Vehicle control system

Abstract

To provide a technique capable of omitting an operation by a driver, when determining whether or not a drive support control function is operated.SOLUTION: A vehicle control system stores a latest selection result of a driver in regard to whether or not a drive support control function is used, in a storage device. When an operation condition of the drive support control function is established, the vehicle control system operates the drive support control function without asking the driver whether or not the drive support control function is used when the latest selection result is to use the drive support control function. When the operation condition of the drive support control function is established, the vehicle control system does not operate the drive support control function without asking the driver whether or not the drive support control function is used when the latest selection result is not to use the drive support control function.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present disclosure relates to a driving assistance control function that assists driving of a vehicle. [Background technology]

[0002] Patent Document 1 discloses a vehicle control device that is applied to a vehicle equipped with multiple driving modes with different levels of automation of driving operations. When switching to an autonomous driving mode, the vehicle control device requests the user (driver) to perform an operation according to the current automation level. The operation for switching to the autonomous driving mode is configured to be easier the higher the current automation level. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-022075 Summary of the Invention [Problem to be solved by the invention]

[0004] Consider a case where a driver drives a vehicle equipped with a driving assistance control function. When deciding whether to activate the driving assistance control function, there is a concern that requiring the driver to frequently perform selection operations may be bothersome to the driver. Patent Document 1 discloses a technology that simplifies the operations required when switching driving modes depending on the automation level at that time, but it does not go so far as to completely eliminate operations.

[0005] One object of the present disclosure is to provide a technology that can eliminate the need for an operation by the driver when determining whether or not to activate a driving assistance control function. [Means for solving the problem]

[0006] The first aspect relates to a vehicle control system having a driving assistance control function that assists driving of a vehicle. The vehicle control system includes one or more storage devices and one or more processors. The one or more storage devices store the driver's most recent selection result regarding whether or not to use the driving assistance control function. When the activation conditions for the driving assistance control function are met, if the most recent selection result is to use the driving assistance control function, the one or more processors activate the driving assistance control function without asking the driver whether to use the driving assistance control function. When the activation conditions for the driving assistance control function are met and the most recent selection result is not to use the driving assistance control function, the one or more processors do not activate the driving assistance control function without asking the driver whether to use the driving assistance control function. [Effects of the Invention]

[0007] When determining whether to activate the driving assistance control function, the vehicle control system refers to the driver's most recent selection result and appropriately omits providing the driver with options. This reflects the driver's intention while reducing the annoyance felt by the driver due to frequent option presentations. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a diagram illustrating an overview of a vehicle and a vehicle control system. [Figure 2] FIG. 1 is a diagram illustrating an example of the configuration of a vehicle control system. [Figure 3] FIG. 2 is a conceptual diagram illustrating a hands-off driving assistance control function, which is an example of a driving assistance control function. [Figure 4] FIG. 2 is a conceptual diagram showing an example of a process for determining whether to turn on or off a driving assistance control function. [Figure 5] 10 is a flowchart showing an example of a process flow relating to ON / OFF determination of a driving assistance control function. [Figure 6]10 is a flowchart showing an example of a process flow for determining whether to turn on or off hands-free driving assist control. DETAILED DESCRIPTION OF THE INVENTION

[0009] 1. Vehicle Control System 1 is a diagram showing an overview of a vehicle 1 and a vehicle control system 10. The vehicle control system 10 is applied to the vehicle 1 driven by a driver 3 and controls the vehicle 1. For example, the vehicle control system 10 has a driving assistance control function that assists in driving the vehicle 1.

[0010] 2 is a diagram showing an example of the configuration of the vehicle control system 10. The vehicle control system 10 includes an HMI (human machine interface) unit 20, a communication device 30, a driver monitor 40, a sensor group 50, a driving device 60, and a control device 100.

