Vehicle driving support system

Abstract

To enable a sense of discomfort of a driver to be reduced as compared with conventional systems when the drive assistance based on the personalization function is performed.SOLUTION: A personalization setting unit 81 requests a new driver for setting whether to use a personalization function that is able to change a set value of a driving assistance function to a recommended value for each driving assistance function when the new driver is registered in a driver information registration unit 82.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] This specification discloses a driving assistance system for a vehicle.

Background Art

[0002] Vehicle driving assistance is roughly classified into information - providing assistance and intervention - operation assistance. In information - providing assistance, the operation to be performed by the driver is instructed through at least one of auditory and visual information. For example, a display and a speaker are provided around the driver's seat. Then, a message is displayed on the display or voice is output from the speaker.

[0003] In intervention - operation assistance, the assistance system intervenes in the driver's steering, braking, and accelerator operations. For example, an actuator is provided on the steering column. The system sends control commands to this steering actuator, as well as to a brake actuator and an inverter that controls a rotating electric machine as a drive source, to substitute for the driving operation.

[0004] For example, in Patent Document 1, driving diagnosis is performed on the driving operation of a vehicle by the driver. And based on the result of the driving diagnosis, a driving assistance method customized for each driver is set. For example, as the customized items, the type of actuator to be the target of the intervention operation, the control timing, the control time, and the control amount are set for each driver.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] By the way, as a mode of setting the set values of various items of the driving support function for each driver, there are two modes: "customization" and "personalization". In customization, the driver sets the set values according to their preferences. In personalization, the driving support system selects the optimal set values for each driver based on driving performance and the like.

[0007] In the setting by personalization, there is a possibility that driving support different from the driver's feeling is executed, and the driver may feel uncomfortable. Therefore, in this specification, a vehicle driving support system capable of reducing the driver's discomfort more than before is disclosed when performing driving support based on the personalization function.

Means for Solving the Problem

[0008] The vehicle driving support system disclosed in this specification enables a plurality of driving support functions to be executed for the vehicle. A plurality of setting items are provided for each driving support function. Also, set values are determined for each setting item. The driving support system includes a driver information registration unit, a recommended value calculation unit, and a personalization setting unit. The driver information registration unit can register driver information. The recommended value calculation unit obtains a recommended value for the set value based on the driver's driving-related information including the driving history. When a new driver is registered in the driver information registration unit, the personalization setting unit requests the new driver for each driving support function whether to use the personalization function that can change the set value of the driving support function to the recommended value.

[0009] According to the above configuration, when a new driver is registered, the driver can set the driving support functions that desire personalization and the driving support functions that do not desire personalization.

[0010] Also, in the above configuration, when making an approval necessity judgment for classifying a plurality of recommended values into an approval-type recommended value that requires driver approval and an automatic change-type recommended value that does not require driver approval, the personalization setting unit may determine whether the setting item that is the setting destination of the recommended value is an intervention operation type.

[0011] According to the above configuration, when the set value of a setting item for which an intervention operation on the vehicle is performed is changed, it becomes possible to request approval from the driver. During the approval process, the driver will recognize that the set value of the intervention operation accompanied by vehicle movement is changed, and it becomes possible to reduce the driver's discomfort before and after the setting change.

[0012] Also, in the above configuration, when determining whether approval is required, the personalization setting unit may determine whether the intensity of driving support decreases due to the change to the recommended value.

[0013] According to the above configuration, it becomes possible to avoid a situation where the driving support intensity is reduced without the driver noticing.

[0014] Also, in the above configuration, the driving support system may include an imager and an image recognition unit. The imager includes the driver's seat in its field of view. The image recognition unit recognizes the face of the driver sitting in the driver's seat from the captured image by the imager. In this case, when the image recognition unit recognizes a new driver, the driver information registration unit requests registration of driver information from the new driver.

[0015] According to the above configuration, registration for a new driver is promoted.

[0016] Also, in the above configuration, the driver information registration unit may register the image of the face recognized by the image recognition unit as driver information.

[0017] According to the above configuration, it is possible to call the set value corresponding to the driver only by recognizing the face image.

Effect of the Invention

[0018] According to the vehicle driving support system according to this specification, when performing driving support based on the personalization function, it becomes possible to reduce the driver's discomfort more than before.

Brief Description of the Drawings

[0019]

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Mode for Carrying Out the Invention

[0020] <System Overview> FIG. 1 illustrates the overall configuration of a driving assistance system for a vehicle according to this embodiment. This system includes a vehicle 100 and an OTA center server 150.

[0021] The vehicle 100 is capable of executing a plurality of types of driving assistance functions. Also, as shown in FIG. 8 described later, each driving assistance function (e.g., pre-crash safety) is provided with a plurality of setting items (e.g., function on / off, etc.). A set value (e.g., on / off, etc.) is determined for each setting item.

[0022] Also, the vehicle 100 can determine various settings of the driving assistance functions for each driver. When making this setting, driver information is registered in the ADAS-ECU 70 (see FIG. 6). When the driver information is newly registered, the settings of the driving assistance functions are made.

[0023] When making the settings of this driving assistance function, an on / off setting of the personalization function as shown in FIG. 8 described later is made. By this on / off setting, driving assistance functions for which personalization is not desired can be excluded from the personalization target in advance.

