Apparatus, system and method for assisting automated driving

Abstract

To provide a technique capable of eliminating an uncomfortable driving sensibility of a driver while fully ensuring safety.SOLUTION: An automatic driving assistance device is configured to: receive a plurality of pieces of vehicle probe information indicating control information of a vehicle; generate general-purpose probe information based on the plurality of pieces of vehicle probe information; set a safety range in which the safety of the vehicle can be maintained for the general-purpose probe information; extract first vehicle probe information; compare the general-purpose probe information with the first vehicle probe information to extract a characteristic driving tendency from the first vehicle probe information; as to the characteristic driving tendency, determine whether or not customization is necessary for an ADAS / AD specification based on a difference between the tendency and the general-purpose probe information, and determine whether or not the tendency is within the safety range; generate an ADAS / AD specification customization condition based on a determination result; and transmit ADAS / AD specification customization reference information to the first vehicle.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to computer technology for assisting autonomous driving. [Background technology]

[0002] In recent years, the number of vehicles equipped with functions related to Advanced Driver-Assistance Systems (ADAS) and Autonomous Driving (AD) (collectively referred to as "ADAS / AD") has been rapidly increasing. In the midst of this, drivers of vehicles that operate autonomously using these functions may feel uncomfortable due to differences in their driving sense.

[0003] As a technology for eliminating such discomfort in the driver's driving sensation, for example, Patent Document 1 discloses a technology that learns the driver's preferences and calculates control parameters to realize driving assistance that corresponds to the driver's driving characteristics.

[0004] Furthermore, for example, Patent Document 2 discloses a technology that calculates a model speed using multiple probe information received from a vehicle being manually driven, and performs driving assistance control so as not to give the user the sense of discomfort that the vehicle is accelerating on its own. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2020-183152 A [Patent Document 2] JP 2019-061362 A Summary of the Invention [Problem to be solved by the invention]

[0006] The technology described in Patent Document 1 realizes driving assistance mainly by using data related to the driver's own control. Therefore, when the technology described in Patent Document 1 is used to eliminate the discomfort in the driver's driving sensation described above, it is difficult to eliminate the discomfort of the driver while ensuring sufficient safety, depending on the driving characteristics of the driver who is the target of driving assistance.

[0007] In addition, the technology described in Patent Document 2 can realize driving assistance at the speed of an average driver, but it merely imitates driving behavior at an average speed. Therefore, when the technology described in Patent Document 2 is used to eliminate the discomfort in the driver's driving sensation described above, there are problems such as (1) it is difficult to suppress the discomfort by considering the individual differences in the driving of each driver, and (2) if the driver feels discomfort due to factors other than the speed, it is difficult to eliminate the discomfort.

[0008] The present invention has been made in consideration of the above problems, and has an object to provide a technology that can eliminate the discomfort that the driver experiences while fully ensuring safety. [Means for solving the problem]

[0009] The autonomous driving assistance device according to the present invention is a device for assisting autonomous driving of an autonomously traveling vehicle, and includes at least a processor, a memory, a persistent storage device, and an interface device. The autonomous driving assistance device receives a plurality of vehicle probe information indicating control information of the vehicle, generates generic probe information based on the plurality of vehicle probe information, sets a safety range for the generic probe information within which the safety of the vehicle can be maintained, extracts first vehicle probe information, compares the generic probe information with the first vehicle probe information, extracts a characteristic driving tendency from the first vehicle probe information, and determines whether the characteristic driving tendency is an Advanced Driver-Assistance System (ADAS) or an autonomous driving system based on a difference between the tendency and the generic probe information. The control system determines whether or not customization is necessary for the ADAS / AD specifications, which represent the specifications of the vehicle's characteristic driving tendency (AD), and whether or not the tendency is within the safety range. Based on the determination result, the control system generates ADAS / AD specification customization conditions that take comfort and safety into consideration, and transmits to the first vehicle ADAS / AD specification customization reference information that includes the ADAS / AD specification customization conditions and the ADAS / AD customization control information of the vehicle calculated from the characteristic driving tendency.

[0010] Other problems and solutions disclosed in the present application will be made clear in the section of the description of the invention and the drawings. Effect of the Invention

[0011] According to the present invention, it is possible to eliminate the discomfort that the driver may experience when driving while fully ensuring safety. [Brief description of the drawings]

[0012] [Figure 1] 1 illustrates an example of the overall configuration of an autonomous driving assistance system according to an embodiment. [Diagram 2] 13 illustrates an example of the configuration of a general-purpose probe information extraction unit. [Diagram 3]13 illustrates an example of the configuration of a specific individual driving characteristic tendency analysis / extraction unit. [Figure 4] 2 illustrates an example of the configuration of an ADAS / AD specification customization necessity determination unit. [Diagram 5] 2 shows a schematic configuration example of a comfort / safety threshold / correction value generating unit. [Figure 6] 2 illustrates an example configuration of an ADAS / AD specification customization condition generation unit. [Figure 7] 2 illustrates an example configuration of an ADAS / AD specification customization reference information generation unit. [Figure 8] 2 illustrates an example of the configuration of an ADAS / AD specification customization control determination unit. [Figure 9] 2 illustrates an example of the configuration of an ADAS / AD specification customization condition checking unit. [Figure 10] 1 is a flowchart showing an example of the flow of an autonomous driving assistance process. [Figure 11] An example of the configuration of the ADAS / AD specification customization reference information database is shown below. [Figure 12] 13 shows an example of the configuration of a specific individual driving characteristic tendency information table. [Figure 13] 13 shows an example of the configuration of a comfort / safety threshold information table. [Figure 14] 3A and 3B show schematic diagrams of an example of lane change operation. [Figure 15] An example of operation when merging (entering the main line) is shown diagrammatically. [Figure 16] An example of operation in a special environment is shown diagrammatically. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] In the following description, an "interface unit" may refer to one or more interface devices. The one or more interface devices may be at least one of the following: One or more I / O (Input / Output) interface devices. The I / O (Input / Output) interface devices are interface devices to at least one of the I / O devices and a remote display computer. The I / O interface device to the display computer may be a communications interface device. The at least one I / O device may be a user interface device, e.g., either an input device such as a keyboard and pointing device, or an output device such as a display device. One or more communication interface devices. The one or more communication interface devices may be one or more homogeneous communication interface devices (e.g., one or more NICs (Network Interface Cards)) or two or more heterogeneous communication interface devices (e.g., a NIC and an HBA (Host Bus Adapter)).

[0014] In the following description, a "memory" refers to one or more memory devices, which are an example of one or more storage devices, and may typically be a primary storage device. At least one memory device in the memory may be a volatile memory device or a non-volatile memory device.

[0015] In the following description, a "persistent storage device" may be one or more persistent storage devices, which are an example of one or more persistent storage devices. A persistent storage device may typically be a non-volatile storage device (e.g., an auxiliary storage device), and more specifically, may be, for example, a hard disk drive (HDD), a solid state drive (SSD), a non-volatile memory express (NVME) drive, or a storage class memory (SCM).