[0011] The HMI unit 20 is an interface for providing information to the driver 3 and receiving information from the driver 3. Specifically, the HMI unit 20 has an input device and an output device. Examples of the input device include a touch panel, a switch, a microphone, etc. Examples of the output device include a display device, a speaker, etc. Examples of the display device include a liquid crystal panel, an organic EL panel, etc.

[0012] The communication device 30 communicates with the outside of the vehicle 1. An example of the communication device 30 is a beacon for receiving road traffic information. The road traffic information includes congestion information, required travel time, traffic regulation information, and the like.

[0013] The driver monitor 40 is a device for detecting the state and actions of the driver 3. For example, the driver monitor 40 includes a camera installed in a position where it can capture an image of the driver 3. By analyzing the image obtained by the camera, it is possible to detect the direction of the driver's face, line of sight, eye opening degree, mouth opening degree, etc. The driver monitor 40 may include a steering touch sensor installed on the steering wheel operated by the driver 3. The driver monitor 40 may also detect driving operations by the driver 3.

[0014] The sensor group 50 includes a recognition sensor, a vehicle state sensor, a position sensor, etc. The recognition sensor recognizes (detects) the situation around the vehicle 1. Examples of the recognition sensor include a camera, a LIDAR (Laser Imaging Detection and Ranging), a radar, etc. The vehicle state sensor detects the state of the vehicle 1. The vehicle state sensor includes a speed sensor, an acceleration sensor, a yaw rate sensor, a steering angle sensor, etc. The position sensor detects the position and orientation of the vehicle 1. For example, the position sensor includes a GNSS (Global Navigation Satellite System).

[0015] The traveling device 60 includes a steering device, a drive device, and a braking device. The steering device steers the wheels. For example, the steering device includes an electric power steering (EPS) device. The drive device is a power source that generates driving force. Examples of the drive device include an engine, an electric motor, and an in-wheel motor. The braking device generates braking force.

[0016] The control device 100 is a computer that controls the vehicle 1. The control device 100 includes one or more processors 110 (hereinafter simply referred to as processors 110) and one or more storage devices 120 (hereinafter simply referred to as storage devices 120). The processors 110 execute various processes. For example, the processors 110 include a CPU (Central Processing Unit). The storage devices 120 store various information. Examples of the storage devices 120 include volatile memory, non-volatile memory, HDD (Hard Disk Drive), SSD (Solid State Drive), etc.

[0017] The vehicle control program 130 is a computer program executed by the processor 110. The functions of the control device 100 are realized by cooperation between the processor 110, which executes the vehicle control program 130, and the storage device 120. The vehicle control program 130 is stored in the storage device 120. Alternatively, the vehicle control program 130 may be recorded on a computer-readable recording medium.

[0018] The control device 100 uses the sensor group 50 to acquire driving environment information 140 that indicates the driving environment of the vehicle 1. The driving environment information 140 is stored in the storage device 120.

[0019] The driving environment information 140 includes surrounding situation information indicating the recognition results of the recognition sensor. For example, the surrounding situation information includes images captured by a camera. The surrounding situation information may include object information regarding objects around the vehicle 1. Examples of objects around the vehicle 1 include pedestrians, other vehicles (preceding vehicles, parked vehicles, etc.), lane boundary lines (white lines), traffic lights, signs, roadside structures, etc. The object information indicates the relative position and relative speed of the object with respect to the vehicle 1.

[0020] The driving environment information 140 also includes vehicle state information indicating the vehicle state detected by the vehicle state sensor.

[0021] Furthermore, the driving environment information 140 includes vehicle position information indicating the position and direction of the vehicle 1. The vehicle position information is obtained by a position sensor. Highly accurate vehicle position information may be obtained by a self-position estimation process (localization) using map information and surrounding situation information (object information).

[0022] Furthermore, the driving environment information 140 includes driver state and operation information obtained by the driver monitor 40 .