[0024] In order to provide a personalization service, driving-related information including the driving history is transmitted from the vehicle 100 to the OTA center server 150 (see FIG. 1) for each driver. The driving-related information includes a driving assistance function record table (see FIG. 10) and a notable operation table (see FIG. 11) described later.

[0025] The OTA center server 150 performs a driving diagnosis based on the received driving-related information. Further, the OTA center server 150 calculates a recommended value regarding the set value of the driving assistance function based on the diagnosis result. This recommended value is obtained for each driver.

[0026] Upon receiving the recommended values, vehicle 100 distributes the recommended values into an automatic change type (S30) and an approval type (S32) based on the approval required judgment flow (Figure 12). The recommended values distributed to the automatic change type are set as the set values of the driving assistance function in a form that omits the driver's approval. On the other hand, the recommended values distributed to the approval type are set as the set values of the driving assistance function after passing through the driver's approval as shown in Figures 15 and 16.

[0027] <Vehicle> Figure 2 illustrates the hardware configuration of vehicle 100. In Figure 2, mainly the devices related to the driving assistance function of vehicle 100 are illustrated, and the illustration of the devices with low relevance to the above functions is omitted as appropriate.

[0028] Vehicle 100 may be a battery electric vehicle (BEV) equipped with a rotary electric machine 11 as a drive source, for example. Also, vehicle 100 may be a hybrid electric vehicle (HEV) or a plug-in hybrid electric vehicle (PHEV).

[0029] <Drive train equipment> For example, vehicle 100 includes a battery 17, a boost / buck DC / DC converter 12, an inverter 13, and a rotary electric machine 11 as a high-voltage circuit of the drive train. The DC power output from the battery 17 is boosted, for example, by the boost / buck DC / DC converter 12, and further orthogonally converted by the inverter 13. The converted AC power is supplied to the rotary electric machine 11 to drive the rotary electric machine 11. This driving force is transmitted to the wheel 16. Also, a steering actuator 14, which is a steering mechanism, and a brake actuator 15, which is a braking mechanism, are provided on the wheel 16.

[0030] In addition, the vehicle 100 is provided with a steering wheel 20, an accelerator pedal 21, and a brake pedal 22 as mechanisms for manual driving. The vehicle 100 is also provided with a torque sensor 20A for detecting the operation amount of the steering wheel 20. Furthermore, the vehicle 100 is provided with an accelerator position sensor 21A for detecting the operation amount (depression amount) of the accelerator pedal 21, and a brake position sensor 22A for detecting the operation amount (depression amount) of the brake pedal 22.

[0031] The operation amounts detected by the torque sensor 20A, the accelerator position sensor 21A, and the brake position sensor 22A are transmitted as electrical signals from the sensors 20A - 22A to the central gateway ECU 110 (hereinafter appropriately referred to as the CGW - ECU). In response to this, the CGW - ECU 110 transmits a normal driving command, a normal braking command, and a normal steering command to the power train - chassis ECU 18.

[0032] Also, when an intervention operation - type driving support function is executed, an intervention operation command is transmitted from the ADAS - ECU 70 to the power train - chassis ECU 18. For example, this intervention operation command has priority over the above - mentioned normal driving command, normal braking command, and normal steering command. The intervention operation command includes an intervention driving command, an intervention braking command, and an intervention steering command. Details of the driving support function will be described later.

[0033] The power train - chassis ECU 18 transmits a switching signal corresponding to the normal / intervention driving command to the inverter 13. Also, the power train - chassis ECU 18 transmits a driving signal corresponding to the normal / intervention braking command to the motor of the brake actuator 15. Furthermore, the power train - chassis ECU 18 transmits a driving signal corresponding to the normal / intervention steering command to the steering actuator 14.

[0034] <Sensor> FIG. 2 illustrates sensors for enabling the execution of a driving support function for the vehicle 100. As sensors for grasping the external situation of the vehicle, the vehicle 100 includes an external camera unit 50, a lidar sensor 61, and radar sensors 62, 63.

[0035] Figure 3 illustrates the front portion of the vehicle 100. A front center radar sensor 63 is provided on the front surface of the vehicle 100, for example, on the back side of the emblem at the center in the vehicle width direction. In addition, front side radar sensors 62A and 62B are provided on both sides of the front surface of the vehicle 100. These radar sensors are each composed of, for example, a millimeter wave radar.

[0036] Furthermore, a lidar sensor 61 is provided on the front surface of the vehicle 100, for example, at the center in the vehicle width direction, below the number plate mounting position. The lidar (Light Detection and Ranging) sensor 61 scans a laser beam (for example, infrared rays) in a planar shape to measure the distance to surrounding objects. The lidar sensor 61 is, for example, a solid state type unit. By scanning the laser beam in a planar manner toward the front of the vehicle 100, three-dimensional point cloud data in front of the vehicle 100 can be obtained.

[0037] Referring to FIGS. 3 and 4, an outside vehicle camera unit 50 and an in-vehicle camera 51 are provided on the back surface of the windshield glass 30, that is, the exposed surface to the passenger compartment. The outside vehicle camera unit 50 and the in-vehicle camera 51 are provided, for example, at the center in the vehicle width direction and above the windshield glass 30.

[0038] The outside vehicle camera unit 50 is, for example, a stereo camera unit (imaging unit) composed of two cameras, and can image the outside of the vehicle, more specifically, the front of the vehicle, through the windshield glass 30. The in-vehicle camera 51 is, for example, a monocular imager and includes the driver's seat in its field of view. The in-vehicle camera 51 can image the face of the driver sitting in the driver's seat.

