Vehicle control device and vehicle control method

Abstract

To maintain and improve a driving capability of a driver while securing safe travelling.SOLUTION: A vehicle control device 100 executes: all function substitution processing for controlling a vehicle 1 so that the vehicle 1 substitutes for all of a plurality of driving functions, when any of the plurality of driving functions that a driver has is lost or a sign of the loss is detected; adjustment processing for controlling the vehicle 1 so that when it is detected that a driving capability with respect to any of the plurality of driving functions that the driver temporarily deteriorates, the temporary deterioration of the driving capability can be eliminated by giving a physical stimulus to the driver or by providing information for allowing the driver to recognize the temporary deterioration of the driving capability to the driver; and support processing for controlling the vehicle 1 so that the driving capability can be maintained or improved by providing information for an exertion of the driving capability to the driver, when it is determined that the driving capability with respect to any of the plurality of driving functions that the driver has chronically deteriorated.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present invention relates to a vehicle control device and a vehicle control method, and particularly to a vehicle control device and a vehicle control method for driving assistance.

Background Art

[0002] Conventionally, vehicles capable of traveling by an automatic driving technology (or an autonomous driving technology) have been developed. Under automatic driving control, the vehicle mainly performs vehicle operations to travel (SAE automatic driving level 3 or higher). That is, the driver does not need to perform vehicle operations such as the accelerator, brake, and steering wheel. The automatic driving technology is useful for a driver having normal driving ability, and particularly useful from the viewpoint of driving safety for an elderly person whose driving ability has declined or a person having mild cognitive impairment (MCI).

[0003] On the other hand, the driver has a desire to drive the vehicle by himself / herself. However, if the required driving ability required of the driver according to the traffic environment or the like does not match the current driving ability of the driver, the driver may feel bored with driving or, conversely, may feel psychological stress. Therefore, the applicant of the present application has proposed a vehicle control device that provides driving assistance or driving load so as to balance the required driving ability and the current driving ability (see, for example, Patent Document 1). With this vehicle control device, the driver can drive the vehicle in a state where the required driving ability and the current driving ability are balanced. Thereby, the driver can drive safely in a pleasant and concentrated state regardless of the difficulty level of the traffic environment or the magnitude of the current driving ability.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] In the technology described in Patent Document 1, when the current driving ability of the driver is relatively insufficient, necessary driving assistance is provided, so the safety in vehicle driving is enhanced. However, in this technology, since the driver relies on the vehicle for the insufficient driving ability, it is not possible to maintain and improve the driving ability of the driver. Therefore, in this technology, it was not possible to extend the safe driving life of the driver.

[0006] The present invention has been made to solve such problems, and an object thereof is to provide a vehicle control device and a vehicle control method capable of maintaining and improving the driving ability of a driver while ensuring safe driving by automatic driving.

Means for Solving the Problems

[0007] In order to achieve the above object, a vehicle control device according to the present invention is a vehicle control device that performs driving support control on a vehicle that travels using a plurality of driving functions including a running function, a stopping function, and a turning function by operating the vehicle using a plurality of driving functions of a driver, so that the vehicle travels according to the traffic environment and the running environment around the vehicle, and A process for determining whether each of a plurality of driving functions possessed by a driver is a malfunctioning function, and when there is a driving function determined to be a malfunctioning function, a process for determining how the driving ability of the driver has deteriorated with respect to the malfunctioning function, and in the process for determining how the driving ability has deteriorated with respect to the malfunctioning function, when it is detected that any one of the plurality of driving functions of the driver has been lost or there is a sign of being lost, including the driving functions determined not to be malfunctioning functions a full-function substitution process for controlling the vehicle so that the vehicle substitutes for and executes all of the plurality of driving functions, and in the process for determining how the driving ability has deteriorated with respect to the malfunctioning function, when it is detected that the driving performance of any one of the plurality of driving functions of the driver has temporarily decreased, by giving a physical stimulus to the driver or by providing information for the driver to recognize the temporary decrease in the driving performance, an optimization process for controlling the vehicle so as to eliminate the temporary decrease in the driving performance, and in the process for determining how the driving ability has deteriorated with respect to the malfunctioning function, when it is detected that the driving performance of any one of the plurality of driving functions of the driver has chronically decreased, a support process for controlling the vehicle so as to maintain or improve the driving performance by providing information for supporting the exhibition of the driving performance to the driver.

[0008] According to the present invention configured as described above, when any of the driver's driving abilities is lost or there are signs thereof, the vehicle replaces and executes all of the driving functions, thus ensuring the safety of vehicle travel. Further, according to the present invention, when any driving performance temporarily deteriorates, physical stimulation is given to the driver or information for recognizing the temporary deterioration of the driving performance is provided to the driver, so that the driving ability of the temporarily deteriorated driver can be restored and the driver can continue driving by himself / herself. Further, according to the present invention, when any driving performance is chronically deteriorating, by providing the driver with information for assisting the exertion of the driving performance, the driving performance is maintained or improved. Thus, not only does the vehicle simply replace the function, but while actively enabling the driver to exert the driving performance himself / herself, the vehicle can compensate for the driver's lack of ability or promote the improvement of the driver's ability. Therefore, while ensuring safe driving by means of autonomous driving, it is possible to maintain and improve the driving ability of the driver through driving.

[0009] Further, preferably in the present invention, when it is detected that any driving performance of a plurality of driving functions possessed by the driver has temporarily deteriorated or is chronically deteriorating, a malfunction replacement process for controlling the vehicle is further executed so that the vehicle replaces and executes the driving function of the driver having the driving performance. According to the present invention configured as described above, even if the driver's driving ability is low, the driving function for the lacking driving performance is replaced by the vehicle. For this reason, the safety of vehicle travel is ensured and the driver can extend the driving life without giving up driving.

[0010] Further, preferably in the present invention, the plurality of driving functions possessed by the driver include a perception function for perceiving the traffic environment and the driving environment, a judgment function for judging the driving operations necessary in the traffic environment and the driving environment, and an operation function for performing the driving operations. According to the present invention configured as described above, for each of a plurality of driving functions, it is determined whether the driver has predetermined driving performance. Thereby, it is possible to identify a malfunction having low driving performance and appropriately select a malfunction for which optimization processing or support processing should be executed.

[0011] Further, preferably in the present invention, in the support processing, information of different contents is provided according to a plurality of driving functions of the driver. According to the present invention configured as described above, appropriate support information can be provided according to the type of malfunction.