[0016] Also, in the following description, "storage device" may be at least memory, including memory and persistent storage device.

[0017] Furthermore, in the following description, a "processor" may be one or more processor devices. The at least one processor device may typically be a microprocessor device such as a CPU (Central Processing Unit), but may also be other types of processor devices such as a GPU (Graphics Processing Unit). The at least one processor device may be a single-core or multi-core. The at least one processor device may be a processor core. The at least one processor device may also be a broader processor device such as a circuit that is a collection of gate arrays written in a hardware description language that performs part or all of the processing (e.g., an FPGA (Field-Programmable Gate Array), a CPLD (Complex Programmable Logic Device), or an ASIC (Application Specific Integrated Circuit)).

[0018] In the following description, functions may be described using the expression "yyy unit", but the functions may be realized by one or more computer programs being executed by a processor, or by one or more hardware circuits (e.g., FPGA or ASIC), or by a combination thereof. When a function is realized by a program being executed by a processor, the function may be at least a part of the processor, since the specified processing is performed using a storage device and / or an interface device, etc., as appropriate. Processing described with a function as the subject may be processing performed by a processor or a device having the processor. A program may be installed from a program source. The program source may be, for example, a program distribution computer or a computer-readable recording medium (e.g., a non-transitory recording medium). The description of each function is an example, and multiple functions may be combined into one function, or one function may be divided into multiple functions.

[0019] In the following description, a process may be described with a "program" as the subject, but the process described with a program as the subject may be a process performed by a processor or a device having the processor. Two or more programs may be realized as one program, and one program may be realized as two or more programs.

[0020] In the following description, information that provides an output for an input may be described using expressions such as "xxx table," but the information may be a table of any structure, or may be a neural network that generates an output for an input, or a learning model such as a genetic algorithm or random forest. Therefore, the "xxx table" may be referred to as "xxx information." In the following description, the structure of each table is an example, and one table may be divided into two or more tables, or all or part of two or more tables may be one table.

[0021] In the following description, the "automated driving assistance system" may be a system configured with one or more physical computers, or may be a system (e.g., a cloud computing system) realized on a group of physical computing resources (e.g., a cloud platform). When the automated driving assistance system "displays" display information, it may mean displaying the display information on a display device possessed by the computer, or the computer may transmit the display information to a display computer (in the latter case, the display information is displayed by the display computer).

[0022] Hereinafter, the present embodiment will be described in detail with reference to FIGS.

[0023] In the following description, the same or similar components will be denoted by common reference symbols, and redundant description may be omitted.

[0024] In addition, when there are multiple elements having the same or similar functions, the multiple elements may be described by using the same reference numerals with different subscripts in order to distinguish between them. On the other hand, when there is no need to distinguish between the multiple elements, the subscripts may be omitted.

[0025] (Definition of terms) In this embodiment, a vehicle in which an in-vehicle device whose configuration and operation will be described is installed is referred to as a "host vehicle." Also, a person riding in the host vehicle is referred to as a "user" or a "driver."

[0026] In this embodiment, a combination of latitude and longitude is called an "absolute coordinate."

[0027] In the present embodiment, the term "route" refers to route information having a resolution sufficient to identify the roads along which the vehicle travels. That is, the route is represented by, for example, a list of identifiers of nodes and links in the order in which the vehicle travels.

[0028] In this embodiment, "automated driving" refers to a state in which at least one of the driving source such as an engine or a motor, the braking device, and the steering wheel is controlled by computational processing. "Manual driving" refers to a state in which the vehicle is operating but is not in automatic driving. Furthermore, "manual interruption" of automatic driving refers to a user intervening in the area of ​​automatic driving while in an automatic driving state. For example, when the definition of automatic driving is the control of the driving source and the braking device, the action of the user stepping on the accelerator pedal or the brake pedal corresponds to manual interruption of automatic driving.

[0029] In this embodiment, the "trajectory" is position information with sufficient resolution to realize autonomous driving, for example, a plurality of absolute positions with a millimeter (mm)-level resolution arranged in the order in which the vehicle should travel from now on. Also, in this embodiment, the "track" is absolute positions that the vehicle has actually traveled to arranged in the order in which it traveled. In other words, the "track" indicates the positions that the vehicle has traveled to in the past, and the "trajectory" indicates the positions that the vehicle is expected to travel to in the future.

[0030] First, an example of the overall system configuration of an automatic driving assistance system 100 according to this embodiment will be described with reference to Figures 1 to 9. Figure 1 is a diagram illustrating an example of the configuration of the automatic driving assistance system 100.

[0031] (Example of the overall system configuration) The autonomous driving assistance system 100 of this embodiment is composed of on-board devices 10a, 10b, 10c,..., 10n (hereinafter collectively referred to as "on-board devices 10" when referring to them collectively or when no particular distinction is made) mounted on each vehicle, and an autonomous driving assistance device 20 wirelessly connected to each on-board device 10 so that data communication is possible between them.

[0032] The autonomous driving assistance device 20 is a computer system capable of generating customization information for reducing or eliminating the driver's discomfort when driving an ADAS / AD vehicle, and is realized by a computer device or a server device having the respective configurations described below.

[0033] Each of the in-vehicle devices 10 connected to the automatic driving assistance device 20 is a computer device having the configurations described below. Each of the in-vehicle devices 10 is assigned a unique ID called a vehicle ID in advance.

[0034] In the present embodiment, the in-vehicle device 10 and the automatic driving assistance device 20 are each described as being composed of one device as shown in Fig. 1. However, for example, the in-vehicle device 10 and the automatic driving assistance device 20 may each be composed of a plurality of devices.

[0035] (Example of hardware configuration of the automatic driving assistance device 20) Next, an example of the hardware configuration of the automatic driving assistance device 20 according to this embodiment will be described.

[0036] The automatic driving assistance device 20 of this embodiment is realized by one general-purpose computer device. In the following description, the automatic driving assistance device 20 is assumed to be realized by one general-purpose computer device including one or more processors, one or more storage devices, one or more interface devices, and wired or wireless communication lines (none of which are shown) connecting them.

[0037] That is, the autonomous driving assistance device 20 has a storage device consisting of a persistent storage device and a memory, an interface device, and a processor connected thereto.

[0038] The persistent storage device is an auxiliary storage device made of a non-volatile storage element such as a flash memory. Specific examples of the persistent storage device include a solid state drive (SSD) and a hard disk drive (HDD). The persistent storage device stores at least an autonomous driving assistance program. The autonomous driving assistance program is a computer program for implementing functions required for the autonomous driving assistance device 20, including various processes for reducing discomfort in ADAS / AD driving (hereinafter also referred to as "ADAS / AD driving discomfort reduction customization process").

[0039] In addition, various processes for assisting autonomous driving (hereinafter, referred to as "autonomous driving assistance process"), including the above-mentioned ADAS / AD driving discomfort reduction customization process, are performed by executing the autonomous driving assistance program by the processor. Details of this autonomous driving assistance process will be described later with reference to FIG. 10.

