Vehicle operation support device, vehicle operation support method, and vehicle operation support program

Abstract

To provide a vehicle operation support device that can change an execution state of operation support control in consideration of the possibility that a driver may have erroneously performed an operation of requesting the execution state of the operation support control to be changed.SOLUTION: A vehicle operation support device 10 comprises a control device 90 that executes operation support control of supporting a driving operation by a driver in an own vehicle 100. When sensing a change operation that is an operation by the driver for requesting the control device to change an execution state of the operation support control, the control device changes the execution state as requested by the change operation, if an erroneous operation probability showing the possibility that the driver has erroneously performed the change operation, which becomes larger as the possibility is higher, is equal to or lower than a predetermined erroneous operation probability. When sensing the change operation, the control device does not change the execution state or changes the execution state more moderately than when changing the execution state requested by the change operation, if the erroneous operation probability is larger than the predetermined erroneous operation probability.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a vehicle driving assistance device, a vehicle driving assistance method, and a vehicle driving assistance program. [Background technology]

[0002] Vehicle driving assistance devices that perform driving assistance control to assist the driver of a vehicle in driving operations are known. In such vehicle driving assistance devices, various switches that the driver operates to start and stop the driving assistance control are often provided on the steering wheel of the vehicle. While providing various switches on the steering wheel makes it easy for the driver to operate the switches, there is a risk that the driver may operate the switches by mistake. Therefore, for example, a vehicle driving assistance device is also known that is configured to determine whether or not starting the driving assistance control is permitted based on the type of road the vehicle is traveling on when a switch for starting the driving assistance control is operated (see, for example, Patent Document 1). This conventional vehicle driving assistance device is configured not to start the driving assistance control if starting the driving assistance control is not permitted. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2009-143354 Summary of the Invention

[0004] Conventional vehicle driving assistance systems determine whether or not to allow the initiation of driving assistance control based solely on the type of road the vehicle is traveling on. Therefore, conventional vehicle driving assistance systems may not initiate driving assistance control even if the driver has not mistakenly operated a switch.

[0005] The object of the present invention is to provide a vehicle driving assistance device, a vehicle driving assistance method, and a vehicle driving assistance program that can change the execution state of driving assistance control while taking into account the possibility that an operation to request a change in the execution state of driving assistance control may have been performed erroneously by the driver.

[0006] A vehicle driving assistance device according to the present invention includes a control device that executes driving assistance control to assist a driver of a host vehicle in driving an operation. The control device is configured, when detecting a change operation by the driver of the host vehicle to request the control device to change the execution state of the driving assistance control, to change the execution state as requested by the change operation if an operation error probability indicating the possibility that the driver of the host vehicle has erroneously performed the change operation, the error probability increasing as the possibility increases, is equal to or less than a predetermined operation error probability. On the other hand, when detecting the change operation, if the operation error probability is greater than the predetermined operation error probability, the control device is configured not to change the execution state or to change the execution state more slowly than the change of the execution state requested by the change operation.

[0007] According to the vehicle driving assistance device of the present invention, it is determined whether to change the execution state of the driving assistance control, or the manner in which the execution state of the driving assistance control is changed, based on the operation error probability. The operation error probability indicates the possibility that an operation to request a change in the execution state of the driving assistance control has been erroneously performed by the driver. Therefore, the execution state of the driving assistance control can be changed taking into account the possibility that an operation to request a change in the execution state of the driving assistance control has been erroneously performed by the driver.

[0008] In the vehicle driving assistance device according to the present invention, for example, the erroneous operation probability decreases as the driver operation frequency increases, the driver operation frequency being the frequency with which the driver of the host vehicle previously performed the change operation on a road similar to the road on which the host vehicle is traveling at the time the change operation is detected. Alternatively, the erroneous operation probability decreases as the market operation frequency increases, the market operation frequency being the frequency with which a driver of another vehicle previously performed an operation requesting the same type of change to the execution state requested by the change operation on a road similar to the road on which the host vehicle is traveling at the time the change operation is detected. Alternatively, the erroneous operation probability decreases as the recommendation degree increases, the probability being the degree to which the change to the execution state requested by the change operation is recommended on the road on which the host vehicle is traveling at the time the change operation is detected.

[0009] According to the vehicle driving assistance device of the present invention, the execution state of driving assistance control can be changed based on at least one of the driver operation frequency, the market operation frequency, and the recommendation degree.

[0010] Furthermore, in the vehicle driving assistance device of the present invention, if the control device does not change the execution state when it detects the change operation, it can be configured to send an approval request notification to the driver of the vehicle requesting approval to change the execution state, and if the driver of the vehicle approves the change of the execution state, to change the execution state.

[0011] According to the vehicle driving assistance device of the present invention, even if the requested change in execution state is not made, the change can be made if the driver of the vehicle approves the change.

[0012] Furthermore, in the vehicle driving assistance device according to the present invention, for example, the probability of erroneous operation decreases as the driver approval frequency increases, and the driver approval frequency is the frequency at which the driver of the vehicle approves the change of the execution state in response to the approval request notification in which an operation identical to the change operation was detected and performed in the past on a road of the same type as the road on which the vehicle is traveling at the time the change operation is detected.

[0013] According to the vehicle driving assistance device of the present invention, the execution state of driving assistance control can be changed based on the driver's approval frequency.

[0014] Furthermore, in the vehicle driving assistance device of the present invention, the control device may be configured to notify the driver of the vehicle that a change in the execution state will be made when the change in the execution state is to be made more gradually than the change in the execution state requested by the change operation.

[0015] According to the vehicle driving assistance device of the present invention, when the probability of an erroneous operation is relatively high and the execution state is to be changed, the driver of the vehicle is notified of the change in the execution state, thereby preventing the driver of the vehicle from feeling uneasy.

[0016] Furthermore, in the vehicle driving assistance device of the present invention, if the change operation requests a change in the control amount for the vehicle by the driving assistance control and, when the change operation is detected, the control device makes a change in the execution state that is gradual compared to the change in the control amount requested by the change operation, the control device may be configured to make a change in the control amount that is smaller than the change in the control amount requested by the change operation.

[0017] According to the vehicle driving assistance device of the present invention, when the probability of an erroneous operation is relatively high, the amount of change in the control variable is small, thereby making it possible to prevent the driver of the vehicle from feeling uneasy.

[0018] Furthermore, in the vehicle driving assistance device according to the present invention, if the control device does not change the execution state when it detects the change operation, it can be configured to send a change notification to the driver of the vehicle to inform him or her that the execution state will be changed, and to change the execution state when a predetermined time has elapsed since the change notification was sent.

[0019] According to the vehicle driving assistance device 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 will be changed, and then the execution state is changed after a predetermined time has elapsed, thereby preventing the driver of the vehicle from feeling uneasy.

[0020] A vehicle driving assistance method according to the present invention is a method for executing driving assistance control that assists a driver of a host vehicle in driving an operation. The vehicle driving assistance method includes: a step of, when detecting a change operation by the driver of the host vehicle to request a change of an execution state of the driving assistance control, changing the execution state as requested by the change operation if an operation error probability indicating the possibility that the driver of the host vehicle has erroneously performed the change operation, the operation error probability increasing as the possibility increases, is equal to or less than a predetermined operation error probability; and a step of not changing the execution state or changing the execution state more gradually than the change of the execution state requested by the change operation if, when detecting the change operation, the operation error probability is greater than the predetermined operation error probability.

[0021] According to the vehicle driving assistance method of the present invention, for the reasons described above, the execution state of driving assistance control can be changed taking into account the possibility that an operation to request a change in the execution state of driving assistance control has been performed erroneously by the driver of the vehicle.

[0022] A vehicle driving assistance program according to the present invention is a program for executing driving assistance control that assists a driver of the vehicle in driving an operation. The vehicle driving assistance program according to the present invention is configured to: upon detecting a change operation by the driver of the vehicle to request a change of an execution state of the driving assistance control, if a misoperation probability indicating the possibility that the driver of the vehicle has erroneously performed the change operation, the misoperation probability increasing as the possibility increases, is equal to or less than a predetermined misoperation probability; and upon detecting the change operation, if the misoperation probability is greater than the predetermined misoperation probability, not to change the execution state or to change the execution state more gradually than the change of the execution state requested by the change operation.

[0023] According to the vehicle driving assistance program of the present invention, for the reasons described above, the execution state of driving assistance control can be changed taking into account the possibility that an operation to request a change in the execution state of driving assistance control has been performed incorrectly by the driver of the vehicle.

[0024] In addition, the vehicle driving assistance device according to the present invention may be configured to learn the frequency of driver operations and the frequency of market operations, and may be configured to perform the learning using AI technology such as so-called machine learning or deep learning.