[0012] Moreover, a vehicle control method according to another aspect of the present invention is a vehicle control method for performing driving support control on a vehicle that travels using a plurality of traveling functions including a running function, a stopping function, and a turning function by a vehicle operation using a plurality of driving functions of a driver, such that the vehicle travels according to the traffic environment and the traveling environment around the vehicle, a step of determining whether each of a plurality of driving functions possessed by a driver is a malfunctioning function, and when there is a driving function determined to be a malfunctioning function, a step of determining how the driving ability of the driver has deteriorated with respect to the malfunctioning function, and in the step of determining how the driving ability has deteriorated with respect to the malfunctioning function, when it is detected that any one of the plurality of driving functions possessed by the driver has been lost or there is a sign of being lost, including the driving functions determined not to be malfunctioning functions a full-function replacement step of controlling the vehicle so that the vehicle replaces and executes all of the plurality of driving functions; in the step of determining how the driving ability has deteriorated with respect to the malfunctioning function, when it is detected that the driving performance of any one of the plurality of driving functions possessed by the driver has temporarily deteriorated, a vehicle control optimization step of controlling the vehicle so as to eliminate the temporary deterioration of the driving performance by giving a physical stimulus to the driver or by providing the driver with information for recognizing the temporary deterioration of the driving performance; in the step of determining how the driving ability has deteriorated with respect to the malfunctioning function, and a support step of controlling the vehicle so as to maintain or improve the driving performance by providing the driver with information for supporting the exhibition of the driving performance when it is detected that the driving performance of any one of the plurality of driving functions possessed by the driver has chronically deteriorated. Also according to the present invention configured as described above, it is possible to maintain and improve the driving ability of the driver while ensuring safe driving by automatic driving.

Advantages of the Invention

[0013] According to the vehicle control device and vehicle control method of the present invention, it is possible to maintain and improve the driving ability of the driver while ensuring safe driving by automatic driving.

Brief Description of the Drawings

[0014]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0015] Hereinafter, with reference to the accompanying drawings, a vehicle control device and a vehicle control method according to an embodiment of the present invention will be described. First, with reference to FIG. 1, an outline of vehicle control provided by a vehicle control device according to an embodiment of the present invention will be described. FIG. 1 is an explanatory diagram of vehicle control.

[0016] The vehicle control device 100 (see FIG. 2) of the present embodiment is configured on the premise that the driver mainly performs vehicle operations of the vehicle 1. For this reason, the vehicle control device 100 supports the vehicle operations of the vehicle 1 at an appropriate level according to the state of the driver. That is, in the present embodiment, in principle, the driving support control of the vehicle 1 is provided so as to fill the difference between the vehicle operation that the driver wants to execute and the vehicle operation that the driver can execute. For example, the deteriorated driving function of the driver is mainly assisted. Further, the vehicle control device 100 is configured to automatically switch the vehicle 1 to automatic driving control at a predetermined time.

[0017] Specifically, when the driver has normal driving ability, the vehicle control device 100 intervenes in vehicle operation only at specific times to perform driving assistance control (such as automatic accelerator, automatic brake, automatic steering, etc.). Specific times refer to, for example, when the driver's driving ability temporarily deteriorates (such as fatigue, drowsiness), or when the driving environment is relatively difficult (such as complex surrounding traffic conditions, complex road shapes, dark surroundings). In addition, when a part of the driving ability of the driver (such as the elderly, MCI) deteriorates (for example, the muscle strength for operating the steering wheel is insufficient), the vehicle control device 100 compensates for the deteriorated driving ability. Further, the vehicle control device 100 performs driving assistance control so as to maintain or restore the deteriorated driving ability or to further improve the driving ability.

[0018] On the other hand, when an abnormal sign is detected that the driver's consciousness level or driving ability is decreasing rapidly or over a predetermined time (several minutes to several tens of minutes) (for example, at the onset of an acute disease or when the drowsiness level is high), the vehicle control device 100 performs driving assistance control to maintain safe driving. Also, in the event of an abnormality where the driver's consciousness and driving ability are lost, the vehicle control device 100 executes automatic driving control and performs a process of notifying the outside of the emergency to avoid an accident.

[0019] Next, with reference to FIG. 2, the configuration of the vehicle control device according to an embodiment of the present invention will be described. FIG. 2 is a block diagram of the vehicle control device. As shown in FIG. 2, the vehicle control device 100 mainly includes a controller 10 such as an ECU (Electronic Control Unit), an in-vehicle device 20, a vehicle control system 40, and an information notification device 50.

[0020] The in-vehicle device 20 includes an in-vehicle camera 21, an out-vehicle camera 22, a radar 23, a plurality of vehicle behavior sensors (vehicle speed sensor 24, acceleration sensor 25, yaw rate sensor 26) for detecting the behavior of the vehicle 1, and a plurality of operation detection sensors (steering angle sensor 27, steering torque sensor 28, accelerator opening sensor 29, brake depression amount sensor 30) for detecting the driver's operation, a positioning device 31, a navigation device 32, and an information communication device 33.

[0021] In addition, the vehicle control system 40 includes an engine control system 41, a brake control system 42, and a steering control system 43 that respectively correspond to the functions of the vehicle to run, stop, and turn. The information notification device 50 includes a display device 51, an audio output device 52, an information transmission device 53, and a plurality of actuators 54.

[0022] The controller 10 is composed of a computer device including a processor 11, a memory 12 that stores various programs and data executed by the processor 11, and an input / output device and the like. The controller 10 is configured to output a control signal for performing vehicle control (driving support control and autonomous driving control) to the vehicle control system 40 and the information notification device 50 based on the signal received from the in-vehicle device 20.

[0023] The in-vehicle camera 21 captures an image of the driver of the vehicle 1 and outputs image information. The controller 10 discriminates, in particular, the facial expression and upper body posture of the driver based on this image information. The out-vehicle camera 22 photographs the surroundings of the vehicle 1 (typically the front of the vehicle 1) and outputs image information. The controller 10 identifies the out-vehicle object and its position based on this image information. The object includes at least traffic participants and the boundary of the driving lane. Specifically, the object includes surrounding moving bodies (vehicles, pedestrians, etc.), stationary structures (obstacles, parked vehicles, driving lanes, lane lines, stop lines, traffic signals, traffic signs, intersections, etc.).

[0024] The radar 23 measures the position and speed of an object existing in the surroundings of the vehicle 1 (typically the front of the vehicle 1). For example, the radar 23 can use a millimeter-wave radar, a lidar (LIDAR), an ultrasonic sensor, or the like.

[0025] The vehicle speed sensor 24 detects the speed (vehicle speed) of the vehicle 1. The acceleration sensor 25 detects the acceleration of the vehicle 1. The yaw rate sensor 26 detects the yaw rate generated in the vehicle 1. The steering angle sensor 27 detects the rotation angle (steering angle) of the steering wheel 43b of the vehicle 1. The steering torque sensor 28 detects the rotational torque associated with the rotation of the steering wheel 43b. The accelerator opening sensor 29 detects the depression amount of the accelerator pedal 41b. The brake depression amount sensor 30 detects the depression amount of the brake pedal 42b.