[0039] The outside vehicle camera unit 50 and the in-vehicle camera 51 can each image a moving image. The captured moving image data is stored in an imaging image storage unit 52 (see FIG. 6) in a state linked to the date and time of the imaging time.

[0040] Referring to FIG. 2, the self-position estimator 36 is, for example, a receiver of a Global Navigation Satellite System. The self-position estimator 36 is connected to the AV-ECU 90.

[0041] The clock 37 is connected to the ADAS-ECU 70. As will be described later, the driving support function determination unit 74 (see FIG. 6) of the ADAS-ECU 70 acquires the date and time when the driving support function was executed from the clock 37 and stores it in the driving information storage unit 80. Also, the attention operation determination unit 84 acquires the date and time when the attention operation by the driver occurred from the clock 37 and stores it in the driving information storage unit 80.

[0042] <Audio-visual equipment> FIG. 4 illustrates the front portion of the passenger compartment. As audio-visual equipment, a center display 40 and a meter display 35 are provided on the instrument panel.

[0043] The center display 40 is, for example, a touch panel display in which an input unit and a display unit are integrated. The center display 40 is installed, for example, at the center in the vehicle width direction of the instrument panel.

[0044] The center display 40 displays various information of the vehicle 100. For example, a navigation screen (not shown) indicating the route to the destination is displayed on the center display 40. Further, a driver profile screen illustrated in FIGS. 7 and 8 and a personalization setting screen as illustrated in FIGS. 13 - 16 are displayed on the center display 40.

[0045] Referring to FIG. 4, the meter display 35 is provided in the meter panel 34. The meter display 35 is arranged, for example, in front of the steering wheel 20. For example, a notification message is displayed on the meter display 35 when an information-providing type driving support function is executed.

[0046] In the passenger compartment, a speaker 33 is provided as an audio device. For example, the speakers 33 are respectively provided above and in the front part of a pair of front doors 32, 32. The speaker 33 is, for example, a so-called tweeter that outputs high-frequency sound. Further, the output surface of the speaker 33 faces the driver or the passenger in the passenger seat. As will be described later, a warning sound is output from the speaker 33 when an information-providing type of driving support function is executed.

[0047] <ecu> As illustrated in FIG. 2, a plurality of electronic control units (ECUs) are provided in the vehicle 100. These electronic control units are provided, for example, according to the functions of the vehicle 100. For example, the vehicle 100 includes a power train - chassis ECU 18, an ADAS - ECU 70, an AV - ECU 90, and an I / F - ECU 112.

[0048] Furthermore, as a higher - level ECU that integrates these function - specific ECUs, a central gateway ECU 110 (CGW - ECU) is provided in the vehicle 100. The CGW - ECU 110 commands each function - specific ECU, for example, when performing cooperative control in which a plurality of function - specific ECUs cooperate to execute one function.

[0049] The power train - chassis ECU 18, the ADAS - ECU 70, the AV - ECU 90, and the I / F - ECU 112 can communicate with each other via the CGW - ECU 110. Each ECU is connected, for example, by a signal line conforming to the CAN standard (Controller Area Network).

[0050] The power train - chassis ECU 18 controls the rotating electric machine 11, the steering actuator 14, and the brake actuator 15. Also, the I / F - ECU 112 is an ECU that serves as an interface for receiving signals from external devices such as an OTA center server 150 (see FIG. 1).

[0051] The ADAS - ECU 70 is an ECU for ADAS (Advanced driver - assistance systems) which means an advanced driver assistance system. The ADAS - ECU 70 is signal - connected to an out - of - vehicle camera unit 50, an in - vehicle camera 51, a lidar sensor 61, and radar sensors 62, 63, which are sensors for grasping the out - of - vehicle situation.

[0052] The AV-ECU 90 performs display control and audio control for the speaker 33, the meter display 35, and the center display 40. Also, input operation information to the center display 40, which is a touch panel, is transmitted from the AV-ECU 90 to the ADAS-ECU 70 and the CGW-ECU 110.

[0053] All of the above function-specific ECUs and the CGW-ECU 110 are composed of electronic devices (computers). The hardware configuration of the ADAS-ECU 70 is illustrated in FIG. 5. The above function-specific ECUs and the CGW-ECU 110 also have a similar hardware configuration.

[0054] The ADAS-ECU 70 (and other ECUs) includes an input I / F 70A, an output I / F 70B, a CAN bus I / F 70C, a microcomputer 70D, and a memory 70E.

[0055] The CAN bus I / F 70C is a device for connecting the ADAS-ECU 70 to other ECUs. The input I / F 70A is a connection device for the ADAS-ECU 70 to receive signals from in-vehicle sensor devices such as the out-of-vehicle camera unit 50. The output I / F 70B is a connection device for transmitting signals from the ADAS-ECU 70 to devices other than ECUs.

[0056] The microcomputer 70D (microcontroller) executes various controls and calculations in accordance with a given program. For example, the microcomputer 70D is configured to include a CPU, a memory, and peripheral devices such as input / output devices. Further, a memory 70E, which is a storage device such as an SSD (Solid State Drive), is connected to the microcomputer 70D.