[0025] 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, features, and attendant advantages of the present invention will be easily understood from the description of the embodiments of the present invention. [Brief explanation of the drawings]

[0026] [Figure 1] FIG. 1 is a diagram showing a vehicle driving assistance device according to an embodiment of the present invention. [Figure 2] FIG. 2 is a diagram showing the steering wheel of the vehicle. [Figure 3]FIG. 3 is a flowchart showing a routine executed by the vehicle driving assistance device according to the embodiment of the present invention. [Figure 4] FIG. 4 is a diagram showing a situation in which a preceding vehicle is present ahead of the host vehicle. [Figure 5] FIG. 5 is a diagram showing a scene where there is no preceding vehicle ahead of the host vehicle. [Figure 6] FIG. 6 is a diagram showing the probability of an erroneous operation for a combination of the type of road on which the vehicle is traveling at the time when a change operation is detected and the type of the change operation. DETAILED DESCRIPTION OF THE INVENTION

[0027] 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 a vehicle driving assistance device 10 according to an embodiment of the present invention. The vehicle driving assistance device 10 is mounted on a host vehicle 100. Hereinafter, the vehicle driving assistance device 10 will be described using as an example a case where the operator of the host vehicle 100 is a person who gets into the host vehicle 100 and drives the host vehicle 100 (i.e., the driver of the host vehicle 100).

[0028] However, the operator of the vehicle 100 may be a person who drives the vehicle 100 remotely without being in the vehicle 100 (i.e., a remote operator of the vehicle 100). When the operator of the vehicle 100 is a remote operator, the vehicle driving assistance device 10 is mounted on the vehicle 100 and on a remote operation facility installed outside the vehicle 100 for remotely driving the 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 vehicle 100 and the vehicle driving assistance device 10 mounted on the remote operation facility.

[0029] The vehicle driving assistance device 10 includes a control device that executes driving assistance control to assist the driver of the vehicle 100 in driving operations (for example, acceleration, deceleration, steering, etc. of the vehicle 100).

[0030] As shown in FIG. 1, the vehicle driving assistance device 10 includes an ECU (electronic control unit) 90 as a control device. The ECU 90 includes a microcomputer as a main component. The microcomputer includes a CPU, storage media such as a ROM, a RAM, and a non-volatile memory, as well as an interface. The CPU executes instructions, programs, or routines stored in the storage media to realize various functions. In particular, in this example, the vehicle driving assistance device 10 stores programs in the storage media that realize various controls executed by the vehicle driving assistance device 10.

[0031] In this example, the vehicle driving assistance device 10 has only one ECU 90, but it may also be configured to have multiple ECUs, with each ECU sharing the functions of the vehicle driving assistance device 10 described below.

[0032] Furthermore, the vehicle driving assistance device 10 may be configured so that the program stored in the storage medium can be updated via wireless communication with an external device (for example, via the Internet).

[0033] The host 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 braking device 32.

[0034] The accelerator pedal operation amount sensor 22 is electrically connected to the ECU 90. The vehicle driving assistance device 10 acquires the operation amount of the accelerator pedal 21 from the accelerator pedal operation amount sensor 22 as an accelerator pedal operation amount AP.

[0035] The brake pedal operation amount sensor 24 is electrically connected to the ECU 90. The vehicle driving assistance device 10 acquires the operation amount of the brake pedal 23 from the brake pedal operation amount sensor 24 as a brake pedal operation amount BP.

[0036] The drive device 31 is a device that 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 the 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 executing driving assistance control described below, it controls the driving force output from the drive device 31 based on the accelerator pedal operation amount AP.

[0037] The braking device 32 is a device that 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 controlling the operation of the braking device 32. When the vehicle driving assistance device 10 is not executing driving assistance control described below, it controls the braking force applied to the host vehicle 100 from the braking device 32 based on the brake pedal operation amount BP.

[0038] Furthermore, the vehicle 100 is equipped with a notification device 40. The notification device 40 is a device that provides various notifications to the driver of the vehicle 100. In this example, the notification device 40 includes an audio device 41 and a display device 42.

[0039] The acoustic device 41 is, for example, a device including a speaker. The acoustic device 41 is electrically connected to the ECU 90. The vehicle driving assistance device 10 outputs various sounds from the acoustic device 41 to provide various notifications to the driver of the host vehicle 100.

[0040] The display device 42 is, for example, a device including a display. The display device 42 is electrically connected to the ECU 90. The vehicle driving assistance device 10 displays various images on the display device 42 to provide various notifications to the driver of the host vehicle 100.

[0041] Approval request notifications, start notifications, stop notifications, change notifications, etc., which will be described later, are made by the notification device 40. That is, approval request notifications, start notifications, stop notifications, change notifications, etc. are made by audio notifications from the audio device 41 and / or image notifications from the display device 42.

[0042] Furthermore, the vehicle 100 is equipped with an operation device 50 including a start switch 51, a cancel switch 52, a resume switch 53, an increase speed switch 54, a decrease speed switch 55, and a vehicle distance change switch 56.

[0043] The operation device 50 is a device that is operated by the driver to request the vehicle driving assistance device 10 to change the execution state of driving assistance control (for example, following cruise control and constant speed cruise control, which will be described later). The operation device 50 is provided in a location that is easy for the driver of the vehicle 100 to operate. In this example, the operation device 50 is attached to the steering wheel 105 of the vehicle 100, as shown in FIG. 2.

[0044] The start switch 51 is a device 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 is an operation that requests the start of driving assistance control.

[0045] The cancel switch 52 is a device 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 the cancel operation as a change operation. The cancel operation is an operation that requests the cancellation or stop of the driving assistance control.

[0046] The resume switch 53 is a device 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 the resume operation as a change operation. The resume operation is an operation to request the resumption of the stopped driving assistance control.

[0047] The speed increase switch 54 is a device 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 the speed increase operation as a change operation. The speed increase operation is an operation that requests an increase in the set vehicle speed Vset in the driving assistance control.

[0048] The deceleration switch 55 is a device operated by the driver. The deceleration switch 55 is electrically connected to the ECU 90. When the deceleration switch 55 is operated, the vehicle driving assistance device 10 detects the deceleration operation as a change operation. The deceleration operation is an operation that requests a decrease in the set vehicle speed Vset in the driving assistance control.

[0049] The inter-vehicle distance change switch 56 is a device operated by the driver. The inter-vehicle distance change switch 56 is electrically connected to the ECU 90. When the inter-vehicle distance change switch 56 is operated, the vehicle driving assistance device 10 detects the inter-vehicle distance operation as a change operation. The inter-vehicle distance operation is an operation that requests a change of the set inter-vehicle distance Dset in the driving assistance control.

[0050] Furthermore, the vehicle 100 is equipped with an approval switch 61 and a disapproval switch 62. In this example, the approval switch 61 and the disapproval switch 62 are also attached to the steering wheel 105 of the vehicle 100, as shown in FIG.

[0051] The approval switch 61 is a device operated by the driver. The approval switch 61 is electrically connected to the ECU 90. When the approval switch 61 is operated, the vehicle driving assistance device 10 detects the approval operation. The approval operation is an operation by the driver to approve a change in the execution state of the driving assistance control notified by an approval request notification, which will be described later.

[0052] The denial switch 62 is a device operated by the driver. The denial switch 62 is electrically connected to the ECU 90. When the denial switch 62 is operated, the vehicle driving assistance device 10 detects the denial operation. The denial operation is an operation by the driver to deny a change in the execution state of the driving assistance control notified by an approval request notification, which will be described later.

[0053] Furthermore, the vehicle 100 is equipped with a vehicle speed detection device 71 and a surrounding information detection device 72 .

[0054] The vehicle speed detection device 71 is a device that detects the traveling speed of the host vehicle 100. The vehicle speed detection device 71 includes, for example, wheel speed 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 acquires the traveling speed of the host vehicle 100 as the host vehicle speed V by the vehicle speed detection device 71.

[0055] The surrounding information detection device 72 is a device that acquires surrounding information IS about the surroundings of the vehicle 100. The surrounding information detection device 72 includes, for example, an electromagnetic wave sensor such as a radar sensor and an image sensor such as a camera sensor.

[0056] The surrounding information detection device 72 is electrically connected to the ECU 90. The vehicle driving assistance device 10 acquires data (target information IO) relating to targets present around the vehicle 100 as surrounding information IS using the surrounding information detection device 72. The vehicle driving assistance device 10 also acquires image data (image information IC) ahead of the vehicle 100 as surrounding information IS using the surrounding information detection device 72.

