Vehicle control device and vehicle control method

Abstract

To maintain and improve a driving capability of a driver.SOLUTION: A vehicle control device 100 evaluates a capability of a driver on the basis of driving operation by the driver, with respect to each of a plurality of driving relevant functions that the driver has in order to drive a vehicle, and determines whether the capability of the driver with respect to each of the driving relevant functions is below a predetermined standard or not and whether the capability of the driver can improve from now on or not, on the basis of evaluated results of the capability of the driver. The vehicle control device 100, when determining that the capability of the driver with respect to at least some of the driving relevant functions are below the predetermined standard and cannot improve from now on, executes substitution-control by which the vehicle 1 is allowed to substitute for the driving relevant functions so that the driver can drive the vehicle without exerting the capability; and when the determining means determines that the capability of the driver with respect to at least some of the driving relevant functions are below the predetermined standard and can improve from now on, executes support control by which the vehicle is allowed to support the driver to exert the capability.SELECTED DRAWING: Figure 5

Description

[Technical Field]

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

[0002] Vehicles capable of automated driving (or autonomous driving) have been developed, and with this automated driving technology, under certain conditions the vehicle operates independently to drive (SAE automated driving level 3 or higher). In other words, the driver does not need to operate the vehicle, such as the accelerator, brake, or steering wheel, and is freed from vehicle operation.

[0003] On the other hand, in order to curb the driver's dependence or overconfidence on the above-mentioned autonomous driving technology, a technology has been proposed in which the appropriateness of the driver's evasive maneuver and the appropriateness of the amount of evasive maneuver are determined based on the target route (a route desirable for avoiding obstacles) and future route (the route the driver intends to travel) calculated by the vehicle, and if it is determined that the evasive maneuver is appropriate and the amount of evasive maneuver is inappropriate, driving assistance is executed, while if it is determined that the evasive maneuver is inappropriate, an alarm is issued (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-100138 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the technology described in Patent Document 1 merely provides driving assistance and warnings depending on the driver's avoidance operation and the amount of avoidance operation when an obstacle is detected, and does not take into account the driver's current driving ability or the progress of their driving ability up to that point. Therefore, it is not possible to provide appropriate driving assistance to maintain or improve the driver's driving ability.

[0006] The present invention has been made to solve such problems, and aims to provide a vehicle control device and a vehicle control method that are capable of maintaining and improving the driving ability of a driver. [Means for solving the problem]

[0007] In order to achieve the above object, a vehicle control device according to the present invention comprises: ability evaluation means for evaluating a driver's ability based on the driver's driving operation for each of a plurality of driving-related functions that the driver has in order to drive the vehicle; determination means for determining, based on the evaluation result of the driver's ability, whether the driver's ability for each of the driving-related functions is below a predetermined standard and whether the driver's ability will not improve in the future; and vehicle control means for, when the determination means determines that the driver's ability for at least some of the driving-related functions is below the predetermined standard and will not improve in the future, executing substitute control to have the vehicle take over the driving-related functions so that driving can be performed without the driver exerting those abilities, and when the determination means determines that the driver's ability for at least some of the driving-related functions is below the predetermined standard and will be improveable in the future, executing assist control to have the vehicle assist the driver in exerting those abilities. The vehicle control means detects a traffic environment of the vehicle, sets a target driving route in accordance with the detected traffic environment, and sets a control target value for the vehicle to drive along the target driving route. The ability evaluation means evaluates the driver's ability as being lower the greater the deviation between the control target value and the vehicle control value corresponding to the driver's driving operation for each of a plurality of driving-related functions. do.

[0008] According to the present invention configured as described above, for driving-related functions for which the driver's ability is determined to be below a predetermined standard and will not improve in the future, the vehicle takes over the driving performance using the function. As a result, the vehicle takes over functions for which the driver's driving ability is low, providing the performance necessary for driving, thereby ensuring safe vehicle driving, while allowing the driver to demonstrate their own driving performance for functions for which the driver's driving ability is sufficient without taking over. Furthermore, for driving-related functions for which the driver's ability is determined to be below a predetermined standard and can be improved in the future, the vehicle performs various assistance controls related to the driving-related functions. As a result, for driving-related functions for which the driver's ability can be improved, the vehicle does not simply take over the function, but actively allows the driver to demonstrate their own driving performance, thereby compensating for the driver's insufficient ability and encouraging the driver to improve their ability. Therefore, while ensuring safe driving through automated driving, the driver's driving ability can be maintained and improved through driving. Furthermore, the driver's ability can be evaluated based on the control target value set according to the traffic environment, and an appropriate driving ability evaluation can be performed taking the traffic environment into consideration. Therefore, the driving-related functions to be targeted for substitute control can be appropriately selected.