[0057] <Function Blocks of AV-ECU> By the microcomputer executing the program stored in the memory of the AV-ECU 90, function blocks as illustrated in FIG. 6 are configured in the AV-ECU 90. That is, the AV-ECU 90 includes an input / output unit 91, a display control unit 92, an audio control unit 93, and a map data storage unit 94.

[0058] Alternatively, instead of storing the program in the memory, the program may be stored in a non-transitory computer-readable storage medium such as a DVD, and the microcomputer may read and execute this. Even by such means, various functional blocks illustrated in FIG. 6 are configured in the AV-ECU 90.

[0059] The map data storage unit 94 stores map data associated with latitude and longitude information. The input / output unit 91 receives input signals from peripheral devices such as the ADAS-ECU 70. The input / output unit 91 also receives an input operation signal from the center display 40 which is a touch panel, and transmits the signal to peripheral devices such as the ADAS-ECU 70.

[0060] The voice control unit 93 controls the output of notification voices included in the information-providing type of driving support function. For example, when receiving a notification command from the information-providing control unit 75 of the ADAS-ECU 70, the voice control unit 93 causes the speaker 33 to output a notification voice.

[0061] The display control unit 92 controls the display images of the meter display 35 and the center display 40. The display control unit 92 performs display control of notification messages included in the information-providing type of driving support function. For example, when receiving a notification command from the information-providing control unit 75 of the ADAS-ECU 70, the display control unit 92 causes the meter display 35 to display a notification message text or a warning image (such as a pedestrian image).

[0062] <Functional Blocks of ADAS-ECU> When the microcomputer 70D of the ADAS-ECU 70 (see FIG. 5) executes the program stored in the memory 70E, the functional blocks illustrated in FIG. 6 are configured in the ADAS-ECU 70. That is, the ADAS-ECU 70 includes an outside-vehicle image recognition unit 71, an inside-vehicle image recognition unit 72, a distance measurement unit 73, a driving support function determination unit 74, an information-providing control unit 75, and an intervention operation control unit 76. Further, the ADAS-ECU 70 includes a driving information storage unit 80, a personalization setting unit 81, a driver information registration unit 82, a focused action determination unit 84, and a transmission / reception unit 85.

[0063] Alternatively, instead of storing the program in the memory 70E, the program may be stored in a non-transitory computer-readable storage medium such as a DVD, and the microcomputer 70D may read and execute this. Even by such means, various functional blocks illustrated in FIG. 6 are configured in the ADAS-ECU 70.

[0064] The external image recognition unit 71 recognizes an image area of an object outside the vehicle from a captured image by the external camera unit 50. For example, in the external image recognition unit 71, a convolutional neural network (CNN) capable of executing SSD (Single Shot Multibox Detector) using supervised learning is implemented as an image recognition algorithm. By such image recognition, attributes of various objects (vehicles, pedestrians, road signs, structures, etc.) included in the captured image by the external camera unit 50 are recognized.

[0065] The distance measurement unit 73 also acquires the captured image data for which image recognition has been performed from the external image recognition unit 71. The distance measurement unit 73 also acquires three-dimensional point cloud data of distance measurement information from the lidar sensor 61. The distance measurement unit 73 obtains how far an object of what attribute is from the host vehicle by combining the three-dimensional point cloud data and the captured image data.

[0066] The in-vehicle image recognition unit 72 performs driver face recognition from the captured image by the in-vehicle camera 51 using the above-described image recognition algorithm. Based on the face recognition result, the personalization setting unit 81 determines whether it corresponds to any of the registered drivers stored in the driving information storage unit 80. Further, the attention operation determination unit 84 determines whether the driver is performing an attention operation such as looking aside based on the face recognition result.

[0067] The driving support function determination unit 74 determines whether the driving support function can be executed for the information providing control unit 75 and the intervention operation control unit 76 based on the object information (attribute and distance from the host vehicle) around the host vehicle from the distance measurement unit 73.

[0068] As described above, the driving support function is roughly classified into an information provision type and an intervention operation type. For example, an information provision type driving support function is executed as a pre-stage before the intervention operation type driving support function is executed.

[0069] For example, when a pedestrian in front approaches a predetermined first threshold distance, the driving support function determination unit 74 transmits a pedestrian approach notification to the information provision control unit 75. The information provision control unit 75 transmits a pedestrian approach warning command to the display control unit 92 and the voice control unit 93 of the AV-ECU 90. The display control unit 92 causes a pedestrian image to be displayed on the meter display 35. Also, the voice control unit 93 causes an alert voice to be output from the speaker 33.

[0070] Furthermore, when the distance to the pedestrian decreases and the vehicle 100 approaches the pedestrian to a predetermined second threshold distance, the driving support function determination unit 74 outputs an intervention operation command to the intervention operation control unit 76. In response to this, the intervention operation control unit 76 operates the brake actuator 15 via the power train - chassis ECU 18 to decelerate the vehicle 100, and operates the steering actuator 14 so as to move closer to the side opposite to the pedestrian within the lane during traveling.

[0071] Regarding such a driving support function, the number of operations is counted up. For example, FIG. 10 illustrates a driving support function record table. As illustrated in this table, after being divided into the information provision type and the intervention operation type, the number of operations of each driving support function is counted up. In the driving support function record table, the number of operations of each driving support function is recorded for each registered driver registered in the driver information registration unit 82.