[0057] <Operation of vehicle driving assistance device> Next, we will explain the operation of the vehicle driving assistance device 10. The vehicle driving assistance device 10 is configured to execute the routine shown in Fig. 3 at predetermined time intervals, and when predetermined conditions are satisfied, to execute following cruise control and constant speed cruise control as automatic driving control and driving assistance control.

[0058] The following cruise control is a control for causing the host vehicle 100 to travel while autonomously or automatically controlling the operation of the drive device 31 and the braking device 32 so that the inter-vehicle distance D is maintained at the set inter-vehicle distance Dset when a preceding vehicle 200 is present, as shown in Fig. 4. The preceding vehicle 200 is another vehicle traveling in the same lane as the host vehicle 100, and is another vehicle that is present within a predetermined distance ahead of the host vehicle 100. The inter-vehicle distance D is the 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.

[0059] When the following cruise control is being performed, if the inter-vehicle distance D becomes longer than the set inter-vehicle distance Dset, it becomes necessary to accelerate the host vehicle 100. At this time, the vehicle driving assistance device 10 increases the driving force applied to the host vehicle 100 from the drive unit 31, thereby accelerating the host vehicle 100.

[0060] In this example, when the vehicle driving assistance device 10 is executing the following driving control, if the vehicle speed V increases to the set vehicle speed Vset, the vehicle driving assistance device 10 drives the vehicle 100 while autonomously or automatically controlling the operation of the drive device 31 and the braking device 32 so that the vehicle speed V is maintained at the set vehicle speed Vset.

[0061] The set vehicle speed Vset is a vehicle speed set by the driver. The driver can increase the set vehicle speed Vset by operating the speed increase switch 54, and can decrease the set vehicle speed Vset by operating the speed decrease switch 55.

[0062] On the other hand, when the following distance D becomes shorter than the set following distance Dset during the execution of the following cruise control, it becomes necessary to decelerate the host vehicle 100. At this time, the vehicle driving assistance device 10 reduces the driving force applied to the host vehicle 100 from the drive device 31, or sets the driving force applied to the host vehicle 100 from the drive device 31 to zero and applies braking force to the host vehicle 100 from the brake device 32, thereby decelerating the host vehicle 100.

[0063] The vehicle driving support device 10 determines whether or not there is a preceding vehicle 200 based on the surrounding information IS. The vehicle driving support device 10 also acquires the inter-vehicle distance D based on the surrounding information IS.

[0064] Constant speed travel control is a control that causes the host vehicle 100 to travel while autonomously or automatically controlling the operation of the drive device 31 and the braking device 32 so that the host vehicle speed V is maintained at the set vehicle speed Vset when there is no preceding vehicle 200, as shown in Figure 5.

[0065] When the constant speed traveling control is being executed, if the host vehicle speed V becomes lower than the set vehicle speed Vset, it becomes necessary to accelerate the host vehicle 100. At this time, the vehicle driving assistance device 10 increases the driving force applied to the host vehicle 100 from the drive device 31, thereby accelerating the host vehicle 100.

[0066] On the other hand, when constant speed cruise control is being executed, if the host vehicle speed V becomes higher than the set vehicle speed Vset, it becomes necessary to decelerate the host vehicle 100. At this time, the vehicle driving assistance device 10 reduces the driving force applied to the host vehicle 100 from the drive device 31, or sets the driving force applied to the host vehicle 100 from the drive device 31 to zero and applies a braking force to the host vehicle 100 from the brake device 32, thereby decelerating the host vehicle 100.

[0067] The vehicle driving assistance device 10 may be configured to execute, as driving assistance control, control such as lane keeping control to assist the steering of the host vehicle 100. The lane keeping control is a control that autonomously controls the operation of the steering device of the host vehicle 100 so that the host vehicle 100 travels along the center line of the travel lane, thereby assisting the steering of the host vehicle 100.

[0068] At a predetermined timing, the vehicle driving assistance device 10 starts the process from step S300 of the routine shown in FIG. 3, and proceeds to step S305 to determine whether a change operation has been detected.

[0069] The change operation is an operation by the driver to request a change in the execution state of the driving assist control from the vehicle driving assist device 10. In this example, the change operations are a start operation (i.e., an operation requesting the start of driving assist control), a cancel operation (i.e., an operation requesting the cancellation or stop of driving assist control), a resume operation (i.e., an operation requesting the restart of stopped driving assist control), an acceleration operation (i.e., an operation requesting an increase in the set vehicle speed Vset), a deceleration operation (i.e., an operation requesting a decrease in the set vehicle speed Vset), and a following distance operation (i.e., an operation requesting a change in the set following distance Dset).

[0070] If a change operation is detected, the vehicle driving assistance device 10 determines "Yes" in step S305, proceeds to step S310, and acquires the first erroneous operation probability P1.

[0071] The first error operation probability P1 is an index value indicating the possibility that the driver has performed the change operation erroneously, and the index value increases as the possibility that the driver has performed the change operation erroneously increases. The first error operation probability P1 decreases as the recommendation degree increases. The recommendation degree is the degree to which it is recommended to change the execution state of the driving assistance control required by the change operation on the road on which the host vehicle 100 is traveling at the time the change operation is detected.

[0072] Specifically, the vehicle driving assistance device 10 acquires the first operation error probability P1 as follows.

[0073] That is, in this example, a plurality of types of roads on which the vehicle may travel are pre-selected as the predetermined roads Rset. The roads pre-selected as the predetermined roads Rset include, for example, roads on which vehicles turning right or left travel, curved roads, parking lots, and main roads of expressways.

[0074] The first operation error probability P1 is set in advance for each combination of the type of lane and the type of change operation, and is stored in a storage medium.

[0075] For example, if the road on which the vehicle 100 is traveling at the time the change operation is detected is a specified road Rset and the road is a type of road for which it is not desirable to change the execution state of the driving assistance control as requested by the change operation (i.e., if the degree of recommendation is low), the first erroneous operation probability P1 corresponding to the combination of the type of road and the type of change operation detected is set to a relatively large value.

[0076] On the other hand, when the road on which the vehicle 100 is traveling at the time the change operation is detected is a specified road Rset, and the road is a type of road for which it is preferable to change the execution state of the driving assistance control as requested by the change operation (i.e., when the degree of recommendation is high), the first erroneous operation probability P1 corresponding to the combination of the type of road and the type of change operation detected is set to a relatively small value.

[0077] When detecting a change operation, the vehicle driving assistance device 10 acquires the type of road on which the vehicle 100 is traveling, and acquires from a storage medium a first erroneous operation probability P1 corresponding to the combination of the acquired road type and the type of the detected change operation. The vehicle driving assistance device 10 acquires the type of road on which the vehicle 100 is traveling based on the surrounding information IS and the driving state of the vehicle 100, such as the driving state, braking state, and steering state.

[0078] Next, the vehicle driving assistance device 10 proceeds to step S315 to obtain the second erroneous operation probability P2.

[0079] The second erroneous operation probability P2 is an index value indicating the possibility that the driver has performed the change operation erroneously, and the higher the likelihood that the driver has performed the change operation erroneously, the higher the index value. In this example, the second erroneous operation probability P2 becomes smaller as the market operation frequency becomes higher. The market operation frequency is the frequency with which a driver of another vehicle has previously performed an operation requesting a change of the same type of change in the execution state of the driving assistance control requested by the change operation on a road similar to the road on which the vehicle 100 is traveling at the time the change operation is detected.

[0080] Specifically, the vehicle driving assistance device 10 acquires the second operation error probability P2 as follows.

[0081] That is, the vehicle driving assistance device 10 acquires the number of times that other vehicles have traveled the predetermined route Rset in the past as the market driving count Ntr_m for each type of the predetermined route Rset. Also, the vehicle driving assistance device 10 acquires the number of times that a change operation was performed by the driver of another vehicle while the other vehicle was traveling on the predetermined route Rset in the past as the market operation count Nop_m for each type of change operation and for each type of the predetermined route Rset.

[0082] Then, the vehicle driving assistance device 10 obtains the value obtained by dividing the number of market operations Nop_m by the number of market driving Ntr_m for each predetermined route Rset of the same type and for each change operation of the same type as the market operation frequency for each combination of the predetermined route Rset of the same type and the change operation of the same type.

[0083] Then, the vehicle driving assistance device 10 acquires a second erroneous operation probability P2 for each combination of the same type of predetermined road Rset and the same type of change operation based on the acquired market operation frequency, and stores the second erroneous operation probability P2 in a storage medium. Here, the second erroneous operation probability P2 corresponding to each combination of the road type and the type of change operation decreases as the market operation frequency increases.