[0009] In the present invention, the driving-related functions preferably include a perception function for perceiving a traffic environment, a determination function for determining a driving operation required in the traffic environment, and an operation function for performing a driving operation. According to the present invention configured as described above, the driving-related functions are classified according to the driving operation process, so that the driver's ability can be appropriately evaluated, and the driving-related functions to be targeted for substitute control can be appropriately selected.

[0011] In addition, in the present invention, preferably, the ability evaluation means identifies, based on the traffic environment, a driving-related function among multiple driving-related functions that requires a relatively high level of ability from the driver, and evaluates the driver's ability based on the deviation between the control target value and the vehicle control value corresponding to the driving operation as the evaluation of the identified driving-related function. According to the present invention configured as described above, since multiple driving-related functions affect each other (for example, errors in perception can lead to errors in judgment), by identifying driving-related functions that require relatively high ability in a traffic environment (i.e., functions that are likely to be insufficient), it is possible to perform an appropriate driving ability evaluation for driving-related functions that are likely to affect the driver's driving operation in that traffic environment. Therefore, it is possible to appropriately select driving-related functions that should be the target of substitute control.

[0012] Furthermore, a vehicle driving assistance method according to another aspect of the present invention includes: an ability evaluation step of evaluating a driver's ability based on the driver's driving operation for each of a plurality of driving-related functions that the driver has for driving a vehicle; a determination step of determining, based on the evaluation result of the driver's ability, whether the driver's ability for each of the driving-related functions is below a predetermined standard and whether the driver's ability will not improve in the future; and a vehicle control step of, when it is determined in the determination step that the driver's ability for at least some of the driving-related functions is below the predetermined standard and will not improve in the future, executing substitute control to have the vehicle take over the driving-related functions so that driving can be performed without the driver exerting the abilities, and when it is determined in the determination step that the driver's ability for at least some of the driving-related functions is below the predetermined standard and can be improved in the future, executing assist control to have the vehicle assist the driver in exerting the abilities. The vehicle control step includes a step of detecting a traffic environment of the vehicle, setting a target driving route in accordance with the detected traffic environment, and setting a control target value for the vehicle to drive along the target driving route, and the ability evaluation step includes a step of evaluating the driver's ability as being lower the greater the deviation between the control target value and the vehicle control value corresponding to the driver's driving operation for each of a plurality of driving-related functions. . The present invention configured in this manner also makes it possible to maintain and improve the driver's driving ability. [Effects 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. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a configuration diagram of a vehicle control device according to an embodiment of the present invention. [Figure 2]3 is a flowchart of a driving assistance control process executed by a vehicle control device according to an embodiment of the present invention. [Figure 3] FIG. 2 is an explanatory diagram of a target driving route in the vehicle control device according to the embodiment of the present invention. [Figure 4A] FIG. 2 is an explanatory diagram of substitute control of a perception function in a vehicle control device according to an embodiment of the present invention. [Figure 4B] FIG. 2 is an explanatory diagram of substitute control of a determination function in a vehicle control device according to an embodiment of the present invention. [Figure 4C] FIG. 2 is an explanatory diagram of substitute control of a determination function in a vehicle control device according to an embodiment of the present invention. [Figure 5] 4 is a flowchart of a driving ability determination process executed by a vehicle control device according to an embodiment of the present invention. [Figure 6] FIG. 2 is an explanatory diagram of driving ability evaluation in the vehicle control device according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0015] A vehicle control device and a vehicle control method according to an embodiment of the present invention will be described below with reference to the accompanying drawings. First, the configuration of the vehicle control device according to this embodiment will be described with reference to Fig. 1. Fig. 1 is a configuration diagram of the vehicle control device.

[0016] As shown in FIG. 1, the vehicle control device 100 mainly includes an ECU (Electronic Control Unit) 10 mounted on the vehicle 1, an in-vehicle device 20, a control device 40, and a server 50 communicatively connected to the communication device 31 of the in-vehicle device 20 via a wireless network.

[0017] The vehicle-mounted device 20 includes an on-board camera 21, a radar 22, multiple sensors that detect the behavior of the vehicle 1 (vehicle speed sensor 23, acceleration sensor 24, yaw rate sensor 25), multiple sensors that detect the driver's operations (steering angle sensor 26, accelerator sensor 27, brake sensor 28), a positioning system 29, a navigation system 30, and a communication device 31.

[0018] The control device 40 also includes an engine control device 41, a brake control device 42, a steering control device 43, a headlight control device 44, a speaker control device 45, and a head-up display (HUD) control device 46.