[0023] The control device 100 executes vehicle driving control to control the driving of the vehicle 1. The vehicle driving control includes steering control, acceleration control, and deceleration control. The control device 100 executes vehicle driving control by controlling the driving devices 60 (steering device, drive device, and braking device).

[0024] The control device 100 also has a driving assistance control function. That is, the control device 100 performs driving assistance control to assist the driving of the vehicle 1 as necessary. The driving assistance control includes at least one of steering control, acceleration control, and deceleration control. Examples of such driving assistance control functions include autonomous driving control, path-following control, lane tracing assist control, collision avoidance control, adaptive cruise control (ACC), and hands-off driving assistance control. In the case of autonomous driving control, the autonomous driving level may be one that assumes that the driver does not necessarily have to concentrate 100% on driving (so-called level 3 or higher). The control device 100 determines whether an activation condition for the driving assistance control function is met based on the driving environment information 140. If an activation condition for the driving assistance control function is met, the control device 100 may inquire of the driver 3 about whether or not to use the driving assistance control function before activating the driving assistance control function. The inquiry to the driver 3 will be described in detail later.

[0025] 3 is a conceptual diagram for explaining a hands-off driving assist control function, which is an example of a driving assist control function. The hands-off driving assist control function allows the driver 3 to take his / her hands off the steering wheel. The hands-off driving assist control function includes, for example, automatically causing the vehicle 1 to follow a preceding vehicle 1P in a traffic jam.

[0026] The activation conditions for the hands-off driving assist control function may include, for example, (Condition 1) that the vehicle 1 is on a highway, (Condition 2) that the speed of the vehicle 1 is less than a threshold value, (Condition 3) that a preceding vehicle 1P is present within a predetermined distance D ahead of the vehicle 1, (Condition 4) that lane boundary lines (white lines) are clearly recognized, and (Condition 5) that the driver 3 is facing the direction of travel of the vehicle 1. The control device 100 can determine whether the activation conditions for the hands-off driving assist control function are met based on the driving environment information 140 described above. More specifically, whether Condition 1 is met can be determined based on vehicle position information and map information. Whether Condition 2 is met can be determined based on vehicle state information. Whether Condition 3 is met can be determined based on surrounding situation information. Whether Condition 4 is met can be determined based on surrounding situation information. Whether Condition 5 is met can be determined based on driver state and operation information.

[0027] The operating conditions of other driving assistance control functions can also be determined based on the driving environment information 140 in a similar manner.

[0028] Furthermore, the control device 100 may perform autonomous driving control based on the driving environment information 140. For example, the control device 100 generates a driving plan for the vehicle 1 based on the driving environment information 140. Furthermore, the control device 100 generates a target trajectory required for the vehicle 1 to drive according to the driving plan based on the driving environment information 140. The target trajectory includes a target position and a target speed. Then, the control device 100 performs vehicle driving control so that the vehicle 1 follows the target trajectory.

[0029] 2. Processing related to determining whether to turn driving assistance control functions on or off As described above, the control device 100 determines whether or not the activation conditions for the driving assistance control function are met. When the activation conditions for the driving assistance control function are met, the control device 100 may inquire of the driver 3 whether or not to use the driving assistance control function before activating the driving assistance control function. However, if the driver 3 is queried every time the activation conditions for the driving assistance control function are met, the driver 3 may feel annoyed. Therefore, the control device 100 automatically determines whether or not to activate the driving assistance control function depending on the situation. In other words, the control device 100 automatically determines whether or not to turn the driving assistance control function on or off. FIG. 4 is a diagram showing an example of a process related to the on / off determination of the driving assistance control function.

[0030] 2-1. Presenting options The control device 100 presents options to the driver 3 via the HMI unit 20. The options include a question regarding "whether or not to use the driving assistance control function." The input by the driver 3 as a response to the options is called a "selection input." The content of the selection input is either a content indicating "to use the driving assistance control function" (hereinafter referred to as "ON selection") or a content indicating "not to use the driving assistance control function" (hereinafter referred to as "OFF selection"). The options may be presented via the HMI unit 20 visually via a display device or provided audibly through a speaker. Similarly, the selection input may be input via a touch panel or audibly via a microphone.