[0084] Therefore, the second erroneous operation probability P2 obtained when a change operation is detected while the vehicle 100 is traveling on the predetermined route Rset is smaller the more frequently the driver of the other vehicle performed an operation requesting a change of the same type of change to the execution state of the driving assistance control requested by the detected change operation when the other vehicle was traveling in the past on a route of the same type as the predetermined route Rset on which the vehicle 100 is traveling.

[0085] For example, the second erroneous operation probability P2 obtained when a driving assistance control start operation is detected while the vehicle 100 is traveling on a curved road is smaller the more frequently the driver of another vehicle has performed a driving assistance control start operation in the past while the other vehicle was traveling on a curved road.

[0086] When the vehicle driving assistance device 10 detects a change operation, it acquires the type of road on which the vehicle 100 is traveling, and acquires from a storage medium a second error operation probability P2 corresponding to the combination of the acquired road type and the type of change operation detected.

[0087] In this example, the vehicle driving assistance device 10 acquires data on the market travel count Ntr_m and data on the market operation count Nop_m from an external device via wireless communication.

[0088] Next, the vehicle driving assistance device 10 proceeds to step S320 to obtain the third error operation probability P3.

[0089] The third error operation probability P3 is an index value indicating the possibility that the driver has performed the change operation erroneously, and the index value increases as the possibility that the driver has performed the change operation erroneously increases. In this example, the third error operation probability P3 decreases as the driver operation frequency increases. The driver operation frequency is the frequency with which the driver of the vehicle 100 has previously performed the change operation on the same type of road as the road on which the vehicle 100 is traveling at the time the change operation is detected.

[0090] Specifically, the vehicle driving assistance device 10 acquires the third operation error probability P3 as follows.

[0091] That is, the vehicle driving assistance device 10 is configured to acquire the number of times the host vehicle 100 has traveled the predetermined route Rset in the past as the host vehicle travel count Ntr_d for each type of the predetermined route Rset. Also, the vehicle driving assistance device 10 is configured to acquire the number of times the driver of the host vehicle 100 performed a change operation while the host vehicle 100 was traveling the predetermined route Rset in the past as the driver operation count Nop_d for each type of change operation and for each type of the predetermined route Rset.

[0092] Then, the vehicle driving assistance device 10 obtains the value obtained by dividing the number of driver operations Nop_d by the number of vehicle travel times Ntr_d for each combination of the same type of predetermined route Rset and the same type of change operation as the driver operation frequency for each combination of the same type of predetermined route Rset and the same type of change operation.

[0093] Then, the vehicle driving assistance device 10 acquires a third operation error probability P3 for each combination of the same type of predetermined road Rset and the same type of change operation based on the acquired driver operation frequency, and stores the acquired third operation error probability P3 in a storage medium. Here, the third operation error probability P3 corresponding to each combination of the road type and the type of change operation decreases as the driver operation frequency increases.

[0094] Therefore, the third erroneous operation probability P3 obtained when a change operation is detected while the vehicle 100 is traveling on the predetermined route Rset is smaller the more frequently the driver of the vehicle 100 performed the detected change operation when the vehicle 100 was traveling in the past on a route similar to the predetermined route Rset on which the vehicle 100 is traveling.

[0095] For example, the third erroneous operation probability P3 obtained when a driving assistance control start operation is detected while the vehicle 100 is traveling on a curved road is smaller the more frequently the driver of the vehicle 100 has performed a driving assistance control start operation in the past while the vehicle 100 was traveling on a curved road.

[0096] When the vehicle driving assistance device 10 detects a change operation, it acquires the type of road on which the vehicle 100 is traveling, and acquires from a storage medium a third error operation probability P3 corresponding to the combination of the acquired road type and the type of change operation detected.

[0097] The vehicle driving assistance device 10 may be configured to obtain the third operation error probability P3 as follows.

[0098] That is, the vehicle driving assistance device 10 acquires the number of times that approval request notifications described below were sent to the driver of the vehicle 100 due to a change operation performed by the driver of the vehicle 100 in the past while the vehicle 100 was traveling on the predetermined route Rset as the number of approval request notifications Nno_ap for each type of change operation and for each type of predetermined route Rset, and acquires the number of times that an approval operation was performed by the driver of the vehicle 100 in response to the approval request notification as the number of approval operations Nop_ap for each type of change operation and for each predetermined route Rset.

[0099] Then, the vehicle driving assistance device 10 obtains the value obtained by dividing the number of approval operations Nop_ap by the number of approval request notifications Nno_ap for each combination of the same type of predetermined route Rset and the same type of change operation as the driver approval frequency for each combination of the same type of predetermined route Rset and the same type of change operation.

[0100] Then, the vehicle driving assistance device 10 acquires a third operation error probability P3 for each combination of the same type of predetermined path Rset and the same type of change operation based on the acquired driver approval frequency, and stores the acquired third operation error probability P3 in a storage medium. Here, the third operation error probability P3 corresponding to each combination of the predetermined path Rset and the change operation decreases as the driver approval frequency increases.

[0101] Therefore, the third erroneous operation probability P3 obtained when a change operation is detected while the vehicle 100 is traveling on the predetermined route Rset is smaller the more frequently the driver of the vehicle 100 performed an approval operation when the driver of the vehicle 100 performed a change operation of the same type as the detected change operation when the vehicle 100 was traveling in the past on a route of the same type as the predetermined route Rset on which the vehicle 100 is traveling.

[0102] For example, the third erroneous operation probability P3 obtained when a driving assistance control start operation is detected while the vehicle 100 is traveling on a curved road is smaller the more frequently the driver of the vehicle 100 has performed an approval operation in response to an approval request notification that was issued due to the driver of the vehicle 100 performing a driving assistance control start operation in the past while the vehicle 100 was traveling on a curved road.

[0103] When the vehicle driving assistance device 10 detects a change operation, it acquires the type of road on which the vehicle 100 is traveling, and acquires from a storage medium a third error operation probability P3 corresponding to the combination of the acquired road type and the type of change operation detected.

[0104] Next, the vehicle driving assistance device 10 proceeds to step S325 to obtain the operation error probability P.

[0105] The probability of operation error P is the sum of the value obtained by multiplying the first error probability P1 obtained in step S310 by the first coefficient k1 (=P1·k1), the value obtained by multiplying the second error probability P2 obtained in step S315 by the second coefficient k2 (=P2·k2), and the value obtained by multiplying the third error probability P3 obtained in step S320 by the third coefficient k3 (=P3·k3) (P=P1·k1+P2·k2+P3·k3).

[0106] Therefore, the erroneous operation probability P is an index value that indicates the possibility that the driver has performed an erroneous change operation, and the higher the possibility that the driver has performed an erroneous change operation, the larger the index value becomes.

[0107] The first coefficient k1, the second coefficient k2, and the third coefficient k3 are used to weight the first erroneous operation probability P1, the second erroneous operation probability P2, and the third erroneous operation probability P3, respectively, to calculate the erroneous operation probability P. Therefore, the first coefficient k1, the second coefficient k2, and the third coefficient k3 may be set appropriately depending on which of the recommendation degree, the market operation frequency, and the driver operation frequency is to be emphasized when determining whether the changing operation is an erroneous operation.

[0108] In this example, the first coefficient k1, the second coefficient k2, and the third coefficient k3 are set so that their sum is 1. Also, in this example, 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 frequency of the driver's operation when determining whether or not the changing operation is an erroneous operation.

[0109] Then, if the probability of erroneous operation P is equal to or less than the probability of minor erroneous operation Ps, the vehicle driving assistance device 10 determines that there is a low possibility that the driver of the vehicle 100 has erroneously performed a change operation; if the probability of erroneous operation P is greater than the probability of minor erroneous operation Ps and equal to or less than the probability of major erroneous operation Pg, the vehicle driving assistance device 10 determines that there is a medium possibility that the driver of the vehicle 100 has erroneously performed a change operation; and if the probability of erroneous operation P is greater than the probability of major erroneous operation Pg, the vehicle driving assistance device 10 determines that there is a high possibility that the driver of the vehicle 100 has erroneously performed a change operation.

[0110] According to this, for example, as shown in FIG. 6, when a start operation (i.e., a change operation requesting the start of driving assist control) is detected in a right / left turn scene (i.e., a scene where the host vehicle 100 is turning right or left), the erroneous operation probability P becomes larger than the major erroneous operation probability Pg, and the vehicle driving assist device 10 determines that there is a high possibility of an erroneous operation (i.e., a possibility that the change operation was performed erroneously). Also, when a start operation is detected in a curved road driving scene (i.e., a scene where the host vehicle 100 is driving on a curved road), the erroneous operation probability P becomes larger than the minor erroneous operation probability Ps and equal to or smaller than the major erroneous operation probability Pg, and the vehicle driving assist device 10 determines that there is a medium possibility of an erroneous operation. Also, when a start operation is detected in a parking lot driving scene (i.e., a scene where the host vehicle 100 is driving in a parking lot), the erroneous operation probability P becomes larger than the major erroneous operation probability Pg, and the vehicle driving assist device 10 determines that there is a high possibility of an erroneous operation. Furthermore, when a start operation is detected in a highway driving scene (i.e., a scene in which the vehicle 100 is driving on the main lane of the highway), the probability of erroneous operation P becomes equal to or less than the small erroneous operation probability Ps, and the vehicle driving assistance device 10 determines that the possibility of erroneous operation is low.