[0072] Furthermore, this table also records the date and time and location data when the driving support function is activated. The driving support function determination unit 74 acquires the date and time data from the clock 37 (see FIG. 6). Also, the driving support function determination unit 74 acquires the location data from the self-position estimator 36. Furthermore, the driving support function determination unit 74 refers to the map data storage unit 94, extracts facilities, intersection names, etc. closest to the latitude and longitude of the vehicle 100 when the driving support function is activated, and records them in the driving support function record table.

[0073] The attention operation determination unit 84 determines whether a predetermined attention operation among the driver's operations has occurred in the vehicle 100. FIG. 11 illustrates an attention operation table. The attention operation table is stored separately for each registered driver based on the personalization function described later. Attention operation items are set in the attention operation table.

[0074] The attention operation refers to a driver operation that increases the risk of a vehicle accident, and includes, for example, sudden braking, sudden acceleration, sudden steering, and looking aside. Sudden braking and sudden acceleration refer to states where the depression accelerations of the brake pedal and the accelerator pedal exceed a predetermined threshold value. Sudden steering refers to a state where the angular acceleration when turning the steering wheel exceeds a predetermined threshold value.

[0075] Regarding sudden braking, sudden acceleration, and sudden steering, based on the operation amounts detected by the brake position sensor 22A (see FIG. 6), the accelerator position sensor 21A, and the torque sensor 20A, the attention operation determination unit 84 determines the occurrence or non-occurrence of each attention operation. The presence or absence of looking aside can be determined from the captured image of the in-vehicle camera 51 as described above.

[0076] By determining the presence or absence of an attention operation based on the actual operation amounts detected by the brake position sensor 22A, the accelerator position sensor 21A, and the torque sensor 20A, the occurrence or non-occurrence of an attention operation can be determined with high accuracy. For example, compared with the determination based on the captured images inside and outside the vehicle by the out-vehicle camera unit 50, the in-vehicle camera 51, etc., the occurrence or non-occurrence of an attention operation can be determined with high accuracy.

[0077] For example, when the driver applies sudden braking, that is, when the brake pedal 22 is rapidly depressed, driving assistance functions such as ABS (antilock braking system) may be activated, and the braking force corresponding to the amount of depression of the brake pedal 22 may not be obtained.

[0078] That is, even when the driver rapidly depresses the brake pedal 22, the vehicle may not come to a sudden stop in terms of vehicle operation. In this way, when the driving assistance function intervenes on the operation line from the input of the operation amount to the output of the vehicle operation, the output may not match the input. In other words, when the driving assistance function is executed, accelerations, turning postures, and braking amounts that do not correspond to the operation amounts of the accelerator pedal 21, the steering wheel 20, and the brake pedal 22 are output from the vehicle 100.

[0079] Therefore, in the driving assistance system according to the present embodiment, for example, regarding attention operations (sudden steering, sudden acceleration, sudden braking) related to the driver's operations, instead of the vehicle operation, the presence or absence of the attention operation is determined based on the actual operation amount of the driver.

[0080] For example, when the brake pedal 22 is immediately and deeply depressed, the driving assistance function may be activated and the vehicle 100 may not come to a sudden stop. Even in such a case, the attention operation determination unit 84 counts up the attention operation "sudden braking" based on the operation amount of the brake pedal 22 detected by the brake position sensor 22A. By making such a determination, it becomes possible to grasp the driving habits for each registered driver.

[0081] Also, for some of the attention operations, captured images are used. For example, the attention operation determination unit 84 determines the presence or absence of the driver's side glance by recognizing the driver's face image by the in-vehicle image recognition unit 72.

[0082] In the attention operation table, the number of occurrences of each attention operation item and its operation history are also recorded. The operation history includes the date and time when the attention operation occurred and the location where it occurred. The attention operation determination unit 84 acquires date and time data from the clock 37 (see FIG. 6). Further, the attention operation determination unit 84 acquires location data from the self-position estimator 36. For example, facilities, intersection names, etc. closest to the latitude and longitude of the vehicle 100 when the attention operation occurs are recorded in the driving support function record table.

[0083] <Driver registration> The driver information registration unit 82 can register the driver information of the vehicle 100. For example, new registration or setting changes of the driver can be performed from the center display 40 which is a touch panel.

[0084] For example, the driver information registration unit 82 stores the name, account name, and password of the driver input by the registered driver in the driving information storage unit 80. Further, the driver information registration unit 82 stores the face image etc. of the registered driver captured by the in-vehicle camera 51 in the driving information storage unit 80.

[0085] As a support function for new registration, face image data is utilized. For example, when the driver gets into the vehicle 100 and turns on the start button, the in-vehicle camera 51 is activated to capture the driver's face. Note that the start button is, for example, a button to activate the control system of the vehicle 100.

[0086] The captured face image is recognized by the in-vehicle image recognition unit 72. For example, image recognition is performed using a neural network such as the CNN described above. When the in-vehicle image recognition unit 72 obtains a recognition result that the recognized face is different from any of the registered drivers' faces, that is, it is the face of a new registrant, the driver information registration unit 82 requests the registration of driver information from the new driver.

[0087] For example, the driver information registration unit 82 causes the center display 40 to display the profile screen illustrated in FIG. 7 via the display control unit 92 of the AV-ECU 90. Further, a request message such as "Please perform new registration of the driver" may be displayed on this profile screen. Note that this profile screen can be displayed not only when the in-vehicle image recognition unit 72 recognizes a new driver, but also when the driver operates the center display 40.