[0019] The ECU 10 is a computer device including a processor 11, a memory 12 that stores various programs executed by the processor 11, an input / output device, etc. The ECU 10 is configured to output a control signal for performing vehicle control (substitute control and assist control) to the control device 40 based on a signal received from the in-vehicle device 20. In this embodiment, the ECU 10 functions as a capability evaluation means, a determination means, and a vehicle control means.

[0020] The on-board cameras 21 include an exterior camera that captures the surroundings of the vehicle 1 (typically in front of the vehicle 1) and outputs image data, and an interior camera that captures the driver of the vehicle 1 and outputs image data. Based on this image data, the ECU 10 determines the driver's facial expression and upper body posture, and identifies objects outside the vehicle. Objects include surrounding moving objects (vehicles, pedestrians, etc.) and stationary structures (obstacles, parked vehicles, driving lanes, dividing lines, stop lines, traffic signals, traffic signs, intersections, etc.).

[0021] The radar 22 measures the position and speed of an object present around the vehicle 1 (typically in front of the vehicle 1). For example, the radar 22 may be a millimeter wave radar, a laser radar (LIDAR), an ultrasonic sensor, or the like.

[0022] The vehicle speed sensor 23 detects the speed (vehicle speed) of the vehicle 1. The acceleration sensor 24 detects the acceleration of the vehicle 1. The yaw rate sensor 25 detects the yaw rate generated in the vehicle 1. The steering angle sensor 26 detects the rotation angle (steering angle) of the steering wheel of the vehicle 1. The accelerator sensor 27 detects the amount of depression of the accelerator pedal. The brake sensor 28 detects the amount of depression of the brake pedal.

[0023] The positioning system 29 includes a GPS receiver and / or a gyro sensor and detects the position of the vehicle 1 (current vehicle position information). The navigation system 30 stores map information internally and can provide the map information to the ECU 10. The ECU 10 can calculate a driving route (including driving lanes, intersections, traffic signals, etc.) to a destination based on the map information and current vehicle position information. The communication device 31 communicates with an external server 50 via a wireless network, transmits the driver's driving ability evaluation results provided by the ECU 10 to the server 50, and receives information related to driving assistance control from the server 50 and provides it to the ECU 10. The communication device 31 also performs vehicle-to-vehicle communication with other vehicles and road-to-vehicle communication with external communication devices, receives various driving information and traffic information (traffic congestion information, speed limit information, etc.), and provides it to the ECU 10.

[0024] The engine control device 41 controls the driving force of the engine (internal combustion engine, electric motor, etc.) of the vehicle 1. The engine control device 41 includes actuators such as a throttle valve and a fuel injection valve of the internal combustion engine, a battery and inverter that supply power to the electric motor, an accelerator pedal actuator, etc. The ECU 10 can accelerate or decelerate the vehicle 1 by sending a control signal to the engine control device 41.

[0025] The brake control device 42 controls the braking force applied by the brake device of the vehicle 1. The brake control device 42 includes, for example, brake actuators such as a hydraulic pump and a valve unit, an actuator for a brake pedal, etc. The ECU 10 can decelerate the vehicle 1 by sending a control signal to the brake control device 42.

[0026] The steering control device 43 controls the steering device of the vehicle 1. The steering control device 43 includes, for example, an electric motor of an electric power steering system. The ECU 10 can change the traveling direction of the vehicle 1 by sending a control signal to the steering control device 43.

[0027] The headlight control device 44 controls the light distribution of the variable light distribution headlights. The speaker control device 45 controls, for example, a speaker to provide auditory information to the driver. The head-up display control device 46 controls, for example, an AR-HUD to provide visual information to the driver.

[0028] The server 50 is a computer device including a processor 51, an evaluation result database (DB) 52 that stores evaluation results of the driver's driving ability received from the vehicle 1, a memory that stores various programs executed by the processor 51, an input / output device, etc. The server 50 analyzes past evaluation results of the driver's driving ability stored in the evaluation result DB 52, and transmits information regarding driving assistance control to the vehicle 1 based on the analysis results. In this embodiment, the server 50 functions as a determination means.

[0029] Next, a description will be given of the driving assistance control process of the vehicle control device 100 of this embodiment. In the driving assistance control of this embodiment, the vehicle control device 100 evaluates the driver's ability based on the driver's driving operation for each of a plurality of driving-related functions that the driver has for driving the vehicle 1. Then, based on the past evaluation results of the driver, the vehicle control device 100 executes substitute control to have the vehicle 1 perform the driving-related functions on behalf of the driver, or executes assist control to assist the driving-related functions.