[0111] Furthermore, in a right / left turn scene, if a cancel operation (i.e., a change operation requesting the cancellation or stop of driving assistance control) is detected, the erroneous operation probability P becomes equal to or less than the minor erroneous operation probability Ps, and the vehicle driving assistance device 10 determines that the possibility of an erroneous operation is low. Furthermore, in a curved road driving scene, if a cancel operation is detected, the erroneous operation probability P becomes equal to or less than the minor erroneous operation probability Ps, and the vehicle driving assistance device 10 determines that the possibility of an erroneous operation is low. Furthermore, in a parking lot driving scene, if a cancel operation is detected, the erroneous operation probability P becomes equal to or less than the minor erroneous operation probability Ps, and the vehicle driving assistance device 10 determines that the possibility of an erroneous operation is low. Furthermore, in a highway driving scene, if a cancel operation is detected, the erroneous operation probability P becomes greater than the major erroneous operation probability Pg, and the vehicle driving assistance device 10 determines that the possibility of an erroneous operation is high.

[0112] Furthermore, when a resume operation (i.e., a change operation requesting the resumption of stopped driving assistance control) is detected in a right / left turn scene, the erroneous operation probability P becomes larger than the major erroneous operation probability Pg, and the vehicle driving assistance device 10 determines that the possibility of an erroneous operation is high. When a resume operation is detected in a curved road driving scene, the erroneous operation probability P becomes larger than the major erroneous operation probability Pg, and the vehicle driving assistance device 10 determines that the possibility of an erroneous operation is high. When a resume operation is detected in a parking lot driving scene, the erroneous operation probability P becomes larger than the major erroneous operation probability Pg, and the vehicle driving assistance device 10 determines that the possibility of an erroneous operation is high. When a resume operation is detected in a highway driving scene, the erroneous operation probability P becomes smaller than the minor erroneous operation probability Ps, and the vehicle driving assistance device 10 determines that the possibility of an erroneous operation is low.

[0113] Furthermore, when a speed-increasing operation (i.e., a change operation requesting an increase in the set vehicle speed Vset) is detected in a right or left turn scene, the erroneous operation probability P is greater than the minor erroneous operation probability Ps and is equal to or less than the major erroneous operation probability Pg, and the vehicle driving assistance device 10 determines that the possibility of an erroneous operation is medium. When a speed-increasing operation is detected in a curved road driving scene, the erroneous operation probability P is greater than the minor erroneous operation probability Ps and is equal to or less than the major erroneous operation probability Pg, and the vehicle driving assistance device 10 determines that the possibility of an erroneous operation is medium. When a speed-increasing operation is detected in a parking lot driving scene, the erroneous operation probability P is greater than the major erroneous operation probability Pg, and the vehicle driving assistance device 10 determines that the possibility of an erroneous operation is high. When a speed-increasing operation is detected in a highway driving scene, the erroneous operation probability P is greater than the major erroneous operation probability Pg, and the vehicle driving assistance device 10 determines that the possibility of an erroneous operation is high.

[0114] Furthermore, in a right or left turn scene, if a deceleration operation (i.e., a change operation requesting a decrease in the set vehicle speed Vset) is detected, the erroneous operation probability P is greater than the minor erroneous operation probability Ps and is equal to or less than the major erroneous operation probability Pg, and the vehicle driving assistance device 10 determines that the possibility of an erroneous operation is medium. Furthermore, in a curved road driving scene, if a deceleration operation is detected, the erroneous operation probability P is equal to or less than the minor erroneous operation probability Ps, and the vehicle driving assistance device 10 determines that the possibility of an erroneous operation is low. Furthermore, in a parking lot driving scene, if a deceleration operation is detected, the erroneous operation probability P is equal to or less than the minor erroneous operation probability Ps, and the vehicle driving assistance device 10 determines that the possibility of an erroneous operation is low. Furthermore, in a highway driving scene, if a deceleration operation is detected, the erroneous operation probability P is equal to or less than the minor erroneous operation probability Ps, and the vehicle driving assistance device 10 determines that the possibility of an erroneous operation is low.

[0115] Furthermore, when a vehicle distance adjustment operation (i.e., an operation requesting a change in the set vehicle distance Dset) is detected in a right / left turn scene, the erroneous operation probability P is greater than the minor erroneous operation probability Ps and is equal to or less than the major erroneous operation probability Pg, and the vehicle driving assistance device 10 determines that the possibility of an erroneous operation is medium. When a vehicle distance adjustment operation is detected in a curved road driving scene, the erroneous operation probability P is greater than the minor erroneous operation probability Ps and is equal to or less than the major erroneous operation probability Pg, and the vehicle driving assistance device 10 determines that the possibility of an erroneous operation is medium. When a vehicle distance adjustment operation is detected in a parking lot driving scene, the erroneous operation probability P is greater than the minor erroneous operation probability Ps and is equal to or less than the major erroneous operation probability Pg, and the vehicle driving assistance device 10 determines that the possibility of an erroneous operation is medium. When a vehicle distance adjustment operation is detected in a highway driving scene, the erroneous operation probability P is equal to or less than the minor erroneous operation probability Ps, and the vehicle driving assistance device 10 determines that the possibility of an erroneous operation is low.

[0116] More specifically, after acquiring the operation error probability P in step S325, the vehicle driving assistance device 10 proceeds to step S330 to determine whether or not the small probability condition Cs is satisfied.

[0117] The small probability condition Cs is met when the erroneous operation probability P is equal to or less than the small erroneous operation probability Ps (P≦Ps). In other words, the small probability condition Cs is met when there is a low possibility that the driver of the vehicle 100 has erroneously performed a change operation.

[0118] If the small probability condition Cs is satisfied, the vehicle driving assistance device 10 determines "Yes" in step S330, proceeds to step S335, and executes the small probability process. After that, the vehicle driving assistance device 10 proceeds to step S395, and temporarily ends the process of this routine.

[0119] The small probability process executed in step S335 is as follows.

[0120] For example, if the change operation is an operation requesting the start of follow-up cruise control, the low-probability process is a process for starting follow-up cruise control. In other words, the low-probability process is a process for executing normal follow-up cruise control.

[0121] Also, if the change operation is an operation requesting the stopping (or cancellation) of the follow-up cruise control, the small probability process is a process for stopping the follow-up cruise control.

[0122] On the other hand, if the change operation is an operation requesting the start of constant speed cruise control, the small probability process is a process for starting constant speed cruise control. In other words, the small probability process is a process for executing normal constant speed cruise control.

[0123] Also, if the change operation is an operation requesting the stopping (or cancellation) of the constant speed cruise control, the small probability process is a process for stopping the constant speed cruise control.

[0124] In this way, when the vehicle driving assistance device 10 detects a change operation (in this example, an operation requesting the start or stop of follow-up cruise control or constant speed cruise control), if the error probability P is less than or equal to a predetermined error probability (in this example, small error probability Ps), it is configured to change the execution state of the driving assistance control (in this example, start or stop of follow-up cruise control or constant speed cruise control) in accordance with the request made by the change operation (in this example, a request to start or stop follow-up cruise control or constant speed cruise control).

[0125] Furthermore, if the change operation is a resume operation (for example, an operation requesting the resumption of follow-up cruise control or constant speed cruise control) and the probability of erroneous operation P is equal to or less than a predetermined probability of erroneous operation (for example, small erroneous operation probability Ps) when the change operation is detected, the vehicle driving assistance device 10 changes the execution state of the driving assistance control (for example, resumes follow-up cruise control or constant speed cruise control) as requested by the change operation.

[0126] Alternatively, if the change operation is an acceleration operation, a deceleration operation, or an operation to change the set vehicle distance Dset (for example, an operation to request an increase in the set vehicle speed Vset, an operation to request a decrease in the set vehicle speed Vset, or an operation to change the set vehicle distance Dset), and the probability of erroneous operation P when the change operation is detected is less than a predetermined probability of erroneous operation (for example, a small erroneous operation probability Ps), the vehicle driving assistance device 10 changes the execution state of the driving assistance control as requested by the change operation (for example, increasing the set vehicle speed Vset by the increase in the set vehicle speed Vset requested by the acceleration operation, decreasing the set vehicle speed Vset by the decrease in the set vehicle speed Vset requested by the deceleration operation, or changing the set vehicle distance Dset by the change amount requested by the vehicle distance operation).