[0040] The autonomous driving assistance program may be installed from a program source. The program source may be, for example, a program distribution computer or a computer-readable recording medium. The autonomous driving assistance program may be configured by a device driver, an operating system, various application programs located at higher layers thereof, and a library that provides common functions to these programs. Furthermore, two or more programs may be realized as one autonomous driving assistance program, and one autonomous driving assistance program may be realized as two or more programs.

[0041] The memory is a primary storage device mainly composed of volatile memory elements such as a RAM (Random Access Memory). The memory temporarily stores data representing various information read from a persistent storage device and various data acquired from the in-vehicle device 10.

[0042] The processor is a processor device such as a CPU (Central Processing Unit) and various co-processors. This processor loads an autonomous driving assistance program into a memory and executes it to generally control the autonomous driving assistance device 20 itself, and also controls a control unit that performs various processes such as calculation processing and determination processing.

[0043] The interface device includes a communication interface device that connects to a communication network and communicates with the in-vehicle device 10, and an I / O interface device.

[0044] (Example of functional block of the automatic driving assistance device 20) Next, an example of blocks of various functions included in the autonomous driving assistance device 20 according to this embodiment will be described. Note that each block described below does not represent a hardware configuration, but represents a functional block.

[0045] The autonomous driving assistance device 20 includes the following functional blocks: a control unit (not shown), a storage unit 30, and a communication unit 21.

[0046] The control unit executes various data processing based on the programs and data stored in the storage unit 30 and the data acquired by the communication unit 21. The control unit also functions as an interface between the storage unit 30 and the communication unit 21.

[0047] The control unit executes a process for assisting the autonomous driving in cooperation with the control unit of the in-vehicle device 10. This process is referred to as an autonomous driving assistance process. The details of the autonomous driving assistance process will be described later with reference to FIG.

[0048] The control unit has the following functional blocks: a server probe information collection unit 22, a general-purpose probe information extraction unit 23, a specific individual probe information extraction unit 24, a specific individual driving characteristic trend analysis / extraction unit 25, an ADAS / AD specification customization necessity determination unit 26, a comfort / safety threshold / correction value generation unit 27, an ADAS / AD specification customization condition generation unit 28, and an ADAS / AD specification customization reference information generation unit 29.

[0049] The server probe information collection unit 22 communicates with the in-vehicle device 10 of each vehicle via the communication unit 21, and acquires vehicle information of the vehicle for each in-vehicle device 10. The server probe information collection unit 22 also acquires the probe information acquired in each vehicle via the communication unit 21. Note that the probe information is information that allows the trajectory traveled by the vehicle itself (the vehicle on which the in-vehicle device 10 is mounted) to be calculated afterwards, for example, a list of absolute positions of the vehicles arranged in the order in which the vehicles traveled, and information that allows the manner in which the vehicle traveled to be reproduced afterwards.

[0050] The general-purpose probe information extracting unit 23 uses the probe information of each vehicle obtained by the server probe information collecting unit 22 to extract general-purpose probe information that becomes a standard value under specific conditions.

[0051] 2 shows an outline of a configuration example of the general probe information extraction unit 23. As shown in FIG. 2, the general probe information extraction unit 23 has the following functional blocks: a probe information labeling unit 231, a probe information cleansing unit 232, a probe information comparison unit 234, a probe information standard value setting unit 235, and a general probe information generation unit 236.

[0052] The probe information labeling unit 231 obtains from information embedded in the probe information when, where, under what environment, and by which in-vehicle device 10 each piece of probe information was obtained, and adds this information to each unit of probe information as easily identifiable information.

[0053] The probe information cleansing unit 232 deletes data that is partially corrupted, data that is inaccurate such as position jumps, and data that corresponds to an exception event.

[0054] The probe information comparison unit 234 uses an analysis method such as cluster analysis to compare the sensor values ​​obtained from the probe information.

[0055] The probe information standard value setting unit 235 sets standard values ​​for each driving action (steering, accelerator, brake, acceleration, etc.) based on the comparison results of the probe information comparison unit 234.

[0056] The general probe information generating unit 236 converts the setting result of the probe information standard value setting unit 235 into data as general probe information.

[0057] The specific individual probe information extraction unit 24 extracts the probe information of a specific individual from the probe information of each vehicle obtained by the server probe information collection unit 22 .

[0058] The specific individual driving characteristic tendency analysis / extraction unit 25 analyzes and compares the general-purpose probe information and the specific individual probe information to extract the driving characteristics of the specific individual.

[0059] An outline of a configuration example of the specific individual driving characteristic trend analysis / extraction unit 25 is shown in Fig. 3. As shown in Fig. 3, the specific individual driving characteristic trend analysis / extraction unit 25 has each of the functional blocks of a general-purpose probe / specific individual probe information comparison unit 251, a specific individual driving characteristic trend tagging unit 252, and a specific individual driving characteristic generation unit 253.

[0060] The general-purpose probe / specific individual probe information comparison unit 251 compares and analyzes each driving behavior of the general-purpose probe information and the specific individual probe information, and extracts characteristic driving tendencies, such as the steering position, angle, and the position and degree of acceleration / deceleration.

[0061] The specific individual driving characteristic tendency tagging unit 252 tags the characteristic driving tendency extracted by the general-purpose probe / specific individual probe information comparison unit 251 .

[0062] The specific individual driving characteristic generating unit 253 converts the characteristic driving tendency tagged by the specific individual driving characteristic tendency tagging unit 252 into data. This data generated by the specific individual driving characteristic generating unit 253 is called specific individual driving characteristic tendency information data. Details of the specific individual driving characteristic tendency information data will be described later in relation to FIG. 12.

[0063] The ADAS / AD specification customization necessity determination unit 26 determines the correlation between the driving characteristics of a specific individual and the ADAS / AD specifications that represent the specifications of Advanced Driver-Assistance Systems (ADAS) or Autonomous Driving (AD), and determines whether or not it is necessary to customize the ADAS / AD specifications taking into account the driving characteristics of the specific individual in reducing the driver's discomfort.

[0064] An outline of a configuration example of the ADAS / AD specification customization necessity determination unit 26 is shown in Fig. 4. As shown in Fig. 4, the ADAS / AD specification customization necessity determination unit 26 has the following functional blocks: a corresponding standard ADAS / AD specification extraction unit 261, a specific individual driving characteristic / standard ADAS / AD specification correlation extraction unit 262, an ADAS / AD specification customization necessity determination unit 263, and an ADAS / AD specification customization item candidate determination unit 264.

[0065] The relevant standard ADAS / AD specification extraction unit 261 extracts standard ADAS / AD specifications that correspond to the specific individual driving characteristics of interest.

[0066] The specific individual driving characteristic / standard ADAS / AD specification correlation extraction unit 262 extracts the correlation between the target specific individual driving characteristic and the standard ADAS / AD specification extracted by the corresponding standard ADAS / AD specification extraction unit 261.

[0067] The ADAS / AD specification customization necessity determining unit 263 determines whether or not the ADAS / AD specifications need to be customized based on the correlation with the standard ADAS / AD specifications extracted by the specific individual driving characteristics / standard ADAS / AD specification correlation extracting unit 262.