[0088] On the profile screen, images of a registrant button 206 for selecting a registered person and a new registration button 208 for performing new registration of the driver are displayed. In addition, on the profile screen, a guest button 204, a home button 200, and a return button 202 that are selected when driver registration is not required are displayed.

[0089] When the new registration button 208 is turned on, a profile of a new driver is created. For example, a face image of the new registrant is captured by the in-vehicle camera 51. This face image is recognized by the in-vehicle image recognition unit 72 and the face image is registered.

[0090] FIG. 8 illustrates a driver profile screen. On this screen, images of a driver face image 210, a driver name 212, a driver basic information tab 214, a driving support function information tab 216, and a driving diagnosis tab 218 are displayed. For example, when the driver basic information tab 214 is selected, the name and age of the registrant can be registered. In addition, the identification symbol of the mobile terminal possessed by the registrant is also registered. Further, as profile information, for example, the position and height of the driver's seat, the angle of the seat back, etc. are registered.

[0091] FIG. 8 illustrates the screen of the center display 40 when the driving support function information tab 216 is selected. In the driving support function information tab 216, various setting items are selected for each of a plurality of driving support functions. By operating the return button 202 and the forward button 203, the driving support function to be set can be switched. For example, in FIG. 8, pre-crash safety is displayed as a driving support function.

[0092] Furthermore, as pre-crash safety setting items, it includes function on / off, presence / absence of notification, buzzer volume, detection sensitivity, and on / off of the personalization function. For example, among these setting items, as information-providing type setting items, presence / absence of notification and buzzer volume can be mentioned. Also, as an intervention operation type setting item, detection sensitivity can be mentioned because the timing at which an intervention operation command is transmitted from the ADAS-ECU 70 changes.

[0093] In FIG. 8, the initial values of the setting items are indicated by hatching. At the time of new registration, the driver can set the setting values of these setting items to arbitrary values. In particular, at the time of new registration, by being able to set the availability of the personalization function for each driving support function, the driver can select a driving support function for which personalization is desired and a driving support function for which personalization is not desired.

[0094] When the settings for various driving support functions are completed, the setting information is stored in the driving information storage unit 80 in a format such as the driving support information setting table illustrated in FIG. 9. Among the setting items, for setting items other than function on / off and personalization function on / off, the manually set value and the currently set value may be recorded.

[0095] The manually set value refers to the set value selected by the driver on the driving support function setting screen (FIG. 8). In other words, the manually set value represents the set value based on the driver's preference. In the case where the set value is not selected by the driver, the initial value becomes the manually set value. By enabling the personalization function, a value different from the manually set value can become the currently set value. When the recommended values obtained by the personalization function are classified into an approval type and an automatic change type as described later, the manually set value is referred to.

[0096] <OTA Center Server> Referring to FIG. 1, the OTA center server 150 can transmit software and firmware update programs installed in various ECUs of the vehicle 100 via wireless communication (Over The Air).

[0097] The OTA center server 150 communicates wirelessly with the vehicle 100 and communicates with the I / F-ECU 112 (see FIG. 6) of the vehicle 100 to transmit and receive signals with various ECUs of the vehicle 100. For example, the OTA center server 150 is installed in a development center or the like of the vehicle 100.

[0098] The OTA center server 150 is composed of, for example, a computer and has a hardware configuration as illustrated in FIG. 5. When the microcomputer of the OTA center server 150 executes a program stored in the memory, the functional blocks illustrated in FIG. 1 are configured in the OTA center server 150. That is, the OTA center server 150 includes an operation diagnosis unit 151, a recommended value calculation unit 152, and an operation history storage unit 153.

[0099] Instead of storing the program in the memory, the program may be stored in a non-transitory computer-readable storage medium such as a DVD, and the microcomputer may read and execute this. By such means as well, various functional blocks illustrated in FIG. 1 are configured in the OTA center server 150.

[0100] Operation history data of the vehicle 100 is transmitted to the operation diagnosis unit 151 via the I / F-ECU 112 (see FIG. 6). This operation history data is data stored in the operation information storage unit 80 of the ADAS-ECU 70 and is aggregated by registered driver as described above. As described above, the operation history data can also be referred to as operation-related information, and this information includes information recorded in an operation support function record table (see FIG. 10) and a notable operation table (see FIG. 11).

[0101] The driving diagnosis unit 151 performs driving diagnosis based on the received driving history data and the past driving history data stored in the driving history storage unit 153. For example, in driving diagnosis, driving ability is evaluated for each classification such as handling, acceleration, and deceleration. For example, the driving ability is scored based on the number of target operations and the number of executions of the driving support function. For example, the driving diagnosis unit 151 obtains a deduction score for the handling item based on the number of sharp turns and the number of operations of the lane tracing assist.

[0102] The recommended value calculation unit 152 calculates the recommended value of the driving support function for each registered driver based on the driver-related information including the driving history. For example, the more the number of target operations related to the brake operation and the number of executions of the driving support function, the higher the detection sensitivity of the driving support function related to the brake operation (for example, pre-crash safety) is recommended as the value. The calculated recommended value is transmitted to the personalization setting unit 81 of the ADAS-ECU 70 via the I / F-ECU 112 of the vehicle 100.