[0026] The positioning device 31 includes a GPS receiver and / or a gyro sensor, and detects the position of the vehicle 1 (current vehicle position information). The navigation device 32 stores map information therein and can provide the map information to the controller 10. The controller 10 can calculate the entire driving route to the destination (including driving lanes, intersections, traffic signals, etc.) based on the map information and the current vehicle position information.

[0027] The information communication device 33 communicates with external communication devices. The information communication device 33 performs, for example, vehicle-to-vehicle communication with other vehicles and vehicle-to-road communication with communication devices outside the vehicle, receives various driving information and traffic information (traffic congestion information, speed limit information, etc.), and provides it to the controller 10.

[0028] The engine control system 41 controls the driving force of the engine device (internal combustion engine, electric motor, etc.) of the vehicle 1. The controller 10 can drive the engine device based on the input from the accelerator pedal 41b by transmitting a control signal to the engine control device 41a, thereby accelerating or decelerating the vehicle 1.

[0029] The brake control system 42 controls the driving force of the brake device of the vehicle 1. The brake control system 42 includes a brake actuator such as a hydraulic pump and a valve unit. The controller 10 can drive the brake device based on the input from the brake pedal 42b by transmitting a control signal to the brake control device 42a, thereby decelerating the vehicle 1.

[0030] The steering control system 43 controls the driving force of the steering device of the vehicle 1. The steering control system 43 includes, for example, an electric motor of an electric power steering system. The controller 10 can drive the steering device by transmitting a control signal to the steering control device 43a based on the input from the steering wheel 43b, thereby changing the traveling direction of the vehicle 1.

[0031] The display device 51 can visually display support information (visual information) for assisting the driver in vehicle operation in the display area. Specifically, the display device 51 is a HUD. The display area corresponds to the size of the entire or a part of the front glass of the vehicle 1, and the support information is displayed within the driver's field of vision. Also, instead of the HUD, a liquid crystal display may be used. The voice output device 52 is, for example, a speaker, and can provide support information (auditory information) for assisting the driver in vehicle operation. The information transmission device 53 can transmit information related to driving support to an external information communication device (for example, the driver's mobile information terminal).

[0032] The actuator 54 is composed of an electric motor, a gear mechanism, etc. The plurality of actuators 54 are configured to move a plurality of operation parts (for example, the accelerator pedal 41b, the brake pedal 42b, the steering wheel 43b) that the driver operates when driving the vehicle 1 in the operation direction without the driver's input. The controller 10 can output a control signal to each actuator 54 to cause the corresponding operation part to execute a desired behavior.

[0033] Note that the vehicle control system (e.g., engine control system, brake control system, steering control system) of the present embodiment operates in a drive-by-wire manner, and the operation input from the operation unit is transmitted as a control signal via the controller 10, and the drive device corresponding to the operation unit receives the control signal and is configured to drive based on the control signal. Therefore, the controller 10 can output a control signal to the drive device independently of the movement of the operation unit by the actuator 54.

[0034] Next, with reference to FIG. 3, the processing flow of the vehicle control device according to the embodiment of the present invention will be described. FIG. 3 is an explanatory diagram showing the processing flow of the vehicle control device. Specifically, FIG. 3 shows that the controller 10 processes the input information from the in-vehicle device 20 and provides various vehicle controls (driving support control, autonomous driving control) using the vehicle control system 40 and the information notification device 50.

[0035] The contents of vehicle control include ADAS (Advanced Driver Assistance System), automatic accelerator, automatic brake, automatic steering, automatic vehicle attitude stabilization control, autonomous driving (Level 3 or higher), maintenance support processing and improvement support processing for the driver's driving ability. ADAS includes at least support functions (automatic entry avoidance control) for following a preceding vehicle, preventing a collision with a preceding vehicle, and preventing lane departure. The automatic vehicle attitude stabilization control is control for stabilizing the attitude of the vehicle 1, that is, vehicle dynamics (pitch, roll, yaw), and preventing skidding and rolling over.

[0036] The in-vehicle device 20 continuously transmits the acquired information to the controller 10. The controller 10 performs the following calculations or evaluations based on the acquired information. The controller 10 evaluates the traffic environment around the vehicle 1 (traffic environment evaluation) based on the input information from the out-of-vehicle camera 22, radar 23, positioning device 31, navigation device 32 (map information), etc. Specifically, the controller 10 calculates the position and speed of objects (vehicles, pedestrians, boundary lines, guardrails, stop lines, traffic signs, etc.) around the vehicle 1.

[0037] In addition, the controller 10 evaluates the driver's physical functions (physical function evaluation) based on information such as the steering angle sensor 27, the steering torque sensor 28, the brake depression amount sensor 30, and the in-vehicle camera 21. Specifically, the controller 10 estimates the level of the driver's physical functions for operating the operation unit with an appropriate operation amount and operation speed, or visually capturing visual stimuli outside the vehicle. Whether the driver is operating with an appropriate operation amount and operation speed is evaluated based on the difference between the operation amount and operation speed (such as the steering angle, steering angular velocity, depression amount of the brake pedal 42b, depression speed, or brake hydraulic pressure) actually input by the driver via the operation unit and the target operation amount and operation speed when traveling along the target travel route. The target travel route is calculated based on the driving requirements (such as the destination) using the results of traffic environment evaluation, driving environment evaluation, physical function evaluation, etc., so that the vehicle 1 can travel safely and efficiently.

[0038] In addition, the controller 10 evaluates the driving environment around the vehicle 1 (driving environment evaluation) based on information from the outside vehicle camera 22, the vehicle speed sensor 24, the acceleration sensor 25, the positioning device 31, etc. Specifically, the controller 10 estimates physical quantities that affect vehicle dynamics (for example, the curve radius of the road surface and the road surface friction coefficient). In addition, the controller 10 calculates the current vehicle dynamics of the vehicle 1 (vehicle dynamics calculation) based on information from the vehicle speed sensor 24, the acceleration sensor 25, the yaw rate sensor 26, etc. Vehicle dynamics includes speed, acceleration, yaw rate, three-axis rotation moment (pitch, yaw, roll), etc.

[0039] In addition, the controller 10 determines the driver's wakefulness (wakefulness determination) based on the image information of the in-vehicle camera 21. For example, the wakefulness is evaluated based on the opening degree of the driver's eyes and / or mouth, the position or posture of the driver's upper body. The wakefulness can be evaluated, for example, in four levels (zero wakefulness, low, medium, high).

[0040] In addition, in traffic environment evaluation and driving environment evaluation, the controller 10 determines whether there is a predicted risk. The predicted risk includes a traffic risk caused by the traffic environment (for example, vehicle 1 colliding with another vehicle) and a driving risk caused by the driving environment that affects vehicle dynamics (for example, spinning on a curved road). Then, the controller 10 evaluates the risk reduction actions taken by the driver against this predicted risk based on information such as the in-vehicle device 20 and the in-vehicle camera 21 (risk reduction action evaluation).