[0031] If the selection input is an ON selection, the control device 100 activates (turns ON) the driving assistance control function. On the other hand, if the selection input is a use selection, the control device 100 does not activate (turns OFF) the driving assistance control function. At this time, the control device 100 stores the content of the selection input ("ON selection" or "OFF selection") as the selection result 150 in the storage device 120.

[0032] The selection result 150 indicates the "most recent" selection input made by the driver 3. That is, once a selection input is stored in the storage device 120 as the selection result 150, if another selection input is made, the selection result 150 is updated to the content of the later selection input. In other words, the selection result 150 indicates the result of the most recent selection made by the driver 3 regarding whether or not to use the driving assistance control function.

[0033] 2-2. Omission of options The vehicle control system 10 also has a processing path that automatically makes an ON / OFF decision without presenting options. Whether to present or omit options depends on the content of the selection result 150. If there is no selection result 150, the control device 100 presents options as described above. On the other hand, if there is a selection result 150, the control device 100 automatically makes an ON / OFF decision without presenting options. Specifically, if the selection result 150 is an ON selection, the control device 100 turns on the driving assistance control function. On the other hand, if the selection result 150 is an OFF selection, the control device 100 turns off the driving assistance control function. In other words, the control device 100 makes an ON / OFF decision according to the content of the most recent selection input (i.e., the selection result 150).

[0034] A case in which the selection result 150 does not exist may be a case in which the activation conditions for the driving assistance control function have never been met since the driver 3 started driving the vehicle 1. In addition, when a specific preset condition is met, the control device 100 deletes the selection result 150. This process of deleting the selection result 150 can be considered a preparation stage for presenting the options again.

[0035] 2-3. Processing flow FIG. 5 is a flowchart showing an example of a process flow related to determining whether to turn on or off the driving support control function.

[0036] In step S110, the control device 100 determines whether or not the activation conditions for the driving assistance control function are met. If the activation conditions for the driving assistance control function are met (step S110; Yes), the process proceeds to step S120. If the activation conditions for the driving assistance control function are not met (step S110; No), the process repeats the determination in step S110.

[0037] In step S120, the control device 100 refers to the contents of the selection result 150 stored in the storage device 120. If the selection result 150 is an ON selection, the process proceeds to step S161. If the selection result 150 is an OFF selection, the process proceeds to step S162. If the selection result 150 does not exist, the process proceeds to step S130.

[0038] In step S130, the control device 100 presents options to the driver 3. That is, step S130 can be said to be a process of confirming whether the driver 3 intends to select ON or OFF. Next, the process proceeds to step S140.

[0039] In step S140, the control device 100 determines the next process based on the selection input by the driver 3. If the selection input is an ON selection, the process proceeds to step S151. If the selection input is an OFF selection, the process proceeds to step S152.

[0040] In step S151, the control device 100 stores the content of the selection input in step S140 (ie, ON selection) in the storage device 120 as the selection result 150. The process proceeds to step S161.

[0041] In step S161, the control device 100 activates (turns ON) the driving assistance control function. In the path directly from step S120 to step S161, since the selection result 150 is the ON selection, the control device 100 determines that the intention of the driver 3 is the same as that of the previous selection input, and decides to activate the driving assistance control function without re-presenting the options. On the other hand, in the path from step S120 to step S161 via step S130, step S140, and step S151, since there is no selection result 150, the control device 100 presents options, confirms the intention of the driver 3, and then decides to activate the driving assistance control function. Next, the process proceeds to step S170.

[0042] In step S152, the control device 100 stores the content of the selection input in step S140 (that is, the OFF selection) in the storage device 120 as the selection result 150. The process proceeds to step S162.