[0127] On the other hand, if the small probability condition Cs is not satisfied, the vehicle driving assistance device 10 determines "No" in step S330, proceeds to step S340, and determines whether the large probability condition Cg is satisfied.

[0128] The high probability condition Cg is met when the erroneous operation probability P is greater than the major erroneous operation probability Pg (P>Pg). In other words, the high probability condition Cg is met when there is a high possibility that the driver of the vehicle 100 has erroneously performed a change operation.

[0129] 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 the high probability process. After that, the vehicle driving assistance device 10 proceeds to step S395, and temporarily ends the process of this routine.

[0130] The high probability process executed in step S345 is as follows.

[0131] For example, if the change operation is an operation requesting the start of follow-up cruise control and the driving situation of the host vehicle 100 is a situation requiring acceleration, the high probability process is a process of not starting follow-up cruise control but issuing an approval request notice to the driver. Note that the acceleration request situation here is a situation in which, if follow-up cruise control is started in response to the change operation, the host vehicle 100 needs to accelerate by follow-up cruise control. The approval request notice issued at this time is a notice requesting the driver to approve the start of follow-up cruise control (i.e., changing the execution state of the driving assistance control). In this case, the vehicle driving assistance device 10 starts follow-up cruise control when it detects an approval operation (i.e., when the driver performs an approval operation). On the other hand, the vehicle driving assistance device 10 does not start follow-up cruise control when it detects a denial operation (i.e., when the driver performs a denial operation).

[0132] In this case, when the vehicle driving assistance device 10 detects a change operation (in this example, an operation requesting the start of follow-up cruise control), if the error operation probability P is greater than a predetermined error operation probability (in this example, small error operation probability Ps), the vehicle driving assistance device 10 is configured not to change the execution state of the driving assistance control (in this example, start of follow-up cruise control).

[0133] Furthermore, in this case, if the vehicle driving assistance device 10 does not change the execution state of the driving assistance control when it detects a change operation, it is configured to send an approval request notification to the driver of the vehicle 100 requesting approval to change the execution state, and if the driver of the vehicle 100 approves the change in the execution state, it is configured to change the execution state.

[0134] Furthermore, for example, if the change operation is an operation requesting the start of follow-up cruise control and the driving situation of the host vehicle 100 is a situation requiring deceleration, the high probability processing is a processing to issue a start notification, start follow-up cruise control, and accelerate the host vehicle 100 at the standard acceleration Ga_s. In other words, the high probability processing is a processing to issue a start notification and execute normal follow-up cruise control. Note that the situation requiring deceleration here is a situation in which, if follow-up cruise control is started in response to a change operation, the host vehicle 100 needs to be decelerated by follow-up cruise control. The start notification issued at this time is a notification to inform the driver that follow-up cruise control will be started.

[0135] The standard acceleration Ga_s for the follow-up cruise control is a normal acceleration when the host vehicle 100 is accelerated by the follow-up cruise control once the follow-up cruise control is started.

[0136] Furthermore, for example, if the change operation is an operation requesting the stopping (or cancellation) of the follow-up cruise control and the driving situation of the host vehicle 100 is one in which a preceding vehicle 200 is present, the high probability process is a process of not stopping the follow-up cruise control but issuing an approval request notice to the driver. The approval request notice issued at this time is a notice requesting the driver to approve the stopping of the follow-up cruise control (i.e., changing the execution state of the driving assistance control). In this case, the vehicle driving assistance device 10 stops the follow-up cruise control when it detects an approval operation (i.e., when the driver performs an approval operation). On the other hand, the vehicle driving assistance device 10 does not stop the follow-up cruise control when it detects a denial operation (i.e., when the driver performs a denial operation).

[0137] In this case, when the vehicle driving assistance device 10 detects a change operation (in this example, an operation requesting the stopping of the following cruise control), if the probability of erroneous operation P is greater than a predetermined probability of erroneous operation (in this example, the probability of small erroneous operation Ps), the vehicle driving assistance device 10 is configured not to change the execution state of the driving assistance control (in this example, stopping the following cruise control).

[0138] Furthermore, in this case, if the vehicle driving assistance device 10 does not change the execution state of the driving assistance control when it detects a change operation, it is configured to send an approval request notification to the driver of the vehicle 100 requesting approval to change the execution state, and if the driver of the vehicle 100 approves the change in the execution state, it is configured to change the execution state.

[0139] Furthermore, for example, if the change operation is an operation requesting the stopping (or cancellation) of the follow-up cruise control and the driving scene of the host vehicle 100 is a scene in which the preceding vehicle 200 is not present, the high probability process is a process of not stopping the follow-up cruise control but issuing an approval request notice to the driver. The approval request notice issued at this time is a notice requesting the driver to approve the stopping of the follow-up cruise control (i.e., changing the execution state of the driving assistance control). In this case, the vehicle driving assistance device 10 stops the follow-up cruise control when it detects an approval operation (i.e., when the driver performs an approval operation). On the other hand, the vehicle driving assistance device 10 does not stop the follow-up cruise control when it detects a denial operation (i.e., when the driver performs a denial operation).

[0140] In this case, when the vehicle driving assistance device 10 detects a change operation (in this example, an operation requesting the stopping of the following cruise control), if the probability of erroneous operation P is greater than a predetermined probability of erroneous operation (in this example, the probability of small erroneous operation Ps), the vehicle driving assistance device 10 is configured not to change the execution state of the driving assistance control (in this example, stopping the following cruise control).

[0141] Furthermore, in this case, if the vehicle driving assistance device 10 does not change the execution state of the driving assistance control when it detects a change operation, it is configured to send an approval request notification to the driver of the vehicle 100 requesting approval to change the execution state, and if the driver of the vehicle 100 approves the change in the execution state, it is configured to change the execution state.

[0142] Furthermore, for example, if the change operation is an operation requesting the start of constant speed cruise control and the driving situation of the host vehicle 100 is a situation requiring acceleration, the high probability process is a process of not starting the constant speed cruise control but issuing an approval request notice to the driver. Note that the acceleration request situation here is a situation in which the host vehicle 100 needs to accelerate if constant speed cruise control is started in response to the change operation. The approval request notice issued at this time is a notice requesting the driver to approve the start of constant speed cruise control (i.e., changing the execution state of the driving assistance control). In this case, the vehicle driving assistance device 10 starts the constant speed cruise control when it detects an approval operation (i.e., when the driver performs an approval operation). On the other hand, the vehicle driving assistance device 10 does not start the constant speed cruise control when it detects a denial operation (i.e., when the driver performs a denial operation).

[0143] In this case, when the vehicle driving assistance device 10 detects a change operation (an operation requesting the start of constant speed cruise control), if the error operation probability P is greater than a predetermined error operation probability (in this example, a small error operation probability Ps), the vehicle driving assistance device 10 is configured not to change the execution state of the driving assistance control (in this example, the start of constant speed cruise control).

[0144] Furthermore, in this case, if the vehicle driving assistance device 10 does not change the execution state of the driving assistance control when it detects a change operation, it is configured to send an approval request notification to the driver of the vehicle 100 requesting approval to change the execution state, and if the driver of the vehicle 100 approves the change in the execution state, it is configured to change the execution state.

[0145] Furthermore, for example, if the change operation is an operation requesting the start of constant speed cruise control and the driving situation of the host vehicle 100 is a situation requiring deceleration, the high probability processing is processing to issue a start notification, start constant speed cruise control, and decelerate the host vehicle 100 at the standard deceleration Gd_s. That is, the high probability processing is processing to issue a start notification and execute normal constant speed cruise control. Note that the situation requiring deceleration here is a situation in which the host vehicle 100 needs to decelerate if constant speed cruise control is started in response to the change operation. The start notification issued at this time is a notification to inform the driver that constant speed cruise control will be started.

[0146] The standard deceleration Gd_s for the constant speed traveling control is a normal deceleration when the host vehicle 100 is decelerated by the constant speed traveling control once the constant speed traveling control is started.

[0147] Furthermore, for example, if the change operation is an operation requesting the stopping (or cancellation) of the constant speed cruise control, the high probability process is a process of issuing an approval request notice to the driver without stopping the constant speed cruise control, regardless of the driving situation of the host vehicle 100. The approval request notice issued at this time is a notice requesting the driver to approve the stopping of the constant speed cruise control (i.e., changing the execution state of the driving assistance control). In this case, when the vehicle driving assistance device 10 detects an approval operation (i.e., when the driver performs an approval operation), it stops the constant speed cruise control. On the other hand, when the vehicle driving assistance device 10 detects a denial operation (i.e., when the driver performs a denial operation), it does not stop the constant speed cruise control.