[0041] The risk includes vehicle accidents such as the collision of vehicle 1, and states where the posture stability of vehicle 1 is lost or decreased (spinning, rolling over, etc.). The risk targets that cause the risk include traffic participants (other vehicles, pedestrians, etc.), guardrails, boundary lines, traffic signals (red lights), stop lines, etc. Furthermore, the risk target includes the risk occurrence site of the driving road (such as the clipping point of a curved road). These objects become risk targets when there is a possibility of causing a risk in the near future (for example, within a predetermined time such as 10 seconds) if the current vehicle behavior (vehicle dynamics) continues. The risk reduction action is an action taken by the driver against the predicted risk, and is particularly a vehicle operation (acceleration, braking, and / or steering) performed to reduce the occurrence probability of the predicted risk. For example, when the predicted paths of vehicle 1 and another vehicle intersect and a collision between these vehicles is predicted, it is a vehicle operation to reduce the collision probability or a vehicle operation to make the closest distance between vehicle 1 and another vehicle equal to or greater than a predetermined distance. Furthermore, objects that may not cause a risk at present but should be perceived during driving, or objects that may cause a risk in the future rather than within a predetermined time, may also be included in the risk targets.

[0042] In addition, the risk reduction action also includes an action for the driver to perceive a risk target (for example, another vehicle with a possibility of collision, near the clipping point of a curved road) before operating the operation unit. For example, based on the image information of the in-vehicle camera 21, the fact that the driver's line of sight is directed at the risk target and the fact that the driver takes a posture corresponding to the risk (that is, the driver perceives the risk target) are also included in the risk reduction action.

[0043] In addition, based on the results of traffic environment evaluation, the controller 10 evaluates the driver's current cognitive load (cognitive load evaluation). For example, the controller 10 evaluates that the higher the number of objects within a predetermined distance from the vehicle 1 according to the vehicle speed, the greater the driver's cognitive load. The cognitive load can be evaluated, for example, in three levels (low, medium, high). Also, the controller 10 may analyze, learn, and update the driver's cognitive ability level based on information such as the driver's vehicle operation and line-of-sight direction. In this case, the cognitive load evaluation can be calculated as the ratio of the current cognitive load magnitude to the driver's cognitive ability level.

[0044] In addition, the controller 10 stores a vehicle model that defines the physical movement of the vehicle 1 in the storage unit. The vehicle model represents the relationship between the origin of the vehicle 1 (mass, wheelbase, etc.) and the physical change amounts (speed, acceleration, steering angle, etc.) by means of an equation of motion. Also, the results of driving environment evaluation (for example, road surface friction coefficient) can be applied to the vehicle model.

[0045] In addition, the controller 10 stores a driver model of the driver who drives the vehicle 1 in the storage unit. Based on the input information from the in-vehicle device 20, the controller 10 analyzes and learns the driver's operation characteristics and constantly updates the driver model. The driver model represents the driver's operation characteristics and includes the operation amount, reaction delay time (time constant), etc. for a specific operation under certain conditions. Also, the results of cognitive load evaluation (degree of cognitive load) and the results of physical function evaluation can be applied to the driver model. For example, in a situation where the cognitive load is high, the driver model is corrected so that the driver's operation ability decreases. Also, when it is determined based on the results of physical function evaluation that the stepping force and arm strength are low, it is reflected in the time constant regarding the operation amount and operation speed of the operation unit. The controller 10 can predict the driver's operation by using the driver model. Note that the controller 10 also stores an ideal driver model that represents the operation characteristics of an ideal driver with high driving ability in the storage unit and can also predict ideal operations.

[0046] By applying the input information from in-vehicle device 20 to the vehicle model and the driver model, controller 10 can calculate vehicle dynamics that are predicted to occur in the near future (vehicle dynamics prediction calculation). That is, controller 10 inputs the current conditions (traffic environment, driving environment, cognitive load, physical function) into the driver model and the vehicle model, predicts vehicle operations (type of operation, amount of operation, operation timing, etc.) to be performed by the driver during a predetermined period after the current time (for example, 10 seconds later), and can calculate the predicted vehicle dynamics caused by the predicted vehicle operations.

[0047] Furthermore, controller 10 performs a driving ability evaluation. The driving ability represents the level of the driver's ability to avoid various risks. Controller 10 evaluates or calculates the driving ability with respect to risks based on the result of the risk reduction action evaluation (risk reduction actions taken by the driver), the difference between the predicted vehicle dynamics and the actual vehicle dynamics, and the result of the cognitive load evaluation (degree of cognitive load). The driving ability with respect to risks can be, for example, the risk reduction required time that the driver needs to reduce the predicted risk. The risk reduction required time may be the time from the start of the risk reduction action to the disappearance of the predicted risk, or the time required for the driver to complete the risk reduction action after perceiving the risk. In this case, when the driving ability is evaluated as low, the risk reduction required time is output as a larger value.

[0048] Controller 10 calculates, for example, the predicted driving route of vehicle 1 at a future time when it is assumed that the current vehicle behavior continues for a predetermined time, using the driver model. When the predetermined time reaches a certain time, the predicted driving route at that time cannot avoid risks. Then, in the predicted driving route calculated at this time, the time until a risk occurs (risk margin time) may be used as the risk reduction required time.

[0049] The controller 10 can update the driving ability data by using the calculated driving ability evaluation. The driving ability of a driver changes over time. For example, a novice driver tends to improve their driving ability, while an elderly driver tends to decline in driving ability. The driving ability data may be set up in multiple driving ability datasets corresponding to multiple evaluation periods. For example, short-term (from 1 to 6 months ago from now), medium-term (from 3 to 9 months ago from now), and long-term (from 1 to 2 years ago from now) driving ability datasets can be created.

[0050] The controller 10 performs a function redistribution calculation based on the current vehicle dynamics, the result of the driving ability evaluation (current driving ability), the result of the cognitive load evaluation, and the result of the physical function evaluation. The controller 10 executes driving assistance control or autonomous driving control based on this calculation. During normal driving, a driver (e.g., a novice, an elderly person) demonstrates driving performance using their own driving functions (perception function, judgment function, physical function). However, when a driver cannot avoid a predicted risk (i.e., when the driver's driving performance is insufficient for the driving ability required to avoid the predicted risk), the controller 10 executes driving assistance control so that the vehicle 1 substitutes and executes the driving function related to the insufficient driving ability. Also, in case of an abnormality (e.g., loss of consciousness), for example, autonomous driving control is executed, and the driver's driving function is substituted by the corresponding equivalent function of the vehicle 1.

[0051] In addition, the controller 10 compares the result of the driving ability evaluation (current driving ability against the predicted risk) with the driving ability data, and when the current driving ability is lower than the past driving ability, it executes assistance (including autonomous driving) to supplement the decreased driving ability. Also, when the driver's wakefulness is moderate (e.g., mild drowsiness), the controller 10 executes a process to wake up the driver (e.g., send cold air to the driver), and when the driver's wakefulness is low (e.g., severe drowsiness, loss of consciousness), it executes autonomous driving.