[0103] <Personalization> Based on the recommended value related to the driving support function transmitted from the OTA center server 150, the personalization setting unit 81 performs personalization of various driving support functions. As described above, personalization proposes a setting change from the driving support system side, which is different from the customization in which the driver makes a preferred setting.

[0104] This personalization is divided into an approval type and an automatic change type. In the approval type, the driver's approval is required when changing the current setting value to the recommended value. In the automatic change type, the current setting value is automatically changed to the recommended value without the driver's approval.

[0105] <Approval required judgment flow> FIG. 12 illustrates an approval-required determination flow that determines whether the recommended values transmitted from the OTA center server 150 to the vehicle 100 are of an approval type or an automatic change type for each setting item. This flow is executed by the personalization setting unit 81. Further, this flow is activated when the recommended values are received from the OTA center server 150.

[0106] The personalization setting unit 81 extracts the registered driver information corresponding to the initial value (m = 1) of the driver counter m for the registered driver stored in the driving information storage unit 80 (S10). Next, the personalization setting unit 81 refers to the driving support function setting table (FIG. 9) for the registered driver of the counter m, and extracts the driving support function to be personalized (personalized driving support function) (S12).

[0107] Furthermore, the personalization setting unit 81 extracts the driving support function information corresponding to the initial value (n = 1) of the driving support function counter n (S14). Then, the personalization setting unit 81 extracts the setting items for which the recommended values are different from the current setting values for various setting items of the driving support function with the counter n = 1 (S16). For example, when the current setting value of the buzzer volume is "medium" and the recommended value is "small", the setting item "buzzer volume" is extracted.

[0108] Next, the personalization setting unit 81 extracts the setting item information with the counter k = 1 (S18). Then, the personalization setting unit 81 determines whether the setting item of the counter k is legally unchangeable automatically (S20). For example, in the driving information storage unit 80, identification information indicating whether it is legally unchangeable automatically is registered for each setting item. The personalization setting unit 81 makes the determination in step S20 by referring to this registered information.

[0109] For example, for the setting item "notification" of pre-crash safety, when the buzzer setting is to be changed from on to off and the driver's consent is required by law, the personalization setting unit 81 assigns the recommended value for the setting item to the approval type (S32).

[0110] In step S20, when the setting item of counter k can be automatically changed legally, the personalization setting unit 81 determines whether the same change was made during the previous trip (S22).

[0111] A trip refers to the period from when the vehicle control system of vehicle 100 is turned on to when it is turned off. In the driving information storage unit 80, past driving histories are stored separately for each registered driver. Also, in the driving information storage unit 80, the change history of the set values during past trips is stored.

[0112] For example, when the set value is automatically changed in the personalization function, the set value is changed limited to one trip, and at the start of the next trip, it is returned to the manually set value. The personalization setting unit 81 refers to the change history of the set value and determines whether the current recommended value was also proposed during the previous trip (S22). When the current recommended value was also proposed during the previous trip, the personalization setting unit 81 classifies this recommended value as an approved type (S32).

[0113] When the current recommended value was not proposed during the previous trip, the personalization setting unit 81 determines whether the support intensity of the driving support function of counter n decreases by changing the setting from the current set value to the recommended value (S24).

[0114] To say that the support intensity decreases means, in other words, that the support range by the driving support function becomes narrower. For example, when the current set value of the setting item "detection sensitivity" of pre-crash safety is "high" and the recommended value is "medium", the support intensity decreases. Also, when the current set value of the setting item "inter-vehicle distance" of adaptive cruise control is "medium" and the recommended value is "short", the support intensity decreases.

[0115] When the recommended value increases the assistance intensity compared to the current setting value, the Personalization Setting Unit 81 distributes the recommended value to the automatic change type (S30). On the other hand, when the recommended value decreases the assistance intensity compared to the current setting value, the Personalization Setting Unit 81 determines whether the assistance intensity of the driving assistance function of the counter n decreases by changing the setting from the manual setting value to the recommended value (S26).

[0116] The manual setting value can be said to be the setting value of the driver's preference. If the assistance intensity decreases compared to the driving assistance based on this preference setting value, the driver may feel discomfort. When the assistance intensity decreases with the recommended value compared to the manual setting value, the Personalization Setting Unit 81 distributes the recommended value to the approval type (S32).

[0117] On the other hand, when the assistance intensity is increased by the recommended value compared to the manual setting value, the Personalization Setting Unit 81 determines whether the setting item, which is the setting destination of the recommended value, is an intervention operation type (S28). For example, referring to FIG. 9, for the setting item "detection sensitivity" of pre-crash safety, since the start timing of the intervention braking operation based on the function differs depending on the setting value, it is an intervention operation type. On the other hand, the setting item "buzzer volume" is a function that does not pass through the power train - chassis ECU 18 (see FIG. 6), so it is not an intervention operation type but an information provision type. For example, the classification information regarding whether each setting item is an intervention operation type or an information provision type is stored in the driving information storage unit 80.

[0118] When the setting item of the counter k is not an intervention operation type, the Personalization Setting Unit 81 distributes the recommended value for the setting item to the automatic change type (S30). On the other hand, when the setting item of the counter k is an intervention operation type, the Personalization Setting Unit 81 distributes the recommended value for the setting item to the approval type (S32).

[0119] Furthermore, the personalization setting unit 81 determines whether the setting item counter k is equal to the final value k_end (S34). If the setting item counter k does not reach the final value k_end, the personalization setting unit 81 increments the counter k (S40) and returns to step S20.