[0148] In this case, when the vehicle driving assistance device 10 detects a change operation (in this example, an operation requesting the stopping of constant speed cruise control), if the probability of erroneous operation P is greater than a predetermined probability of erroneous operation (in this example, the probability of small erroneous operation Ps), the vehicle driving assistance device 10 is configured not to change the execution state of the driving assistance control (in this example, stopping of constant speed cruise control).

[0149] In this case, if the vehicle driving assistance device 10 does not change the execution state of the driving assistance control when it detects a change operation, it sends an approval request notification to the driver of the vehicle 100 requesting approval to change the execution state, and if the driver of the vehicle 100 approves the change in the execution state, it is configured to change the execution state.

[0150] 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 the medium probability process. After that, the vehicle driving assistance device 10 proceeds to step S395, and temporarily ends the process of this routine.

[0151] The medium probability processing executed in step S350 is as follows.

[0152] For example, if the change operation is an operation requesting the start of follow-up cruise control and the driving situation of the host vehicle 100 is an acceleration request situation, the medium probability processing is a processing to issue a start notification, start follow-up cruise control, and accelerate the host vehicle 100 at an acceleration smaller than the standard acceleration Ga_s. That is, the medium probability processing is a processing to issue a start notification, start follow-up cruise control, and gently accelerate the host vehicle 100. Note that the acceleration request situation here is a situation where, if follow-up cruise control is started in response to the change operation, it is necessary to accelerate the host vehicle 100 by follow-up cruise control. Furthermore, the start notification issued at this time is a notification to inform the driver that follow-up cruise control will be started.

[0153] In this case, when the vehicle driving assistance device 10 detects a change operation (in this example, an operation requesting the start of follow-up cruise control), if the probability of erroneous operation P is greater than a predetermined probability of erroneous operation (in this example, the probability of small erroneous operation Ps), it is configured to change the execution state of the driving assistance control more slowly (in this example, the start of follow-up cruise control and acceleration at a standard acceleration Ga_s) than the change in the execution state of the driving assistance control requested by the change operation (in this example, the start of follow-up cruise control and acceleration at an acceleration smaller than the standard acceleration Ga_s).

[0154] In this case, when the vehicle driving assistance device 10 makes a change to the execution state of the driving assistance control that is more gradual than the change to the execution state of the driving assistance control requested by the change operation, the vehicle driving assistance device 10 is configured to notify the driver of the vehicle 100 that the execution state of the driving assistance control will be changed (in this example, starting follow-up driving control).

[0155] Also, in this case, if the change operation requests a change in the control amount for the vehicle 100 by the driving assistance control (in this example, a change in the acceleration of the vehicle 100 from zero to the standard acceleration Ga_s by the following cruise control), and when the vehicle driving assistance device 10 detects the change operation, it is configured to make a change in the execution state of the driving assistance control that is slower than the change in the execution state of the driving assistance control requested by the change operation, such that it makes a change in the control amount that is smaller than the change in the control amount requested by the change operation (in this example, a change in the acceleration of the vehicle 100 from zero to an acceleration smaller than the standard acceleration Ga_s by the following cruise control).

[0156] Furthermore, when the change operation is a speed increase operation, a deceleration operation, or a vehicle distance change operation, if the probability of erroneous operation P when the change operation is detected is less than a predetermined probability of erroneous operation (for example, a small erroneous operation probability Ps), the vehicle driving assistance device 10 changes the control amount less than the change in the control amount requested by the change operation (in this example, increasing the set vehicle speed Vset by an amount less than the increase in the set vehicle speed Vset requested by the speed increase operation, decreasing the set vehicle speed Vset by an amount less than the deceleration of the set vehicle speed Vset requested by the deceleration operation, or changing the set vehicle distance Dset by an amount less than the change in the set vehicle distance Dset requested by the vehicle distance operation).

[0157] Furthermore, for example, if the change operation is an operation requesting the start of follow-up cruise control and the driving situation of the host vehicle 100 is a situation requiring deceleration, the medium probability processing is a processing to issue a start notification, start follow-up cruise control, and decelerate the host vehicle 100 at the standard deceleration Gd_s. In other words, the medium probability processing is a processing to issue a start notification and execute normal follow-up cruise control. Note that the situation requiring deceleration here is a situation in which, if follow-up cruise control is started in response to a change operation, it is necessary to decelerate the host vehicle 100 by follow-up cruise control. Furthermore, the start notification issued at this time is a notification to inform the driver that follow-up cruise control will be started.

[0158] The standard deceleration Gd_s here is a normal deceleration when the host vehicle 100 is decelerated by the follow-up cruise control once the follow-up cruise control has been initiated.

[0159] Furthermore, for example, if the change operation is an operation requesting the stopping (or cancellation) of the follow-up cruise control and the driving situation of the host vehicle 100 is one in which a preceding vehicle 200 is present, the medium probability process is a process of not stopping the follow-up cruise control but issuing an approval request notice to the driver. The approval request notice issued at this time is a notice requesting the driver to approve the stopping of the follow-up cruise control (i.e., changing the execution state of the driving assistance control). In this case, if the vehicle driving assistance device 10 detects an approval operation (i.e., if the driver performs an approval operation), it stops the follow-up cruise control. On the other hand, if the vehicle driving assistance device 10 detects a denial operation (i.e., if the driver performs a denial operation), it does not stop the follow-up cruise control.

[0160] In this case, when the vehicle driving assistance device 10 detects a change operation (in this example, an operation requesting the stopping of the following cruise control), if the probability of erroneous operation P is greater than a predetermined probability of erroneous operation (in this example, the probability of small erroneous operation Ps), the vehicle driving assistance device 10 is configured not to change the execution state of the driving assistance control (in this example, stopping the following cruise control).

[0161] In this case, if the vehicle driving assistance device 10 does not change the execution state of the driving assistance control when it detects a change operation, it sends an approval request notification to the driver of the vehicle 100 requesting approval to change the execution state, and if the driver of the vehicle 100 approves the change in the execution state, it is configured to change the execution state.

[0162] Furthermore, for example, if the change operation is an operation requesting the stopping (or cancellation) of the follow-up cruise control and the host vehicle 100 is traveling in a scene where the preceding vehicle 200 is not present, the medium probability process is a process in which a stop notification is issued without stopping the follow-up cruise control, and the follow-up cruise control is stopped when a predetermined time Tth has elapsed since the stop notification was issued. Note that the stop notification issued at this time is a notification to inform the driver that the follow-up cruise control will be stopped.

[0163] In this case, when the vehicle driving assistance device 10 detects a change operation (in this example, an operation requesting the stopping of the following cruise control), if the probability of erroneous operation P is greater than a predetermined probability of erroneous operation (in this example, the probability of small erroneous operation Ps), the vehicle driving assistance device 10 is configured not to change the execution state of the driving assistance control (in this example, stopping the following cruise control).

[0164] In this case, if the vehicle driving assistance device 10 does not change the execution state of the driving assistance control when it detects a change operation, it is configured to send a change notification to the driver of the vehicle 100 to inform them that the execution state of the driving assistance control will be changed, and to change the execution state of the driving assistance control when a predetermined time Tth has elapsed since the change notification was sent.

[0165] Furthermore, for example, if the change operation is an operation requesting the start of constant speed cruise control and the driving situation of the host vehicle 100 is an acceleration request situation, the medium probability processing is a processing to issue a start notification, start constant speed cruise control, and accelerate the host vehicle 100 at an acceleration smaller than the standard acceleration Ga_s. That is, the medium probability processing is a processing to issue a start notification, start constant speed cruise control, and gently accelerate the host vehicle 100. Note that the acceleration request situation here is a situation in which the host vehicle 100 needs to accelerate if constant speed cruise control is started in response to the change operation. Furthermore, the start notification issued at this time is a notification to inform the driver that constant speed cruise control will be started.

[0166] The standard acceleration Ga_s for the constant speed cruise control is a normal acceleration when the vehicle 100 is accelerated by the constant speed cruise control once the constant speed cruise control is started.

[0167] In this case, when the vehicle driving assistance device 10 detects a change operation (in this example, an operation requesting the start of constant speed cruise control), if the probability of erroneous operation P is greater than a predetermined probability of erroneous operation (in this example, a small erroneous operation probability Ps), it is configured to change the execution state of the driving assistance control more slowly (in this example, the start of constant speed cruise control and acceleration at a standard acceleration Ga_s) than the change in the execution state of the driving assistance control requested by the change operation (in this example, the start of constant speed cruise control and acceleration at an acceleration smaller than the standard acceleration Ga_s).