[0052] Next, a human-machine system composed of a driver and a vehicle in an embodiment of the present invention will be described. FIG. 4 is an explanatory diagram of a conventional human-machine system, and FIG. 5 is an explanatory diagram of the human-machine system in the present embodiment.

[0053] As shown in FIG. 4, a driver (human) has at least a perception function, a judgment function, and an operation function (or physical function) regarding vehicle driving, and uses these driving functions to exhibit perception performance, judgment performance, and operation performance (or motor performance). The driver captures an object using the perception function (perception performance), selects or judges a vehicle operation to be executed using the judgment function for the captured object (judgment performance), and executes the selected vehicle operation using the operation function with an appropriate operation amount and timing (operation performance). On the other hand, the vehicle has at least a running function, a stopping function, and a turning function. The vehicle exhibits running performance, braking performance, and handling stability performance and runs by these running functions being utilized by the driver's vehicle operation.

[0054] In this way, when the driver exhibits perception performance, judgment performance, and operation performance to operate the vehicle, the vehicle exhibits running performance, braking performance, and handling stability performance. Thereby, the vehicle as a human-machine system can realize safe driving. Conventionally, an interface has been provided in the vehicle to efficiently exhibit the three performances of the vehicle between the driver's function and the vehicle's function. As a result, the overall vehicle performance (for example, braking ability, fuel consumption, etc.) has been improved.

[0055] During automatic driving, the vehicle substitutes for all or almost all of the driver's perception function, judgment function, and physical function. For example, the perception function is substituted by an in-vehicle camera, an acceleration sensor, a radar, etc. The judgment function is substituted by the vehicle's computer. The physical function is substituted by an in-vehicle actuator. The driver only needs to have a physical function to give a minimum instruction such as engine start, and does not need to have most of the driving functions and driving ability (driving performance).

[0056] Figure 5 shows an example of a human-machine system in this embodiment. In this embodiment, driving function substitution processing and driving performance support processing (maintenance support and improvement support) are executed. A driver with low driving ability (for example, a beginner or an elderly person) has at least one of the driving performances (perception, judgment, operation) related to the driving functions (perception, judgment, operation) at a low level. Also, a driver with average driving ability (a normal driver) may also have a relatively low level of driving performance.

[0057] In this embodiment, when the driving ability of the driver is low at the time of detecting a predicted risk (or when encountering a risk), the vehicle control device 100 executes driving function substitution processing to substitute the driving function (defective function) related to the low driving ability of the driver with the corresponding function of the vehicle 1. In this process, the vehicle control device 100 detects the driving function (perception, judgment, operation) with low performance among the driving functions of the driver, and intervenes in the vehicle operation so that only this low driving function (defective function) is assisted by the vehicle 1. Thereby, even if a part of the driving ability of the driver is reduced, the running function of the human-machine system composed of the driver and the vehicle 1 is maintained. In Figure 5, illustratively, the judgment function and judgment performance of the driver are substituted by the equivalent functions and performance of the vehicle 1.

[0058] Also, in this embodiment, when executing the driving function substitution processing, the vehicle control device 100 executes driving performance support processing to maintain or recover the driving ability of the defective function. In Figure 5, a Z function for executing this support processing is shown. By this processing, the driver is prompted to take actions to maintain or recover the driving ability at a predetermined time for the defective function among the driving functions (perception, judgment, operation) of the driver. If the driving ability of the driver recovers to a level where the predicted risk can be avoided, the driving function substitution processing and the driving performance support processing are no longer executed.

[0059] Also, in this embodiment, during normal times when no prediction risk is detected, the vehicle control device 100 executes driving performance support processing to improve the driver's driving performance. Figure 5 shows the X function for executing this support processing. In this processing, for at least the defective functions among the driver's driving functions, the driver is urged to improve their driving ability at a predetermined time. Figure 5 exemplarily shows a case where the driver's operation performance is lower than the required level.

[0060] The driving performance support processing for improving the driver's driving performance is a process of providing the driver with advice regarding the driving actions that the driver should execute so as to raise the driver's driving ability to a higher driving ability. For example, the recommended vehicle operations of a veteran driver with high driving ability are taught to the driver. This corresponds to the driver learning driving skills from a veteran driver. Through this support processing, the driver can learn exemplary vehicle operations for the functions that they are not good at among the perception function, judgment function, and operation function, and thereby improve their driving ability.

[0061] Next, the processing flow of the driving support control of the vehicle control device according to the embodiment of the present invention will be described. Figure 6 is a flowchart of the driving support control. After the controller 10 receives a driving request (destination, etc.) from the driver or externally via an input device (for example, the navigation device 32, the information communication device 33), the driving support control is repeatedly performed over time (for example, every 0.1 seconds).

[0062] First, as shown in Figure 6, the controller 10 acquires information from the in-vehicle device 20 every predetermined time (for example, every 0.1 seconds) (S1). Based on the acquired information, the controller 10 executes processes such as traffic environment evaluation, driving environment evaluation, physical function evaluation, risk reduction action evaluation, and vehicle dynamics calculation.

[0063] Further, based on the acquired information and the driving request, the controller 10 calculates a target driving route (S2). The target driving route includes a target driving trajectory (position information of a plurality of positions) and the speed, etc. at each position on the trajectory until a predetermined time (for example, 10 seconds) after the present. The controller 10 calculates the target driving route so as to have predetermined safety and driving efficiency by using the driving request and the results of traffic environment evaluation, driving environment evaluation, physical function evaluation, etc. The controller 10 can calculate a plurality of target driving routes that satisfy predetermined constraint conditions (for example, the lateral acceleration is equal to or less than a predetermined value). For example, when there is an obstacle in front of the vehicle 1, the controller 10 can set a plurality of target driving routes for avoiding the obstacle. Note that the vehicle 1 can travel on other driving routes even if it deviates from the target driving route. However, since the other driving routes are below a predetermined standard, the driving efficiency and the ride comfort are poor.

[0064] Also, the controller 10 calculates target vehicle dynamics for traveling on the target driving route (S3). The target vehicle dynamics includes the speed, acceleration, yaw rate, three-axis rotational moment (pitch, yaw, roll), etc. at each position on the target driving route. The target vehicle dynamics is a control target value used when the vehicle 1 executes driving support control and autonomous driving control. A plurality of target vehicle dynamics (or control target values) can be set corresponding to the plurality of target driving routes.

[0065] Furthermore, the controller 10 calculates the operation amount (such as accelerator opening, brake depression amount, steering angle, etc.) of the target vehicle operation, which is a driving performance requirement for the driver and the vehicle 1, or a control signal for the control system 40 in order to achieve the physical quantity of the target vehicle dynamics at each position on the target driving route (human-machine performance requirement setting process). The driving performance requirements having a predetermined range are set by the plurality of target driving routes.