[0120] If the setting item counter k reaches the final value k_end, the personalization setting unit 81 determines whether the personalization driving support function counter n has reached the final value n_end (S36). If the counter n does not reach the final value n_end, the personalization setting unit 81 increments the counter n (S42) and returns to step S16.

[0121] If the personalization driving support function counter n reaches the final value n_end, the personalization setting unit 81 determines whether the registered driver counter m has reached the final value m_end (S38). If the registered driver counter m does not reach the final value m_end, the personalization setting unit 81 increments the counter m (S44) and returns to step S12. When the registered driver counter m reaches the final value m_end, the flow of FIG. 12 is completed.

[0122] When the flow of FIG. 12 is completed, the personalization setting unit 81 extracts, for example, the setting items corresponding to the registered driver recognized by the in-vehicle camera 51 among the setting items allocated to the automatic change type, and changes the setting value from the current setting value to the recommended value.

[0123] This changed content can be reported to the driver on a report screen as illustrated in FIG. 13. This report screen is displayed on the center display 40 by the display control unit 92 (see FIG. 6), for example, when the shift lever of the vehicle is in the P range.

[0124] On this report screen, in addition to the message indicating that the set value has been changed, the images of the OK button 230 and the details button 232 are displayed. When the OK button 230 is turned on, the display control unit 92 switches the display from the report screen to a predetermined home screen.

[0125] When the details button 232 is turned on, the display control unit 92 switches the display to the detailed report screen illustrated in FIG. 14. On this screen, the automatically changed driving support function, setting items, and the set values before and after the change are displayed.

[0126] After the flow in FIG. 12 is completed, for the approval type setting items, driver approval is required. The personalization setting unit 81 extracts, for example, the setting items corresponding to the registered driver recognized by the in-vehicle camera 51 among the setting items classified as the approval type.

[0127] When the vehicle 100 is stopped waiting for a signal or the like, the display control unit 92 displays an approval screen as illustrated in FIG. 15 on the center display 40. On this approval screen, the images of the OK button 240 and the details button 242 are displayed.

[0128] The OK button 240 is a button that permits batch change to the approved type recommended value. Note that the change to the recommended value is limited to this trip, and the manually set value will be set for the next trip.

[0129] When the details button 242 is turned on, the display control unit 92 displays the approval details screen illustrated in FIG. 16. On this screen, in addition to the driving support function and its setting items to be changed, the values before and after the change of the set value are displayed. In response to such change contents, on the approval details screen, the images of the limited approval buttons 244A, 245A, 246A, the comprehensive approval buttons 244B, 245B, 246B, and the denial buttons 244C, 245C, 246C are displayed. The limited approval buttons 244A, 245A, 246A are buttons that approve the change limited to this trip. The comprehensive approval buttons 244B, 245B, 246B are buttons that approve the change for subsequent trips.

[0130] Thus, in this embodiment, for the automatically changeable setting items, the setting can be changed without the approval of the driver, so that the trouble of the approval operation can be saved. In addition, by making the setting value change that may cause discomfort to the driver an approval type, it is possible to avoid the occurrence of discomfort associated with the setting change.

Description of Signs

[0131] 40 Center display, 51 In-vehicle camera (imager), 70 ADAS-ECU, 72 In-vehicle image recognition unit, 74 Driving support function determination unit, 75 Information provision control unit, 76 Intervention operation control unit, 80 Driving information storage unit, 81 Personalization setting unit, 82 Driver information registration unit, 84 Attention operation determination unit, 90 AV-ECU, 92 Display control unit, 93 Voice control unit, 100 Vehicle, 110 Central gateway ECU, 150 OTA center server, 151 Driving diagnosis unit, 152 Recommended value calculation unit, 153 Driving history storage unit.< / ecu>

Claims

1. A driving support system for a vehicle, wherein a plurality of driving support functions can be executed for the vehicle, a plurality of setting items are provided for each of the driving support functions, and setting values are determined for each of the setting items, a driver information registration unit capable of registering driver information, a recommended value calculation unit that obtains a recommended value for the setting value based on driver-related information of the driver including the driving history, a personalization setting unit that, when a new driver is registered in the driver information registration unit, requests the new driver for each driving support function regarding whether to use a personalization function that can change the setting value of the driving support function to the recommended value, comprising: In making an approval necessity determination that classifies a plurality of the recommended values into an approval-type recommended value that requires driver approval and an automatic change-type recommended value that does not require driver approval, the personalization setting unit determines whether the setting item that is the setting destination of the recommended value is an intervention operation type. A driving support system for a vehicle.

2. The driving support system for a vehicle according to claim 1, wherein, in making the approval necessity determination, the personalization setting unit determines whether the intensity of driving support decreases due to the change to the recommended value. A driving support system for a vehicle.

3. The driving support system for a vehicle according to claim 1 or 2, an imaging device that includes the driver's seat in its field of view, an image recognition unit that recognizes the face of the driver sitting in the driver's seat from the captured image by the imaging device, comprising: When the image recognition unit recognizes a new driver, the driver information registration unit requests the new driver to register the driver information. A driving support system for a vehicle.

4. The driving support system for a vehicle according to claim 3, wherein the driver information registration unit registers the image of the face recognized by the image recognition unit as the driver information. A driving support system for a vehicle.

Images