Vehicle control device, information processing device, and production method of vehicle control system

Abstract

To provide a vehicle control device which enables a driver to more effectively utilize an ADAS.SOLUTION: The present invention relates to a vehicle control device 10 which is mounted on a vehicle and connected to an information processing device 20 outside of the vehicle in an information communicable manner. The vehicle comprises an external sensor 1, a vehicle sensor 2, a position sensor 3, and an ADAS actuator 7 for driving assistance of the vehicle. A skill processing unit 12 of the vehicle control device 10 calculates a driving tendency and a skill of a driver of the vehicle on the basis of external information and vehicle information. An assistance difficulty calculation unit 13 calculates an assistance difficulty on the basis of the driving tendency and the vehicle information. A travel history processing unit 14 acquires the skills of drivers of a plurality of vehicles, intervention frequencies of the driving assistances, driving assistance use rates and behavior fluctuations from the information processing device 20. A suggestion content determination unit 15 calculates an assistance utilization level on the basis of the assistance difficulty, the driving assistance use rate, the behavior fluctuation and the intervention frequency and utters a suggestion content based on the assistance difficulty and the assistance utilization level.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a vehicle control device, an information processing device, and a method for producing a vehicle control system.

Background Art

[0002] Conventionally, an invention related to notifying advice information according to the characteristics of a user who drives a vehicle has been known (Patent Document 1 below). The information processing device described in Patent Document 1 provides advice information corresponding to the point where the vehicle travels to an in-vehicle device of the vehicle. This information processing device includes detection information, acquisition means, association means, specification means, determination means, storage means, and selection means (Patent Document 1 summary, claim 1, etc.).

[0003] The above detection information indicates position information of the vehicle when any one of a plurality of types of sensors provided in the vehicle detects a value equal to or greater than a reference value, and the content detected by the sensor. The acquisition means acquires vehicle information including the driving level of the user of the vehicle from the vehicle. The association means associates a plurality of points with the detection information and the driving level detected at the point based on the vehicle information acquired from a plurality of vehicles.

[0004] The specification means specifies a driving state likely to occur at each of the plurality of points based on the detection information detected at the point. The determination means determines the relevance between the driving state likely to occur at each of the plurality of points and the driving level at the point. The storage means stores the driving level of each of a plurality of users to whom the advice information is to be provided.

[0005] The selection means selects the advice information for each of the plurality of points according to the driving level of each of the plurality of users. Specifically, when it is determined that there is a correlation between the driving state and the driving level with respect to the point that is the selection target of the advice information, the selection means selects the advice information according to the driving level of the user. Further, when it is determined that there is no correlation between the driving state and the driving level, the selection means selects the advice information not related to the driving level of the user.

[0006] According to this conventional information processing apparatus, when there is a correlation between the driving state that is likely to occur at a predetermined point and the driving level of the driving characteristics, by selecting the advice information according to the driving level of the driving characteristics, it is possible to select the advice information according to the driving skill of the driver (paragraph 0017 of Patent Document 1).

Prior Art Documents

Patent Documents

[0007]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0008] Not only the notification of advice information to the driver like the above-mentioned conventional information processing apparatus, but also an advanced driver assistance system (ADAS) that supports the driving of the driver is considered to be increasingly popular in the future. However, for example, due to reasons such as no or little experience in using ADAS, low driving skills, or non-matching between driving characteristics and ADAS characteristics, the driver may not be able to effectively use ADAS.

[0009] The present disclosure provides a vehicle control device, an information processing device, and a method for producing a vehicle control system that enable a driver to more effectively use ADAS.

Means for Solving the Problems

[0010] One aspect of the present disclosure is a vehicle control device mounted on a vehicle and communicably connected to an information processing device outside the vehicle. The vehicle includes an external sensor that detects external information around the vehicle, a vehicle sensor that detects vehicle information related to the driving state of the vehicle, a position sensor that detects the position information of the vehicle, and an actuator for driving assistance of the vehicle. The vehicle control device includes a proficiency processing unit that calculates the driving tendency and proficiency of the driver of the vehicle based on the external information and the vehicle information, a support difficulty calculation unit that calculates the support difficulty based on the driving tendency and the vehicle information, a driving history processing unit that acquires the proficiency, the intervention frequency of driving assistance, the driving assistance utilization rate, and the behavior variation of the drivers of a plurality of vehicles from the information processing device, a support utilization degree calculation unit that calculates the support utilization degree based on the support difficulty, the driving assistance utilization rate, the behavior variation, and the intervention frequency, and an advice content determination unit that utters advice content based on the support difficulty and the support utilization degree. A vehicle control device characterized by having.

Effect of the Invention

[0011] According to the above aspect of the present disclosure, it is possible to provide a vehicle control device that enables a driver to use the ADAS more effectively.

Brief Description of the Drawings

[0012]

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[0013] Hereinafter, embodiments of the vehicle control device, information processing device, and production method of the vehicle control system of the present disclosure will be described with reference to the drawings.

[0014] [Embodiment 1] FIG. 1 is a block diagram showing Embodiment 1 of a vehicle control device, an information processing device, and a method for manufacturing a vehicle control system according to the present disclosure. The vehicle control system 100 includes, for example, a vehicle control device 10 mounted on a vehicle and an information processing device 20 on the cloud that is communicably connected to the vehicle control device 10. The information processing device 20 is, for example, a server, a database, or a computer on a computer network connected to the plurality of vehicle control devices 10 of the plurality of vehicles via a wireless communication line.

[0015] The vehicle control device 10 is, for example, an electronic control unit (ECU). More specifically, the vehicle control device 10 is, for example, an ECU for an advanced driver assistance system (ADAS) of a vehicle. Although not shown, the vehicle control device 10 includes, for example, a central processing unit (CPU), a storage device such as a memory, data and programs stored in the storage device, an input / output unit, and a timer.

[0016] The vehicle control device 10 includes, for example, an input information processing unit 11, a proficiency processing unit 12, a support difficulty calculation unit 13, a driving history processing unit 14, an advice content determination unit 15, an ADAS setting change unit 16, a data transmission unit 17, and an ADAS control processing unit 18. Each part of the vehicle control device 10 represents a function of the vehicle control device 10 realized by, for example, a program stored in a storage device in the vehicle control device 10 being executed by a CPU.

[0017] The vehicle on which the vehicle control device 10 is mounted includes, for example, a gasoline engine vehicle, a diesel engine vehicle, a hybrid vehicle, an electric vehicle, a fuel cell vehicle, and the like. The vehicle on which the vehicle control device 10 is mounted includes, for example, an external sensor 1, a vehicle sensor 2, a position sensor 3, an HMI device 4, an in-vehicle speaker 5, an in-vehicle microphone 6, and an ADAS actuator 7. Hereinafter, the vehicle on which the vehicle control device 10 is mounted may be referred to as the "host vehicle" in some cases.

[0018] The external sensor 1 includes, for example, a millimeter-wave radar, a sonar, a monocular camera, a stereo camera, a LiDAR, a raindrop sensor, etc. The external sensor 1 is communicably connected to the vehicle control device 10, detects the position information and speed information of the objects around the vehicle, the lane shape information of the road on which the vehicle travels, etc., and transmits the detected various information to the vehicle control device 10 as external information.

[0019] The vehicle sensor 2 includes, for example, a wheel speed sensor, an acceleration sensor, a yaw rate sensor, a steering angle sensor, a steering torque sensor, an accelerator position sensor, a brake hydraulic pressure sensor, etc. The vehicle sensor 2 is communicably connected to the vehicle control device, detects the vehicle speed, acceleration, yaw rate, steering angle, steering torque, throttle opening, brake hydraulic pressure, etc., and transmits the detected various information to the vehicle control device 10 as own vehicle information.

[0020] The position sensor 3 is, for example, a receiver of a Global Navigation Satellite System (GNSS), and is communicably connected to the vehicle control device 10. The position sensor 3 detects position coordinates including, for example, the latitude, longitude, altitude, etc. of the vehicle on which the vehicle control device 10 is mounted, and transmits the detected position coordinates to the vehicle control device 10.

[0021] The HMI device 4 is, for example, an ECU for a human-machine interface, and is communicably connected to the vehicle control device 10. The HMI device 4 has, for example, a speaking function and a voice recognition function. The HMI device 4 controls the in-vehicle speaker 5 based on a control signal from the vehicle control device 10 to output voice. Further, the HMI device 4 controls the in-vehicle microphone 6, recognizes the voice of the vehicle driver by the voice recognition function, and transmits the recognized voice to the vehicle control device 10.

[0022] The actuator 7 for ADAS includes a plurality of actuators that are communicably connected to the vehicle control device 10. The actuator 7 for ADAS automatically operates the accelerator, brake, steering, transmission, etc. of the vehicle based on a control signal from the vehicle control device 10. The actuator 7 for ADAS executes driving support for the vehicle including adaptive cruise control (ACC) and lane keep (LK) under the control of the vehicle control device 10.

[0023] Hereinafter, with reference to FIGS. 2 to 14, the operations of the vehicle control device 10, the information processing device 20, and the vehicle control system 100 of the present embodiment will be described. FIG. 2 is a flowchart showing the processing flow of the vehicle control device 10 of the present embodiment.

[0024] The series of processes of the vehicle control device 10 shown in FIG. 2 are executed, for example, for the purpose of giving appropriate advice according to the situation to a driver who cannot use the ADAS function due to insufficient understanding of the ADAS function and having the driver utilize the ADAS function. Note that the series of processing flows of the vehicle control device 10 shown in FIG. 2 are repeatedly executed, for example, with a processing cycle Ts of about 50 [ms].

[0025] (· Acquisition process P101 of own vehicle information) When the vehicle control device 10 starts the processing flow shown in FIG. 2, it first executes the acquisition process P101 of own vehicle information. In this process P101, the vehicle control device 10 acquires, for example, the traveling speed Vsp of the own vehicle, the longitudinal acceleration LngG, the lateral acceleration LatG, the translational and rotational motion including the yaw rate, and the operation amounts of the accelerator pedal and the brake pedal transmitted from the vehicle sensor 2 by the input information processing unit 11. Here, the vehicle control device 10 acquires, for example, the throttle opening and the brake hydraulic pressure as the operation amounts of the accelerator pedal and the brake pedal.

[0026] (· Acquisition process P102 of external information) Next, the vehicle control device 10 executes the external information acquisition process P102. In this process P102, the vehicle control device 10 acquires, for example, the position information and speed information of the objects around the host vehicle transmitted from the external sensor 1, the lane information including the lane shape, the information regarding the weather, etc. by the input information processing unit 11.

[0027] Also, the vehicle control device 10 acquires, for example, the preceding vehicle distance Dist, the relative speed rVy of the preceding vehicle, and the lateral position deviation LatErr from the center of the host vehicle's lane transmitted from the external sensor 1 by the input information processing unit 11. Further, the vehicle control device 10 acquires the position information of the host vehicle transmitted from the position sensor 3 by the input information processing unit 11, for example.

[0028] (· Execution process P103 of driving support) Next, the vehicle control device 10 performs the execution process P103 of driving support. In this process P103, the vehicle control device 10 executes, for example, the driving support selected by the driver of the host vehicle by the ADAS control processing unit 18. Specifically, the vehicle control device 10 outputs a control signal to the ADAS actuator 7 of the host vehicle by the ADAS control processing unit 18, and automatically operates the accelerator, brake, steering, transmission, etc. of the vehicle according to the selected driving support.

[0029] The driving support executed in this process P103 includes, as described above, adaptive cruise control (ACC) and lane keep (LK). ACC is mainly the driving support in the longitudinal direction of the host vehicle by the automatic operation of the accelerator and brake, and LK is mainly the driving support in the lateral direction of the host vehicle by the automatic operation of the steering. The vehicle control device 10 recognizes the selection state of the driving support by the driver by the ADAS setting change unit 16, for example.

[0030] Note that the selection state of driving assistance by the driver is, for example, a combination of ACC enabled (SW_ACC = ON) or ACC disabled (SW_ACC = OFF) and LK enabled (SW_LK = ON) or LK disabled (SW_LK = OFF). Also, 1 is defined for enabled (ON) in the selection state, 0 is defined for disabled (OFF), and when implemented in the vehicle control device 10, it is replaced with a numerical value by a preprocessor.

[0031] (· Driving tendency determination process P104) Next, the vehicle control device 10 executes a driving tendency determination process P104. In this process P104, the vehicle control device 10 calculates, for example, the longitudinal state and lateral state of the host vehicle by the proficiency processing unit 12, and calculates the longitudinal driving tendency LngDrv and lateral driving tendency LatDrv based on them.

[0032] More specifically, the vehicle control device 10 first uses the preceding vehicle distance Dist, the relative speed rVy of the preceding vehicle, and the traveling speed Vsp to calculate the collision margin time TTC and the inter-vehicle time THW from the host vehicle to the preceding vehicle as the longitudinal state of the host vehicle based on the following formulas (1) and (2). Note that measures are taken so that the denominator does not become zero in any calculation.

[0033] TTC = Dist / rVy ···(1) THW = Dist / Vsp ···(2)

[0034] Also, the vehicle control device 10 reads, for example, the lateral acceleration LatG acquired in the above-described host vehicle information acquisition process P101 and the lateral position deviation LatErr acquired in the above-described external information acquisition process P102 as the lateral state of the host vehicle. Then, the vehicle control device 10 uses the collision margin time TTC and the inter-vehicle time THW, which are the longitudinal states of the host vehicle, and the lateral acceleration LatG and the lateral position deviation LatErr, which are the lateral states of the host vehicle, to calculate the longitudinal driving tendency LngDrv and the lateral driving tendency LatDrv based on the following formulas (3) and (4).

[0035] LngDrv = func1(TTC, THW) ···(3) LatDrv = func2(LatG, |LatErr|) ···(4)

[0036] In the above formula (3), the function func1 has characteristics as shown in FIG. 3. That is, the vehicle control device 10 outputs the longitudinal driving tendency LngDrv (immature: 0, aggressive: 1, or excellent: 2) using, for example, the function func1 with the time-to-collision TTC and the time headway THW, which are the longitudinal states of the host vehicle, as arguments. In the example shown in FIG. 3, if the time-to-collision TTC is equal to or greater than a predetermined threshold value and the time headway THW is within an appropriate range, the longitudinal driving tendency LngDrv becomes "excellent". Further, when including a shorter range of the time-to-collision TTC and a shorter range of the time headway THW compared to the range where the longitudinal driving tendency LngDrv is "excellent", the longitudinal driving tendency LngDrv becomes "aggressive", and the other ranges become "immature".

[0037] Similarly, in the above formula (4), the function func2 has characteristics as shown in FIG. 4. That is, the vehicle control device 10 outputs the lateral driving tendency LatDrv (immature: 0, aggressive: 1, or excellent: 2) using, for example, the function func2 with the lateral acceleration LatG and the lateral position deviation LatErr, which are the lateral states of the host vehicle, as arguments. In the example shown in FIG. 4, if the lateral acceleration LatG is equal to or less than a predetermined threshold value and the lateral position deviation LatErr is equal to or less than a predetermined threshold value, the lateral driving tendency LatDrv becomes "excellent". Further, when including a larger range of the lateral acceleration LatG and a larger range of the lateral position deviation LatErr compared to the case where the lateral driving tendency LatDrv is "excellent", the lateral driving tendency LatDrv becomes "aggressive", and the other ranges become "immature".

[0038] (·Determination process P105 of the operation state) Next, the vehicle control device 10 executes a determination process P105 of the driver's operation state. In this process P105, the vehicle control device 10 uses, for example, the brake hydraulic pressure acquired in the above-described process P101, and the proficiency processing unit 12 calculates the maximum brake operation intensity pdl_B_press and the brake operation frequency pdl_B_freq during the most recent past 10 [s]. Note that the brake operation intensity pdl_B_press always has a value of 0 or more.

[0039] Note that the brake operation frequency pdl_B_freq can be calculated as the time during which the operation amount of the brake pedal by the driver continues to be equal to or less than a predetermined value. This is because the longer the time during which the brake pedal is not operated, the lower the operation frequency of the brake pedal. Thereby, the implementation of the calculation logic of the brake operation frequency pdl_B_freq can be facilitated.

[0040] More specifically, for example, when the selection of driver assistance by the driver is ACC enabled (SW_ACC = ON), the vehicle control device 10 calculates the brake operation frequency pdl_B_freq as follows. The vehicle control device 10 calculates the difference between the command value of the brake hydraulic pressure from the ADAS control processing unit 18 to the ADAS actuator 7 and the detected value of the brake hydraulic pressure due to the operation of the driver's brake pedal acquired from the vehicle sensor 2. Further, when the difference between the command value and the detected value is less than 1 [Mpa], the vehicle control device 10 adds, for example, 0.05 [s] corresponding to the processing cycle Ts to the brake operation frequency pdl_B_freq, and when the difference between the command value and the detected value is 1 [Mpa] or more, the vehicle control device 10 resets the brake operation frequency pdl_B_freq to zero.

[0041] Also, when the driver selects driving assistance with ACC disabled (SW_ACC = OFF), the vehicle control device 10 calculates the brake operation frequency pdl_B_freq as follows. When ACC is disabled, the ADAS control processing unit 18 calculates a command value for the brake hydraulic pressure but does not output it to the ADAS actuator 7. The vehicle control device 10, for example, adds 0.05 [s] corresponding to the processing cycle Ts to the brake operation frequency pdl_B_freq when the difference between the command value of the brake hydraulic pressure sufficiently smoothed by a low-pass filter and the detected value of the brake hydraulic pressure is less than 1 [Mpa]. On the other hand, when the difference between the command value and the detected value of the brake hydraulic pressure is 1 [Mpa] or more, the vehicle control device 10 resets the brake operation frequency pdl_B_freq to zero.

[0042] Next, the vehicle control device 10 calculates the maximum accelerator operation opening pdl_A_press and the accelerator operation frequency pdl_A_freq during the most recent past 10 [s] using the throttle opening due to the driver's operation of the accelerator pedal obtained in the above-described process P101. Note that the accelerator operation opening pdl_A_press is always a value of 0 or more. For the same reason as the brake operation frequency pdl_B_freq, the accelerator operation frequency pdl_A_freq can also be calculated as the time during which the operation amount of the accelerator pedal by the driver continues to be less than or equal to a predetermined value.

[0043] More specifically, for example, when the selection of driving assistance by the driver is ACC enabled (SW_ACC = ON), the vehicle control device 10 calculates the accelerator operation frequency pdl_A_freq as follows. The vehicle control device 10 calculates the difference between the command value of the throttle opening from the ADAS control processing unit 18 to the ADAS actuator 7 and the detected value of the throttle opening by the operation of the driver's accelerator pedal acquired from the vehicle sensor 2. Further, when the difference between the command value and the detected value of the throttle opening is less than 10%, for example, 0.05 [s] corresponding to the processing cycle Ts is added to the accelerator operation frequency pdl_A_freq. When the difference between the command value and the detected value is 10% or more, the accelerator operation frequency pdl_A_freq is reset to zero.

[0044] Also, when the selection of driving assistance by the driver is ACC disabled (SW_ACC = OFF), the vehicle control device 10 calculates the accelerator operation frequency pdl_A_freq as follows. The ADAS control processing unit 18 calculates the command value of the throttle opening when ACC is disabled, but does not output it to the ADAS actuator 7. When the difference between the command value of the throttle opening sufficiently smoothed by, for example, a low-pass filter and the detected value of the throttle opening is less than 10%, for example, 0.05 [s] corresponding to the processing cycle Ts is added to the accelerator operation frequency pdl_A_freq. On the other hand, when the difference between the command value and the detected value of the throttle opening is 10% or more, the vehicle control device 10 resets the accelerator operation frequency pdl_A_freq to zero.

[0045] Next, the vehicle control device 10 uses the steering torque by the driver's steering acquired in the above-described process P101, and the proficiency processing unit 12 calculates the maximum steering torque str_trq and the steering frequency str_freq during the most recent past 10 [s]. Note that the steering torque str_trq becomes a negative value when the steering wheel rotates to the left and a positive value when the steering wheel rotates to the right.