[0066] Next, the controller 10 determines whether there is a malfunction in each driving function of the driver (S4). Specifically, the controller 10 determines whether each driving function (perception function, judgment function, operation function) exhibits the driving performance necessary to avoid the predicted risks.

[0067] For example, the controller 10 predicts risks that will occur within a predetermined time based on the current vehicle behavior (vehicle dynamics) such as traffic environment evaluation and driving environment evaluation. The controller 10 calculates the time until the predicted risks (traffic risks and driving risks) occur from now (that is, the risk margin time TTR (time to risk)). The risk margin time TTR is the predicted time until the vehicle 1 enters the risk area when maintaining the current vehicle behavior (vehicle dynamics such as speed and acceleration). Entering the risk area is, for example, a position within a curve where a collision between the vehicle 1 and another vehicle or a spin of the vehicle 1 is predicted.

[0068] Regarding the perception function, the controller 10 determines whether the driver has perceived the risk target by a predetermined time (for example, until a predetermined time before the predicted occurrence time of the predicted risk, or until the vehicle 1 deviates from any target driving route) based on the result of the risk reduction action evaluation (for example, whether the driver has directed their line of sight towards the risk target, or whether they have tilted their head and upper body to face the lateral G). If the driver has not perceived the risk target by the predetermined time, the controller 10 identifies the perception function as a malfunctioning function.

[0069] Regarding the judgment function, based on the result of the risk reduction behavior evaluation, the controller 10 determines whether the driver has made an appropriate judgment for risk reduction and started the recommended risk reduction behavior by the predetermined time. The recommended risk reduction behavior is a target vehicle operation (e.g., accelerator, brake, steering operation) for the target vehicle dynamics. When the target vehicle dynamics are achieved, the risk is avoided. For example, when a brake operation is required to avoid a collision with an obstacle ahead, the controller 10 determines whether the brake operation has been started based on the information from the brake pedal amount sensor 30. Also, when a steering operation is required to avoid a collision with an obstacle ahead, the controller 10 determines whether the steering operation has been started based on the information from the steering angle sensor 27. If the driver has not started the recommended risk reduction behavior by the predetermined time, the controller 10 identifies the judgment function as a malfunctioning function.

[0070] Regarding the operation function, the controller 10 determines whether the driver has appropriately executed the vehicle operation for the risk reduction behavior (mainly whether the vehicle operation amount is appropriate) so that the occurrence probability of the predicted risk decreases to zero. For this purpose, in addition to the current vehicle dynamics, the controller 10 considers the change in vehicle dynamics due to the risk reduction behavior and calculates the occurrence probability of the predicted risk using the vehicle model. If the driver has not appropriately executed the vehicle operation for the risk reduction behavior, the controller 10 identifies the operation function as a malfunctioning function.

[0071] If there is no malfunctioning function (S4: No), since the occurrence probability of the predicted risk becomes zero within a predetermined time, the controller 10 ends the process.

[0072] On the other hand, when there is a malfunction (S4: Yes), the controller 10 determines how the driver's driving ability has deteriorated due to the malfunction (S5). Specifically, the controller 10 determines (1) whether any of the driver's driving functions have been lost or there are signs of loss (function loss / symptom), (2) whether the driving performance of any of the driver's driving functions has temporarily deteriorated (temporary), or (3) whether the driving performance of any of the driver's driving functions has deteriorated chronically (chronic).

[0073] When the driver's wakefulness is low or when an abnormality occurs in which the driving ability is lost (for example, severe drowsiness, loss of consciousness), the controller 10 determines that any of the driving functions have been lost. When an abnormal sign is detected in which the driving ability deteriorates rapidly or over a predetermined time (several minutes to several tens of minutes) (for example, when an acute disease develops or when the drowsiness level is high), the controller 10 determines that there are signs of loss of any of the driving functions (S5: function loss / symptom).

[0074] In this case, the controller 10 controls the vehicle 1 by the vehicle control system 40 so that the vehicle 1 substitutes for and executes all of the plurality of driving functions (S6, full function substitution process). That is, it executes automatic driving control. After that, the controller 10 ends the process.

[0075] Also, when the driver's wakefulness is moderate (for example, when the driver's fatigue or mild drowsiness is detected), the controller 10 determines that the driving performance of any of the driving functions has temporarily deteriorated (S5: temporary).

[0076] In this case, the controller 10 controls the vehicle 1 so as to eliminate the temporary deterioration of the driving performance by giving a physical stimulus to the driver or by providing the driver with information that makes the driver recognize the temporary deterioration of the driving performance (S7: optimization process). For example, the controller 10 gives the driver visual, auditory, or tactile noise having a frequency band (15 to 20 kHz) effective for maintaining wakefulness and not noticeable to the driver, or blows cold air to the driver, thereby attempting to restore the wakefulness.

[0077] Further, the controller 10 may use the display device 51 to highlight the risk target within the display area, or may use the audio output device 52 to audibly notify the driver of the appearance of the risk target (such as "obstacle ahead"). Prompted by such notifications, when the driver perceives the risk target, a temporary decrease in the driver's perception performance can be eliminated.

[0078] Further, the controller 10 may use the information notification device 50 to notify the driver of appropriate judgment actions for traveling on the target travel route. Thereby, the driver can know appropriate driving judgments, and at least a temporary decrease in judgment performance can be eliminated. Specifically, the controller 10 displays, on the display device 51, or audibly notifies, using the audio output device 52, driving operation support information including the content and order of the target vehicle operations that the driver should perform in response to risks.

[0079] Further, the controller 10 may use the information notification device 50 to notify the driver, based on the movement of the operation unit, of appropriate operation amounts and operation timings for traveling on the target travel route. Thereby, the driver can master appropriate operations, and at least a temporary decrease in operation performance can be eliminated. Specifically, the controller 10 uses the actuator 54 to move the operation unit (for example, the brake pedal 42b, the steering wheel 43b) for performing the intervened vehicle control to an operation position corresponding to the appropriate operation amount.

[0080] Furthermore, the controller 10 controls the vehicle 1 by the vehicle control system 40 so that the vehicle 1 temporarily substitutes for and executes the driving function with the decreased driving performance (S8: malfunction function substitution process).

[0081] Specifically, when the perception performance temporarily decreases, the controller 10 sets the detected risk target as a tracking target and executes tracking control.