[0068] When the ADAS / AD specification customization necessity determining unit 263 determines that customization is necessary, the ADAS / AD specification customization item candidate determining unit 264 determines customization item candidates that correspond to the correlation parts with the ADAS / AD specifications.

[0069] When customizing the ADAS / AD specifications taking into account the driving characteristics of a specific individual, the comfort / safety threshold / correction value generation unit 27 takes safety into consideration and determines the customization value.

[0070] An outline of a configuration example of the comfort / safety threshold / correction value generation unit 27 is shown in Fig. 5. As shown in Fig. 5, the comfort / safety threshold / correction value generation unit 27 has each of functional blocks of a good driver probe information analysis unit 271, a comfort / safety threshold determination unit 272, a specific individual driving characteristic / good driver probe analysis result comparison unit 273, and a specific individual driving characteristic correction value determination unit 274.

[0071] The excellent driver probe information analysis unit 271 analyzes probe information of excellent drivers extracted based on specific indicators, such as drivers with no accidents or violations, or veteran drivers of commercial vehicles, or extracts characteristics of driving behavior by utilizing simulation information and taking into account a vehicle motion model.

[0072] The comfort / safety threshold determination unit 272 determines the comfort / safety threshold from the features and feature amounts of the driving behavior extracted by the good driver probe information analysis unit 271. As a method of determining the comfort / safety threshold, for example, for the accelerator operation at point A, a threshold with a range based on the vendor's design philosophy (accelerator 1600 to 1800 rpm, etc.) is determined from the median value obtained from the statistics of the features analyzed by the good driver probe information analysis unit 271.

[0073] The specific individual driving characteristics / good driver probe analysis result comparison unit 273 compares the specific individual driving characteristics of the subject with the driving characteristics obtained as the good driver probe analysis result, and identifies driving behaviors with a large difference amount.

[0074] The specific individual driving characteristic correction value determination unit 274 determines a specific individual driving characteristic correction value based on the driving point with a large difference amount obtained by the specific individual driving characteristic / good driver probe analysis result comparison unit 273 and the comfort / safety threshold value obtained by the comfort / safety threshold determination unit 272.

[0075] The ADAS / AD specification customization condition generation unit 28 generates implementation conditions for customizing the ADAS / AD specifications, taking into account environmental conditions and road conditions.

[0076] An outline of a configuration example of the ADAS / AD specification customization condition generation unit 28 is shown in Fig. 6. As shown in Fig. 6, the ADAS / AD specification customization condition generation unit 28 has the following functional blocks: a specific individual driving characteristic tendency tag reading unit 281, an environmental condition / road condition reading unit 282, an environmental condition / road condition patterning implementation unit 283, and an ADAS / AD specification customization condition determination unit 284.

[0077] The specific individual driving characteristic tendency tag reading unit 281 reads the specific individual driving characteristic tendency tag of the target when generating the ADAS / AD specification customization conditions.

[0078] The environmental condition / road condition reading unit 282 reads the environmental conditions / road conditions from the tag read by the specific individual driving characteristic tendency tag reading unit 281 .

[0079] The environmental condition / road condition patterning implementation unit 283 extracts commonalities between the environmental conditions and road conditions read by the environmental condition / road condition reading unit 282 and creates patterns.

[0080] The ADAS / AD specification customization condition determination unit 284 determines the environmental conditions and road conditions patterned by the environmental condition / road condition patterning implementation unit 283 as the target ADAS / AD specification customization conditions.

[0081] The ADAS / AD specification customization reference information generation unit 29 generates reference information that is distributed from the autonomous driving assistance device 20 to the in-vehicle device 10 and that is used by the in-vehicle device 10 for ADAS / AD customization.

[0082] An outline of a configuration example of the ADAS / AD specification customization reference information generation unit 29 is shown in Fig. 7. As shown in Fig. 7, the ADAS / AD specification customization reference information generation unit 29 has each of functional blocks of a specific individual driving characteristic reflection ADAS / AD specification reading unit 291, a specific individual driving characteristic correction value reading unit 292, an ADAS / AD specification customization parameter determination unit 293, an ADAS / AD specification customization condition reading unit 294, and an ADAS / AD specification customization reference information determination unit 295.

[0083] The specific individual driving characteristic reflection ADAS / AD specification reading unit 291 reads the specific individual driving characteristic reflection ADAS / AD specification of the target.

[0084] The specific individual driving characteristic correction value reading unit 292 reads the specific individual driving characteristic correction value of the target.

[0085] The ADAS / AD specification customization parameter determination unit 293 determines an ADAS / AD specification customization parameter from the correction value of the target read by the specific individual driving characteristic correction value reading unit 292.

[0086] The ADAS / AD specification customization condition reading unit 294 reads the target ADAS / AD specification customization conditions.

[0087] The ADAS / AD specification customization reference information determination unit 295 converts the target ADAS / AD specifications read in by the specific individual driving characteristic reflection ADAS / AD specification reading unit 291, the customization parameters determined by the ADAS / AD specification customization parameter determination unit 293, and the ADAS / AD specification customization conditions read in by the ADAS / AD specification customization condition reading unit 294 into data as reference information.

[0088] The control unit is configured using a processor, and can realize these functional blocks by executing a predetermined program. Note that instead of a processor, the control unit may be configured using a logic circuit such as an FPGA (Field Programmable Gate Array). The control unit may also be configured by combining a processor and a logic circuit.

[0089] The storage unit 30 is configured using a storage device consisting of, for example, a persistent storage device and a memory, and stores a program that supplies various processing commands to the control unit, and data representing various information used in the processing executed by the control unit. For example, data representing the probe information collected by the server probe information collection unit 22 (hereinafter also referred to as "probe information data"), data representing the ADAS / AD specification customization reference information (hereinafter also referred to as "ADAS / AD specification customization reference information data"), etc. are stored in the storage unit 30. The control unit can execute the above-mentioned autonomous driving assistance processing by reading and writing these pieces of information in the storage unit 30.

[0090] The communication unit 21 is responsible for wireless communication with other devices such as the in-vehicle device 10. The communication unit 21 is configured using, for example, a communication module capable of wireless communication. The communication standard supported by the communication unit 21 is not particularly limited, but the communication unit 21 supports, for example, at least one of 3G, 4G, and 5G. The communication unit 21 may be directly connected to the in-vehicle device 10, or may be connected to the in-vehicle device 10 via a base station provided by a communication carrier or the Internet.

[0091] Furthermore, the autonomous driving assistance device 20 may include a user interface unit (not shown) configured to include functional blocks of an input unit (not shown) and an output unit (not shown).

[0092] The input unit is responsible for input-related processes such as accepting input operations from the user among processes related to the user interface. The input unit is configured using, for example, a keyboard, a pointing device, a touch panel, etc., and detects various operations from the user.

[0093] The output unit is responsible for output-related processes such as displaying various screens on a display device, outputting audio, etc. The output unit is configured using, for example, a liquid crystal display, a touch screen, etc.