[0046] More specifically, for example, when the selection of driving assistance by the driver is LK enabled (SW_LK = ON), the vehicle control device 10 calculates the steering frequency str_freq as follows. The vehicle control device 10 calculates the difference between the command value of the steering angle from the ADAS control processing unit 18 to the ADAS actuator 7 and the detected value of the steering angle by the driver's operation of the steering wheel obtained from the vehicle sensor 2. Further, when the difference between the command value and the detected value of the steering angle is less than 5 [deg], for example, 0.05 [s] corresponding to the processing cycle Ts is added to the steering frequency str_freq. When the difference between the command value and the detected value is 5 [deg] or more, the steering frequency str_freq is reset to zero.

[0047] Also, when the selection of driving assistance by the driver is LK disabled (LK_ACC = OFF), the vehicle control device 10 calculates the accelerator operation frequency pdl_A_freq as follows. The ADAS control processing unit 18 calculates the command value of the steering angle when LK is disabled, but does not output it to the ADAS actuator 7. When the difference between the command value of the steering angle sufficiently smoothed by, for example, a low-pass filter and the detected value of the steering angle is less than 5 [deg], for example, 0.05 [s] corresponding to the processing cycle Ts is added to the steering frequency str_freq. On the other hand, when the difference between the command value and the detected value of the steering angle is 5 [deg] or more, the vehicle control device 10 resets the steering frequency str_freq to zero.

[0048] (· Proficiency determination process P106) Next, the vehicle control device 10 executes the driver proficiency determination process P106. Here, the driver proficiency includes the driving proficiency mnvr_profici_lev related to driving operations and the road proficiency road_profici_lev related to the experience of driving on individual roads. The vehicle control device 10 calculates the driving proficiency mnvr_profici_lev and the road proficiency road_profici_lev based on the following equations (5) and (6) using, for example, the longitudinal driving tendency LngDrv, the lateral driving tendency LatDrv, the driving speed Vsp, and the processing cycle Ts by the proficiency processing unit 12.

[0049] mnvr_profici_lev = mnvr_profici_lev + func3(LngDrv, LatDrv) ···(5) road_profici_lev[x][y] = road_profici_lev[x][y] + Vsp * Ts ···(6)

[0050] In the above formula (5), the function func3 has characteristics as shown in FIG. 5. That is, the vehicle control device 10 calculates a correction value for adding to the driving proficiency mnvr_profici_lev in the previous cycle process, for example, using a function func3 that takes the longitudinal driving tendency LngDrv (immature: 0, aggressive: 1, or excellent: 2) and the lateral driving tendency LatDrv (immature: 0, aggressive: 1, or excellent: 2) as arguments.

[0051] In the example shown in FIG. 5, for example, if either the longitudinal driving tendency LngDrv or the lateral driving tendency LatDrv is 0 representing immaturity, the correction value becomes 0.00 representing immaturity, and the driving proficiency mnvr_profici_lev does not increase. Also, for example, if both the longitudinal driving tendency LngDrv and the lateral driving tendency LatDrv are 2 representing excellent, the correction value becomes 0.05 representing excellent, and the driving proficiency mnvr_profici_lev increases early. On the other hand, if at least one of the longitudinal driving tendency LngDrv and the lateral driving tendency LatDrv is 1 representing aggressive, the correction value becomes 0.01 representing aggressive, and the increase in the driving proficiency mnvr_profici_lev becomes gentler than when both the longitudinal driving tendency LngDrv and the lateral driving tendency LatDrv are excellent.

[0052] In addition, x and y in the above formula (6) are array numbers set based on the latitude and longitude of the host vehicle. That is, the vehicle control device 10 adds, for example, the position information including the latitude and longitude of the host vehicle, that is, the travel distance which is the product of the travel speed Vsp and the processing cycle Ts, to the road proficiency level road_profici_lev in the processing of the previous cycle for each road on which the host vehicle travels. Therefore, the longer the travel distance on a specific road, the higher the road proficiency level road_profici_lev on that specific road. The vehicle control device 10 stores the driving proficiency level mnvr_profici_lev and the road proficiency level road_profici_lev for each driver of the host vehicle. Thereby, the vehicle control device 10 can perform appropriate processing according to the proficiency level of each driver in the subsequent processing.

[0053] (·Determination process P107 of assistance difficulty) Next, the vehicle control device 10 executes a determination process P107 of assistance difficulty. Here, the assistance difficulty includes an ACC assistance difficulty dfclty_ACC indicating the difficulty of driving assistance by ACC and an LK assistance difficulty dfclty_LK indicating the difficulty of driving assistance by LK.

[0054] In this process P107, the vehicle control device 10 calculates the ACC assistance difficulty dfclty_ACC based on the following formula (7) using, for example, the longitudinal driving tendency LngDrv, the brake operation intensity pdl_B_press, the brake operation frequency pdl_B_freq, the accelerator operation opening pdl_A_press, the accelerator operation frequency pdl_A_freq, and the road attribute RoadType by the assistance difficulty calculation unit 13.

[0055] dfclty_ACC = func4(LngDrv, pdl_B_press, pdl_B_freq, pdl_A_press, pdl_A_freq, RoadType) ···(7)

[0056] In the above formula (7), the function func4 has characteristics as shown in FIG. 6. In FIG. 6, TH_Bp is the threshold value of the brake operation intensity pdl_B_press, TH_Bf is the threshold value of the brake operation frequency pdl_B_freq, TH_Ap is the threshold value of the accelerator operation opening pdl_A_press, and TH_Af is the threshold value of the accelerator operation frequency pdl_A_freq. The road attribute RoadType is the attribute of the road on which the host vehicle is currently traveling. For example, it is defined for each road such that a highway is 1, an automobile-only road is 2, an arterial road is 3, a general road is 4, a narrow street is 5, etc., and is included in the map information stored in the vehicle control device 10 in advance.

[0057] In the example shown in FIG. 6, for the function func4, different threshold values are set for roads with a road attribute RoadType of 2 or less, such as a highway, and roads with a road attribute RoadType of 3 or more, such as a general road. More specifically, for roads with a road attribute RoadType of 2 or less, the threshold values are set such that TH_Bp = 1.0 [Mpa], TH_Bf = 20 [s], TH_Ap = 25 [%], and TH_Af = 18 [s], respectively. For roads with a road attribute RoadType of 3 or more, the threshold values are set such that TH_Bp = 1.5 [Mpa], TH_Bf = 14 [s], TH_Ap = 30 [%], and TH_Af = 10 [s], respectively.

[0058] Here, assume a case where the longitudinal driving tendency LngDrv = 2, the brake operation intensity pdl_B_press = 0 [MPa], the brake operation frequency pdl_B_freq = 40 [s], the accelerator operation opening pdl_A_press = 35 [%], the accelerator operation frequency pdl_A_freq = 25 [s], and the road attribute RoadType = 1 are input to the function func4 shown in FIG. 6.

[0059] In this case, among the four conditions of the function func4 shown in FIG. 6, three conditions are satisfied: the brake operation intensity pdl_B_press ≦ TH_Bp, the brake operation frequency pdl_B_freq ≧ TH_Bf, and the accelerator operation frequency pdl_A_freq ≧ TH_Af. Therefore, the function func4 outputs the ACC support difficulty dfclty_ACC = 2 corresponding to the forward and backward driving tendency LngDrv = 2, satisfying three out of the four conditions, and the road attribute RoadType ≦ 2. The ACC support difficulty dfclty_ACC indicates that the higher the numerical value, the higher the difficulty.

[0060] Also, in process P107, the vehicle control device 10 calculates the LK support difficulty dfclty_LK based on the following equation (8) using, for example, the lateral driving tendency LatDrv, the steering torque str_trq, the steering frequency str_freq, and the road attribute RoadType by the support difficulty calculation unit 13.

[0061] dfclty_LK = func5(LatDrv, str_trq, str_freq, RoadType) ···(8)

[0062] In the above equation (8), the function func5 has characteristics as shown in FIG. 7. In the function func5 shown in FIG. 7, TH_St is the threshold of the steering torque str_trq, and TH_Sf is the threshold of the steering frequency str_freq. The road attribute RoadType is the same as the function func4 shown in FIG. 6.

[0063] In the example shown in FIG. 7, for the function func5, different thresholds are set for roads with a road attribute RoadType of 2 or less, such as highways, and roads with a road attribute RoadType of 3 or more, such as general roads. More specifically, for roads with a road attribute RoadType of 2 or less, the thresholds are set to TH_St = 1 [Nm] and TH_Sf = 20 [s], respectively, and for roads with a road attribute RoadType of 3 or more, the thresholds are set to TH_St = 2 [Nm] and TH_Sf = 12 [s], respectively.

[0064] Here, assume a case where for the function func5 shown in FIG. 7, the left - right driving tendency LatDrv = 2, the steering torque str_trq = 1 [Nm], the steering frequency str_freq = 60 [s], and the road attribute RoadType = 1 are input. In this case, both of the two conditions of the function func5 shown in FIG. 7, i.e., the steering torque str_trq ≤ TH_St and the steering frequency str_freq ≥ TH_Sf, are satisfied. Therefore, the function func5 outputs the LK support difficulty dfclty_LK = 1 corresponding to the left - right driving tendency LatDrv = 2, satisfying both conditions, and the road attribute RoadType ≤ 2. The LK support difficulty dfclty_LK indicates that the higher the numerical value, the higher the difficulty.

[0065] (·Selection process P108 of driving history) Next, the vehicle control device 10 executes the selection process P108 of the driving history. In this process P108, the vehicle control device 10 refers to the driving history information stored in the information processing device 20 on the cloud, for example, by the driving history processing unit 14 shown in FIG. 1. This driving history information includes, for example, the position information, the presence or absence of ACC use, the presence or absence of LK use, the driving proficiency level mnvr_profici_lev, etc., transmitted from a plurality of vehicles including the host vehicle to the information processing device 20. That is, the driving history information stored in the information processing device 20 is, in other words, the experience of predecessors who have driven around the current value of the host vehicle.

[0066] Also, the information processing device 20 calculates and records the ACC usage rate UseRate_ACC and the LK usage rate UseRate_LK for each driving proficiency level mnvr_profici_lev at each driving point x, y based on, for example, the position information, the presence or absence of ACC use, the presence or absence of LK use, and the driving proficiency level mnvr_profici_lev collected from a plurality of vehicles (see FIG. 8). Note that this process may be performed by the driving history processing unit 14 of the vehicle control device 10.

[0067] Further, for example, the information processing device 20 calculates and records the ACC behavior variation BehaviFluct_ACC and the LK behavior variation BehaviFluct_LK for each driving proficiency mnvr_profici_lev at each driving location x, y based on the position information, longitudinal acceleration LngG, lateral acceleration LatG, lateral position deviation LatErr, and driving proficiency mnvr_profici_lev collected from a plurality of vehicles (see FIG. 9). Note that this process may be performed by the driving history processing unit 14 of the vehicle control device 10.

[0068] Further, for example, the information processing device 20 calculates and records the ACC intervention frequency IntrvntnFreq_ACC and the LK intervention frequency IntrvntnFreq_LK for each driving proficiency mnvr_profici_lev at each driving location x, y based on the position information, accelerator operation frequency pdl_A_freq, brake operation frequency pdl_B_freq, steering frequency str_freq, and driving proficiency mnvr_profici_lev collected from a plurality of vehicles (see FIG. 10). Note that this process may be performed by the driving history processing unit 14 of the vehicle control device 10.

[0069] In the driving history selection process P108, for example, the vehicle control device 10 calculates the ACC usage rate UseRate_ACC, the ACC behavior variation BehaviFluct_ACC, and the ACC intervention frequency IntrvntnFreq_ACC, and the LK usage rate UseRate_LK, the LK behavior variation BehaviFluct_LK, and the LK intervention frequency IntrvntnFreq_LK based on the following formulas (9) to (14) by the driving history processing unit 14. In the calculations of the following formulas (9) to (14), the vehicle control device 10 uses, for example, the functions func6 to func8 shown in FIGS. 8 to 10, the usage rates of ACC and LK for each driving proficiency mnvr_profici_lev, the driving location x, y of the host vehicle, and the driving proficiency mnvr_profici_lev of the driver of the host vehicle.

[0070] UseRate_ACC = func6( x, y, ACC, mnvr_profici_lev) ···(9) BehaviFluct_ACC = func7(x, y, ACC, mnvr_profici_lev) ···(10) IntrvntnFreq_ACC = func8(x, y, ACC, mnvr_profici_lev) ···(11)

[0071] UseRate_LK = func6(x, y, LK, mnvr_profici_lev) ···(12) BehaviFluct_LK = func7(x, y, LK, mnvr_profici_lev) ···(13) IntrvntnFreq_LK = func8(x, y, LK, mnvr_profici_lev) ···(14)

[0072] The function func6 in the above formulas (9) and (12) has characteristics as shown in, for example, FIG. 8. As in the above formula (9), when the third argument is ACC, the function func6 refers to the ACC usage rate UseRate_ACC for each driving proficiency level mnvr_profici_lev at the driving location x, y of the host vehicle, and outputs the ACC usage rate UseRate_ACC corresponding to the driving proficiency level mnvr_profici_lev of the driver of the host vehicle. Also, as in the above formula (12), when the third argument is LK, the function func6 refers to the LK usage rate UseRate_LK for each driving proficiency level mnvr_profici_lev at the driving location x, y of the host vehicle, and outputs the LK usage rate UseRate_LK corresponding to the driving proficiency level mnvr_profici_lev of the driver of the host vehicle.

[0073] Further, the functions func7 in the above formulas (10) and (13) have characteristics as shown in, for example, FIG. 9. When the third argument is ACC as in the above formula (10), the function func7 refers to the ACC behavior fluctuation BehaviFluct_ACC for each driving proficiency level mnvr_profici_lev at the driving location x, y of the host vehicle, and outputs the ACC behavior fluctuation BehaviFluct_ACC corresponding to the driving proficiency level mnvr_profici_lev of the driver of the host vehicle. Also, when the third argument is LK as in the above formula (13), the function func7 refers to the LK behavior fluctuation BehaviFluct_LK for each driving proficiency level mnvr_profici_lev at the driving location x, y of the host vehicle, and outputs the LK behavior fluctuation BehaviFluct_LK corresponding to the driving proficiency level mnvr_profici_lev of the driver of the host vehicle.

[0074] Further, the functions func8 in the above formulas (11) and (14) have characteristics as shown in, for example, FIG. 10. When the third argument is ACC as in the above formula (11), the function func8 refers to the ACC intervention frequency IntrvntnFreq_ACC for each driving proficiency level mnvr_profici_lev at the driving location x, y of the host vehicle, and outputs the ACC intervention frequency IntrvntnFreq_ACC corresponding to the driving proficiency level mnvr_profici_lev of the driver of the host vehicle. Also, when the third argument is LK as in the above formula (14), the function func8 refers to the LK intervention frequency IntrvntnFreq_LK for each driving proficiency level mnvr_profici_lev at the driving location x, y of the host vehicle, and outputs the LK intervention frequency IntrvntnFreq_LK corresponding to the driving proficiency level mnvr_profici_lev of the driver of the host vehicle.

[0075] Here, it is assumed that the driving proficiency mnvr_profici_lev of the driver of the vehicle is low, and the following respective numerical values are calculated by the above formulas (9) to (14). Each numerical value is, for example, ACC usage rate UseRate_ACC = 20 [%], ACC behavior fluctuation BehaviFluct_ACC = -0.2 [G], ACC intervention frequency IntrvntnFreq_ACC = 20 [s], LK usage rate UseRate_LK = 10 [%], LK behavior fluctuation BehaviFluct_LK = 0.15 [G], and LK intervention frequency IntrvntnFreq_LK = 12 [s].

[0076] (·Selection process P109 of advice content) Next, the vehicle control device 10 executes the selection process P109 of the advice content. In this process P109, the vehicle control device 10 uses, for example, the function func9 and the function func10, and the ACC support difficulty dfclty_ACC and the LK support difficulty dfclty_LK by the advice content determination unit 15, and calculates the threshold values th_UR_acc, th_BF_acc, th_IF_acc, th_UR_lk, th_BF_lk, and th_IF_lk as shown in the following formulas (15) and (16).

[0077] (th_UR_acc, th_BF_acc, th_IF_acc) = func9( dfclty_ACC ) ···(15) (th_UR_lk, th_BF_lk, th_IF_lk) = func10( dfclty_LK ) ···(16)

[0078] Here, the function func9 of the above formula (15) has characteristics as shown in FIG. 11. That is, when the ACC support difficulty dfclty_ACC is input, the function func9 outputs the threshold value th_UR_acc of the ACC usage rate UseRate_ACC, the threshold value th_BF_acc of the ACC behavior fluctuation BehaviFluct_ACC, and the threshold value th_IF_acc of the ACC intervention frequency IntrvntnFreq_ACC.

[0079] Also, the function func10 in the above formula (16) has characteristics as shown in FIG. 12. That is, when the LK assistance difficulty dfclty_LK is input, the function func10 outputs the threshold value th_UR_lk of the LK usage rate UseRate_LK, the threshold value th_BF_lk of the LK behavior fluctuation BehaviFluct_LK, and the threshold value th_IF_lk of the LK intervention frequency IntrvntnFreq_LK.

[0080] Here, as described above, assume that in the process P107, the ACC assistance difficulty dfclty_ACC = 2 and the LK assistance difficulty dfclty_LK = 1 are calculated. In this case, as shown in FIG. 11, the function func9 in the above formula (15) outputs the threshold value th_UR_acc = 30 [%] of the ACC usage rate UseRate_ACC, the threshold value th_BF_acc = 0.10 [G] of the ACC behavior fluctuation BehaviFluct_ACC, and the threshold value th_IF_acc = 15 [s] of the ACC intervention frequency IntrvntnFreq_ACC. Also, as shown in FIG. 12, the function func10 in the above formula (16) outputs the threshold value th_UR_lk = 30 [%] of the LK usage rate UseRate_LK, the threshold value th_BF_lk = 0.12 [G] of the LK behavior fluctuation BehaviFluct_LK, and the threshold value th_IF_lk = 10 [s] of the LK intervention frequency IntrvntnFreq_LK.

[0081] Furthermore, in the advice content selection process P109, the vehicle control device 10 calculates the ACC first utilization degree Cmp1_acc, the ACC second utilization degree Cmp2_acc, the LK first utilization degree Cmp1_lk, and the LK second utilization degree Cmp2_lk based on the following formulas (17) to (20). Furthermore, in the advice content selection process P109, the vehicle control device 10 calculates the ACC utilization degree Cmp_acc and the LK utilization degree Cmp_lk based on the following formulas (21) and (22).

[0082] Cmp1_acc = sum{(UseRate_ACC>th_UR_acc),(|BehaviFluct_ACC|<th_BF_acc), (Intervention Frequency_ACC < th_IF_acc)} ···(17)

[0083] Cmp2_acc = sum{(UseRate_ACC > 1.3 * th_UR_acc), (|BehaviorFluct_ACC| < 0.7 * th_BF_acc), (Intervention Frequency_ACC < 0.7 * th_IF_acc)} ···(18)

[0084] Cmp1_lk = sum{(UseRate_LK > th_UR_lk), (|BehaviorFluct_LK| < th_BF_lk), (Intervention Frequency_LK < th_IF_lk)} ···(19)

[0085] Cmp2_lk = sum{(UseRate_LK > 1.3 * th_UR_lk), (|BehaviorFluct_LK| < 0.7 * th_BF_lk), (Intervention Frequency_LK < 0.7 * th_IF_lk)} ···(20)

[0086] Cmp_acc = func11(Cmp1_acc + Cmp2_acc) ···(21) Cmp_lk = func11(Cmp1_lk + Cmp2_lk) ···(22)

[0087] The function sum{(condition A), (condition B), (condition C)} in the above formulas (17) to (20) outputs the number of conditions satisfied among the conditions A, B, and C within the brackets. That is, if the function sum{(condition A), (condition B), (condition C)} does not satisfy all the conditions within the brackets, it outputs 0; if it satisfies one condition, it outputs 1; if it satisfies two conditions, it outputs 2; and if it satisfies all conditions, it outputs 3. The function func11(X) in the above formulas (21) and (22) outputs -1 when X ≥ 4, outputs +1 when X ≤ 2, and outputs 0 in other cases.