[0082] Also, when the judgment performance temporarily deteriorates, the controller 10 invalidates the driver's vehicle operation or overrides it with another vehicle operation, and executes vehicle control to avoid risks. In the drive-by-wire vehicle 1, even if the driver operates the operation unit, the invalidation of the vehicle operation causes no control signal to be generated based on the operation of the operation unit. For example, when avoiding an obstacle ahead, assume that the driver performs a steering operation to pass by the side of the obstacle. On the other hand, since an oncoming vehicle is approaching, the target vehicle operation is deceleration by a braking operation (that is, the target travel route is set to a route that decelerates in front of the obstacle). In this situation, the controller 10 invalidates the steering operation and outputs a control signal to the brake control device 42a to stop in front of the obstacle. Conversely, when the target vehicle operation is a steering operation and the driver performs a braking operation, the controller 10 invalidates the braking operation and outputs a control signal to the steering control device 43a to avoid the obstacle.

[0083] Also, when the performance of the operation function temporarily deteriorates, the controller 10 executes vehicle control to avoid risks. For example, when the driver steps on the brake pedal 42b to avoid a collision with an obstacle but the depression amount is insufficient due to the driver's small stepping force, the controller 10 outputs a control signal with an appropriate operation amount to the brake control device 42a to stop in front of the obstacle. Also, when the driver operates the steering wheel 43b to avoid a collision with an obstacle but the operation amount is insufficient due to the driver's small arm strength, the controller 10 outputs a control signal with an appropriate operation amount to the steering control device 43a to ensure a clearance from the obstacle. After the defective function replacement process, the controller 10 ends the process.

[0084] Also, the controller 10 compares the result of the driving ability evaluation (the current driving ability with respect to the predicted risk) with the driving ability data, and when the current driving ability is lower than the past driving ability, determines that any driving performance of the driver's driving function has deteriorated chronically (S5: chronic).

[0085] In this case, the controller 10 controls the vehicle 1 so as to maintain or improve the driving performance by providing the driver with information for supporting the exhibition of the driving performance (S9: support process).

[0086] Specifically, when the perception performance is chronically degraded, the controller 10 uses the information notification device 50 to notify the driver of the manner of exhibiting the perception function performed by a veteran driver with high driving ability for traveling on the target travel route so as to bring the driving performance (perception performance) of the driver close to a level capable of traveling on the target travel route. Thereby, the driver can learn the perception behavior (perception target, timing, etc.) of the veteran driver serving as a model and improve the perception performance. In the present embodiment, vehicle operation includes perception behavior.

[0087] For example, when the driver does not perceive a target to be perceived during a right turn, the controller 10 visually highlights the target to be perceived in the display area of the display device 51. Further, the controller 10 may notify the target to be perceived using the voice output device 52.

[0088] Also, when the driver does not perceive speeding, the controller 10 narrows the visible range in front of the driver's vehicle. In this case, the display device 51 darkens (or reduces the transparency of) a portion of the display area corresponding to the peripheral portion of the windshield to narrow the range in which the driver can visually recognize the outside through the windshield. Thereby, since the driver feels the moving speed of the outside scenery in the narrow visual field range to be high, it becomes easier for the driver to notice that the vehicle speed of the vehicle 1 has exceeded. Note that the controller 10 may notify that the vehicle 1 is in a speeding state using the display device 51 or the voice output device 52.

[0089] Also, when the driver does not perceive external G, the controller 10 notifies the driver that external G is acting on the vehicle 1 using the display device 51 and the voice output device 52, and also notifies the posture that the driver should take.

[0090] Also, when the judgment performance deteriorates chronically, the controller 10 uses the information notification device 50 to notify the driver of the driving performance (judgment performance) in such a way that it approaches the level capable of driving on the target driving route, and notifies the driver of the mode of exertion of the judgment function performed by a veteran driver with high driving ability for driving on the target driving route. Thereby, the driver can learn the judgment behavior of the veteran driver as a model for driving on the target driving route and improve the judgment performance.

[0091] For example, when the driver once operates the steering wheel in the counterclockwise turning direction and then in the clockwise turning direction when turning right, the controller 10 uses the information notification device 50 to notify the driver of the driving operation support information after the driving is completed. In this case, the driving operation support information includes information indicating the vehicle operation (counterclockwise turning operation) performed by the driver when turning right and information indicating the target vehicle operation that the driver should have performed when turning right.

[0092] Also, for example, when the start timing of the driver's braking operation or steering operation is late on a curved road, the driving operation support information includes information indicating the driver's vehicle operation on the curved road and information indicating the target vehicle operation that the driver should have performed on the curved road.

[0093] Note that the driving operation support information may be notified during the driving of the vehicle 1, but in this embodiment, for the judgment function, the support information is notified after the driving is completed because there is a risk that the driver notified of the support information may be confused.

[0094] Also, when the operation performance deteriorates chronically, the controller 10 uses the information notification device 50 to notify the driver of the appropriate operation amount and operation speed of the operation unit for driving on the target driving route so that the driving performance (operation performance) of the driver approaches the level capable of driving on the target driving route. Thereby, the driver can learn the operation behavior (operation amount, operation speed, etc.) of the veteran driver as a model and improve the operation performance.

[0095] For example, when the driver turns the steering wheel 43b clockwise during a right turn, but due to the driver's weak arm strength, the amount of rotation operation is small and the actual driving route deviates from the target driving route, the controller 10 can use the display device 51 and / or the audio output device 52 to inform the driver that the rotation operation speed of the steering wheel 43b was small, the actual operation amount and the target operation amount, and the visual representation of the actual route and the target driving route, etc.

[0096] Also, for example, on a curved road, when the driver depresses the brake pedal 42b, but due to the driver's weak depressing force, the depressing speed is small and the actual driving route is outside the target driving route, the controller 10 can use the display device 51 and / or the audio output device 52 to inform the driver that the depressing speed of the brake pedal 42b was small, the actual operation speed and the target operation speed, and the visual representation of the actual route and the target driving route, etc.

[0097] After the assistance process in step S9, the controller 10 controls the vehicle 1 by the vehicle control system 40 so that the vehicle 1 executes in place of a driving function having a chronically deteriorating driving performance (S8: malfunction replacement process). After the malfunction replacement process, the controller 10 ends the process.

[0098] As described above, the embodiments of the present invention have been described, but the specific configurations and means of the present invention can be arbitrarily modified and improved within the scope of the technical idea of each invention described in the claims. Hereinafter, such modification examples will be described.

[0099] First, the problems to be solved by the invention and the effects of the invention are not limited to the above-described content. By the present invention, it is also possible to solve problems not described above or to achieve effects not described above, and it may also solve only some of the described problems or achieve only some of the described effects.

[0100] Furthermore, the optimization process, alternative process, and support process described above are just examples. Depending on each driving function, various optimization processes for eliminating a temporary decrease in the driving performance of that function, various alternative processes in which the vehicle executes instead of that function, and various support processes for maintaining or improving the driving performance of that function can be adopted.