[0094] In other words, each component of the autonomous driving assistance device 20 is realized by hardware including a processor, storage devices such as memory and persistent storage devices, wired or wireless communication lines and interface devices that connect them, and software that is stored in the storage devices and supplies processing instructions to the computing unit.

[0095] In this embodiment, the functions of the automatic driving assistance device 20 have been described as being integrally realized by one computer device. However, these functions may be realized by a plurality of computers or server devices connected to each other. In addition, the automatic driving assistance device 20 may be configured to include a general-purpose computer device such as a laptop PC and a web browser installed thereon, or may be configured to include a web server and various portable devices.

[0096] (Example of functional block of the in-vehicle device 10) Next, an example of blocks of various functions included in the in-vehicle device 10 according to this embodiment will be described. Note that each block described below does not represent a hardware configuration but represents a functional block.

[0097] The in-vehicle device 10 includes functional blocks of a control unit (not shown), a storage unit 18, and a communication unit 11.

[0098] The control unit executes various data processing based on the programs and data stored in the storage unit 18 and the data acquired by the communication unit 11. The control unit also functions as an interface between the storage unit 18 and the communication unit 11.

[0099] The control unit cooperates with a control unit of the automatic driving assistance device 20 to execute automatic driving assistance processing (described in detail later with reference to FIG. 10).

[0100] The control unit has the following functional blocks: an in-vehicle probe information acquisition unit 12, a vehicle driving unit 13, an ADAS / AD control unit 14, an ADAS / AD specification customization control determination unit 15, an ADAS / AD specification customization condition confirmation unit 16, and a sensor unit 17.

[0101] The vehicle-mounted probe information acquisition unit 12 acquires probe information of the vehicle itself.

[0102] The vehicle driving unit 13 drives the driving source, braking device, and steering device of the vehicle based on a user operation or an operation command from the ADAS / AD control unit 14. The user operation includes rotation of the steering wheel, depression of the accelerator pedal, depression of the brake pedal, and the like.

[0103] The ADAS / AD control unit 14 determines the ADAS / AD control based on the output result of the ADAS / AD specification customization control determination unit 15, and notifies the vehicle drive unit 13 of an operation command.

[0104] The ADAS / AD specification customization control determination unit 15 determines the customization control content for the ADAS / AD specifications based on the confirmation result from the ADAS / AD specification customization condition confirmation unit 16 and the ADAS / AD specification customization reference information distributed from the autonomous driving assistance device 20, and notifies the ADAS / AD control unit 14.

[0105] An outline of a configuration example of the ADAS / AD specification customization control determining unit 15 is shown in Fig. 8. As shown in Fig. 8, the ADAS / AD specification customization control determining unit 15 has the following functional blocks: an ADAS / AD specification customization reference information receiving unit 151, a related ADAS / AD specification customization reference information extracting unit 152, and an ADAS / AD specification customization control content determining unit 153.

[0106] The ADAS / AD specification customization reference information receiving unit 151 receives the ADAS / AD specification customization reference information distributed from the autonomous driving assistance device 20.

[0107] The related ADAS / AD specification customization reference information extraction unit 152 extracts related ADAS / AD specification customization reference information from the ADAS / AD specification customization reference information received by the ADAS / AD specification customization reference information receiving unit 151.

[0108] The ADAS / AD specification customized control content determination unit 153 determines the customized control content of the ADAS / AD specification from the ADAS / AD specification customized reference information extracted by the related ADAS / AD specification customized reference information extraction unit 152.

[0109] The ADAS / AD specification customization condition confirmation unit 16 confirms the ADAS / AD specification customization conditions from the ADAS / AD specification customization reference information delivered from the autonomous driving assistance device 20 and information about the surroundings of the vehicle acquired by the sensor unit 17, and notifies the ADAS / AD specification customization control determination unit 15 of the need for customization.

[0110] An outline of a configuration example of the ADAS / AD specification customization condition checking unit 16 is shown in Fig. 9. As shown in Fig. 9, the ADAS / AD specification customization condition checking unit 16 has the following functional blocks: an ADAS / AD specification customization condition reading unit 161, an environmental condition checking unit 162, a road condition checking unit 163, and a customization condition conformance checking unit 164.

[0111] The ADAS / AD specification customization condition reading unit 161 reads the ADAS / AD specification customization conditions from the target ADAS / AD specification customization reference information.

[0112] The environmental condition checking unit 162 checks the environmental conditions of the target.

[0113] The road condition checking unit 163 checks the target road conditions.

[0114] The customization condition match confirmation unit 164 confirms whether the ADAS / AD specification customization conditions read by the ADAS / AD specification customization condition reading unit 161, the environmental conditions confirmed by the environmental condition confirmation unit 162, and the road conditions confirmed by the road condition confirmation unit 163 match.

[0115] The sensor unit 17 is one or more sensors that collect information about the surroundings of the vehicle. The sensor unit 17 is, for example, a camera and a laser range finder. The information acquired by the sensor unit 17 is used to recognize road markings and detect obstacles.

[0116] The control unit is configured using a processor, and can realize these functional blocks by executing a predetermined program. Note that instead of a processor, the control unit may be configured using a logic circuit such as an FPGA (Field Programmable Gate Array). The control unit may also be configured by combining a processor and a logic circuit.

[0117] The storage unit 18 is configured using a storage device consisting of, for example, a persistent storage device and a memory, and stores a program that supplies various processing commands to the control unit, and data representing various information used in the processing executed by the control unit. The control unit can execute various processes by reading and writing this information in the storage unit 18.

[0118] In addition, the memory unit 18 stores probe information data representing the probe information of the host vehicle and ADAS / AD specification customization reference information data distributed from the autonomous driving assistance device 20.

[0119] The communication unit 11 is responsible for wireless communication processing with other devices such as the autonomous driving assistance device 20. The communication unit 11 is configured using, for example, a communication module capable of wireless communication. The communication standard supported by the communication unit 11 is not particularly limited, but the communication unit 11 supports, for example, at least one of 3G, 4G, and 5G. The communication unit 11 may be directly connected to the autonomous driving assistance device 20, or may be connected to the autonomous driving assistance device 20 via a base station provided by a communication carrier or the Internet.

[0120] The in-vehicle device 10 may also include a user interface unit (not shown) that includes functional blocks of an input unit (not shown) and an output unit (not shown).

[0121] The input unit is responsible for input-related processes such as accepting input operations from the user among processes related to the user interface. The input unit is configured using, for example, a touch panel, and detects various operations from the user.

[0122] The output unit is responsible for output-related processes such as displaying various screens on a display device, outputting audio, etc. The output unit is configured using, for example, a touch screen, a liquid crystal display, etc.

[0123] The above description of each function is merely an example, and multiple functions may be combined into one function, or one function may be divided into multiple functions.

[0124] Furthermore, the in-vehicle device 10 and the automatic driving assistance device 20 may have other functions in addition to the various functions described above. For example, the automatic driving assistance device 20 may be configured to include some of the above functions of the in-vehicle device 10, and the in-vehicle device 10 may be configured to include some of the above functions of the automatic driving assistance device 20.