[0043] In step S162, the control device 100 decides not to activate the driving assist control function (turns it OFF). In the path directly from step S120 to step S162, since the selection result 150 is the OFF selection, the control device 100 determines that the intention of the driver 3 is the same as that of the previous selection input, and decides not to activate the driving assist control function without re-presenting the options. On the other hand, in the path from step S120 to step S162 via step S130, step S140, and step S152, since there is no selection result 150, the control device 100 presents options to confirm the intention of the driver 3, and then decides not to activate the driving assist control function. Next, the process proceeds to step S170.

[0044] In step S170, the control device 100 determines whether or not the termination condition for the driving assist control is satisfied. The fact that the termination condition for the driving assist control is satisfied means that the activation condition for the driving assist control is not satisfied. If the termination condition for the driving assist control is satisfied (step S170; Yes), the process proceeds to step S192. On the other hand, if the termination condition for the driving assist control is not satisfied (step S170; No), the process proceeds to step S180.

[0045] In step S192, the control device 100 turns off the driving assistance control function. At this time, if the driving assistance control function has already been turned off in step S162, the control device 100 maintains the OFF state. After that, the process returns to the start.

[0046] In step S180, the control device 100 determines whether a predetermined specific condition is met. As described above, the specific condition is a condition that triggers the deletion of the selection result 150. If the specific condition is met (step S180; Yes), the process proceeds to step S191. If the specific condition is not met (step S180; No), the process returns to step S170.

[0047] In step S191, the control device 100 deletes the selection result 150 stored in the storage device 120. After that, the process returns to the start.

[0048] Consider a case where the process returns to the start after step S191. In this case, if the process goes through step S110 and reaches step S120, the selection result 150 has been deleted in step S191, so the process proceeds to step S130. That is, the control device 100 presents options to the driver 3.

[0049] Consider the case where the process returns to the start after step S192. In this case, when the process reaches step S120 after step S110, the selection result 150 has not been deleted, so the control device 100 executes the ON / OFF decision without presenting the options based on the selection result 150. That is, the process proceeds directly from step S120 to step S161 or step S162.

[0050] Deletion of selection result 150 is optimally performed when the driver's 3 intention regarding ON / OFF of the driving assistance control function has changed since the previous selection input. For example, the driver 3 may have once selected ON for the driving assistance control function but now wishes to turn it OFF. It is also desirable to delete selection result 150 when the driver 3 once turned OFF the driving assistance control function but now wishes to turn it ON. Therefore, the specific condition in step S180 can be generally expressed as "a condition in which the current operating state (ON / OFF state) does not match the intention of driver 3." When such a condition is met, it makes sense to delete selection result 150 and present options to confirm the intention of driver 3. The specific condition may be individually set depending on the specific content of the driving assistance control function. Specific examples of such conditions will be described later.

[0051] 2-4.Effects As described above, when determining whether to turn on or off the driving assistance control function, the vehicle control system 10 refers to the selection result 150, appropriately omits providing options to the driver 3, and automatically performs the ON / OFF determination. This makes it possible to reflect the intention of the driver 3, while reducing the annoyance felt by the driver 3 due to frequent presentation of options.

[0052] Furthermore, the vehicle control system 10 presents options to the driver 3 by deleting the selection result 150 when a specific condition is met. That is, the vehicle control system 10 presents options when it determines that the driver 3's intention is different from the previous selection input. This makes it easier for options to be presented when the driver 3 feels the need to input a selection. That is, the vehicle control system 10 can be said to be a system that can flexibly switch between presenting options and not presenting options.

[0053] 3. Examples of other specific conditions 3-1.Hands-off driving assistance control As described above, the driving assist control may include hands-off driving assist control that allows the driver 3 to take their hands off the steering wheel. Fig. 6 is a flowchart showing an example of the flow of a process related to ON / OFF determination for hands-off driving assist control.