[0088] Here, in the above-described process P108, for example, the ACC usage rate UseRate_ACC = 20 [%], the ACC behavior fluctuation BehaviFluct_ACC = -0.2 [G], and the ACC intervention frequency IntrvntnFreq_ACC = 20 [s] related to ACC, and the LK usage rate UseRate_LK = 10 [%], the LK behavior fluctuation BehaviFluct_LK = 0.15 [G], and the LK intervention frequency IntrvntnFreq_LK = 12 [s] related to LK are calculated. Also, as described above, for example, the threshold values th_UR_acc = 30 [%], th_BF_acc = 0.10 [G], and th_IF_acc = 15 [s] related to ACC, and the threshold values th_UR_lk = 30 [%], th_BF_lk = 0.12 [G], and th_IF_lk = 10 [s] related to LK are set.

[0089] In this case, in the above formula (17), since the condition A of the function sum{(condition A), (condition B), (condition C)} is not satisfied (0), the condition B is not satisfied (0), and the condition C is not satisfied (0), the ACC first utilization degree Cmp1_acc becomes 0. Also, in the above formula (18), since all of the conditions A to C of the function sum{(condition A), (condition B), (condition C)} are not satisfied, the ACC second utilization degree Cmp2_acc also becomes 0. Further, in the above formula (19), since the condition A of the function sum{(condition A), (condition B), (condition C)} is not satisfied (0), the condition B is not satisfied (0), and the condition C is not satisfied (0), the LK first utilization degree Cmp1_lk becomes 0. Also, in the above formula (20), since all of the conditions A to C of the function sum{(condition A), (condition B), (condition C)} are not satisfied, the LK second utilization degree Cmp2_lk also becomes 0. As a result, in the above formulas (21) and (22), the ACC utilization degree Cmp_acc and the LK utilization degree Cmp_lk also become 0 respectively.

[0090] Furthermore, in the advice content selection process P109, the vehicle control device 10 executes the following processes P109-1 to P109-7. For example, after performing the calculations up to the above formulas (17) to (22), when the road attribute RoadType in the previous processing cycle is the same as the road attribute RoadType in the current processing cycle, the vehicle control device 10 executes the next process P109-1. Also, when the road attribute RoadType in the previous processing cycle is different from the road attribute RoadType in the current processing cycle, the vehicle control device 10 executes the process P109-7 described later to reset the advice content.

[0091] (··ACC Usage Determination Process P109-1) For example, the vehicle control device 10 determines whether the ACC in the host vehicle is used by the advice content determination unit 15. When the ACC function is not used (SW_ACC = OFF), the vehicle control device 10 executes the next process P109-2. When the ACC function is in use (SW_ACC = ON), the vehicle control device 10 executes the process 109-3 described later.

[0092] (··ACC Support Difficulty Histogram Calculation Process P109-2) For example, the vehicle control device 10 calculates a histogram of the difficulty of driving support by ACC based on the following formula (23) by the advice content determination unit 15, and outputs the highest frequency class HistgTop_ACC_idx and the highest frequency HistgTop_ACC_num. Thereafter, the vehicle control device 10 executes the process P109-4 described later.

[0093] (HistgTop_ACC_idx, HistgTop_ACC_num) = histogram_ACC{limit(1, 7, dfclty_ACC+Cmp_acc)} ···(23)

[0094] In the above formula (23), the first argument A1 and the second argument A2 of the function limit(A1, A2, A3) are numerical values for restricting the lower limit and the upper limit of the third argument A3, and the argument A3 is the sum of the ACC assistance difficulty dfclty_ACC and the ACC utilization Cmp_acc. The function limit(A1, A2, A3) outputs A1 when the third argument A3 is less than or equal to the first argument A1, and outputs A2 when the third argument A3 is greater than or equal to the second argument A2. Further, the function histogram_ACC(A) calculates, for example, the frequency distribution of the argument A during the past 300 seconds (= 5 minutes), and outputs the class HistgTop_ACC_idx with the highest frequency and the highest frequency HistgTop_ACC_num.

[0095] (·· Reset process P109-3) The vehicle control device 10 resets, for example, all the frequencies of each class in the frequency distribution of the difficulty of driving assistance by ACC during the past 5 minutes to 9 (no advice) by the advice content determination unit 15, and executes the next process 109-4. Since the vehicle control device 10 of the present embodiment is mainly intended to give advice to a driver who has no habit of using the ADAS function, no advice is given when the driver is using the ACC function (SW_ACC = ON).

[0096] (·· LK usage determination process P109-4) The vehicle control device 10 determines, for example, whether the LK in the host vehicle is being used by the advice content determination unit 15. When the LK function is not used (SW_LK = OFF), the vehicle control device 10 executes the next process P109-5. When the LK function is being used (SW_LK = ON), the vehicle control device 10 executes the process 109-6 described later.

[0097] (·· LK assistance difficulty histogram calculation process P109-5) The vehicle control device 10 calculates, for example, a histogram of the difficulty of driving assistance by LK based on the following formula (24) by the advice content determination unit 15, and outputs the class HistgTop_LK_idx with the highest frequency and the highest frequency HistgTop_LK_num. Thereafter, the vehicle control device 10 executes the process P110 of the host vehicle information.

[0098] (HistgTop_LK_idx, HistgTop_LK_num) = histogram_LK{limit(1, 7, dfclty_LK + Cmp_lk)} ···(24)

[0099] Note that in the above formula (24), the function limit(A1, A2, A3) is the same function as the above formula (23). When the third argument A3 is less than or equal to the first argument A1, it outputs A1. When the third argument A3 is greater than or equal to the second argument A2, it outputs A2. Also, the function histogram_LK(A) calculates, for example, the frequency distribution of the argument A over the past 300 seconds (= 5 minutes), and outputs the class HistgTop_LK_idx with the highest frequency and its highest frequency HistgTop_LK_num.

[0100] (·· Reset process P109-6) The vehicle control device 10 resets all the frequencies of each class in the frequency distribution of the difficulty level of driving support by LK in the past 5 minutes to 9 (no advice) by, for example, the advice content determination unit 15, and executes the process P110 of the vehicle information. Since the vehicle control device 10 of the present embodiment mainly aims to give advice to a driver who is not used to using the ADAS function, no advice is given when the driver is using the LK function (SW_LK = ON).

[0101] (·· Reset process P109-7) When the road attribute RoadType is different between the previous processing cycle and the current processing cycle, that is, when entering from a general road to a highway or returning from a highway to a general road, the vehicle control device 10 resets all the frequencies of each class in the frequency distributions of the driving support difficulty levels of both ACC and LK in the past 5 minutes to 9 (no advice), and executes the next process P110.

[0102] (· Process P110 of vehicle information) In the vehicle information processing P110, the vehicle control device 10 refers to, for example, the highest frequency class HistgTop_ACC_idx of the histogram representing the ACC assistance difficulty obtained by the above formula (23) and the highest frequency class HistgTop_LK_idx of the histogram representing the LK assistance difficulty obtained by the above formula (24) by, for example, the advice content determination unit 15. Then, the vehicle control device 10 executes the following processes P110-1 to P110-4 by, for example, the advice content determination unit 15 to determine the sensor processing value and its threshold value used in the next process P111.

[0103] (··First condition determination process P110-1) The vehicle control device 10 determines whether the highest frequency class HistgTop_ACC_idx of the histogram representing the ACC assistance difficulty and the highest frequency class HistgTop_LK_idx of the histogram representing the LK assistance difficulty satisfy the following first condition.

[0104] First condition: HistgTop_ACC_idx < HistgTop_LK_idx - 1 and HistgTop_ACC_idx < 5

[0105] If the above first condition is not satisfied, the vehicle control device 10 executes the next process P110-2. On the other hand, if the above first condition is satisfied, the vehicle control device 10 determines the sensor processing value and its threshold value, and the ADAS advice function Adv as follows (a1) to (a4), and executes the condition determination process P111 described later.

[0106] (a1) Sensor processing value 1 = Brake operation frequency pdl_B_freq + Accelerator operation frequency pdl_A_freq, Threshold value 1 = (Threshold value TH_Bf + Threshold value TH_Af) × 1.5 (a2) Sensor processing value 2 = Brake operation intensity pdl_B_press, Threshold value 2 = Threshold value TH_Bp / 2 (a3) Sensor processing value 3 = Steering frequency str_freq, Threshold value 3 = Threshold value TH_Sf × func12(mnvr_profici_lev) (a4) ADAS advice function Adv = ACC

[0107] Note that, as shown in FIG. 13, the function func12 in (a3) above has the characteristic of outputting one or more numerical values according to the driving proficiency mnvr_profici_lev, and outputs a numerical value that increases proportionally as the driving proficiency mnvr_profici_lev increases. By using the function func12, it becomes possible to give advice according to the driver's situation.

[0108] (··Second condition determination process P110-2) The vehicle control device 10 determines whether the highest frequency class HistgTop_ACC_idx of the histogram representing the assistance difficulty of ACC and the highest frequency class HistgTop_LK_idx of the histogram representing the assistance difficulty of LK satisfy the following second condition.

[0109] Second condition: HistgTop_LK_idx < HistgTop_ACC_idx - 1 and HistgTop_LK_idx < 5

[0110] When the above second condition is not satisfied, the vehicle control device 10 executes the following process P110-3. On the other hand, when the above second condition is satisfied, the vehicle control device 10 determines the sensor processing value and its threshold value used in the following process P111, and the ADAS advice function Adv as follows in (b1) to (b4), and executes the following process P111.

[0111] (b1) Sensor processing value 1 = steering frequency str_freq, threshold value 1 = threshold value TH_Sf / 2 × func12(mnvr_profici_lev) (b2) Sensor processing value 2 = steering torque str_trq, threshold value 2 = threshold value TH_Sf / 2 (b3) Sensor processing value 3 = (brake operation frequency pdl_B_freq + accelerator operation frequency pdl_A_freq), Threshold value 3 = (threshold value TH_Bf + threshold value TH_Af) (b4) ADAS advice function Adv = LK

[0112] Note that, as shown in FIG. 13, the function func12 in the above (b1) has the characteristic of outputting one or more numerical values according to the driving proficiency mnvr_profici_lev, and outputs a numerical value that increases proportionally as the driving proficiency mnvr_profici_lev increases. By using the function func12, it becomes possible to give advice according to the driver's situation.

[0113] (···Third Condition Judgment Process P110-3) The vehicle control device 10 determines whether the highest frequency class HistgTop_ACC_idx of the histogram representing the assistance difficulty of ACC and the highest frequency class HistgTop_LK_idx of the histogram representing the assistance difficulty of LK satisfy the following third condition.

[0114] Third Condition: HistgTop_ACC_idx < 5 and HistgTop_LK_idx < 5

[0115] When the above third condition is not satisfied, the vehicle control device 10 executes the following process P110-4. On the other hand, when the above third condition is satisfied, the vehicle control device 10 determines the sensor processing value and its threshold value used in the following process P111, and the ADAS advice function Adv as follows (c1) to (c4), and executes the following process P111.

[0116] (c1) Sensor processing value 1 = (brake operation frequency pdl_B_freq + accelerator operation frequency pdl_A_freq), Threshold value 1 = (threshold value TH_Bf + threshold value TH_Af) × 1.5 (c2) Sensor processing value 2 = brake operation intensity pdl_B_press, Threshold value 2 = threshold value TH_Bp / 2 (c3) Sensor processing value 3 = steering frequency str_freq, Threshold value 3 = threshold value TH_Sf × 2 × func12(mnvr_profici_lev) (c4) ADAS advice function Adv = BOTH (ACC and LK)

[0117] Note that, as shown in FIG. 13, the function func12 in (c3) above has the characteristic of outputting one or more numerical values according to the driving proficiency mnvr_profici_lev, and outputs a numerical value that increases proportionally as the driving proficiency mnvr_profici_lev increases. By using the function func12, it becomes possible to give advice according to the driver's situation.

[0118] (··Advice disabling process P110-4) The vehicle control device 10 invalidates the advice function by determining the sensor processing value and its threshold value, and the ADAS advice function Adv used in the following process P111 as follows in (d1) to (d4), and executes the following process P111.

[0119] (d1) Sensor processing value 1 = Brake operation frequency pdl_B_freq, Threshold value 1 = 360000 [s] (d2) Sensor processing value 2 = Brake operation intensity pdl_B_press, Threshold value 2 = 0 (d3) Sensor processing value 3 = Steering frequency str_freq, Threshold value 3 = 360000 [s] (d4) ADAS advice function Adv = NONE (invalid)

[0120] (·Condition determination process P111) In the condition determination P111, the vehicle control device 10 determines, for example, by the advice content determination unit 15 whether the sensor processing values 1 to 3 and the threshold values 1 to 3 set in the previous process P110 satisfy the following conditions (i) to (iii), and whether the elapsed time from the previous advice utterance satisfies the following condition (iv).

[0121] (i) Sensor processing value 1 > Threshold value 1 (ii) Sensor processing value 2 < Threshold value 2 (iii) Sensor processing value 3 > Threshold value 3 (iv) Elapsed time > 15 [min]

[0122] As shown in FIG. 2, in process P111, when all of the above conditions (i) to (iv) are satisfied (YES), the vehicle control device 10 executes the next process P112. On the other hand, in process P111, when any of the above conditions (i) to (iv) is not satisfied (NO), the vehicle control device 10 executes process P115 described later.

[0123] (·Advisory speech process P112) In the advisory speech process P112, the vehicle control device 10 determines, for example, by the advice content determination unit 15, the advice content speech to be spoken from the in-vehicle speaker 5 based on the following formula (25), and transmits a control signal corresponding to the determined advice content speech to the HMI device 4. The HMI device 4 controls the in-vehicle speaker 5 based on the control signal received from the vehicle control device 10 to speak the advice content speech from the in-vehicle speaker 5.

[0124] (speech)=func13(Adv, dfclty_ACC+Cmp_acc, dfclty_LK+Cmp_lk)···(25)

[0125] The function func13(A1, A2, A3) of the above formula (25) has characteristics as shown in FIG. 14. When the ADAS advice function Adv of the first argument A1 is set to "ACC", the function func13(A1, A2, A3) determines the advice content speech based on the sum of the ACC support difficulty dfclty_ACC and the ACC utilization Cmp_acc of the second argument A2. Here, for example, as described above, assuming that the ACC support difficulty dfclty_ACC = 2 and the ACC utilization Cmp_acc = 0, the advice content "I think it will be useful if you use ACC, but will you use it?" is determined and spoken from the in-vehicle speaker 5.

[0126] Also, when the ADAS advice function Adv of the first argument A1 in the function func13(A1, A2, A3) is set to "LK", the advice content speech is determined based on the sum of the LK assistance difficulty dfclty_LK and the LK utilization degree Cmp_lk of the third argument A3. Here, for example, as described above, assuming that the LK assistance difficulty dfclty_LK = 1 and the LK utilization degree Cmp_lk = 0, the advice content "It is recommended to use LK. Will you use it?" is determined and spoken from the in-vehicle speaker 5.

[0127] Also, when the ADAS advice function Adv of the first argument A1 in the function func13(A1, A2, A3) is set to "BOTH", the advice content speech is determined based on the lower value of the second argument A2 and the third argument A3. Here, for example, as described above, assuming that the ACC assistance difficulty dfclty_ACC = 2, the ACC utilization degree Cmp_acc = 0, the LK assistance difficulty dfclty_LK = 1, and the LK utilization degree Cmp_lk = 0, the advice content "It is recommended to use ACC and LK. Will you use it?" is determined and spoken from the in-vehicle speaker 5.

[0128] Note that when the ADAS advice function Adv of the first argument A1 in the function func13(A1, A2, A3) is set to "NONE", in the aforementioned process P111, the sensor processing values 1 to 3 and their thresholds 1 to 3 set in the advice invalidation process P110-4 are used. Therefore, in the aforementioned process P111, when all of the conditions (a) to (d) are not satisfied (NO), the vehicle control device 10 executes the process P115 described later. However, even if the process P112 is executed in a state where the ADAS advice function Adv of the first argument A1 is set to "NONE" for some reason, the function func13(A1, A2, A3) sets the advice content without speaking.

[0129] (·Judgment process P113 for advice reception) Next, the vehicle control device 10 executes an advice reception determination process P113 for the driver. For example, the vehicle control device 10 controls the HMI device 4 by the ADAS setting change unit 16 to recognize the driver's voice through the in-vehicle microphone 6. Note that the vehicle control device 10 may recognize the driver's switch operation via the HMI device 4, or may recognize the driver's gesture captured by the in-vehicle camera.

[0130] In this process P113, the vehicle control device 10 recognizes the driver's voice and gesture, for example, over a recognition time of about 5 [s] at the longest. By thus limiting the recognition time of the voice and gesture to a short time, it is possible to prevent the vehicle control device 10 from erroneously recognizing the driver's voice and gesture other than the response to the advice content, and to prevent malfunction of the vehicle control device 10.

[0131] Furthermore, in the process P113, the vehicle control device 10 determines whether the driver has accepted the advice content spoken in the previous process P112 and the driver's intention based on the recognized driver's voice, switch operation, gesture, etc. When the confirmed driver's intention is acceptance (YES) of the advice content, the vehicle control device 10 executes an ADAS setting change process P114, and in other cases (NO), it executes a transmission data preparation process P115.

[0132] (·ADAS setting change process P114) In the ADAS setting change process P114, the vehicle control device 10 changes the settings of the ADAS, for example, by the data transmission unit 17. More specifically, as shown in FIG. 14, for example, the vehicle control device 10 turns on the functions of ACC, LK, or both ACC and LK in the ADAS according to the advice content spoken in process P112. As a result, the ADAS settings are switched from the state of SW_ACC = OFF, SW_LK = OFF, or SW_ACC = OFF and SW_LK = OFF to the state of SW_ACC = ON, SW_LK = ON, or SW_ACC = ON and SW_LK = ON. After the completion of this ADAS setting change process P114, the vehicle control device 10 executes the transmission data preparation process P115.

[0133] (· Transmission data preparation process P115) In the transmission data preparation process P115, the vehicle control device 10 prepares data such as the following formulas (26) to (37) by the data transmission unit 17, for example, to transmit various information of the host vehicle to the information processing device 20 on the cloud.

[0134] use_acc = ringbuf( use_acc, last_time, SW_ACC ) ···(26) userate_ACC = Σ( use_acc ) / DataNumb ···(27) use_lk = ringbuf( use_lk, last_time, SW_LK ) ···(28) userate_LK = Σ( use_lk ) / DataNumb ···(29) lng_g_acc = ringbuf( lng_g_acc, last_time, LngG ) ···(30) behavifluct_ACC = Σ( lng_g_acc ) / DataNumb ···(31) lat_g_lk = ringbuf( lat_g_lk, last_time, LatG ) ···(32) behavifluct_LK = Σ( lat_g_lk ) / DataNumb ···(33) pdl_intvn = ringbuf{pdl_intvn, last_time, slctLow(pdl_A_freq, pdl_B_freq)} ···(34) intrvntnfreq_ACC = Σ( pdl_intvn ) / DataNumb ···(35) str_intvn = ringbuf( str_intvn, last_time, str_freq ) ···(36) intrvntnfreq_LK = Σ( str_intvn ) / DataNumb ···(37)

[0135] In the functions ringbuf(A1, A2, A3) on the right sides of the above formulas (26), (28), (30), (32), (34), and (36), A2 (= last_time) is the circular address in memory space A1, and the function rewrites the content of A2 with A3. Also, in the right sides of the above formulas (27), (29), (31), (33), (35), and (37), the function Σ(A) calculates the sum of each element in memory space A. DataNumb is the number of data in the most recent 10 [s], which is 20 when the processing period Ts is 50 [ms]. Also, the function slctLow(A1, A2) in the above formula (34) selects the smaller one between A1 and A2.

[0136] The left side use_acc of the above formula (25) is a memory space that stores the ON (= 1) or OFF (= 0) state of the ACC function in the past 10 [s]. That is, formula (26) represents rewriting the content of the circular address last_time in the memory space use_acc, which stores the ON (= 1) or OFF (= 0) state of the ACC function in the past 10 [s], with the most recent ACC enabled (SW_ACC = ON) or disabled (SW_ACC = OFF). Also, the left side userate_ACC of the above formula (27) is the average usage rate of the ACC function in the past 10 [s].