[0125] (Example of automated driving assistance processing flow) Next, the autonomous driving assistance process executed by the autonomous driving assistance system 100 according to this embodiment and each step in the autonomous driving assistance process will be described with reference to FIG.

[0126] FIG. 10 is a flowchart showing an example of the overall flow of the automatic driving assistance processing performed in this embodiment.

[0127] Each step described below represents a process executed by the autonomous driving assistance device 20 and / or the in-vehicle device 10. Among these steps, steps S1 to S12 are steps executed by the autonomous driving assistance device 20, and step S1 and steps S13 to S17 are steps executed by the in-vehicle device 10.

[0128] In step S1, the control unit of the automatic driving assistance device 20 executes a process of collecting the probe information acquired by the vehicle-mounted probe information acquisition unit 12 through the communication unit 21 by the server probe information collection unit 22. In the automatic driving assistance system 100 of this embodiment, in this process executed in step S1, the control unit of the vehicle-mounted device 10 sequentially transmits the probe information acquired by the vehicle-mounted probe information acquisition unit 12 to the automatic driving assistance device 20 through the communication unit 11, and the server probe information collection unit 22 can collect the sequentially transmitted probe information through the communication unit 21. In the automatic driving assistance system 100, the server probe information collection unit 22 requests the vehicle-mounted device 10 to transmit the probe information through the communication unit 21, and the control unit of the vehicle-mounted device 10 can also transmit the probe information acquired by the vehicle-mounted probe information acquisition unit 12 to the automatic driving assistance device 20 in response to the request. When the process in step S1 is completed, the control unit of the automatic driving assistance device 20 proceeds to step S2 and step S3.

[0129] In step S2, the control unit of the automatic driving assistance device 20 executes a process of extracting general probe information of the average driving of the driver by the general probe information extraction unit 23. This allows the automatic driving assistance device 20 to eliminate the discomfort in the driver's driving sensation within a safe range, taking into account the control methods of other drivers. When the control unit of the automatic driving assistance device 20 completes the process in step S2, it proceeds to step S4.

[0130] In step S3, the control unit of the automatic driving assistance device 20 executes a process of extracting probe information of the driver A, who is a specific individual, by the specific individual probe information extraction unit 24. This allows the automatic driving assistance device 20 to fully eliminate the discomfort in the driving sensation of the driver A who is in the assisted vehicle. When the process in step S3 is completed, the control unit of the automatic driving assistance device 20 proceeds to step S4.

[0131] In step S4, the control unit of the automatic driving assistance device 20 executes a process in which the specific individual driving characteristic tendency analysis / extraction unit 25 compares and analyzes the general-purpose probe information extracted in step S2 with the probe information of the driver A, who is the specific individual extracted in step S3, and determines whether or not the probe information of the driver A has a characteristic driving tendency. If it is determined that the probe information of the driver A has a characteristic driving tendency (step S4: Y), the process proceeds to step S5 to extract the driving tendency characteristic of the driver A, and if it is determined that the probe information of the driver A does not have a characteristic driving tendency (step S4: N), the process returns to step S1 again.

[0132] In step S5, if it is determined in step S4 that the probe information of driver A has a characteristic driving tendency (step S4: Y), the control unit of the automatic driving assistance device 20 executes a process of extracting the driving tendency characteristics of driver A by the specific individual driving characteristic tendency analysis / extraction unit 25. When the process in step S5 is completed, the control unit of the automatic driving assistance device 20 proceeds to step S6.

[0133] In step S6, the control unit of the autonomous driving assistance device 20 executes a process in which the ADAS / AD specification customization necessity determination unit 26 checks the driving tendency characteristics of driver A extracted in step S5 and the target ADAS / AD specifications, and determines whether or not customization of the ADAS / AD specifications is necessary based on the driving tendency characteristics of driver A. If it is determined that customization of the ADAS / AD specifications is necessary (step S6: Y), the process proceeds to step S7 to extract customization item candidates for the ADAS / AD specifications, and if it is determined that customization of the ADAS / AD specifications is not necessary (step S6: N), the process returns to step S1 again.

[0134] In step S7, if it is determined in step S6 that customization is required for the ADAS / AD specifications (step S6: Y), the control unit of the autonomous driving assistance device 20 executes a process of extracting customization item candidates for the ADAS / AD specifications by the ADAS / AD specification customization necessity determination unit 26. This allows the autonomous driving assistance device 20 to assist in the autonomous driving of the vehicle to be assisted, regardless of the difference in the ADAS / AD specifications of the vehicle. When the process in step S7 is completed, the control unit of the autonomous driving assistance device 20 proceeds to step S8.

[0135] In step S8, the control unit of the autonomous driving assistance device 20 executes a process of determining whether or not the customization item candidate extracted in step S7 is within the comfort / safety threshold value by the comfort / safety threshold value generation unit 27. If it is determined that the customization item candidate is within the comfort / safety threshold value (step S8: Y), the process proceeds directly to step S10, and if it is determined that the customization item candidate is not within the comfort / safety threshold value (step S8: N), the process proceeds to step S9 to generate / correct the comfort / safety threshold value / correction value.

[0136] In step S9, if it is determined in step S8 that the customization item candidate is not within the comfort / safety thresholds (step S8: N), the control unit of the autonomous driving assistance device 20 executes a process of generating / correcting information representing the comfort / safety thresholds / correction values ​​by the comfort / safety threshold / correction value generation unit 27. When the control unit of the autonomous driving assistance device 20 completes the process in step S9, it proceeds to step S10.

[0137] In step S10, the control unit of the autonomous driving assistance device 20 executes a process of generating customization conditions for the ADAS / AD specifications by the ADAS / AD specification customization condition generation unit 28. When the control unit of the autonomous driving assistance device 20 completes the process in step S10, the process proceeds to step S11.

[0138] In step S11, the control unit of the autonomous driving assistance device 20 executes a process of generating ADAS / AD specification customization reference information for the target by the ADAS / AD specification customization reference information generation unit 29. When the control unit of the autonomous driving assistance device 20 completes the process in step S11, the process proceeds to step S12.

[0139] In step S12, the control unit of the autonomous driving assistance device 20 executes a process of distributing the ADAS / AD specification customization reference information generated in step S11 to the in-vehicle device 10 via the communication unit 21. As a result, the ADAS / AD specification customization reference information is transmitted to the in-vehicle device 10.

[0140] As described above, the autonomous driving assistance process consisting of steps S1 to S17 is executed by the autonomous driving assistance device 20 and the in-vehicle device 10, and among these, the process up to step S12 is executed by the autonomous driving assistance device 20. When the process in step S12 is completed, the control unit of the autonomous driving assistance device 20 temporarily ends the process consisting of steps S1 to S12, and when generating and distributing other ADAS / AD specification customization reference information, starts the process again from step S1.

[0141] Of the autonomous driving assistance process consisting of steps S1 to S17, the processes from step S13 onwards are steps executed by the in-vehicle device 10. The control unit of the in-vehicle device 10 repeatedly executes each process of steps S13 to S17 for each different environmental / road condition.

