are activated in a superimposed manner), in a scene where the periods Tn corresponding to the driving assistance DAn overlap, all the driving assistance DAn provided in a superimposed manner may be selected as targets for the operation of the information provision function and the simple customization function. In this case, when the driver presses the switch 24a or the switch 24b, the "sensitivity and intensity" of all the selected driving assistance DAn are changed collectively.

[0054] (Variation 2) The present invention is not suitable for driving assistance functions DAFn in which it is difficult for the driver to distinguish between an activated state and an inactivated state. In addition, it is preferable that the information provision function and the simple customization function are not applied to driving assistance functions DAFn that do not require customization (for example, a driving assistance function DAFn that has already been customized). Therefore, instead of making all driving assistance functions installed in the vehicle the targets of operation of the information provision function and the simple customization function, any driving assistance function may be excluded from the targets of operation of the information provision function and the simple customization function. When customizing the excluded driving assistance function, the driver may use the conventional customization function.

[0055] (Variation 3) The simple customization function may have only a function to weaken (or strengthen) the "sensitivity and intensity" of the driving assistance function DAFn. In this case, only the switch 24b (or the switch 24a) needs to be provided, and the number of parts of the vehicle control device 1 can be reduced. In this case, the driver can strengthen (or weaken) the "sensitivity and intensity" of the driving assistance function DAFn by using the conventional customization function.

[0056] (Variation 4) The vehicle control device 1 may have only an information providing function. That is, the ECU 10 may only display the name (abbreviation) of the driving assistance function DAFn currently being activated or the driving assistance function DAFn activated immediately before, and relatively detailed information on the driving assistance function (for example, a brief description of the function, values ​​assigned to various parameters, etc.) on the notification device 30 (a predetermined area on the display device of the navigation system), and may not be able to customize the driving assistance function DAFn at that time. Then, when the driver performs a predetermined operation in this state, a conventional customization function may be activated, and the driving assistance function DAFn may transition to a state in which it is customizable. According to this, the driver can obtain information on the driving assistance DAn currently being provided or the driving assistance DAn provided immediately before without referring to the instruction manual, and the driver can easily start customizing the driving assistance function DAFn by using the conventional customization function.

[0057] (Variation 5) Instead of the switch 24, an input device having a touch panel, a lever, or a voice recognition function may be used.

[0058] (Variation 6) In the above embodiment, an image Gn relating to the provided driving assistance DAn is displayed. Alternatively or in addition to this, a sound may be played back indicating the abbreviation of the driving assistance DAn and other information.

[0059] (Variation 7) In the above embodiment, the "sensitivity" level and the "intensity" level are the same, and the "sensitivity and intensity" levels are changed collectively by the driver pressing the switch 24a or the switch 24b during the period Tn. Alternatively, the "sensitivity" and "intensity" levels may be set individually. In this case, an operating device for changing the "sensitivity" and an operating device for changing the "intensity" are provided. [Explanation of symbols]

[0060] 1...vehicle control device 10...ECU, 20...vehicle-mounted sensor, 30...notification device, 40...driving device, 50...braking device, 60...steering device

Claims

1. A vehicle control device including a processor having a driving assistance function for controlling a vehicle so that a predetermined driving assistance is provided to a driver of the vehicle when a predetermined condition is satisfied, The processor, A process of controlling a notification device so that information regarding a specific driving assistance among the multiple types of driving assistance is provided to the driver during a predetermined period after control of the vehicle is started, and / or a process of changing a value assigned to a parameter as setting information of a function that provides the specific driving assistance when the driver performs a predetermined operation within the predetermined period; A vehicle control device configured to execute the above.

2. The vehicle control device according to claim 1, The parameters include a first parameter related to whether a condition for starting the provision of the specific driving assistance is met, and a second parameter related to a mode of the specific driving assistance.

3. The vehicle control device according to claim 2, The processor changes the values ​​assigned to the first parameter and the second parameter collectively when the driver performs the predetermined operation within the predetermined period.

4. A vehicle control method including a driving assistance step of controlling a vehicle such that a predetermined driving assistance is provided to a driver of the vehicle when a predetermined condition is satisfied, The driving assistance step includes: A step of controlling a notification device so that information regarding a specific driving assistance among the multiple types of driving assistance is provided to the driver during a predetermined period after a point in time when control of the vehicle is started so that the specific driving assistance is provided to the driver; and / or changing a value assigned to a parameter serving as setting information of a function for providing the specific driving assistance when the driver performs a predetermined operation within the predetermined period; A vehicle control method comprising:

5. A vehicle control program that causes a computer included in a vehicle to execute a driving assistance step of controlling the vehicle so that a predetermined driving assistance is provided to a driver of the vehicle when a predetermined condition is satisfied, The driving assistance step includes: A step of controlling a notification device so that information regarding a specific driving assistance among the multiple types of driving assistance is provided to the driver during a predetermined period after a point in time when control of the vehicle is started so that the specific driving assistance is provided to the driver; and / or changing a value assigned to a parameter serving as setting information of a function for providing the specific driving assistance when the driver performs a predetermined operation within the predetermined period; A vehicle control program comprising:

Images