[0137] Similarly, use_lk on the left side of the above formula (28) is a memory space that stores the ON (= 1) or OFF (= 0) of the LK function in the past 10 [s]. That is, formula (28) represents rewriting the content of the circular address last_time of the memory space use_lk that stores the ON (= 1) or OFF (= 0) of the LK function in the past 10 [s] to the most recent valid (SW_LK = ON) or invalid (SW_LK = OFF) of LK. Also, userate_LK on the left side of the above formula (29) is the average usage rate of the LK function in the past 10 [s].

[0138] Also, lng_g_acc in the above formula (30) and lat_g_lk in the above formula (32) are memory spaces that store the longitudinal acceleration LngG and lateral acceleration LatG of the host vehicle in the past 10 [s], respectively. That is, formulas (30) and (32) represent rewriting the content of the circular address last_time of the memory spaces lng_g_acc and lat_g_lk that store the longitudinal acceleration LngG and lateral acceleration LatG of the host vehicle in the past 10 [s] to the most recent longitudinal acceleration LngG and lateral acceleration LatG. Also, behavifluct_ACC and behavifluct_LK in the above formulas (31) and (33) are the average values of the longitudinal acceleration LngG and lateral acceleration LatG of the host vehicle in the past 10 [s], respectively.

[0139] Also, pdl_intvn in the above formula (34) and str_intvn in the above formula (36) are memory spaces that store the past 10 [s] of the elapsed time since the last pedal operation and steering operation of the host vehicle, respectively. That is, formula (34) represents rewriting the content of the cyclic address last_time of the memory space pdl_intvn that stores the past 10 [s] of the elapsed time since the last pedal operation, to the smaller value of the most recent accelerator operation frequency pdl_A_freq and brake operation frequency pdl_B_freq. Further, formula (36) represents rewriting the content of the cyclic address last_time of the memory space pdl_intvn that stores the past 10 [s] of the elapsed time since the last steering operation, to the most recent steering frequency str_freq. Also, intrvntnfreq_ACC and intrvntnfreq_LK in the above formulas (35) and (37) are the average values of the past 10 [s] of the elapsed time since the last pedal operation and steering operation, respectively.

[0140] (·Transmission permission determination process P116) Next, the vehicle control device 10 executes a process P116 for determining whether to transmit various information of the host vehicle prepared in the previous process P115. In this process P116, the vehicle control device 10 determines, for example, by the data transmission unit 17 whether the elapsed time Te since the last transmission of various information of the host vehicle to the information processing device 20 on the cloud exceeds the threshold value ThrTimeElapsed. When the elapsed time Te exceeds the threshold value ThrTimeElapsed (YES), the vehicle control device 10 executes a data transmission process P117, and when the elapsed time Te is equal to or less than the threshold value ThrTimeElapsed (NO), the vehicle control device 10 executes an update process P118 of past data.

[0141] In this transmission permission determination process P116, the vehicle control device 10 increases the threshold value ThrTimeElapsed as the interval between node points in the map for vehicle navigation of the host vehicle becomes wider. Thereby, for example, when the host vehicle is traveling on a simple terrain such as a straight road or a highway, it becomes possible to reduce the communication volume between the vehicle control device 10 and the information processing device 20 on the cloud.

[0142] (· Data transmission process P117) Next, the vehicle control device 10 transmits various data including the average usage rate userate_ACC of the ACC function, the average usage rate userate_LK of the LK function, the average value behavifluct_ACC of the longitudinal acceleration LngG, the average value behavifluct_LK of the lateral acceleration LatG, the average value intrvntnfreq_ACC of the elapsed time from the last pedal operation, and the average value intrvntnfreq_LK of the elapsed time from the last steering operation, which were prepared in the above-described process P115, to the information processing device 20 on the cloud by, for example, the data transmission unit 17. After that, the vehicle control device 10 executes the past data update process P118.

[0143] (· Past data update process P118) In the past data update process P118, the vehicle control device 10 performs various post-processes such as updating the cyclic address last_time used in the function ringbuf(A1, A2, A3), processing for the last 10 [s] such as the accelerator operation opening pdl_A_press, and counting up the elapsed time Te after the end of the data transmission process P117, to end one cycle of the processing flow shown in FIG. 2.

[0144] Hereinafter, the operations of the production methods of the vehicle control device 10, the information processing device 20, and the vehicle control system 100 according to the present embodiment will be described.

[0145] As described above, the vehicle control device 10 of the present embodiment is mounted on a vehicle and is communicably connected to an information processing device 20 outside the vehicle. The vehicle includes an external sensor 1 that detects external information around the vehicle, a vehicle sensor 2 that detects vehicle information related to the driving state of the vehicle, a position sensor 3 that detects the position information of the vehicle, and an ADAS actuator 7 for driving support of the vehicle. The vehicle control device 10 includes a proficiency processing unit 12, a support difficulty calculation unit 13, a driving history processing unit 14, and an advice content determination unit 15. The proficiency processing unit 12 calculates the driving tendency of the driver of the vehicle including the longitudinal driving tendency LngDrv and the lateral driving tendency LatDrv, and the proficiency including the driving proficiency mnvr_profici_lev and the road proficiency road_profici_lev based on the external information and the vehicle information. The support difficulty calculation unit 13 calculates the support difficulty including the ACC support difficulty dfclty_ACC and the LK support difficulty dfclty_LK based on the driving tendency and the vehicle information. The driving history processing unit 14 acquires the proficiency of the drivers of a plurality of vehicles from the vehicle control device 10, the intervention frequency of driving support including the ACC intervention frequency IntrvntnFreq_ACC and the LK intervention frequency IntrvntnFreq_LK, the driving support usage rate including the ACC usage rate UseRate_ACC and the LK usage rate UseRate_LK, and the behavior fluctuation including the ACC behavior fluctuation BehaviFluct_ACC and the LK behavior fluctuation BehaviFluct_LK. The advice content determination unit 15 calculates the support utilization degree including the ACC utilization degree Cmp_acc and the LK utilization degree Cmp_lk based on the support difficulty, the driving support usage rate, the behavior fluctuation, and the intervention frequency, and utters the advice content based on the support difficulty and the support utilization degree as shown in FIG. 14.

[0146] With such a configuration, according to this embodiment, it is possible to provide the vehicle control device 10 that enables a driver to use ADAS more effectively. More specifically, based on sensor information including external information, vehicle information, and position information, etc., and driving history information including the proficiency of drivers of multiple vehicles, the frequency of intervention of driving support, the usage rate of driving support, and behavior fluctuations, etc., appropriate advice content can be spoken at an appropriate timing. Also, by making the advice content a closed question that can be answered with approval or denial, the driver during driving can easily answer, and the driving support executed after the answer becomes clear.

[0147] Furthermore, since the vehicle control device 10 of this embodiment speaks advice content based on the support difficulty and the degree of utilization of support, it is possible to speak appropriate advice content corresponding to the driving state of the vehicle at an appropriate timing for each driver. More specifically, when the driving support usage rate of a plurality of vehicles during driving at the driving location of the host vehicle is low and the frequency of driver intervention in driving support is high, that is, in a situation where drivers of other multiple vehicles also do not use driving support and cannot effectively utilize driving support, advice to encourage the use of driving support is not given. Thereby, it is possible to prevent encouraging the use of driving support in a situation where driving support is difficult, and it becomes possible to speak advice content at an appropriate timing according to the situation.

[0148] Also, in the vehicle control device 10 of this embodiment, as shown in FIG. 14, the advice content determination unit 15 speaks advice content including the recommendation of driving support or the usefulness of driving support. More specifically, in the example shown in FIG. 14, in addition to advice content recommending the use of driving support including ACC and LK, the advice content determination unit 15 speaks advice content including "useful", "slightly useful", "no merit" as the usefulness of driving support. Thereby, it becomes possible for the driver of the host vehicle to judge the use of driving support based on the usefulness of the driving support included in the advice content, and it becomes possible to use ADAS more effectively.

[0149] In addition, the information processing apparatus 20 of the present embodiment is communicably connected to the aforementioned vehicle control apparatus 10. The information processing apparatus 20 of the present embodiment collects driving history information including proficiency levels such as driving proficiency mnvr_profici_lev and road proficiency road_profici_lev, intervention frequencies such as ACC intervention frequency IntrvntnFreq_ACC and LK intervention frequency IntrvntnFreq_LK, driving support usage rates such as ACC usage rate UseRate_ACC and LK usage rate UseRate_LK, and behavior fluctuations such as ACC behavior fluctuation BehaviFluct_ACC and LK behavior fluctuation BehaviFluct_LK from a plurality of vehicle control apparatuses 10 mounted on a plurality of vehicles.

[0150] With such a configuration, according to the present embodiment, it is possible to provide an information processing apparatus 20 that enables a driver of a vehicle equipped with the vehicle control apparatus 10 to use the ADAS more effectively. More specifically, by the information processing apparatus 20 collecting driving history information of a plurality of vehicles from a plurality of vehicle control apparatuses 10, each vehicle control apparatus 10 can share the driving history information of the plurality of vehicles. As a result, the vehicle control apparatus 10 can issue advice content that recommends the use of driving support at driving locations suitable for driving support based on the driving history information acquired from the information processing apparatus 20, and can refrain from issuing advice content that recommends the use of driving support at driving locations not suitable for driving support. Therefore, the information processing apparatus 20 of the present embodiment enables a driver of a vehicle equipped with the vehicle control apparatus 10 to use the ADAS more effectively.

[0151] In addition, the vehicle control system 100 includes a plurality of vehicle control devices 10 mounted on a plurality of vehicles, and an information processing device 20 disposed outside the plurality of vehicles and communicably connected to the plurality of vehicle control devices 10. Further, the vehicle on which the vehicle control device 10 is mounted includes an external sensor 1 that detects external information around the vehicle, a vehicle sensor 2 that detects vehicle information regarding the driving state of the vehicle, a position sensor 3 that detects the position information of the vehicle, and an ADAS actuator 7 for driving assistance of the vehicle. And the production method of the vehicle control system 100 of the present embodiment includes the following processes executed by each vehicle control device 10. Processes P104 to P106 for calculating the driving tendency and proficiency of the driver of each vehicle based on the external information and vehicle information. Process P107 for calculating the assistance difficulty based on the driving tendency and vehicle information. Processes P108 to P112 for acquiring the driving history information of a plurality of vehicles from the information processing device 20, calculating the assistance utilization degree based on the driving history information, and uttering the advice content based on the assistance difficulty and assistance utilization degree. Further, the production method of the vehicle control system 100 of the present embodiment includes a process P117 in which the information processing device 20 collects the driving history information from the plurality of vehicle control devices 10.

[0152] With such a configuration, according to the present embodiment, it is possible to provide a production method of the vehicle control system 100 that enables the driver of the vehicle equipped with the vehicle control device 10 to use the ADAS more effectively. More specifically, by the information processing device 20 collecting the driving history information of a plurality of vehicles from the plurality of vehicle control devices 10, each vehicle control device 10 can share the driving history information of the plurality of vehicles. Thereby, based on the driving history information acquired from the information processing device 20, the vehicle control device 10 can issue advice content that recommends the use of driving assistance at driving points suitable for driving assistance and not issue advice content that recommends the use of driving assistance at driving points not suitable for driving assistance. Therefore, the production method of the vehicle control system 100 of the present embodiment enables the driver of the vehicle equipped with the vehicle control device 10 to use the ADAS more effectively.

[0153] Also, in the production method of the vehicle control system 100 of the present embodiment, the information processing device 20 collects driving history information including the driving assistance usage rate, behavior variation, and intervention frequency for each level of proficiency. Each vehicle control device 10 calculates the degree of assistance utilization based on the driving assistance usage rate, behavior variation, and intervention frequency. With such a configuration, according to the production method of the vehicle control system 100 of the present embodiment, it becomes possible to provide appropriate advice according to the proficiency of the driver of the vehicle equipped with the vehicle control device 10 to the driver at an appropriate timing based on the driving assistance usage rate, behavior variation, and intervention frequency.

[0154] Also, in the production method of the vehicle control system 100 of the present embodiment, the advice content to be spoken by each vehicle control device 10 includes advice recommending the use of driving assistance and advice indicating the usefulness of driving assistance. With this configuration, as described above, it becomes possible for the driver of the vehicle equipped with the vehicle control device 10 to determine the use of driving assistance based on the usefulness of the driving assistance included in the advice content, and it becomes possible to use the ADAS more effectively.

[0155] As described above, according to the present embodiment, it is possible to provide a vehicle control device 10, an information processing device 20, and a production method of a vehicle control system 100 that enable a driver to use the ADAS more effectively.

[0156] [Embodiment 2] Next, referring to FIGS. 1, 3 to 14 and FIGS. 15 and 16, Embodiment 2 of the production method of the vehicle control device, information processing device, and vehicle control system of the present disclosure will be described. FIGS. 15 and 16 are flowcharts showing the processing flow of the vehicle control device 10 of the present embodiment.

[0157] A series of processes of the vehicle control device 10 according to the present embodiment shown in FIGS. 15 and 16 are executed for the driver who has just started using the ADAS function, with the aim of giving appropriate advice according to the situation and enabling the driver to make more effective use of the ADAS function. Hereinafter, the description will focus on the differences between the present embodiment and Embodiment 1, and the description of the parts similar to those of Embodiment 1 of the present embodiment will be omitted as appropriate.

[0158] Each process from the vehicle information acquisition process P201 to the operation state determination process P205 shown in FIG. 15 is the same as each process from the vehicle information acquisition process P101 to the operation state determination process P105 of Embodiment 1 described above. The vehicle control device 10 according to the present embodiment calculates a driving proficiency mnvr_profici_lev related to driving operations and a road proficiency road_profici_lev related to the experience of driving on individual roads in the proficiency determination process P206, in the same manner as the process P106 of Embodiment 1.

[0159] Furthermore, the vehicle control device 10 according to the present embodiment calculates an ACC function proficiency ProficiLev_ACC and an LK function proficiency ProficiLev_LK based on the following formulas (38) and (39) using the longitudinal driving tendency LngDrv, the lateral driving tendency LatDrv, and the processing cycle Ts in the proficiency determination process P206.

[0160] ProficiLev_ACC = ProficiLev_ACC + LngDrv * Ts ···(38) ProficiLev_LK = ProficiLev_LK + LatDrv * Ts ···(39)

[0161] Next, the vehicle control device 10 according to the present embodiment executes processes P207 and P208 similar to the support difficulty determination process P107 and the driving history selection process P108 of Embodiment 1 described above. Next, as shown in FIG. 15, the vehicle control device 10 according to the present embodiment executes an ADAS function use determination process P209. In this process P209, the vehicle control device 10 determines whether the ADAS function of the host vehicle is used, for example, by the advice content determination unit 15.

[0162] More specifically, when neither the ACC nor the LK of the host vehicle is used and SW_ACC = OFF and SW_LK = OFF (NO) in process P209, the vehicle control device 10 executes processes P210 to P219 similar to those from the advice content selection process P109 to the past data update process P118 in Embodiment 1. Note that the vehicle control device 10 may execute processes P210 to P219 similar to those from the advice content selection process P109 to the past data update process P118 in Embodiment 1 when either the ACC or the LK of the host vehicle is not used and SW_ACC = OFF or SW_LK = OFF (NO) in process P209. For example, when both the ACC and the LK of the host vehicle are used and SW_ACC = ON and SW_LK = ON (YES) in process P209, the vehicle control device 10 executes the next advice content selection process P220.

[0163] (·Advice content selection process P220) When starting the advice content selection process P220, the vehicle control device 10 first executes an advice content initialization process P220-0.

[0164] (··Advice content initialization process P220-0) For example, the vehicle control device 10 initializes the ACC advice number adv_idx_ACC, the ACC advice content adv_msg_ACC, the LK advice number adv_idx_LK, and the LK advice content adv_msg_LK using the following formulas (40) to (43) by the advice content determination unit 15. Note that the ACC advice number adv_idx_ACC and the ACC advice content adv_msg_ACC correspond one-to-one, and the LK advice number adv_idx_LK and the LK advice content adv_msg_LK correspond one-to-one.

[0165] adv_idx_ACC = 9 ···(40) adv_msg_ACC = "Do not give advice" ···(41) adv_idx_LK = 9 ···(42) adv_msg_LK = "Do not give advice" ···(43)

[0166] (··Determination process P220-1 of ACC advice content) Next, the vehicle control device 10 executes, for example, the determination process P220-1 of the ACC advice content by the advice content determination unit 15. In this process P220-1, the vehicle control device 10 determines whether the following conditions (A1) to (A3) are satisfied. Note that condition (A1) corresponds to a situation where more than half of the other vehicles that have traveled at the traveling point of the host vehicle use ACC and can utilize ACC. Also, condition (A2) corresponds to a situation where ACC can be used without problems in the host vehicle. Also, condition (A3) corresponds to a situation where the driver of the host vehicle cannot utilize ACC and is operating the brake.

[0167] (A1) ACC usage rate UseRate_ACC: 50 [%] or more, ACC intervention frequency IntrvntnFreq_ACC: 30 [s] or more (A2) ACC support difficulty dfclty_ACC: 2 or less (A3) Brake operation frequency pdl_B_freq: 10 [s] or less, collision margin time TTC: 12 [s] or more, approaching the preceding vehicle at a relative speed rVy of the preceding vehicle of 1 [m / s] or less, ACC: in use (SW_ACC = ON)

[0168] When all of the above conditions (A1) to (A3) are satisfied, the vehicle control device 10 sets, for example, by the ADAS setting change unit 16, as an advice candidate, ACC advice number adv_idx_ACC = 1, ACC advice content adv_msg_ACC = "While confirming safety, it will be more comfortable to leave it to ACC a little more, but would you like to use the guidance function?", and executes the following process P220-5. When at least one of the above conditions (A1) to (A3) is not satisfied, the following second ACC advice content determination process P220-2 is executed.

[0169] (··Determination process P220-2 of ACC advice content) In the determination process P220-2 of this ACC advice content, the vehicle control device 10 determines whether the following conditions (B1) to (B3) are satisfied. Note that condition (B1) corresponds to a situation where many other vehicles traveling at the driving point of the host vehicle do not use ACC and ACC cannot be utilized. Also, condition (B2) corresponds to a situation where it is difficult to use ACC even in the host vehicle. Further, condition (B3) corresponds to a situation where braking is insufficient with only ACC and the driver of the host vehicle frequently operates the brake.

[0170] (B1) ACC usage rate UseRate_ACC: 30 [%] or less, ACC intervention frequency IntrvntnFreq_ACC: 10 [s] or less (B2) ACC support difficulty dfclty_ACC: 5 or more (B3) Brake operation frequency pdl_B_freq: 10 [s] or less, time to collision TTC: 6 [s] or less, approaching the preceding vehicle at a relative speed rVy of the preceding vehicle of 1 [m / s] or more, ACC: in use (SW_ACC = ON)

[0171] When all of the above conditions (B1) to (B3) are satisfied, the vehicle control device 10 sets, for example, by the ADAS setting change unit 16, as advice candidates, ACC advice number adv_idx_ACC = 2, ACC advice content adv_msg_ACC = "Currently ACC is not useful. Sorry, shall I turn it off?", and executes the subsequent process P220-5. When at least one of the above conditions (B1) to (B3) is not satisfied, the following third ACC advice content determination process P220-3 is executed.

[0172] (··ACC advice content determination process P220-3) In the determination process P220-3 of this ACC advice content, the vehicle control device 10 determines whether the following conditions (C1) to (C3) are satisfied. Note that condition (C1) corresponds to a situation where more than half of the other vehicles that have traveled the driving point of the host vehicle are using ACC and can utilize ACC. Also, condition (C2) corresponds to a situation where ACC can generally be used in the host vehicle. Further, condition (C3) corresponds to a situation where the driver of the host vehicle wants to shorten the set inter-vehicle distance (set inter-vehicle time THW) in ACC.