[0054] The path taken by the control device 100 to make an ON / OFF decision (from the start to step S261 or step S262) is the same as in the case of Fig. 5. In this case, the operating conditions for the driving assistance control function in step S210 are as described in Section 1.

[0055] After the control device 100 turns on the driving assist control function in step S261, the process proceeds to step S271. In step S271, similar to step S170 in FIG. 5, it is determined whether or not the driving assist control termination condition is met. If the driving assist control termination condition is met (step S271; Yes), the process proceeds to step S292. In step S292, the control device 100 turns off the driving assist control function, and the process returns to start. If the driving assist control termination condition is not met (step S271; No), the process proceeds to step S281.

[0056] Step S281 corresponds to the determination of a specific condition (step S180) in FIG. 5. Here, the specific condition is "the driver 3 continues to grip the steering wheel of the vehicle 1 for a predetermined period of time or more." Whether or not this specific condition is met can be determined based on the driver state and operation information. If this specific condition is met, the process proceeds to step S291. In step S291, similar to step S191 in FIG. 5, the control device 100 deletes the selection result 150 from the storage device 120, and then the process returns to the start. On the other hand, if the specific condition of step S281 is not met (step S281; No), the process returns to step S271.

[0057] After the control device 100 turns off the driving assist control function in step S262, the process proceeds to step S272. In step S272, similar to step S170 in FIG. 5, it is determined whether or not the driving assist control termination condition is met. If the driving assist control termination condition is met (step S272; Yes), the process proceeds to step S292. In step S292, the control device 100 turns off the driving assist control function, and the process returns to start. If the driving assist control termination condition is not met (step S272; No), the process proceeds to step S282.

[0058] Step S282 corresponds to the determination of a specific condition (step S180) in FIG. 5. Here, the specific condition is defined as "when the activation condition of the driving assist control function is met, the driver 3 keeps his / her hands off the steering wheel of the vehicle 1 for a predetermined period of time or more." Whether or not this specific condition is met can be determined based on the driver state / operation information. If this specific condition is met, the process proceeds to step S291. On the other hand, if the specific condition is not met (step S282; No), the process returns to step S272.

[0059] The significance of setting specific conditions based on the state of the driver 3 and the steering wheel, as in steps S281 and S282, in hands-off driving control will be described below.

[0060] Consider a case where a specific condition is met in step S281 (driver 3 continues to hold the steering wheel of vehicle 1 for a predetermined period of time or more). This situation is one in which driver 3 holds the steering wheel even though the hands-off driving assist control function is ON. In such a situation, it is highly likely that driver 3 does not need hands-off driving assist control. Therefore, it makes sense for control device 100 to delete selection result 150 (step S291), return processing to the start, and then present options (step S230).

[0061] Consider a case where a specific condition is met in step S282 (driver 3 keeps his / her hands off the steering wheel of vehicle 1 for a predetermined period of time or more). This situation means that driver 3 keeps his / her hands off the steering wheel even though the hands-off driving assist control function is OFF. In such a situation, it is highly likely that driver 3 needs hands-off driving assist control. Alternatively, driver 3 may mistakenly believe that hands-off driving assist control is operating. Therefore, it makes sense for control device 100 to delete selection result 150 (step S291), return processing to the start, and then present options (step S230).

[0062] 3-2.Other specific conditions Other examples of specific conditions that trigger the deletion of the selection results 150 are shown below (not shown).

[0063] Consider a case where the vehicle control system 10 is equipped with a main switch for the driving assistance control function. When the main switch for the driving assistance control function is turned OFF, the control device 100 may delete the selection result 150. When such processing is set, consider a case where the driver 3 turns the main switch OFF once and then ON again. In this case, since the selection result 150 has been deleted, the control device 100 presents options. For example, if a considerable amount of time has passed between turning the main switch OFF and turning it ON again, the driving environment (traffic congestion, fatigue level of the driver 3, etc.) may have changed. Therefore, it is effective to delete the selection result 150 using such a setting and present options to confirm the driver 3's intention.