[0168] In this case, the vehicle driving assistance device 10 is configured to notify the driver of the vehicle 100 that the execution state of the driving assistance control will be changed if the execution state of the driving assistance control is changed more slowly than the change in the execution state of the driving assistance control requested by the change operation.

[0169] Also, in this case, if the change operation requests a change in the control amount for the vehicle 100 through driving assistance control (in this example, a change in the acceleration of the vehicle 100 from zero through constant speed driving control to a standard acceleration Ga_s), and when the vehicle driving assistance device 10 detects the change operation, it is configured to make a change in the execution state of the driving assistance control that is slower than the change in the execution state of the driving assistance control requested by the change operation, such that it makes a change in the control amount that is smaller than the change in the control amount requested by the change operation (in this example, a change in the acceleration of the vehicle 100 through constant speed driving control from zero to an acceleration smaller than the standard acceleration Ga_s).

[0170] Furthermore, if the change operation is an acceleration operation or a deceleration operation and the error probability P when the change operation is detected is less than a predetermined error probability (for example, a small error probability Ps), the vehicle driving assistance device 10 changes the control amount less than the change in control amount requested by the change operation (in this example, increasing the set vehicle speed Vset by an amount less than the increase in the set vehicle speed Vset requested by the acceleration operation, or decreasing the set vehicle speed Vset by an amount less than the deceleration of the set vehicle speed Vset requested by the deceleration operation).

[0171] Furthermore, for example, if the change operation is an operation requesting the start of constant speed cruise control and the driving situation of the host vehicle 100 is a situation requiring deceleration, the medium probability processing is a processing to issue a start notification, start constant speed cruise control, and decelerate the host vehicle 100 at the standard deceleration Gd_s. That is, the medium probability processing is a processing to issue a start notification and execute normal constant speed cruise control. Note that the situation requiring deceleration here is a situation in which the host vehicle 100 needs to decelerate if constant speed cruise control is started in response to the change operation. The start notification issued at this time is a notification to inform the driver that constant speed cruise control will be started.

[0172] Also, for example, if the change operation is an operation requesting the stopping (or cancellation) of the constant speed cruise control, the medium probability process is a process that issues a stop notification without stopping the constant speed cruise control, regardless of the driving situation of the vehicle 100, and stops the constant speed cruise control when a predetermined time Tth has elapsed since the stop notification was issued. Note that the stop notification issued at this time is a notification that informs the driver that the constant speed cruise control will be stopped.

[0173] In this case, when the vehicle driving assistance device 10 detects a change operation (in this example, an operation requesting the stopping of constant speed cruise control), if the probability of erroneous operation P is greater than a predetermined probability of erroneous operation (in this example, the probability of small erroneous operation Ps), the vehicle driving assistance device 10 is configured not to change the execution state of the driving assistance control (in this example, stopping of constant speed cruise control).

[0174] In this case, if the vehicle driving assistance device 10 does not change the execution state of the driving assistance control when it detects a change operation, it is configured to send a change notification to the driver of the vehicle 100 to inform them that the execution state of the driving assistance control will be changed, and to change the execution state of the driving assistance control when a predetermined time Tth has elapsed since the change notification was sent.

[0175] The operation of the vehicle driving assistance device 10 is as described above.

[0176] According to the vehicle driving assistance device 10, it is determined whether to change the execution state of the driving assistance control, or the manner in which the execution state of the driving assistance control is changed, based on the erroneous operation probability P. The erroneous operation probability P indicates the possibility that an operation to request a change in the execution state of the driving assistance control has been erroneously performed by the driver of the host vehicle 100. Therefore, the execution state of the driving assistance control can be changed in consideration of the possibility that an operation to request a change in the execution state of the driving assistance control has been erroneously performed by the driver of the host vehicle 100.

[0177] The present invention is not limited to the above-described embodiment, and various modifications can be made within the scope of the present invention. [Explanation of symbols]

[0178] 10...vehicle driving assistance device, 40...notification device, 50...operation device, 51...start switch, 52...cancel switch, 53...resume switch, 54...speed increase switch, 55...speed decrease switch, 56...inter-vehicle distance change switch, 90...ECU, 100...host vehicle, 200...preceding vehicle

Claims

1. A vehicle driving assistance device including a control device that executes driving assistance control to assist a driver of a vehicle, The control device When a change operation, which is an operation by the driver of the vehicle, for requesting the control device to change the execution state of the driving assistance control is detected, if an error operation probability indicating the possibility that the driver of the vehicle has erroneously performed the change operation, which error operation probability increases as the possibility increases, is equal to or less than a predetermined error operation probability, the execution state is changed as requested by the change operation, When the change operation is detected, if the probability of the operation error is greater than the predetermined probability of the operation error, the change of the execution state is not performed or the change of the execution state is performed more gradually than the change of the execution state requested by the change operation. It is configured as follows: Vehicle driving assistance device.

2. The vehicle driving assistance device according to claim 1, The probability of erroneous operation decreases as the driver operation frequency increases, and the driver operation frequency is the frequency with which the driver of the vehicle has previously performed the change operation on a road similar to the road on which the vehicle is traveling at the time the change operation is detected, or The probability of erroneous operation decreases as the market operation frequency increases, and the market operation frequency is the frequency with which an operation requesting a change of the same type as the change of the execution state requested by the change operation has been performed in the past by a driver of another vehicle on a road of the same type as the road on which the vehicle is traveling at the time of detecting the change operation, or The probability of erroneous operation decreases as the degree of recommendation increases, and is the degree to which the change of the execution state requested by the change operation is recommended on the road on which the host vehicle is traveling at the time the change operation is detected. Vehicle driving assistance device.

3. The vehicle driving assistance device according to claim 1, The control device If the change of the execution state is not performed when the change operation is detected, an approval request notice is sent to the driver of the vehicle requesting approval for the change of the execution state; When the driver of the vehicle approves the change of the execution state, the execution state is changed. It is configured as follows: Vehicle driving assistance device.

4. 4. The vehicle driving assistance device according to claim 3, The probability of the erroneous operation decreases as the driver's approval frequency increases, The driver approval frequency is a frequency at which the driver of the vehicle approves the change of the execution state in response to the approval request notification in which an operation identical to the change operation was previously detected and performed on a road similar to the road on which the vehicle is traveling at the time the change operation is detected. Vehicle driving assistance device.

5. The vehicle driving assistance device according to claim 1, the control device is configured to notify a driver of the vehicle of the change of the execution state when the change of the execution state is to be made more gradual than the change of the execution state requested by the change operation. Vehicle driving assistance device.

6. The vehicle driving assistance device according to claim 1, The control device is configured to, when the change operation requests a change in a control amount for the host vehicle by the driving assistance control and the control device detects the change operation and makes a change in the execution state that is gradual compared to the change in the execution state requested by the change operation, make a change in the control amount that is smaller than the change in the control amount requested by the change operation. Vehicle driving assistance device.

7. The vehicle driving assistance device according to claim 1, The control device If the change operation is detected and the execution state is not changed, a change notification is sent to the driver of the vehicle to notify the driver that the execution state will be changed; changing the execution state when a predetermined time has elapsed since the change notification was made; It is configured as follows: Vehicle driving assistance device.

8. A vehicle driving assistance method for performing driving assistance control to assist a driver of a vehicle, comprising: When detecting a change operation by the driver of the vehicle to request a change in the execution state of the driving assistance control, if an error probability indicating the possibility that the driver of the vehicle has erroneously performed the change operation, which error probability increases as the possibility increases, is equal to or less than a predetermined error probability, changing the execution state as requested by the change operation; a step of not changing the execution state or changing the execution state more gradually than the change of the execution state requested by the change operation when the error probability is greater than the predetermined error probability when the change operation is detected; A vehicle driving assistance method comprising:

9. A vehicle driving assistance program that executes driving assistance control to assist a driver of a host vehicle in driving an own vehicle, When a change operation, which is an operation by the driver of the vehicle to request a change of the execution state of the driving assistance control, is detected, if an error operation probability indicating the possibility that the driver of the vehicle has erroneously performed the change operation, which error operation probability increases as the possibility increases, is equal to or less than a predetermined error operation probability, the execution state is changed as requested by the change operation, When the change operation is detected, if the probability of the operation error is greater than the predetermined probability of the operation error, the change of the execution state is not performed or the change of the execution state is performed more gradually than the change of the execution state requested by the change operation. A vehicle driving assistance program designed to:

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