[0173] (C1) ACC usage rate UseRate_ACC: 50[%] or more, ACC intervention frequency IntrvntnFreq_ACC: 30 [s] or more (C2) ACC support difficulty dfclty_ACC: 4 or less (C3) Accelerator operation frequency pdl_A_freq: 10 [s] or less, inter-vehicle time THW: set value > actual inter-vehicle time, relative speed of the preceding vehicle rVy: 1 [m / s] or less and approaching the preceding vehicle, ACC: in use (SW_ACC = ON)

[0174] When all of the above conditions (C1) to (C3) are satisfied, the vehicle control device 10 sets, for example, by the ADAS setting change unit 16, as advice candidates, ACC advice number adv_idx_ACC = 3, ACC advice content adv_msg_ACC = "Do you want to shorten the set inter-vehicle distance?", and executes the subsequent process P220-5. When at least one of the above conditions (C1) to (C3) is not satisfied, the following fourth ACC advice content determination process P220-4 is executed.

[0175] (··ACC advice content determination process P220-4) In the determination process P220-4 of this ACC advice content, the vehicle control device 10 determines whether the following conditions (D1) to (D3) are satisfied. Note that condition (D1) corresponds to a situation where more than half of the other vehicles that have traveled the driving point of the host vehicle are using ACC and can utilize ACC. Also, condition (D2) corresponds to a situation where ACC can generally be used in the host vehicle. Further, condition (D3) corresponds to a situation where the driver of the host vehicle wants to extend the inter-vehicle distance (inter-vehicle time THW) in ACC.

[0176] (D1) ACC usage rate UseRate_ACC: 50[%] or more, ACC intervention frequency IntrvntnFreq_ACC: 30 [s] or more (D2) ACC support difficulty dfclty_ACC: 4 or less (D3) Brake operation frequency pdl_B_freq: 10 [s] or less, inter-vehicle time THW: set value < actual inter-vehicle time, relative speed of the preceding vehicle rVy: non-approaching, ACC: in use (SW_ACC = ON)

[0177] When all of the above conditions (D1) to (D3) are satisfied, the vehicle control device 10 sets, for example, by the ADAS setting change unit 16, as advice candidates, ACC advice number adv_idx_ACC = 4, ACC advice content adv_msg_ACC = "Do you want to increase the set inter-vehicle distance?", and executes the next process P220-5. When at least one of the above conditions (D1) to (D3) is not satisfied, the following first LK advice content determination process P220-5 is executed.

[0178] (·· LK advice content determination process P220-5) Next, the vehicle control device 10 executes, for example, the determination process P220-5 of the LK advice content by the advice content determination unit 15. In this process P220-5, the vehicle control device 10 determines whether the following conditions (E1) to (E3) are satisfied. Note that condition (E1) corresponds to a situation where more than half of the other vehicles that have traveled at the traveling point of the host vehicle use LK and can utilize LK. Further, condition (E2) corresponds to a situation where LK can be used without problems in the host vehicle. Further, condition (E3) corresponds to a situation where the driver of the host vehicle cannot utilize LK and is operating the steering wheel.

[0179] (E1) LK usage rate UseRate_LK: 50 [%] or more, LK intervention frequency IntrvntnFreq_LK: 20 [s] or more (E2) LK support difficulty dfclty_LK: 2 or less (E3) Steering frequency str_freq: 10 [s] or less, Lateral position deviation LatErr: within ±0.3 [m], LK: In use (SW_LK = ON)

[0180] When all of the above conditions (E1) to (E3) are satisfied, the vehicle control device 10, for example, by the ADAS setting change unit 16, sets, as an advice candidate, LK advice number adv_idx_LK = 1, LK advice content adv_msg_LK = "While confirming safety, it will be easier if you leave a little more steering operation to LK. Do you want to use the guidance function?", and executes the process P220-8 described later. When at least one of the above conditions (E1) to (E3) is not satisfied, the following second determination process P220-6 of the LK advice content is executed.

[0181] (··· Determination process P220-6 of the LK advice content) In the determination process P220-6 of this LK advice content, the vehicle control device 10 determines whether the following conditions (F1) to (F3) are satisfied. Note that condition (F1) corresponds to a situation where most of the other vehicles that have traveled at the driving point of the host vehicle do not use LK and LK cannot be utilized. Also, condition (F2) corresponds to a situation where it is difficult to use LK even in the host vehicle. Further, condition (F3) corresponds to a situation where steering is insufficient with only LK and the driver of the host vehicle frequently operates the steering wheel.

[0182] (F1) LK usage rate UseRate_LK: 30 [%] or less, LK intervention frequency IntrvntnFreq_LK: 10 [s] or less (F2) Difficulty of LK support dfclty_ACC: 5 or more (F3) Steering frequency str_freq: 10 [s] or less, Lateral position deviation LatErr: 0.6 [m] or more, LK: In use (SW_LK = ON)

[0183] When all of the above conditions (F1) to (F3) are satisfied, the vehicle control device 10 sets, for example, by the ADAS setting change unit 16, as advice candidates, LK advice number adv_idx_LK = 2, LK advice content adv_msg_LK = "LK is not useful at the moment, sorry. Do you want to turn it off?", and executes the subsequent process P220-8. When at least one of the above conditions (F1) to (F3) is not satisfied, the following third LK advice content determination process P220-7 is executed.

[0184] (···LK advice content determination process P220-7) In this LK advice content determination process P220-7, the vehicle control device 10 determines whether the following conditions (G1) to (G3) are satisfied. Note that condition (G1) corresponds to a situation where more than half of the other vehicles that have traveled at the driving point of the host vehicle are using LK and LK can be utilized. Also, condition (G2) corresponds to a situation where LK can be easily used even in the host vehicle. Further, condition (G3) corresponds to a situation where the driver of the host vehicle wants to drive on a driving line other than the center of the lane against the steering force by the control of LK.

[0185] (G1) LK Usage Rate (UseRate_LK): 50% or more, LK Intervention Frequency (IntrvntnFreq_LK): 20 s or more (G2) LK Support Difficulty (dfclty_ACC): 2 or less (G3) Steering Torque (str_trq): exceeding ±2 Nm, LK: In use (SW_LK = ON)

[0186] When all of the above conditions (G1) to (G3) are satisfied, the vehicle control device 10, for example, sets, as advice candidates, LK advice number (adv_idx_LK) = 3 and LK advice content (adv_msg_LK) = "Do you want to change the driving line of LK?" by the ADAS setting change unit 16, and executes the next road attribute determination process P220-8. When at least one of the above conditions (G1) to (G3) is not satisfied, the vehicle control device 10 maintains the state initialized in the initialization process P220-0 and executes the next road attribute determination process P220-8.

[0187] (·· Road Attribute Determination Process P220-8) When the road attribute (RoadType) is different between the previous processing cycle and the current processing cycle, or when the presence or absence of LK use (SW_LK = ON / OFF) is different, the vehicle control device 10 resets the frequency of each class in the frequency distribution of the driving support difficulties of both ACC and LK for the past 5 minutes to 9 (no advice), and executes the following own vehicle information processing P221. On the other hand, when the road attribute (RoadType) is the same and the presence or absence of LK use (SW_LK = ON / OFF) is the same between the previous processing cycle and the current processing cycle, the next process P220-9 is executed.

[0188] (·· ACC Advice Number Histogram Calculation Process P220-9) The vehicle control device 10 calculates histograms for the ACC advice number adv_idx_ACC and the LK advice number adv_idx_LK based on the following formulas (44) and (45) by, for example, the advice content determination unit 15. Further, the vehicle control device 10 outputs the class HistgTop_ACC_idx, HistgTop_LK_idx with the highest frequency in those histograms and the highest frequencies HistgTop_ACC_num, HistgTop_LK_num. Thereafter, the vehicle control device 10 executes the following own vehicle information processing P221.

[0189] (HistgTop_ACC_idx, HistgTop_ACC_num) = histogram_ACC( adv_idx_ACC )···(44) (HistgTop_LK_idx, HistgTop_LK_num) = histogram_LK( adv_idx_LK ) ···(45)

[0190] In the vehicle control system 100 of the present embodiment, the above-described advice content selection process P220 is executed by the vehicle control device 10, but it can also be executed by the information processing device 20. In this case, it becomes easy to change the advice content according to the area where the own vehicle is traveling and the current trend.

[0191] (·Own vehicle information processing P221) In the own vehicle information processing P221, the vehicle control device 10 executes the following respective processes to set the sensor processing value, its threshold value, and the ADAS advice function Adv.

[0192] (··Initialization process P221-0) The vehicle control device 10 initializes the sensor processing values 1 to 3, the threshold values 1_1 to 3_1, and the threshold values 1_2 to 3_2 as in the following (a1) to (a4), and executes the following first condition determination process P221-1. This initialization process P221-0 is a process for not uttering when the conditions are not met in all processes after the first condition determination process P221-1.

[0193] (a1) Sensor processing value 1 = 0, threshold value 1_1 = 8, threshold value 1_2 = 9 (a2) Sensor processing value 2 = 0, threshold value 2_1 = 8, threshold value 2_2 = 9 (a3) Sensor processing value 3 = 0, threshold value 3_1 = 8, threshold value 3_2 = 9 (a4) ADAS advice function = ACC

[0194] (·· First condition determination process P221-1) The vehicle control device 10 determines whether the highest frequency HistgTop_ACC_num of the histogram of the ACC advice number adv_idx_ACC, the highest frequency HistgTop_LK_num of the histogram of the LK advice number adv_idx_LK, and the class HistgTop_ACC_idx of the highest frequency of the histogram of the ACC advice number adv_idx_ACC satisfy the following first condition.

[0195] First condition: HistgTop_ACC_num > HistgTop_LK_num + 10, and HistgTop_ACC_idx = 1

[0196] Note that the class HistgTop_ACC_idx of the highest frequency of the histogram of the ACC advice number adv_idx_ACC in the first condition is such that the ACC advice number adv_idx_ACC = 1, corresponding to the ACC advice content adv_msg_ACC = "While confirming safety, it would be more comfortable to leave it to ACC a little more, but would you like to use the guidance function?". If the above first condition is not satisfied, the vehicle control device 10 executes the following process P221-2. On the other hand, if the above first condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advice function Adv as follows in (b1) to (b4), and executes the condition determination process P222 described later.

[0197] (b1) Sensor processing value 1 = brake operation intensity pdl_B_press, Threshold value 1_1 = 0.1 [MPa], threshold value 1_2 = 1.5 [MPa] (b2) Sensor processing value 2 = Collision margin time TTC, Threshold value 2_1 = 10 [s], Threshold value 2_2 = 9999 [s] (b3) Sensor processing value 3 = Relative speed of the leading vehicle rVy, Threshold value 3_1 = -1 [m / s], Threshold value 3_2 = 1 [m / s] (b4) ADAS advice function Adv = ACC

[0198] (·· Second condition determination process P221-2) The vehicle control device 10 determines whether the highest frequency HistgTop_ACC_num of the histogram of the ACC advice number adv_idx_ACC, the highest frequency HistgTop_LK_num of the histogram of the LK advice number adv_idx_LK, and the class HistgTop_ACC_idx of the highest frequency of the histogram of the ACC advice number adv_idx_ACC satisfy the following second condition.

[0199] Second condition: HistgTop_ACC_num > HistgTop_LK_num + 10, and HistgTop_ACC_idx = 2

[0200] Note that the class HistgTop_ACC_idx of the highest frequency of the histogram of the ACC advice number adv_idx_ACC in the second condition is such that the ACC advice number adv_idx_ACC = 2, corresponding to the ACC advice content adv_msg_ACC = "ACC is not useful at the moment, sorry, should I turn it off?". If the above second condition is not satisfied, the vehicle control device 10 executes the following process P221-3. On the other hand, if the above second condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advice function Adv as follows in (c1) to (c4), and executes the condition determination process P222 described later.

[0201] (c1) Sensor processing value 1 = Brake operation intensity pdl_B_press, Threshold value 1_1 = 1.5 [MPa], Threshold value 1_2 = 4 [MPa] (c2) Sensor processing value 2 = Collision margin time TTC, Threshold value 2_1 = 2 [s], Threshold value 2_2 = 6 [s] (c3) Sensor processing value 3 = relative speed of the preceding vehicle rVy, threshold value 3_1 = -10 [m / s], threshold value 3_2 = -1 [m / s] (c4) ADAS advice function Adv = ACC

[0202] (··· Third condition determination process P221-3) The vehicle control device 10 determines whether the highest frequency HistgTop_ACC_num of the histogram of the ACC advice number adv_idx_ACC, the highest frequency HistgTop_LK_num of the histogram of the LK advice number adv_idx_LK, and the class HistgTop_ACC_idx of the highest frequency of the histogram of the ACC advice number adv_idx_ACC satisfy the following third condition.

[0203] Third condition: HistgTop_ACC_num > HistgTop_LK_num + 10, and HistgTop_ACC_idx = 3

[0204] Note that the class HistgTop_ACC_idx of the highest frequency of the histogram of the ACC advice number adv_idx_ACC in the third condition is such that the ACC advice number adv_idx_ACC = 3, corresponding to the ACC advice content adv_msg_ACC = "Do you want to shorten the set inter-vehicle distance?" If the above third condition is not satisfied, the vehicle control device 10 executes the following process P221-4. On the other hand, if the above third condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advice function Adv as follows in (d1) to (d4), and executes the condition determination process P222 described later.

[0205] (d1) Sensor processing value 1 = accelerator operation opening pdl_A_press, threshold value 1_1 = 2 [%], threshold value 1_2 = 20 [%] (d2) Sensor processing value 2 = actual inter-vehicle time THW - set inter-vehicle time THW Threshold value 2_1 = -0.5 [s], threshold value 2_2 = -0.1 [s] (d3) Sensor processing value 3 = relative speed of the preceding vehicle rVy, threshold value 3_1 = -0.5 [m / s], threshold value 3_2 = 0.5 [m / s] (d4)ADAS Advisory Function Adv = ACC

[0206] (·· Fourth Condition Judgment Process P221-4) The vehicle control device 10 determines whether the highest frequency HistgTop_ACC_num of the histogram of the ACC advice number adv_idx_ACC, the highest frequency HistgTop_LK_num of the histogram of the LK advice number adv_idx_LK, and the class HistgTop_ACC_idx of the highest frequency of the histogram of the ACC advice number adv_idx_ACC satisfy the following fourth condition.

[0207] Fourth Condition: HistgTop_ACC_num > HistgTop_LK_num + 10, and HistgTop_ACC_idx = 4

[0208] Note that the class HistgTop_ACC_idx of the highest frequency of the histogram of the ACC advice number adv_idx_ACC in the fourth condition is such that the ACC advice number adv_idx_ACC = 4, corresponding to the ACC advice content adv_msg_ACC = "Do you want to increase the set inter-vehicle distance?". If the above fourth condition is not satisfied, the vehicle control device 10 executes the following process P221-5. On the other hand, if the above fourth condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advice function Adv as follows in (e1)~(e4), and executes the condition judgment process P222 described later.

[0209] (e1) Sensor processing value 1 = Brake operation intensity pdl_B_press, Threshold value 1_1 = 0.1 [MPa], Threshold value 1_2 = 1 [MPa] (e2) Sensor processing value 2 = Actual inter-vehicle time THW - Set inter-vehicle time THW, Threshold value 2_1 = 0.1 [s], Threshold value 2_2 = 0.5 [s] (e3) Sensor processing value 3 = Relative speed of the preceding vehicle rVy, Threshold value 3_1 = -0.5 [m / s], Threshold value 3_2 = 0.5 [m / s] (e4) ADAS advice function Adv = ACC

[0210] (·· Fifth condition determination process P221-5) The vehicle control device 10 determines whether the highest frequency HistgTop_LK_num of the histogram of the LK advice number adv_idx_LK, the highest frequency HistgTop_ACC_num of the histogram of the ACC advice number adv_idx_ACC, and the class HistgTop_LK_idx of the highest frequency of the histogram of the LK advice number adv_idx_LK satisfy the following fifth condition.

[0211] Fifth condition: HistgTop_LK_num > HistgTop_ACC_num + 10, and HistgTop_LK_idx = 1

[0212] Note that the class HistgTop_LK_idx of the highest frequency of the histogram of the LK advice number adv_idx_LK in the fifth condition is such that the LK advice number adv_idx_LK = 1, corresponding to the LK advice content adv_msg_LK = "While checking safety, it would be easier to leave a little more steering operation to LK. Do you want to use the guidance function?". If the above fifth condition is not satisfied, the vehicle control device 10 executes the following process P221-6. On the other hand, if the above fifth condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advice function Adv as follows in (f1) to (f4), and executes the subsequent condition determination process P222.

[0213] (f1) Sensor processing value 1 = steering torque str_trq, threshold value 1_1 = -2 [Nm], threshold value 1_2 = 2 [Nm] (f2) Sensor processing value 2 = lateral acceleration LatG, threshold value 2_1 = -0.03 [G], threshold value 2_2 = 0.03 [G] (f3) Sensor processing value 3 = relative speed rVy of the preceding vehicle, threshold value 3_1 = -0.03 [m / s], threshold value 3_2 = 0.03 [m / s] (f4) ADAS advice function Adv = LK

[0214] (·· Sixth condition determination process P221-6) The vehicle control device 10 determines whether the highest frequency HistgTop_LK_num of the histogram of the LK advice number adv_idx_LK, the highest frequency HistgTop_ACC_num of the histogram of the ACC advice number adv_idx_ACC, and the class HistgTop_LK_idx of the highest frequency of the histogram of the LK advice number adv_idx_LK satisfy the following sixth condition.

[0215] Sixth condition: HistgTop_LK_num > HistgTop_ACC_num + 10, and HistgTop_LK_idx = 2

[0216] Note that the class HistgTop_LK_idx of the highest frequency of the histogram of the LK advice number adv_idx_LK in the sixth condition is such that the LK advice number adv_idx_LK = 2, corresponding to the LK advice content adv_msg_LK = "LK is not useful at the moment, sorry, should I turn it off?". If the above sixth condition is not satisfied, the vehicle control device 10 executes the following process P221-7. On the other hand, if the above sixth condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advice function Adv as follows in (g1) to (g4), and executes the condition determination process P222 described later.

[0217] (g1) Sensor processing value 1 = steering torque str_trq, threshold value 1_1 = 5 [Nm], threshold value 1_2 = -5 [Nm] (g2) Sensor processing value 2 = lateral acceleration LatG, threshold value 2_1 = 0.15 [G], threshold value 2_2 = -0.15 [G] (g3) Sensor processing value 3 = relative speed rVy of the preceding vehicle, threshold value 3_1 = 0.3 [m / s], threshold value 3_2 = -0.3 [m / s] (g4) ADAS advice function Adv = LK

[0218] (··· Seventh condition determination process P221-7) The vehicle control device 10 determines whether the highest frequency HistgTop_LK_num of the histogram of the LK advice number adv_idx_LK, the highest frequency HistgTop_ACC_num of the histogram of the ACC advice number adv_idx_ACC, and the class HistgTop_LK_idx of the highest frequency of the histogram of the LK advice number adv_idx_LK satisfy the following seventh condition.

[0219] Seventh condition: HistgTop_LK_num > HistgTop_ACC_num + 10 and HistgTop_LK_idx = 3

[0220] Note that the class HistgTop_LK_idx of the highest frequency of the histogram of the LK advice number adv_idx_LK in the seventh condition is such that the LK advice number adv_idx_LK = 3, corresponding to the LK advice content adv_msg_LK = "Do you want to change the driving line of LK?". If the above seventh condition is not satisfied, the vehicle control device 10 executes the following process P221-8. On the other hand, if the above seventh condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advice function Adv as follows (h1) to (h4), and executes the condition determination process P222 described later.

[0221] (h1) Sensor processing value 1 = steering torque str_trq, threshold value 1_1 = -5 [Nm], threshold value 1_2 = 5 [Nm] (h2) Sensor processing value 2 = lateral acceleration LatG, threshold value 2_1 = -0.03 [G], threshold value 2_2 = 0.03 [G] (h3) Sensor processing value 3 = relative speed rVy of the preceding vehicle, threshold value 3_1 = -0.03 [m / s], threshold value 3_2 = 0.03 [m / s] (h4) ADAS advice function Adv = LK

[0222] (·· Eighth condition determination process P221-8) The vehicle control device 10 determines whether the class HistgTop_ACC_idx with the highest frequency in the histogram of the ACC advice number adv_idx_ACC and the class HistgTop_LK_idx with the highest frequency in the histogram of the LK advice number adv_idx_LK satisfy the following eighth condition.