[0142] In step S13, the control unit of the in-vehicle device 10 executes a process of storing the target ADAS / AD specification customization reference information received via the communication unit 11 in the storage unit 18. Next, the control unit of the in-vehicle device 10 executes a process of referring to the ADAS / AD specification customization reference information stored in the storage unit 18 by the ADAS / AD specification customization control determination unit 15. When the process in step S13 is completed, the control unit of the in-vehicle device 10 proceeds to step S14.

[0143] In step S14, the control unit of the in-vehicle device 10 executes a process of confirming the target environment and road conditions using the ADAS / AD specification customization reference information stored in the storage unit 18 and the sensor information acquired by the sensor unit 17, using the ADAS / AD specification customization condition confirmation unit 16. When the process in step S14 is completed, the control unit of the in-vehicle device 10 proceeds to step S15.

[0144] In step S15, the control unit of the in-vehicle device 10 executes a process of determining whether or not the ADAS / AD specification customization conditions match the target environment and road conditions by the ADAS / AD specification customization condition confirmation unit 16. If it is determined that the ADAS / AD specification customization conditions match the target environment and road conditions (step S15: Y), the process proceeds to step S16 to finalize the customization control of the ADAS / AD specifications. On the other hand, if it is determined that the ADAS / AD specification customization conditions do not match the target environment and road conditions (step S15: N), the process returns to step S13 again.

[0145] In step S16, if it is determined in step S15 that the target environment or road conditions match the customization conditions of the ADAS / AD specifications (step S15: Y), the control unit of the in-vehicle device 10 executes a process of confirming the customization control of the ADAS / AD specifications by the ADAS / AD specification customization control confirmation unit 15. When the process in step S16 is completed, the control unit of the in-vehicle device 10 proceeds to step S17.

[0146] In step S17, the control unit of the in-vehicle device 10 causes the ADAS / AD control unit 14 to perform ADAS / AD control that does not feel strange to the driver A, in accordance with the customized control of the ADAS / AD specifications confirmed in step S16.

[0147] When the control unit of the in-vehicle device 10 completes the process in step S17, the control unit returns to step S13 again, and repeats the processes in steps S13 to S17.

[0148] As described above, the control unit of the in-vehicle device 10 repeatedly executes the processes of steps S13 to S17 for each different environment / road condition while the vehicle in which the in-vehicle device 10 is mounted is in operation. When the vehicle stops operating, the control unit of the in-vehicle device 10 ends the automatic driving assistance process shown in the flowchart of FIG.

[0149] (Data configuration example) Next, various types of information used in the automatic driving assistance system 100 according to this embodiment will be described with reference to FIGS.

[0150] FIG. 11 shows an example of the configuration of the ADAS / AD specification customization reference information database (DB).

[0151] The ADAS / AD specification customization reference information DB1 is composed of tag information DB111-114 indicating customization information for driver A, and information DB121-124 for customization. Of these, DB111 stores a user ID indicating the vehicle owned by driver A, DB112 stores the model of the target vehicle, DB113 stores the product number of the target vehicle, and DB114 stores characteristics of how the target vehicle is used, such as the total mileage. In addition, DB121 stores a time stamp indicating the time relationship between each customization control, DB122 stores absolute position coordinates as a guide for performing the customization control, DB123 stores customization control items, such as accelerator, steering, etc., and information showing the degree of control thereof, and DB124 stores customization conditions for performing the customization control, such as the weather and the presence or absence of traffic congestion.

[0152] FIG. 12 shows an example of the configuration of a specific individual driving characteristic tendency information table.

[0153] The specific individual driving characteristic tendency table TL12 is composed of TL121, TL122, TL123, and TL124. TL121 indicates the absolute position coordinates indicating the target position of the specific individual driving characteristic tendency, TL122 indicates the characteristic tendency target item, TL123 indicates the control value standard deviation for the characteristic tendency target item, and TL124 indicates the customization condition.

[0154] FIG. 13 shows an example of the configuration of a comfort / safety threshold information table.

[0155] The comfort / safety threshold table TL13 is composed of TL131, TL132, TL133, and TL134. TL131 indicates the absolute position coordinates indicating the target position of the comfort / safety threshold, TL132 indicates the customization control item targeted by the threshold, TL133 indicates the threshold of the customization control item, and TL134 indicates the customization condition.

[0156] (Example of operation) FIG. 14 is a diagram illustrating an example of an operation when changing lanes.

[0157] When a lane change is required, it is desirable to drive with steering angle, timing, and accelerator amount that do not feel strange to the driver. By controlling based on this ADAS / AD specification customization reference information, it is possible to drive without feeling strange.

[0158] FIG. 15 is a diagram illustrating an example of the operation when merging (when entering the main line).

[0159] When merging is necessary, it is desirable to drive at a merging position, steering angle, and accelerator amount that do not feel strange to the driver. By controlling based on this ADAS / AD specification customization reference information, it is possible to drive without feeling strange.

[0160] FIG. 16 is a diagram illustrating an example of the operation in a special environment.

[0161] When there is a median strip or a parked vehicle, or when there are other road shapes or road environments, it is desirable to drive with steering angles, timing, and braking that do not feel strange to the driver. By controlling based on this ADAS / AD specification customization reference information, it is possible to drive without feeling strange.

[0162] The above-described embodiment of the present invention can be summarized as follows.

[0163] (1) The autonomous driving assistance device 20 is a device that assists autonomous driving of an autonomously traveling vehicle, and includes at least a processor, a memory, a persistent storage device, and an interface device. The autonomous driving assistance device 20 receives a plurality of vehicle probe information indicating control information of the vehicle, generates generic probe information based on the plurality of vehicle probe information, sets a safety range for the generic probe information within which the safety of the vehicle can be maintained, extracts first vehicle probe information, compares the generic probe information with the first vehicle probe information, extracts characteristic driving tendencies from the first vehicle probe information, and determines whether the characteristic driving tendencies are an Advanced Driver-Assistance System (ADAS) or an autonomous driving system based on a difference between the tendency and the generic probe information. The automatic driving assistance device 20 determines whether customization is necessary for the ADAS / AD specifications representing the specifications of the ADAS / AD (Autonomous Driving; AD) and whether the tendency is within the safety range, generates an ADAS / AD specification customization condition that takes comfort and safety into consideration based on the determination result, and transmits the ADAS / AD specification customization condition and reference information including the ADAS / AD customization control information of the vehicle calculated from the characteristic driving tendency to the first vehicle. As a result, the automatic driving assistance device 20 can transmit the ADAS / AD specification customization condition that takes comfort and safety into consideration and the ADAS / AD specification customization reference information including the ADAS / AD customization control information of the first vehicle that is the assistance target to the vehicle. As a result, it is possible to eliminate the discomfort in the driver's driving sensation while sufficiently ensuring safety.

[0164] (2) The general-purpose probe information is the probe information in the average driving of the driver (step S2 in FIG. 10). In this way, the automatic driving assistance device 20 can eliminate the discomfort in the driver's driving sensation within a safe range by taking into account the control methods of other drivers.