[0064] The specific condition may also be "vehicle 1 continuously traveling in a place other than a motorway for a predetermined period of time or more." Whether or not this specific condition is met can be determined based on vehicle position information and map information. Specific examples include when the driver 3 switches from a motorway to a general road, or when the driver 3 takes a break at a service area. In such cases, it is highly likely that the driving environment has changed, so it is effective to delete the selection result 150 and present options to confirm the driver 3's intention.

[0065] Consider a case where the driving assistance control function includes a function that automatically causes the vehicle 1 to follow the preceding vehicle 1P during a traffic jam. A specific condition in this case is that the traffic jam continues for a predetermined time or longer than the traffic jam time expected at the time the control device 100 decides not to activate the driving assistance control function. As described above, the vehicle control system 10 can acquire road traffic information via the communication device 30. This means that the vehicle control system 10 can acquire the expected duration of the traffic jam when the traffic jam occurs. For example, consider a case where the vehicle 1 is caught in a traffic jam and the expected traffic jam time is displayed via the HMI unit 20. The expected traffic jam time is long enough for the driver 3 to drive the vehicle by himself (i.e., the driving assistance control function is not required). However, if the traffic jam continues for a long time, the driver 3 may change his / her mind and prefer the driving assistance control. Therefore, it is effective for the control device 100 to delete the selection result 150 and present alternatives in response to changes in the expected traffic jam time. [Explanation of symbols]

[0066] 1...vehicle, 3...driver, 10...vehicle control system, 20...HMI unit, 30...communication device, 40...driver monitor, 50...sensor group, 60...traveling device, 100...control device, 110...processor, 120...storage device, 130...vehicle control program, 140...driving environment information, 150...selection result

Claims

1. A vehicle control system having a driving assistance control function that assists driving of a vehicle, one or more storage devices; one or more processors; Equipped with The one or more storage devices storing the driver's most recent selection result regarding whether or not to use the driving assistance control function; the one or more processors: When the activation condition of the driving assistance control function is satisfied, if the most recent selection result is to use the driving assistance control function, activate the driving assistance control function without inquiring of the driver about whether to use the driving assistance control function; When the activation condition of the driving assistance control function is satisfied, if the most recent selection result is not to use the driving assistance control function, the driving assistance control function is not activated without inquiring of the driver about whether to use the driving assistance control function. It was configured as Vehicle control system.

2. 2. The vehicle control system according to claim 1, The one or more processors further When the activation condition of the driving assistance control function is satisfied, if the most recent selection result does not exist in the one or more storage devices, presenting the driver with options regarding whether or not to use the driving assistance control function, determining whether or not to activate the driving assistance control function based on a selection input by the driver for the options, and storing the selection input by the driver in the one or more storage devices as the most recent selection result; If a specific condition is met, deleting the most recent selection from the one or more storage devices. Vehicle control system.

3. 3. The vehicle control system according to claim 2, the driving assistance control function allows the driver to take their hands off the steering wheel of the vehicle; The specific conditions are: The driver continues to hold the steering wheel of the vehicle for a predetermined period of time or more while the driving assistance control function is operating, or While the driving assistance control function is not in operation, the driver continues to take his / her hands off the steering wheel of the vehicle for a predetermined period of time or more while the operation condition of the driving assistance control function is satisfied. Contains Vehicle control system.

4. 3. The vehicle control system according to claim 2, The driving assistance control function automatically causes the vehicle to follow a preceding vehicle when in a traffic jam, The specific condition includes a situation in which traffic congestion continues for a predetermined period of time or longer than the traffic congestion period expected at the time when the one or more processors decide not to activate the driving assistance control function. Vehicle control system.

5. 3. The vehicle control system according to claim 2, The specific condition includes the vehicle continuously traveling on a place other than a motorway for a predetermined period of time or more. Vehicle control system.

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