[0223] Eighth condition: HistgTop_ACC_idx = 1 and HistgTop_LK_idx = 1

[0224] Note that each class HistgTop_ACC_idx and HistgTop_LK_idx in the eighth condition corresponds to the ACC advice number adv_idx_ACC = 1 and the LK advice number adv_idx_LK = 1, respectively. This corresponds to the ACC advice content adv_msg_ACC = "While confirming safety, it will be easier if you leave the steering operation to ACC a little more. Do you want to use the guidance function?" and the LK advice content adv_msg_LK = "While confirming safety, it will be easier if you leave the steering operation to LK a little more. Do you want to use the guidance function?". If the above eighth condition is not satisfied, the vehicle control device 10 executes the following process P221-9. On the other hand, if the above eighth condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advice function Adv as follows (i1) to (i7), and executes the condition determination process P222 described later.

[0225] (i1) Sensor processing value 1 = brake operation intensity pdl_B_press, Threshold value 1_1 = 0.1 [MPa], threshold value 1_2 = 1.5 [MPa] (i2) Sensor processing value 2 = collision margin time TTC, threshold value 2_1 = 10 [s], threshold value 2_2 = 9999 [s] (i3) Sensor processing value 3 = relative speed rVy of the preceding vehicle, threshold value 3_1 = -1 [m / s], threshold value 3_2 = 1 [m / s] (i4) Sensor processing value 4 = steering torque str_trq, threshold value 4_1 = -2 [Nm], threshold value 4_2 = 2 [Nm] (i5) Sensor processing value 5 = lateral acceleration LatG, threshold value 5_1 = -0.03 [G], threshold value 5_2 = 0.03 [G] (i6) Sensor processing value 6 = relative speed of the preceding vehicle rVy, threshold value 6_1 = -0.03 [m / s], threshold value 6_2 = 0.03 [m / s] (i7) ADAS advice function Adv = BOTH (ACC and LK)

[0226] (··· Ninth condition determination process P221-9) The vehicle control device 10 determines whether the class HistgTop_ACC_idx with the highest frequency in the histogram of the ACC advice number adv_idx_ACC and the class HistgTop_LK_idx with the highest frequency in the histogram of the LK advice number adv_idx_LK satisfy the following ninth condition.

[0227] Ninth condition: HistgTop_ACC_idx = 2 and HistgTop_LK_idx = 2

[0228] Note that each class HistgTop_ACC_idx and HistgTop_LK_idx in the ninth condition corresponds to the ACC advice number adv_idx_ACC = 2 and the LK advice number adv_idx_LK = 2, respectively. This corresponds to the ACC advice content adv_msg_ACC = "ACC is not useful at the moment. Sorry, should I turn it off?" and the LK advice content adv_msg_LK = "LK is not useful at the moment. Sorry, should I turn it off?". If the above ninth condition is not satisfied, the vehicle control device 10 executes the following process P222. On the other hand, if the above ninth condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advice function Adv as follows in (j1) to (j7), and executes the condition determination process P222 described later.

[0229] (j1) Sensor processing value 1 = brake operation intensity pdl_B_press, Threshold value 1_1 = 1.5 [MPa], threshold value 1_2 = 4 [MPa] (j2) Sensor processing value 2 = collision margin time TTC, threshold value 2_1 = 2 [s], threshold value 2_2 = 6 [s] (j3) Sensor processing value 3 = relative speed of the preceding vehicle rVy, threshold value 3_1 = -10 [m / s], threshold value 3_2 = -1 [m / s] (j4) Sensor processing value 4 = steering torque str_trq, threshold value 4_1 = -5 [Nm], threshold value 4_2 = 5 [Nm] (j5) Sensor processing value 5 = lateral acceleration LatG, threshold value 5_1 = -0.03 [G], threshold value 5_2 = 0.03 [G] (j6) Sensor processing value 6 = relative speed of the preceding vehicle rVy, threshold value 6_1 = -0.03 [m / s], threshold value 6_2 = 0.03 [m / s] (j7) ADAS advice function Adv = BOTH (ACC and LK)

[0230] (· Condition determination process P222) In the condition determination process P222, the vehicle control device 10 determines, for example, by the advice content determination unit 15 whether the sensor processing values 1 to 3, threshold values 1_1 to 3_1, and threshold values 1_2 to 3_2 set in the previous process P221 satisfy a predetermined condition and whether the elapsed time from the previous advice utterance exceeds 15 [min].

[0231] More specifically, when the ADAS advice function Adv = ACC or LK, the vehicle control device 10 determines whether the sensor processing values 1 to 3 satisfy the following respective conditions.

[0232] (Condition of sensor processing value 1) When threshold value 1_1 < threshold value 1_2: sensor processing value 1 > threshold value 1_1 and sensor processing value 1 < threshold value 1_2 When threshold value 1_1 > threshold value 1_2: sensor processing value 1 > threshold value 1_1 or sensor processing value 1 < threshold value 1_2

[0233] (Condition of sensor processing value 2) When threshold value 2_1 < threshold value 2_2: sensor processing value 2 > threshold value 2_1 and sensor processing value 2 < threshold value 2_2 When threshold value 2_1 > threshold value 2_2: sensor processing value 2 > threshold value 2_1 or sensor processing value 2 < threshold value 2_2

[0234] (Condition of sensor processing value 3) When Threshold 3_1 < Threshold 3_2: Sensor processing value 3 > Threshold 3_1 and Sensor processing value 3 < Threshold 3_2 When Threshold 3_1 > Threshold 3_2: Sensor processing value 3 > Threshold 3_1 or Sensor processing value 3 < Threshold 3_2

[0235] When the sensor processing values 1 to 3 each satisfy the above respective conditions and the elapsed time since the previous advice utterance exceeds 15 [min], the vehicle control device 10 executes the following advice utterance process P223. Also, when the sensor processing values 1 to 3 do not satisfy any of the above conditions or the elapsed time since the previous advice utterance is 15 [min] or less, the vehicle control device 10 executes a transmission data preparation process P216 similar to the transmission data preparation process P115 of Embodiment 1.

[0236] Also, when the ADAS advice function Adv = BOTH, the vehicle control device 10 determines whether the sensor processing values 1 to 6 each satisfy the following respective conditions.

[0237] (Condition for sensor processing value 1) When Threshold 1_1 < Threshold 1_2: Sensor processing value 1 > Threshold 1_1 and Sensor processing value 1 < Threshold 1_2 When Threshold 1_1 > Threshold 1_2: Sensor processing value 1 > Threshold 1_1 or Sensor processing value 1 < Threshold 1_2

[0238] (Condition for sensor processing value 2) When Threshold 2_1 < Threshold 2_2: Sensor processing value 2 > Threshold 2_1 and Sensor processing value 2 < Threshold 2_2 When Threshold 2_1 > Threshold 2_2: Sensor processing value 2 > Threshold 2_1 or Sensor processing value 2 < Threshold 2_2

[0239] (Condition for sensor processing value 3) When Threshold 3_1 < Threshold 3_2: Sensor processing value 3 > Threshold 3_1 and Sensor processing value 3 < Threshold 3_2 When Threshold 3_1 > Threshold 3_2: Sensor processing value 3 > Threshold 3_1 or Sensor processing value 3 < Threshold 3_2

[0240] (Condition of Sensor Processed Value 4) When Threshold Value 4_1 < Threshold Value 4_2: Sensor Processed Value 4 > Threshold Value 4_1 and Sensor Processed Value 4 < Threshold Value 4_2 When Threshold Value 4_1 > Threshold Value 4_2: Sensor Processed Value 4 > Threshold Value 4_1 or Sensor Processed Value 4 < Threshold Value 4_2

[0241] (Condition of Sensor Processed Value 5) When Threshold Value 5_1 < Threshold Value 5_2: Sensor Processed Value 5 > Threshold Value 5_1 and Sensor Processed Value 5 < Threshold Value 5_2 When Threshold Value 5_1 > Threshold Value 5_2: Sensor Processed Value 5 > Threshold Value 5_1 or Sensor Processed Value 5 < Threshold Value 5_2

[0242] (Condition of Sensor Processed Value 6) When Threshold Value 6_1 < Threshold Value 6_2: Sensor Processed Value 6 > Threshold Value 6_1 and Sensor Processed Value 6 < Threshold Value 6_2 When Threshold Value 6_1 > Threshold Value 6_2: Sensor Processed Value 6 > Threshold Value 6_1 or Sensor Processed Value 6 < Threshold Value 6_2

[0243] When the sensor processed values 1 to 6 each satisfy the above conditions and the elapsed time from the previous advice speech exceeds 15 [min], the vehicle control device 10 executes the following advice speech process P223. Also, when the sensor processed values 1 to 6 do not satisfy any of the above conditions or the elapsed time from the previous advice speech is 15 [min] or less, the vehicle control device 10 executes a transmission data preparation process P216 similar to the transmission data preparation process P115 of Embodiment 1.

[0244] (·Advice Speech Process P223) In the advice speech process P223, the vehicle control device 10 determines, for example, by the advice content determination unit 15, the advice content speech to be spoken from the in-vehicle speaker 5 based on the following formula (46) using the highest frequency class HistgTop_ACC_idx and HistgTop_LK_idx of the histograms of the ADAS advice function Adv, the ACC advice number adv_idx_ACC, and the LK advice number adv_idx_LK.

[0245] (Speech)=(Adv, HistgTop_ACC_idx, HistgTop_LK_idx)···(46)

[0246] Here, the function speech(A1, A2, A3) outputs the speech content based on the second argument A2 when the first argument A1 = ACC, outputs the speech content based on the third argument A3 when the first argument A1 = LK, and outputs the speech content obtained by integrating the second argument A2 and the third argument A3 when the first argument A1 = BOTH. For example, the function speech(adv = BOTH, HistgTop_ACC_idx = 1, HistgTop_LK_idx = 1) outputs the speech content "While confirming safety, it is more convenient to leave the driving operation to ADAS (ACC and LK) a little more, but do you want to use the guidance function?"

[0247] Furthermore, the vehicle control device 10 transmits a control signal corresponding to the advice content output by the function speech(A1, A2, A3) to the HMI device 4. The HMI device 4 controls the in-vehicle speaker 5 based on the control signal received from the vehicle control device 10, and causes the in-vehicle speaker 5 to speak the advice content.

[0248] (·Determination process P224 for accepting advice) Next, the vehicle control device 10 performs the same process P224 as the advice acceptance determination process P113 of the aforementioned Embodiment 1. When the confirmed driver's intention is acceptance (YES) of the advice content, the vehicle control device 10 executes the next ADAS setting change process P225. When the confirmed driver's intention is other than acceptance (NO) of the advice content, the vehicle control device 10 executes the same processes P216 to P219 from the transmission data preparation process 115 to the past data update process P118 of Embodiment 1.

[0249] (·ADAS setting change process P225) In the ADAS setting change process P225, the vehicle control device 10 changes the ADAS settings, for example, by the ADAS setting change unit 16. For example, in the above-mentioned process P223, when the in-vehicle speaker 5 speaks "While confirming safety, it is more convenient to leave the driving operation to ADAS (ACC and LK) a little longer. Do you want to use the guidance function?", the ADAS guidance function is turned on. When this guidance function is turned on, during ACC and LK implemented in the above-mentioned driving support execution process P203 while the system is operating, the following guidance voice is spoken from the in-vehicle speaker 5.

[0250] When the host vehicle is following a preceding vehicle by ACC and braking stronger than a deceleration of 0.07 [G] is required, "Decelerating" is spoken. Also, when the host vehicle is following a preceding vehicle by ACC and acceleration stronger than an acceleration of 0.05 [G] is required, "Accelerating" is spoken. When the host vehicle is maintaining lane driving by LK and steering stronger than +0.1G (right), "Turning right" is spoken. When the host vehicle is maintaining lane driving by LK and steering stronger than -0.1G (left), "Turning left" is spoken.

[0251] Also, in the above-mentioned process P223, when the in-vehicle speaker 5 speaks "Currently, ADAS (ACC and LK) is not useful. I'm sorry. Do you want to turn it off?" from the system, the ADAS control function is turned off. Note that when the ADAS advice function Adv = BOTH is not satisfied, the speech or turning off is performed only for the corresponding ACC or LK. Also, in the above-mentioned process P223, when the in-vehicle speaker 5 speaks "Do you want to shorten the set vehicle distance?", the set inter-vehicle time corresponding to the set inter-vehicle distance of ACC is subtracted by 0.1 s. However, from the perspective of preventing weaving driving, for example, the set inter-vehicle time is limited to 1.0 [s] or more.

[0252] Also, in the above-described process P223, when the in-vehicle speaker 5 issues a voice command "Do you want to widen the set vehicle distance?", the set vehicle time corresponding to the set vehicle distance of the ACC is increased by 0.1 s. However, in order not to cause stress to the following vehicle, for example, the set vehicle time is limited to 2.5 [s] or less. Also, in the above-described process P223, when the in-vehicle speaker 5 issues a voice command "Do you want to change the target line?", the target lateral position corresponding to the target driving line of the LK is set to the current lateral position. However, considering the error of the external sensor 1, the settable range of the target lateral position is limited to, for example, about ±0.5 [m].

[0253] According to the production method of the vehicle control device 10, the information processing device 20, and the vehicle control system 100 of the present embodiment, the same effects as those of the production method of the vehicle control device 10, the information processing device 20, and the vehicle control system 100 of the above-described embodiment 1 can be achieved. Further, according to the present embodiment, even when the ADAS function is used, appropriate advice is given according to the driving situation, and the function is changed appropriately to improve usability or turned off so as not to use the function. Therefore, it is possible to suppress the driver's aversion to the ADAS mounted on the vehicle control device 10.

[0254] [Embodiment 3] Next, referring to FIGS. 1, 3 to 14 and FIGS. 17 and 18, Embodiment 3 of the production method of the vehicle control device, the information processing device, and the vehicle control system of the present disclosure will be described. FIGS. 17 and 18 are flowcharts showing the processing flow of the vehicle control device 10 of the present embodiment.

[0255] The series of processes of the vehicle control device 10 of the present embodiment shown in FIGS. 17 and 18 are executed for the purpose of giving appropriate advice according to the situation to a driver who has become accustomed to the ADAS function and customizing the ADAS function to a setting that better suits the driver's preference. Hereinafter, the description will focus on the differences between the present embodiment and Embodiment 2, and the description of the parts similar to those of Embodiment 2 of the present embodiment will be omitted as appropriate.

[0256] Each process from the vehicle information acquisition process P301 to the operation state determination process P317 shown in FIG. 17 is the same as each process from the vehicle information acquisition process P201 to the transmission permission determination process P217 of the aforementioned Embodiment 2.

[0257] In the data transmission process P318 shown in FIG. 18, the vehicle control device 10 of the present embodiment transmits the following data to the information processing device 20 on the cloud, for example. The vehicle control device 10 transmits various data including, for example, the average usage rate userate_ACC of the ACC function, the average usage rate userate_LK of the LK function, the average value behavifluct_ACC of the longitudinal acceleration LngG, the average value behavifluct_LK of the lateral acceleration LatG, the average value intrvntnfreq_ACC of the elapsed time from the last pedal operation, and the average value intrvntnfreq_LK of the elapsed time from the last steering operation.

[0258] As a result, when the denial of advice is more than a predetermined level at the same location, when accumulating data in the information processing device 20 on the cloud, it is considered that the reliability of the data accumulated so far is low, and the weight of the reliability of the newly added data is increased. As a result, the data accumulated in the information processing device 20 on the cloud can be optimized, and the accuracy of advice can be further improved. After the end of the data transmission process P318, the vehicle control device 10 executes a process P319 similar to the past data update process P219 of Embodiment 2, and ends one cycle of the process flow.

[0259] (·Advice content selection process P320) When the vehicle control device 10 starts the advice content selection process P320, first, it executes a process P320-0 similar to the advice content initialization process P220-0 of Embodiment 2, and then executes the ACC advice content determination process P320-1. The advice content selection process P320 of the present embodiment is different from the aforementioned embodiment in that it takes into account the proficiency levels of ACC and LK, and not only the target values of the control system but also changes the control characteristics.

[0260] (··ACC advice content determination process P320-1) Next, the vehicle control device 10 executes, for example, the ACC advice content determination process P320-1 by the advice content determination unit 15. In this process P320-1, the vehicle control device 10 determines whether the following conditions (A1) to (A3) are satisfied. Note that condition (A1) corresponds to a situation where more than half of the other vehicles that have traveled at the driving point of the host vehicle use ACC and can utilize ACC. Condition (A2) corresponds to a situation where ACC can be used without problems in the host vehicle as well. Condition (A3) corresponds to a situation where the driver of the host vehicle has little experience using ACC and operates the brake without utilizing ACC.

[0261] (A1) ACC usage rate UseRate_ACC: 50[%] or more, ACC intervention frequency IntrvntnFreq_ACC: 30 [s] or more (A2) ACC support difficulty dfclty_ACC: 2 or less (A3) Brake operation frequency pdl_B_freq: 10 [s] or less, collision margin time TTC: 12 [s] or more, approaching the preceding vehicle at a relative speed rVy of the preceding vehicle of 1 [m / s] or less, ACC: in use (SW_ACC = ON), ACC function proficiency level ProficiLev_ACC: 7200 [s] or less

[0262] When all of the above conditions (A1) to (A3) are satisfied, the vehicle control device 10 sets, for example, by the ADAS setting change unit 16, as an advice candidate, ACC advice number adv_idx_ACC = 1, ACC advice content adv_msg_ACC = "While checking safety, it will be easier if you leave it to ACC a little more. Do you want to use the guidance function?", and executes the process P320-6 described later. When at least one of the above conditions (A1) to (A3) is not satisfied, the following second ACC advice content determination process P320-2 is executed.

[0263] (··ACC advice content determination process P320-2) In the determination process P320-2 of this ACC advice content, the vehicle control device 10 determines whether the following conditions (B1) to (B3) are satisfied. Note that condition (B1) corresponds to a situation where most other vehicles traveling at the self-vehicle's driving location do not use ACC and ACC cannot be utilized. Also, condition (B2) corresponds to a situation where it is difficult to use ACC even in the self-vehicle. Further, condition (B3) corresponds to a situation where the self-vehicle driver's experience in using ACC is below intermediate level, and braking is insufficient with only ACC, and the brake is frequently operated.

[0264] (B1) ACC usage rate UseRate_ACC: 30[%] or less, ACC intervention frequency IntrvntnFreq_ACC: 10 [s] or less (B2) ACC support difficulty dfclty_ACC: 5 or more (B3) Brake operation frequency pdl_B_freq: 10 [s] or less, collision margin time TTC: 6 [s] or less, approaching the preceding vehicle within ±3 [m / s] of the relative speed rVy of the preceding vehicle, ACC: in use (SW_ACC = ON), ACC function proficiency ProficiLev_ACC: 36000 [s] or less

[0265] When all of the above conditions (B1) to (B3) are satisfied, the vehicle control device 10, for example, sets, as advice candidates, ACC advice number adv_idx_ACC = 2 and ACC advice content adv_msg_ACC = "ACC is not useful at the moment. Sorry. Do you want to turn it off?" by the ADAS setting change unit 16, and executes the subsequent process P320-6. When at least one of the above conditions (B1) to (B3) is not satisfied, the following third ACC advice content determination process P320-3 is executed.

[0266] (··ACC advice content determination process P320-3) In the determination process P320-3 of this ACC advice content, the vehicle control device 10 determines whether the following conditions (C1) to (C3) are satisfied. Note that condition (C1) corresponds to a situation where more than half of the other vehicles that have traveled at the driving point of the host vehicle are using ACC and can utilize ACC. Also, condition (C2) corresponds to a situation where ACC can generally be used in the host vehicle. Further, condition (C3) corresponds to a situation where the driver of the host vehicle wants to shorten the set inter-vehicle distance (set inter-vehicle time THW) in ACC.