[0165] (3) The first vehicle probe information is probe information collected from a first vehicle in which a specific individual driver is riding (step S3 in FIG. 10). In this manner, the automatic driving assistance device 20 can sufficiently eliminate the discomfort in the driving sensation of the driver A who is riding in the first vehicle to be assisted.

[0166] (4) If it is determined that customization is necessary for the ADAS / AD specifications, customization item candidates for the ADAS / AD specifications are extracted (step S7 in FIG. 10). In this manner, the autonomous driving assistance device 20 can assist the autonomous driving of the vehicle to be assisted, regardless of differences in the ADAS / AD specifications of the vehicle.

[0167] The present invention is not limited to the above-described embodiment, and can be implemented using any components without departing from the spirit of the present invention.

[0168] The above-mentioned embodiments, examples, and modifications are merely examples, and the present invention is not limited to these contents as long as the characteristics of the invention are not impaired. In addition, although various embodiments, examples, and modifications have been described above, the present invention is not limited to these contents. Other aspects that are conceivable within the scope of the technical idea of ​​the present invention are also included in the scope of the present invention.

[0169] In the above figures, the control lines and information lines are shown as those considered necessary for the explanation, and do not necessarily show all the control lines and information lines in the actual implementation. For example, it may be considered that almost all the components are actually connected to each other.

[0170] The above-described layout of the various functional units, processing units, and databases of the autonomous driving assistance system 100 is merely an example. The layout of the various functional units, processing units, and databases may be changed to an optimal layout in terms of the performance, processing efficiency, communication efficiency, and the like of the hardware and software included in the autonomous driving assistance system 100. [Explanation of symbols]

[0171] 100:Autonomous driving assistance system

Claims

1. An automatic driving assistance device that assists automatic driving of an autonomously traveling vehicle, At least a processor and a storage device; receiving a plurality of vehicle probe information indicating control information of the vehicle; Generating general-purpose probe information based on the plurality of vehicle probe information; setting a safety range within which the safety of the vehicle can be maintained for the general-purpose probe information; Extracting first vehicle probe information indicating control information of a first vehicle to be supported; comparing the general-purpose probe information with the first vehicle probe information to extract a characteristic driving tendency of a driver of the first vehicle from the first vehicle probe information; Regarding the extracted characteristic driving tendency of the driver of the first vehicle, determine whether or not customization is necessary for an ADAS / AD specification representing a specification of an Advanced Driver-Assistance System (ADAS) or an Autonomous Driving (AD) based on the characteristic driving tendency of the driver of the first vehicle to reduce or eliminate a sense of discomfort in the driving sensation of the driver with respect to ADAS / AD driving; When it is determined that customization is necessary for the ADAS / AD specifications, extracting customization item candidates for the ADAS / AD specifications, and determining whether the extracted customization item candidates are within the safety range; If the extracted customization item candidates are within the safety range, generate ADAS / AD specification customization conditions that take comfort and safety into consideration; Transmitting, to the first vehicle, ADAS / AD specification customization reference information including the ADAS / AD specification customization condition and ADAS / AD customization control information of the first vehicle calculated from a characteristic driving tendency of a driver of the first vehicle; Autonomous driving assistance device.

2. The autonomous driving assistance device according to claim 1 , wherein the general-purpose probe information is probe information during an average driving operation of a driver.

3. The autonomous driving assistance device according to claim 1 , wherein the first vehicle probe information is probe information collected from the first vehicle in which a driver who is a specific individual rides.

4. An automatic driving assistance system that assists automatic driving of an autonomously traveling vehicle, Autonomous driving assistance device, An in-vehicle device; Equipped with The automatic driving assistance device includes: receiving a plurality of vehicle probe information indicating control information of the vehicle; Generating general-purpose probe information based on the plurality of vehicle probe information; setting a safety range in which the safety of the vehicle can be maintained for the general-purpose probe information; Extracting first vehicle probe information indicating control information of a first vehicle to be supported; comparing the general-purpose probe information with the first vehicle probe information to extract a characteristic driving tendency of a driver of the first vehicle from the first vehicle probe information; Regarding the extracted characteristic driving tendency of the driver of the first vehicle, determine whether or not customization is necessary for an ADAS / AD specification representing a specification of an Advanced Driver-Assistance System (ADAS) or an Autonomous Driving (AD) based on the characteristic driving tendency of the driver of the first vehicle to reduce or eliminate a sense of discomfort in the driving sensation of the driver with respect to ADAS / AD driving; When it is determined that customization is necessary for the ADAS / AD specifications, extracting customization item candidates for the ADAS / AD specifications, and determining whether the extracted customization item candidates are within the safety range; If the extracted customization item candidates are within the safety range, generate ADAS / AD specification customization conditions that take comfort and safety into consideration; Transmitting ADAS / AD specification customization reference information including the ADAS / AD specification customization conditions and ADAS / AD customization control information of the first vehicle calculated from a characteristic driving tendency of a driver of the first vehicle to the first vehicle equipped with the in-vehicle device; The in-vehicle device includes: receiving target ADAS / AD specification customization reference information from the autonomous driving assistance device; Check the target environment and road conditions based on the ADAS / AD specification customization reference information and sensor information acquired from the sensor, determining whether the ADAS / AD specification customization conditions match the target environment and road conditions, and if it is determined that the ADAS / AD specification customization conditions match the target environment and road conditions, finalizing customization control of the ADAS / AD specifications; Performing ADAS / AD control according to the customized control of the determined ADAS / AD specifications; Autonomous driving assistance system.

5. An automatic driving assistance method for assisting automatic driving of an autonomously traveling vehicle, comprising: A computer having at least a processor and a storage device, receiving a plurality of vehicle probe information indicating control information of the vehicle; Generating general-purpose probe information based on the plurality of vehicle probe information; setting a safety range in which the safety of the vehicle can be maintained for the general-purpose probe information; Extracting first vehicle probe information indicating control information of a first vehicle to be supported; comparing the general-purpose probe information with the first vehicle probe information to extract a characteristic driving tendency of a driver of the first vehicle from the first vehicle probe information; Regarding the extracted characteristic driving tendency of the driver of the first vehicle, determine whether or not customization is necessary for an ADAS / AD specification representing a specification of an Advanced Driver-Assistance System (ADAS) or an Autonomous Driving (AD) based on the characteristic driving tendency of the driver of the first vehicle to reduce or eliminate a sense of discomfort in the driving sensation of the driver with respect to ADAS / AD driving; When it is determined that customization is necessary for the ADAS / AD specifications, extracting customization item candidates for the ADAS / AD specifications, and determining whether the extracted customization item candidates are within the safety range; If the extracted customization item candidates are within the safety range, generate ADAS / AD specification customization conditions that take comfort and safety into consideration; Transmitting, to the first vehicle, ADAS / AD specification customization reference information including the ADAS / AD specification customization condition and ADAS / AD customization control information of the first vehicle calculated from a characteristic driving tendency of a driver of the first vehicle; Autonomous driving assistance methods.

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