[0101] Finally, the operation and effect of the vehicle control device 100 according to this embodiment and the modified example of this embodiment will be described. The vehicle control device 100 of this embodiment performs driving support control on the vehicle 1 that travels using a plurality of driving functions including a running function, a stopping function, and a turning function by vehicle operation using a plurality of driving functions of the driver, so that the vehicle 1 travels according to the traffic environment and driving environment around the vehicle 1. When it is detected that any one of the plurality of driving functions possessed by the driver has been lost or there is a sign of loss, the vehicle control device 100 performs a full-function substitution process (S6) for controlling the vehicle 1 so that the vehicle 1 executes all of the plurality of driving functions instead. When it is detected that the driving performance of any one of the plurality of driving functions possessed by the driver has temporarily decreased, the vehicle control device 100 controls the vehicle 1 to eliminate the temporary decrease in the driving performance by giving a physical stimulus to the driver or providing the driver with information for recognizing the temporary decrease in the driving performance, which is an optimization process (S7). When it is detected that the driving performance of any one of the plurality of driving functions possessed by the driver has chronically decreased, the vehicle control device 100 controls the vehicle 1 to maintain or improve the driving performance by providing the driver with information for supporting the exertion of the driving performance, which is a support process (S9).

[0102] Thus, in this embodiment, when any of the driver's driving abilities is lost or there are signs thereof, the vehicle 1 substitutes for and executes all of the driving functions, thereby ensuring the safety of vehicle travel. Further, in this embodiment, when any driving performance temporarily deteriorates, physical stimulation is given to the driver or information for recognizing the temporary deterioration of the driving performance is provided to the driver, so that the driving ability of the temporarily deteriorated driver can be restored and the driver can continue driving on their own. Further, in this embodiment, when any driving performance is chronically deteriorating, by providing the driver with information for assisting the exercise of the driving performance, the driving performance is maintained or improved. Thus, rather than simply having the vehicle 1 substitute for the function, while actively causing the driver to exercise their driving performance, the vehicle 1 can compensate for the driver's lack of ability or promote the improvement of the driver's ability. Therefore, while ensuring safe travel by means of autonomous driving, it is possible to maintain and improve the driver's driving ability through driving.

[0103] Further, in this embodiment, when it is detected that any driving performance of a plurality of driving functions possessed by the driver has temporarily deteriorated or is chronically deteriorating, the vehicle control device 100 further executes a malfunction substitution process (S8) for controlling the vehicle 1 so that the vehicle 1 substitutes for and executes the driving function of the driver having the driving performance. Thus, in this embodiment, even if the driver's driving ability is low, the driving function for the lacking driving performance is substituted by the vehicle 1. For this reason, in this embodiment, the safety of vehicle travel is ensured and the driver can extend their driving life without giving up driving.

[0104] In addition, in the present embodiment, the plurality of driving functions of the driver include a perception function for perceiving the traffic environment and the driving environment, a judgment function for judging the driving operations necessary in the traffic environment and the driving environment, and an operation function for performing the driving operations. In the present embodiment configured in this way, by the driving performance determination process, it is determined whether the driver has a predetermined driving performance for each of the plurality of driving functions. Thereby, in the present embodiment, it is possible to identify a defective function having a low driving performance and appropriately select a defective function for which an optimization process or a support process should be executed.

[0105] In addition, in the present embodiment, in the support process, information with different contents is provided according to the plurality of driving functions of the driver. In the present embodiment configured in this way, appropriate support information can be provided according to the type of defective function.

Explanation of Signs

[0106] 1 Vehicle 10 Controller 20 Vehicle-mounted device 40 Control device 50 Information notification device 100 Vehicle control device

Claims

1. A vehicle control device that performs driving support control so that a vehicle that travels using a plurality of driving functions including a running function, a stopping function, and a turning function travels according to the traffic environment and driving environment around the vehicle by vehicle operation using a plurality of driving functions of a driver, a process of determining whether each of the plurality of driving functions possessed by the driver is a defective function; a process of determining how the driving ability of the driver has decreased with respect to the defective function when there is a driving function determined to be a defective function; a full-function substitution process of controlling the vehicle so that the vehicle substitutes and executes all of the plurality of driving functions including the driving functions determined not to be the defective function when it is detected that any one of the plurality of driving functions possessed by the driver has been lost or there is a sign of being lost in the process of determining how the driving ability has decreased with respect to the defective function; an optimization process of controlling the vehicle so as to eliminate a temporary decrease in the driving performance by giving a physical stimulus to the driver or providing the driver with information for recognizing the temporary decrease in the driving performance when it is detected that the driving performance of any one of the plurality of driving functions possessed by the driver has temporarily decreased in the process of determining how the driving ability has decreased with respect to the defective function; a support process of controlling the vehicle so as to maintain or improve the driving performance by providing the driver with information for supporting the exhibition of the driving performance when it is detected that the driving performance of any one of the plurality of driving functions possessed by the driver has chronically decreased in the process of determining how the driving ability has decreased with respect to the defective function; A vehicle control device configured to execute the above.

2. The vehicle control device according to claim 1, further configured to execute a defective function substitution process of controlling the vehicle so that the vehicle substitutes and executes the driving function of the driver having the driving performance when it is detected that the driving performance of any one of the plurality of driving functions possessed by the driver has temporarily decreased or has chronically decreased.

3. The plurality of driving functions possessed by the driver include a perception function for perceiving the traffic environment and the driving environment, a judgment function for judging driving operations necessary in the traffic environment and the driving environment, and an operation function for performing the driving operations. The vehicle control device according to claim 1 or 2.

4. In the support process, information of different contents is provided according to a plurality of driving functions of the driver. The vehicle control device according to any one of claims 1 to 3.

5. A vehicle control method for performing driving support control so that a vehicle that travels using a plurality of driving functions including a running function, a stopping function, and a turning function travels according to the traffic environment and the driving environment around the vehicle by vehicle operation using a plurality of driving functions of a driver, Determining whether each of the plurality of driving functions possessed by the driver is a malfunctioning function; When there is a driving function determined to be a malfunctioning function, determining how the driving ability of the driver has decreased with respect to the malfunctioning function; In the step of determining how the driving ability has decreased with respect to the malfunctioning function, when it is detected that any one of the plurality of driving functions possessed by the driver has been lost or there is a sign of being lost, the vehicle is controlled so that the vehicle executes all of the plurality of driving functions including the driving functions determined not to be the malfunctioning functions instead. The all-function substitution step; In the step of determining how the driving ability has decreased with respect to the malfunctioning function, when it is detected that the driving performance of any one of the plurality of driving functions possessed by the driver has temporarily decreased, the vehicle is controlled so as to eliminate the temporary decrease in the driving performance by giving a physical stimulus to the driver or providing the driver with information for recognizing the temporary decrease in the driving performance. The optimization step; In the step of determining how the driving ability has decreased with respect to the malfunctioning function, when it is detected that the driving performance of any one of the plurality of driving functions possessed by the driver has chronically decreased, the vehicle is controlled so as to maintain or improve the driving performance by providing the driver with information for supporting the exhibition of the driving performance. The support step; A vehicle control method having the above.

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