[0267] (C1) ACC usage rate UseRate_ACC: 50 [%] or more, ACC intervention frequency IntrvntnFreq_ACC: 30 [s] or more (C2) ACC support difficulty dfclty_ACC: 4 or less (C3) Accelerator operation frequency pdl_A_freq: 10 [s] or less, inter-vehicle time THW: set value > actual inter-vehicle time, relative speed of the preceding vehicle rVy: 1 [m / s] or less and approaching the preceding vehicle, ACC: in use (SW_ACC = ON)

[0268] When all of the above conditions (C1) to (C3) are satisfied, the vehicle control device 10 sets, for example, by the ADAS setting change unit 16, as advice candidates, ACC advice number adv_idx_ACC = 3, ACC advice content adv_msg_ACC = "Do you want to shorten the set inter-vehicle distance?", and executes the subsequent process P320-6. When at least one of the above conditions (C1) to (C3) is not satisfied, the following fourth ACC advice content determination process P320-4 is executed.

[0269] (··ACC advice content determination process P320-4) In the determination process P320-4 of this ACC advice content, the vehicle control device 10 determines whether the following conditions (D1) to (D3) are satisfied. Note that condition (D1) corresponds to a situation where more than half of the other vehicles that have traveled the driving point of the host vehicle are using ACC and are in a situation where ACC can be utilized. Also, condition (D2) corresponds to a situation where ACC can generally be used in the host vehicle as well. Further, condition (D3) corresponds to a situation where the driver of the host vehicle wants to extend the inter-vehicle distance (inter-vehicle time THW) in ACC.

[0270] (D1) ACC usage rate UseRate_ACC: 50 [%] or more, ACC intervention frequency IntrvntnFreq_ACC: 30 [s] or more (D2) ACC support difficulty dfclty_ACC: 4 or less (D3) Brake operation frequency pdl_B_freq: 10 [s] or less, inter-vehicle time THW: set value < actual inter-vehicle time, relative speed of the preceding vehicle rVy: non-approaching, ACC: in use (SW_ACC = ON)

[0271] When all of the above conditions (D1) to (D3) are satisfied, the vehicle control device 10 sets, for example, by the ADAS setting change unit 16, as advice candidates, ACC advice number adv_idx_ACC = 4, ACC advice content adv_msg_ACC = "Do you want to increase the set inter-vehicle distance?", and executes the subsequent process P320-6. When at least one of the above conditions (D1) to (D3) is not satisfied, the following first LK advice content determination process P320-5 is executed.

[0272] (··ACC advice content determination process P320-5) In this ACC advice content determination process P320-5, the vehicle control device 10 determines whether the following conditions (E1) to (E3) are satisfied. Note that condition (E1) corresponds to a situation where more than half of the other vehicles that have traveled the driving point of the host vehicle are using ACC and are generally in a situation where ACC can be utilized. Also, condition (E2) corresponds to a situation where ACC can generally be used in the host vehicle as well. Further, condition (E3) corresponds to a situation where the driver of the host vehicle requests driving support by ACC even in a situation where a certain degree of sudden deceleration is required.

[0273] (E1) ACC Usage Rate UseRate_ACC: 50% or more, ACC Intervention Frequency IntrvntnFreq_ACC: 30 s or more (E2) ACC Support Difficulty dfclty_ACC: 4 or less (E3) Brake Operation Frequency pdl_B_freq: 30 s or more, Time Headway THW: Set value > Actual Time Headway, Relative Speed of Leading Vehicle rVy: Approaching, ACC: In use (SW_ACC = ON), ACC Function Proficiency Level ProficiLev_ACC: 720000 s or more

[0274] When all of the above conditions (E1) to (E3) are satisfied, the vehicle control device 10 sets, for example, by the ADAS setting change unit 16, as advice candidates, ACC advice number adv_idx_ACC = 5, ACC advice content adv_msg_ACC = "Do you want to enhance the control characteristics of ACC?", and executes the following process P320-6. When at least one of the above conditions (E1) to (E3) is not satisfied, the vehicle control device 10 maintains the initialized settings and executes the following first LK advice content determination process P320-6.

[0275] (··LK advice content determination process P320-6) Next, the vehicle control device 10 executes, for example, by the advice content determination unit 15, the LK advice content determination process P320-6. In this process P320-6, the vehicle control device 10 determines whether or not the following conditions (F1) to (F3) are satisfied. Note that condition (F1) corresponds to a situation where more than half of the other vehicles that have traveled at the driving point of the host vehicle use LK and can utilize LK. Also, condition (F2) corresponds to a situation where LK can be used without problems in the host vehicle. Also, condition (F3) corresponds to a situation where the driver of the host vehicle has little experience using LK and operates the steering wheel without utilizing LK.

[0276] (F1) LK Usage Rate UseRate_LK: 50% or more, LK Intervention Frequency IntrvntnFreq_LK: 20 s or more (F2) LK Support Difficulty dfclty_LK: 2 or less (F3) Steering frequency str_freq: 10 [s] or less, Lateral position deviation LatErr: within ±0.3 [m], LK: in use (SW_LK = ON), LK function proficiency level ProficiLev_LK: 7200 [s] or less

[0277] When all of the above conditions (F1) to (F3) are satisfied, the vehicle control device 10, for example, sets, as advice candidates, LK advice number adv_idx_LK = 1 and LK advice content adv_msg_LK = "While checking safety, it would be easier to leave the steering operation to LK a little more. Do you want to use the guidance function?" by the ADAS setting change unit 16, and executes the process P320-10 described later. When at least one of the above conditions (F1) to (F3) is not satisfied, the following second LK advice content determination process P320-7 is executed.

[0278] (··LK advice content determination process P320-7) In this LK advice content determination process P320-7, the vehicle control device 10 determines whether or not the following conditions (G1) to (G3) are satisfied. Note that condition (G1) corresponds to a situation where most of the other vehicles that have traveled at the driving point of the host vehicle do not use LK and LK cannot be utilized. Also, condition (G2) corresponds to a situation where it is difficult to use LK even in the host vehicle. Also, condition (G3) corresponds to a situation where the driving experience of the driver of the host vehicle is below intermediate level, and there is insufficient steering with only LK, and the steering wheel is frequently operated.

[0279] (G1) LK usage rate UseRate_LK: 30 [%] or less, LK intervention frequency IntrvntnFreq_LK: 10 [s] or less (G2) Difficulty of LK support dfclty_ACC: 5 or more (G3) Steering frequency str_freq: 10 [s] or less, Lateral position deviation LatErr: 0.6 [m] or more, LK: in use (SW_LK = ON), LK function proficiency level ProficiLev_LK: 36000 [s] or less

[0280] When all of the above conditions (G1) to (G3) are satisfied, the vehicle control device 10 sets, for example, by the ADAS setting change unit 16, as advice candidates, LK advice number adv_idx_LK = 2 and LK advice content adv_msg_LK = "I'm sorry, LK is not useful at the moment. Do you want to turn it off?" and executes the process P320-10 described later. When at least one of the above conditions (G1) to (G3) is not satisfied, the following third LK advice content determination process P320-8 is executed.

[0281] (··LK advice content determination process P320-8) In this LK advice content determination process P320-8, the vehicle control device 10 determines whether or not the following conditions (H1) to (H3) are satisfied. Note that condition (H1) corresponds to a situation where more than half of the other vehicles that have traveled at the traveling point of the host vehicle are using LK and are able to utilize LK. Also, condition (H2) corresponds to a situation where LK can be easily used in the host vehicle. Also, condition (G3) corresponds to a situation where the driver of the host vehicle wants to drive on a driving line other than the center of the lane against the steering force by the control of LK.

[0282] (H1) LK usage rate UseRate_LK: 50 [%] or more, LK intervention frequency IntrvntnFreq_LK: 20 [s] or more (H2) LK support difficulty dfclty_ACC: 2 or less (H3) Steering torque str_trq: exceeding ±2 [Nm], LK: in use (SW_LK = ON)

[0283] When all of the above conditions (H1) to (H3) are satisfied, the vehicle control device 10 sets, for example, by the ADAS setting change unit 16, as advice candidates, LK advice number adv_idx_LK = 3 and LK advice content adv_msg_LK = "Do you want to change the driving line of LK?" and executes the process P320-10 described later. When at least one of the above conditions (H1) to (H3) is not satisfied, the following fourth LK advice content determination process P320-9 is executed.

[0284] (··LK advice content determination process P320-9) In the determination process P320-9 of this LK advice content, the vehicle control device 10 determines whether the following conditions (I1) to (I3) are satisfied. Note that condition (I1) corresponds to a situation where more than half of the other vehicles that have traveled the driving point of the host vehicle are using LK and are in a situation where LK can be utilized. Also, condition (I2) corresponds to a situation where LK can be easily used in the host vehicle as well. Further, condition (I3) corresponds to a situation where the driver of the host vehicle has rich experience in using LK and requests driving support by LK even on a somewhat sharp curve.

[0285] (I1) LK usage rate UseRate_LK: 50[%] or more, LK intervention frequency IntrvntnFreq_LK: 20 [s] or more (I2) LK support difficulty dfclty_ACC: 2 or less (I3) Steering frequency str_freq: 20 [s] or more, steering torque str_trq: within ±2 [Nm], LK: in use (SW_LK = ON), LK function proficiency ProficiLev_LK: 72000 [s] or more

[0286] When all of the above conditions (I1) to (I3) are satisfied, the vehicle control device 10, for example, sets, as advice candidates, LK advice number adv_idx_LK = 4 and LK advice content adv_msg_LK = "Do you want to strengthen the LK control characteristics?" by the ADAS setting change unit 16, and executes the next road attribute determination process P320-10. When at least one of the above conditions (I1) to (I3) is not satisfied, the initialized settings are maintained and the next road attribute determination process P320-10 is executed.

[0287] (·· Road attribute determination process P320-10) When the road attribute RoadType is different, the presence or absence of ACC use (SW_ACC = ON / OFF) is different, or the presence or absence of LK use (SW_LK = ON / OFF) is different between the previous processing cycle and the current processing cycle, the vehicle control device 10 resets the frequency of each class in the frequency distribution of the driving support difficulties of both ACC and LK in the past 5 minutes to 9 (no advice), and executes the following vehicle information processing P321.

[0288] On the one hand, when the road attribute RoadType is the same in the previous processing cycle and the current processing cycle, when the presence or absence of ACC use (SW_ACC = ON / OFF) is the same, and when the presence or absence of LK use (SW_LK = ON / OFF) is the same, the same process P320-11 as the ACC advice number histogram calculation process P220-9 of Embodiment 2 is executed. After that, the information processing device 20 executes the following vehicle information processing P321.

[0289] (· Vehicle information processing P321) In the vehicle information processing P321, the vehicle control device 10 executes the following respective processes to set the sensor processing value, its threshold value, and the ADAS advice function Adv.

[0290] (·· Initialization process P321-0) The vehicle control device 10 initializes the sensor processing values 1 to 3, the threshold values 1_1 to 3_1, and the threshold values 1_2 to 3_2 as follows in (a1) to (a4), and executes the following first condition determination process P321-1. This initialization process P321-0 is a process for not uttering when the conditions are not met in all processes after the first condition determination process P321-1.

[0291] (a1) Sensor processing value 1 = 0, threshold value 1_1 = 8, threshold value 1_2 = 9 (a2) Sensor processing value 2 = 0, threshold value 2_1 = 8, threshold value 2_2 = 9 (a3) Sensor processing value 3 = 0, threshold value 3_1 = 8, threshold value 3_2 = 9 (a4) ADAS advice function = ACC

[0292] (·· First condition determination process P321-1) The vehicle control device 10 determines whether the highest frequency HistgTop_ACC_num of the histogram of the ACC advice number adv_idx_ACC, the highest frequency HistgTop_LK_num of the histogram of the LK advice number adv_idx_LK, and the class HistgTop_ACC_idx of the highest frequency of the histogram of the ACC advice number adv_idx_ACC satisfy the following first condition.

[0293] Condition 1: HistgTop_ACC_num > HistgTop_LK_num + 10 and HistgTop_ACC_idx = 1

[0294] Note that the class HistgTop_ACC_idx of the highest frequency of the histogram of the ACC advice number adv_idx_ACC in the first condition is such that ACC advice number adv_idx_ACC = 1, corresponding to the ACC advice content adv_msg_ACC = "While checking safety, it is more comfortable to leave it to ACC a little more. Do you want to use the guidance function?". If the above first condition is not satisfied, the vehicle control device 10 executes the following process P321-2. On the other hand, if the above first condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advice function Adv as follows in (b1) to (b4), and executes the condition determination process P322 described later.

[0295] (b1) Sensor processing value 1 = brake operation intensity pdl_B_press, Threshold value 1_1 = 0.1 [MPa], threshold value 1_2 = 1.5 [MPa] (b2) Sensor processing value 2 = collision margin time TTC, threshold value 2_1 = 10 [s], threshold value 2_2 = 9999 [s] (b3) Sensor processing value 3 = relative speed of the preceding vehicle rVy, threshold value 3_1 = -1 [m / s], threshold value 3_2 = 1 [m / s] (b4) ADAS advice function Adv = ACC

[0296] (·· Second condition determination process P321-2) The vehicle control device 10 determines whether the highest frequency HistgTop_ACC_num of the histogram of the ACC advice number adv_idx_ACC, the highest frequency HistgTop_LK_num of the histogram of the LK advice number adv_idx_LK, and the class HistgTop_ACC_idx of the highest frequency of the histogram of the ACC advice number adv_idx_ACC satisfy the following second condition.

[0297] Second condition: HistgTop_ACC_num > HistgTop_LK_num + 10 and HistgTop_ACC_idx = 2

[0298] Note that the class HistgTop_ACC_idx of the highest frequency of the histogram of the ACC advice number adv_idx_ACC in the second condition is ACC advice number adv_idx_ACC = 2, which corresponds to the ACC advice content adv_msg_ACC = "ACC is not useful at the moment. Sorry, shall I turn it off?". If the above second condition is not satisfied, the vehicle control device 10 executes the following process P321-3. On the other hand, if the above second condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advice function Adv as follows (c1) to (c4), and executes the condition determination process P322 described later.

[0299] (c1) Sensor processing value 1 = brake operation intensity pdl_B_press, Threshold value 1_1 = 1.5 [MPa], threshold value 1_2 = 4 [MPa] (c2) Sensor processing value 2 = collision margin time TTC, threshold value 2_1 = 2 [s], threshold value 2_2 = 6 [s] (c3) Sensor processing value 3 = relative speed of the preceding vehicle rVy, threshold value 3_1 = -10 [m / s], threshold value 3_2 = -1 [m / s] (c4) ADAS advice function Adv = ACC

[0300] (··· Third condition determination process P321-3) The vehicle control device 10 determines whether the highest frequency HistgTop_ACC_num of the histogram of the ACC advice number adv_idx_ACC, the highest frequency HistgTop_LK_num of the histogram of the LK advice number adv_idx_LK, and the class HistgTop_ACC_idx of the highest frequency of the histogram of the ACC advice number adv_idx_ACC satisfy the following third condition.

[0301] Condition 3: HistgTop_ACC_num > HistgTop_LK_num + 10 and HistgTop_ACC_idx = 3

[0302] Note that the class HistgTop_ACC_idx with the highest frequency in the histogram of the ACC advice number adv_idx_ACC in Condition 3 is ACC advice number adv_idx_ACC = 3, corresponding to the ACC advice content adv_msg_ACC = "Do you want to shorten the set inter-vehicle distance?" If the above Condition 3 is not satisfied, the vehicle control device 10 executes the following process P321-4. On the other hand, if the above Condition 3 is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advice function Adv as follows in (d1) to (d4), and executes the subsequent condition determination process P322.

[0303] (d1) Sensor processing value 1 = accelerator operation opening pdl_A_press, threshold value 1_1 = 2 [%], threshold value 1_2 = 20 [%] (d2) Sensor processing value 2 = actual inter-vehicle time THW - set inter-vehicle time THW Threshold value 2_1 = -0.5 [s], threshold value 2_2 = -0.1 [s] (d3) Sensor processing value 3 = relative speed of the preceding vehicle rVy, threshold value 3_1 = -0.5 [m / s], threshold value 3_2 = 0.5 [m / s] (d4) ADAS advice function Adv = ACC

[0304] (··· Fourth condition determination process P321-4) The vehicle control device 10 determines whether the highest frequency HistgTop_ACC_num in the histogram of the ACC advice number adv_idx_ACC, the highest frequency HistgTop_LK_num in the histogram of the LK advice number adv_idx_LK, and the class HistgTop_ACC_idx with the highest frequency in the histogram of the ACC advice number adv_idx_ACC satisfy the following Fourth condition.

[0305] Fourth condition: HistgTop_ACC_num > HistgTop_LK_num + 10 and HistgTop_ACC_idx = 4

[0306] Note that the class HistgTop_ACC_idx with the highest frequency in the histogram of the ACC advice number adv_idx_ACC in the fourth condition is adv_idx_ACC = 4, which corresponds to the ACC advice content adv_msg_ACC = "Do you want to increase the set inter-vehicle distance?" If the above fourth condition is not satisfied, the vehicle control device 10 executes the following process P321-5. On the other hand, if the above fourth condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advice function Adv as follows in (e1) to (e4), and executes the condition determination process P322 described later.

[0307] (e1) Sensor processing value 1 = brake operation intensity pdl_B_press, Threshold value 1_1 = 0.1 [MPa], threshold value 1_2 = 1 [MPa] (e2) Sensor processing value 2 = actual inter-vehicle time THW - set inter-vehicle time THW, Threshold value 2_1 = 0.1 [s], threshold value 2_2 = 0.5 [s] (e3) Sensor processing value 3 = relative speed of the preceding vehicle rVy, threshold value 3_1 = -0.5 [m / s], threshold value 3_2 = 0.5 [m / s] (e4) ADAS advice function Adv = ACC

[0308] (·· Fifth condition determination process P321-5) The vehicle control device 10 determines whether the highest frequency HistgTop_ACC_num in the histogram of the ACC advice number adv_idx_ACC, the highest frequency HistgTop_LK_num in the histogram of the LK advice number adv_idx_LK, and the class HistgTop_ACC_idx with the highest frequency in the histogram of the ACC advice number adv_idx_ACC satisfy the following fifth condition.

[0309] Fifth condition: HistgTop_ACC_num > HistgTop_LK_num + 10, and HistgTop_ACC_idx = 5

[0310] Note that the class HistgTop_ACC_idx with the highest frequency in the histogram of the ACC advice number adv_idx_ACC under the fifth condition is adv_idx_ACC = 5, which corresponds to the ACC advice content adv_msg_ACC = "Do you want to enhance the control characteristics of ACC?". When the above fifth condition is not satisfied, the vehicle control device 10 executes the following process P321-6. On the other hand, when the above fifth condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advice function Adv as follows (f1) to (f4), and executes the subsequent condition determination process P222.

[0311] (f1) Sensor processing value 1 = brake operation intensity pdl_B_press, Threshold value 1_1 = 0.01 [MPa], threshold value 1_2 = 0.01 [MPa] (f2) Sensor processing value 2 = actual inter-vehicle time THW - set inter-vehicle time THW, Threshold value 2_1 = -1.5 [s], threshold value 2_2 = -0.5 [s] (f3) Sensor processing value 3 = collision margin time TTC, threshold value 3_1 = 3 [s], threshold value 3_2 = 6 [s] (f4) ADAS advice function Adv = ACC

[0312] (·· Sixth condition determination process P321-6) The vehicle control device 10 determines whether the highest frequency HistgTop_LK_num in the histogram of the LK advice number adv_idx_LK, the highest frequency HistgTop_ACC_num in the histogram of the ACC advice number adv_idx_ACC, and the class HistgTop_LK_idx with the highest frequency in the histogram of the LK advice number adv_idx_LK satisfy the following sixth condition.

[0313] Sixth condition: HistgTop_LK_num > HistgTop_ACC_num + 10, and HistgTop_LK_idx = 1

[0314] Note that the class HistgTop_LK_idx with the highest frequency in the histogram of the LK advice number adv_idx_LK in the sixth condition is LK advice number adv_idx_LK = 1, which corresponds to the LK advice content adv_msg_LK = "While confirming safety, it is more comfortable to leave the steering operation to LK a little more. Do you want to use the guidance function?" When the above sixth condition is not satisfied, the vehicle control device 10 executes the following process P321-7. On the other hand, when the above sixth condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advice function Adv as follows in (g1) to (g4), and executes the condition determination process P322 described later.

[0315] (g1) Sensor processing value 1 = steering torque str_trq, threshold value 1_1 = -2 [Nm], threshold value 1_2 = 2 [Nm] (g2) Sensor processing value 2 = lateral acceleration LatG, threshold value 2_1 = -0.03 [G], threshold value 2_2 = 0.03 [G] (g3) Sensor processing value 3 = relative speed rVy of the preceding vehicle, threshold value 3_1 = -0.03 [m / s], threshold value 3_2 = 0.03 [m / s] (g4) ADAS advice function Adv = LK

[0316] (··· Seventh condition determination process P321-7) The vehicle control device 10 determines whether the highest frequency HistgTop_LK_num in the histogram of the LK advice number adv_idx_LK, the highest frequency HistgTop_ACC_num in the histogram of the ACC advice number adv_idx_ACC, and the class HistgTop_LK_idx with the highest frequency in the histogram of the LK advice number adv_idx_LK satisfy the following seventh condition.

[0317] Seventh condition: HistgTop_LK_num > HistgTop_ACC_num + 10, and HistgTop_LK_idx = 2

[0318] Note that the class HistgTop_LK_idx with the highest frequency in the histogram of the LK advice number adv_idx_LK in the seventh condition is LK advice number adv_idx_LK = 2, which corresponds to the LK advice content adv_msg_LK = "LK is not useful at the moment. Sorry, should I turn it off?". If the above seventh condition is not satisfied, the vehicle control device 10 executes the following process P321-8. On the other hand, if the above seventh condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advice function Adv as follows (h1) to (h4), and executes the condition determination process P322 described later.

[0319] (h1) Sensor processing value 1 = steering torque str_trq, threshold value 1_1 = 5 [Nm], threshold value 1_2 = -5 [Nm] (h2) Sensor processing value 2 = lateral acceleration LatG, threshold value 2_1 = 0.15 [G], threshold value 2_2 = -0.15 [G] (h3) Sensor processing value 3 = relative speed rVy of the preceding vehicle, threshold value 3_1 = 0.3 [m / s], threshold value 3_2 = -0.3 [m / s] (h4) ADAS advice function Adv = LK

[0320] (··· Eighth condition determination process P321-8) The vehicle control device 10 determines whether the highest frequency HistgTop_LK_num in the histogram of the LK advice number adv_idx_LK, the highest frequency HistgTop_ACC_num in the histogram of the ACC advice number adv_idx_ACC, and the class HistgTop_LK_idx with the highest frequency in the histogram of the LK advice number adv_idx_LK satisfy the following eighth condition.

[0321] Eighth condition: HistgTop_LK_num > HistgTop_ACC_num + 10, and HistgTop_LK_idx = 3

[0322] Note that the class HistgTop_LK_idx with the highest frequency in the histogram of the LK advice number adv_idx_LK in the eighth condition is LK advice number adv_idx_LK = 3, corresponding to the LK advice content adv_msg_LK = "Do you want to change the driving line of LK?" If the above eighth condition is not satisfied, the vehicle control device 10 executes the following process P321-9. On the other hand, when the above eighth condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advice function Adv as follows in (i1) to (i4), and executes the condition determination process P322 described later.

[0323] (i1) Sensor processing value 1 = steering torque str_trq, threshold value 1_1 = -5 [Nm], threshold value 1_2 = 5 [Nm] (i2) Sensor processing value 2 = lateral acceleration LatG, threshold value 2_1 = -0.03 [G], threshold value 2_2 = 0.03 [G] (i3) Sensor processing value 3 = relative speed rVy of the preceding vehicle, threshold value 3_1 = -0.03 [m / s], threshold value 3_2 = 0.03 [m / s] (i4) ADAS advice function Adv = LK

[0324] (·· Ninth condition determination process P321-9) The vehicle control device 10 determines whether the highest frequency HistgTop_LK_num in the histogram of the LK advice number adv_idx_LK, the highest frequency HistgTop_ACC_num in the histogram of the ACC advice number adv_idx_ACC, and the class HistgTop_LK_idx with the highest frequency in the histogram of the LK advice number adv_idx_LK satisfy the following ninth condition.

[0325] Ninth condition: HistgTop_LK_num > HistgTop_ACC_num + 10, and HistgTop_LK_idx = 4

[0326] Note that the class HistgTop_LK_idx with the highest frequency in the histogram of the LK advice number adv_idx_LK in the 9th condition is LK advice number adv_idx_LK = 4, which corresponds to the LK advice content adv_msg_LK = "Do you want to strengthen the control characteristics of LK?" If the above 9th condition is not satisfied, the vehicle control device 10 executes the following process P321-10. On the other hand, if the above 9th condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advice function Adv as follows (j1) to (j4), and executes the condition determination process P322 described later.

[0327] (j1) Sensor processing value 1 = steering torque str_trq, threshold value 1_1 = -1 [Nm], threshold value 1_2 = 1 [Nm] (j2) Sensor processing value 2 = lateral acceleration LatG, threshold value 2_1 = 0.18 [G], threshold value 2_2 = -0.18 [G] (j3) Sensor processing value 3 = relative speed rVy of the preceding vehicle, threshold value 3_1 = -0.05 [m / s], threshold value 3_2 = 0.05 [m / s] (j4) ADAS advice function Adv = LK

[0328] (··· 10th condition determination process P321-10) The vehicle control device 10 determines whether the class HistgTop_ACC_idx with the highest frequency in the histogram of the ACC advice number adv_idx_ACC and the class HistgTop_LK_idx with the highest frequency in the histogram of the LK advice number adv_idx_LK satisfy the following 10th condition.

[0329] 10th condition: HistgTop_ACC_idx = 1 and HistgTop_LK_idx = 1

[0330] Note that for each class HistgTop_ACC_idx and HistgTop_LK_idx in the 10th condition, the ACC advice number adv_idx_ACC = 1 and the LK advice number adv_idx_LK = 1, respectively. This corresponds to the ACC advice content adv_msg_ACC = "While confirming safety, it would be easier to leave a little more steering operation to ACC. Do you want to use the guidance function?" and the LK advice content adv_msg_LK = "While confirming safety, it would be easier to leave a little more steering operation to LK. Do you want to use the guidance function?". When the above 10th condition is not satisfied, the vehicle control device 10 executes the following process P321-11. On the other hand, when the above 10th condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advice function Adv as follows (k1) to (k7), and executes the condition determination process P322 described later.

[0331] (k1) Sensor processing value 1 = brake operation intensity pdl_B_press, Threshold value 1_1 = 0.1 [MPa], threshold value 1_2 = 1.5 [MPa] (k2) Sensor processing value 2 = collision margin time TTC, threshold value 2_1 = 10 [s], threshold value 2_2 = 9999 [s] (k3) Sensor processing value 3 = relative speed of the preceding vehicle rVy, threshold value 3_1 = -1 [m / s], threshold value 3_2 = 1 [m / s] (k4) Sensor processing value 4 = steering torque str_trq, threshold value 4_1 = -2 [Nm], threshold value 4_2 = 2 [Nm] (k5) Sensor processing value 5 = lateral acceleration LatG, threshold value 5_1 = -0.03 [G], threshold value 5_2 = 0.03 [G] (k6) Sensor processing value 6 = relative speed of the preceding vehicle rVy, threshold value 6_1 = -0.03 [m / s], threshold value 6_2 = 0.03 [m / s] (k7) ADAS advice function Adv = BOTH (ACC and LK)

[0332] (··· 11th condition determination process P221-11) The vehicle control device 10 determines whether the class HistgTop_ACC_idx with the highest frequency in the histogram of the ACC advice number adv_idx_ACC and the class HistgTop_LK_idx with the highest frequency in the histogram of the LK advice number adv_idx_LK satisfy the following 11th condition.

[0333] 11th condition: HistgTop_ACC_idx = 2 and HistgTop_LK_idx = 2

[0334] Note that each class HistgTop_ACC_idx and HistgTop_LK_idx in the 11th condition corresponds to the ACC advice number adv_idx_ACC = 2 and the LK advice number adv_idx_LK = 2, respectively. This corresponds to the ACC advice content adv_msg_ACC = "ACC is not useful at the moment. Sorry, shall I turn it off?" and the LK advice content adv_msg_LK = "LK is not useful at the moment. Sorry, shall I turn it off?". If the above 11th condition is not satisfied, the vehicle control device 10 executes the following condition determination process P322. On the other hand, if the above 11th condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advice function Adv as follows in (l1) to (l7), and executes the following condition determination process P322.

[0335] (l1) Sensor processing value 1 = brake operation intensity pdl_B_press, Threshold value 1_1 = 1.5 [MPa], threshold value 1_2 = 4 [MPa] (l2) Sensor processing value 2 = collision margin time TTC, threshold value 2_1 = 2 [s], threshold value 2_2 = 6 [s] (l3) Sensor processing value 3 = relative speed of the preceding vehicle rVy, threshold value 3_1 = -10 [m / s], threshold value 3_2 = -1 [m / s] (l4) Sensor processing value 4 = steering torque str_trq, threshold value 4_1 = -5 [Nm], threshold value 4_2 = 5 [Nm] (l5) Sensor processing value 5 = lateral acceleration LatG, threshold value 5_1 = -0.03 [G], threshold value 5_2 = 0.03 [G] (l6) Sensor processing value 6 = relative speed rVy of the preceding vehicle, threshold value 6_1 = -0.03 [m / s], threshold value 6_2 = 0.03 [m / s] (l7) ADAS advice function Adv = BOTH (ACC and LK)

[0336] (· Condition determination process P322) The vehicle control device 10 performs the same process P322 as the condition determination process P222 of the aforementioned Embodiment 2. When the sensor processing values 1 to 3 satisfy each condition and the elapsed time from the previous advice utterance exceeds 15 [min], the vehicle control device 10 executes the next advice utterance process P323. Also, when the sensor processing values 1 to 3 do not satisfy any of the conditions or the elapsed time from the previous advice utterance is 15 [min] or less, the vehicle control device 10 executes the transmission data preparation process P326 described later.

[0337] Also, when the sensor processing values 1 to 6 satisfy each condition and the elapsed time from the previous advice utterance exceeds 15 [min], the vehicle control device 10 executes the next advice utterance process P323. Also, when the sensor processing values 1 to 6 do not satisfy any of the conditions or the elapsed time from the previous advice utterance is 15 [min] or less, the vehicle control device 10 executes the transmission data preparation process P326 described later.

[0338] (· Advice utterance process P323) The vehicle control device 10 executes the same process P323 as the advice utterance process P223 of the aforementioned Embodiment 2.

[0339] (· Advice reception determination process P324) Next, the vehicle control device 10 performs the same process P324 as the advice reception determination process P224 of the aforementioned Embodiment 2. When the confirmed driver's intention is acceptance (YES) of the advice content, the vehicle control device 10 executes the next ADAS setting change process P325. When the confirmed driver's intention is other than acceptance (NO) of the advice content, the vehicle control device 10 sets the driver reaction driver_reaction = 0 and executes the process P326 described later.

[0340] (·ADAS setting change process P325) The vehicle control device 10 changes the settings of the ADAS by, for example, the ADAS setting change unit 16, in the same manner as the ADAS setting change process P225 of the aforementioned Embodiment 2. For example, in the aforementioned process P323, when the in-vehicle speaker 5 issues a voice command "Do you want to strengthen the control characteristics of ACC?", the ADAS setting change unit 16 widens the deceleration-side change rate limiter in ACC by 10[%] with respect to the default setting. Similarly, in the aforementioned process P323, when the in-vehicle speaker 5 issues a voice command "Do you want to strengthen the control characteristics of LK?", the ADAS setting change unit 16 widens the range of the maximum control amount of the steering control command value in LK by 10% with respect to the default setting.

[0341] (·Transmission data preparation process P326) The vehicle control device 10 performs the same process P326 as the transmission data preparation process P216 of Embodiment 2. The vehicle control device 10 prepares data such as the following formulas (47) to (58) by, for example, the data transmission unit 17 in order to transmit various information of the host vehicle to the information processing device 20 on the cloud.

[0342] use_acc = ringbuf( use_acc, last_time, SW_ACC ) ···(47) userate_ACC = Σ( use_acc ) / DataNumb ···(48) use_lk = ringbuf( use_lk, last_time, SW_LK ) ···(49) userate_LK = Σ( use_lk ) / DataNumb ···(50) lng_g_acc_on = ringbuf( lng_g_acc_on, last_time_on, LngG ) ···(51) behavifluct_ACC = Σ( lng_g_acc_on ) / DataNumb ···(52) lat_g_lk_on = ringbuf( lat_g_lk_on, last_time_on, LatG ) ···(53) behavifluct_LK = Σ( lat_g_lk_on ) / DataNumb ···(54) pdl_intvn_on=ringbuf{ pdl_intvn_on, last_time_on, slctLow(pdl_A_freq, pdl_B_freq)} ···(55) intrvntnfreq_ACC = Σ( pdl_intvn_on ) / DataNumb ···(56) str_intvn_on = ringbuf(str_intvn_on, last_time_on, str_freq)···(57) intrvntnfreq_LK = Σ( str_intvn_on ) / DataNumb ···(58)

[0343] In this embodiment, the average values behavifluct_ACC and behavifluct_LK of the longitudinal acceleration LngG and lateral acceleration LatG of the host vehicle in the past 10 [s], and the average values intrvntnfreq_ACC and intrvntnfreq_LK of the past 10 [s] regarding the elapsed time from the last pedal operation and steering operation are separated for the cases of when ADAS is in use and when it is not in use. As a result, more accurate driving history information, that is, the experience of predecessors, can be accumulated in the information processing device 20 on the cloud, and it becomes possible to give more appropriate advice to the driver. After the preparation process P326 of this transmission data is completed, the update process P319 of past data is executed from the transmission permission determination process P317, and one cycle of the processing flow is completed.

[0344] According to the production methods of the vehicle control device 10, the information processing device 20, and the vehicle control system 100 of the present embodiment, the same effects as those of the production methods of the vehicle control device 10, the information processing device 20, and the vehicle control system 100 of the foregoing Embodiment 1 can be achieved. Further, in the present embodiment, in the foregoing processes P320-1, P320-2, P320-6, and P320-7, the proficiency levels with respect to ADAS functions such as ACC and LK are taken into consideration. Therefore, it is possible to prevent unnecessary advice from being spoken to a driver who is proficient in ADAS.

[0345] In addition, the vehicle control device 10 of the present embodiment can customize the control characteristics of the ADAS in consideration of the fact that a driver may become overconfident as they get used to the ADAS in the foregoing processes P320-5 and P320-9. Specifically, as a driver gets used to the ACC, even in a situation where some deceleration is required, the driver can leave the braking operation to the ACC and easily approach the vehicle ahead. Also, as a driver gets used to the LK, when leaving the steering operation to the LK, the lateral position deviation LatErr of the vehicle during cornering tends to increase. The vehicle control device 10 of the present embodiment can determine such a situation and customize the control characteristics of the ADAS. Therefore, even as the driver's proficiency level with respect to the ADAS progresses, it becomes easier to customize to a better control state, and the driver's trust in the ADAS can be improved.

[0346] As described above, embodiments of the production methods of the vehicle control device, the information processing device, and the vehicle control system according to the present disclosure have been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and even if there are design changes or the like without departing from the gist of the present disclosure, they are included in the present disclosure. For example, in the foregoing embodiment, an example in which advice content based on the assistance difficulty level and the assistance utilization level is notified by voice from a speaker has been described. However, the advice content may be notified by a method other than voice, such as being displayed on a display device.

Description of Reference Numerals

[0347] 1 External sensor 2 Vehicle sensors 3 Position sensors 7 Actuators for ADAS 10 Vehicle control device 12 Proficiency processing unit 13 Difficulty of assistance calculation unit 14 Driving history processing unit 15 Advice content determination unit 20 Information processing device BehaviFluct_ACC ACC behavior fluctuation (behavior fluctuation, driving history information) BehaviFluct_LK LK behavior fluctuation (behavior fluctuation, driving history information) Cmp_acc ACC utilization rate (assistance utilization rate) Cmp_lk LK utilization rate (assistance utilization rate) dfclty_ACC ACC assistance difficulty (assistance difficulty) dfclty_LK LK assistance difficulty (assistance difficulty) Dist Distance to the leading vehicle (external information) IntrvntnFreq_ACC ACC intervention frequency (intervention frequency, driving history information) IntrvntnFreq_LK LK intervention frequency (intervention frequency, driving history information) LatDrv Lateral driving tendency (driving tendency) LatErr Lateral position deviation (external information) LatG Lateral acceleration (vehicle information) LngDrv Longitudinal driving tendency (driving tendency) mnvr_profici_lev Driving proficiency (proficiency, driving history information) pdl_A_freq Accelerator operation frequency (vehicle information) pdl_B_freq Brake operation frequency (vehicle information) road_profici_lev Road proficiency (proficiency, driving history information) THW Time headway (external information) TTC Time to collision (external information) UseRate_ACC ACC usage rate (driving assistance usage rate, driving history information) UseRate_LK LK Usage Rate (Driving Support Usage Rate, Driving History Information)

Claims

1. A vehicle control device mounted on a vehicle and communicably connected to an information processing device outside the vehicle, wherein the vehicle includes an external sensor that detects external information around the vehicle, a vehicle sensor that detects vehicle information related to the driving state of the vehicle, a position sensor that detects the position information of the vehicle, and an actuator for driving support of the vehicle, and the vehicle control device includes: a proficiency processing unit that calculates the driving tendency and proficiency of the driver of the vehicle based on the external information and the vehicle information; a support difficulty calculation unit that calculates a support difficulty based on the driving tendency and the vehicle information; a driving history processing unit that acquires the proficiency, intervention frequency, driving support usage rate, and behavior variation of the drivers of a plurality of vehicles from the information processing device; and an advice content determination unit that calculates a support utilization degree based on the support difficulty, the driving support usage rate, the behavior variation, and the intervention frequency, and notifies advice content based on the support difficulty and the support utilization degree. The vehicle control device, wherein the advice content determination unit notifies the advice content including the degree of usefulness of the driving support.

2. An information processing device communicably connected to the vehicle control device according to claim 1, the information processing device being characterized by collecting driving history information including the proficiency, the intervention frequency, the driving support usage rate, and the behavior variation from a plurality of the vehicle control devices mounted on a plurality of the vehicles.

3. A method for producing a vehicle control system, wherein the vehicle control system includes a plurality of vehicle control devices mounted on a plurality of vehicles and an information processing device arranged outside the plurality of vehicles and communicably connected to the plurality of vehicle control devices, the vehicle including an external sensor that detects external information around the vehicle, a vehicle sensor that detects vehicle information related to the driving state of the vehicle, a position sensor that detects the position information of the vehicle, and an actuator for driving support of the vehicle, and the method for producing the vehicle control system includes: Each of the vehicle control devices calculates the driving tendency and proficiency of the driver of each vehicle based on the external information and the vehicle information, calculates the support difficulty based on the driving tendency and the vehicle information, acquires the driving history information of a plurality of the vehicles from the information processing device, calculates the support utilization degree based on the driving history information, and performs a process of notifying advice content based on the support difficulty and the support utilization degree. The information processing device includes a process of collecting the driving history information from a plurality of the vehicle control devices. A method for manufacturing a vehicle control system, wherein the advice content to be notified by each of the vehicle control devices includes advice indicating the degree of usefulness of the driving support.

4. The information processing device collects the driving history information including the driving support utilization rate, behavior variation, and intervention frequency for each proficiency level. A method for manufacturing a vehicle control system according to claim 3, wherein each of the vehicle control devices calculates the support utilization degree based on the driving support utilization rate, the behavior variation, and the intervention frequency.

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