[0030] Driving-related functions are multiple functions that a driver possesses in order to drive a vehicle. Specifically, a driver possesses at least a perception function, a judgment function, and an operation function (or a physical function) as driving-related functions, and uses these driving-related functions to demonstrate perception performance, judgment performance, and driving performance. The driver perceives the traffic environment using the perception function (perception performance), selects a driving operation to be performed using the judgment function in the perceived traffic environment (judgment performance), and executes the selected driving operation with an appropriate amount and timing using the operation function (driving performance). Meanwhile, a vehicle possesses at least a running function, a stopping function, and a turning function as driving functions, and uses these driving functions to demonstrate driving performance, braking performance, and handling stability performance.

[0031] In this way, the driver operates the vehicle by demonstrating their perception, judgment, and driving performance, which in turn allows the vehicle to exhibit its driving performance, braking performance, and handling stability performance, thereby enabling the vehicle as a human-machine system to achieve safe driving. Conventionally, vehicles have been provided with an interface that mediates between the driver's functions and the vehicle's functions so that the three vehicle functions can be efficiently exhibited, thereby further improving overall vehicle performance (e.g., braking ability, fuel efficiency, etc.).

[0032] During autonomous driving, the vehicle takes over all or most of the driver's perception, judgment, and operation functions. For example, perception functions are taken over by on-board cameras and acceleration sensors. Judgment functions are taken over by the vehicle's computer. Physical functions are taken over by on-board actuators. The driver only needs to have the physical functions to give minimum instructions such as starting the engine, and does not need to have most driving-related functions or driving abilities (driving performance).

[0033] Drivers with low driving ability (for example, beginners or elderly drivers) have low levels of at least one of the driving-related functions (perception, judgment, operation) (perception performance, judgment performance, motor performance). Also, drivers with average driving ability (normal drivers) may have low levels of any or all of their driving performance due to their physical condition, mental state, etc. while driving.

[0034] When the vehicle control device 100 of this embodiment determines that the driver's ability in at least some of the driving-related functions is below a predetermined standard and will not improve in the future (i.e., an irreversible lack of ability has occurred), it executes substitute control to have the vehicle 1 take over the driving-related functions for which the driver is lacking, so that driving can be performed without the driver having to demonstrate those abilities. In this case, the on-board device 20, ECU 10, and control device 40 of the vehicle 1 take over the driving-related functions for which the driver is lacking, and demonstrates the performance required for driving.

[0035] Furthermore, when the vehicle control device 100 of this embodiment determines that the driver's ability for at least some of the driving-related functions is below a predetermined standard and can be improved in the future (i.e., a reversible lack of ability has occurred), or that the driver's ability is equal to or exceeds the predetermined standard and is on a declining trend, it executes assistance control to have the vehicle 1 assist the driver in demonstrating that ability. In this case, the on-board device 20, ECU 10, and control device 40 of the vehicle 1 perform various assistance controls related to the driving-related functions in which the ability is lacking, thereby compensating for the driver's lack of ability or encouraging the driver to improve their ability.

[0036] The driving assistance control process of the vehicle control device 100 of this embodiment will be described below with reference to Figures 2 to 4. Figure 2 is a flowchart of the driving assistance control process of this embodiment, Figure 3 is an explanatory diagram of a target driving route in the vehicle control device 100 of this embodiment, and Figures 4A to 4C are explanatory diagrams of substitute control in the vehicle control device according to this embodiment.

[0037] For example, when the ignition switch of the vehicle 1 is turned on, the ECU 10 starts the driving assistance control process shown in FIG.

[0038] When the driving assistance control process is started, the ECU 10 first acquires from the server 50 via the communication device 38 the functions to be substituted and the functions to be assisted that are the targets of substitute control among the driving-related functions (step S101). The server 50 sets the functions to be substituted and the functions to be assisted in advance based on the past evaluation results of the driver's driving ability in the driving ability determination process described below, and transmits the functions to be substituted and the functions to be assisted at that time to the communication device 38 in response to a request from the communication device 38 of the vehicle 1.

[0039] Next, the ECU 10 acquires various information from the in-vehicle device 20 via the in-vehicle communication line (step S102). For example, the ECU 10 acquires current vehicle position information and map information from the positioning system 29 and the navigation system 30, and acquires sensor information from the in-vehicle camera 21, the radar 22, the vehicle speed sensor 23, the acceleration sensor 24, the yaw rate sensor 25, the accelerator sensor 27, the brake sensor 28, etc.

[0040] Next, the ECU 10 detects the traffic environment based on the information acquired in step S102 (step S103). For example, the ECU 10 detects roadway information (presence or absence of straight sections and curved sections, length of each section, radius of curvature of curved sections, lane width, positions of both ends of the lane, number of lanes, presence or absence of intersections, speed limit determined by curve curvature, etc.) related to the roadway shape around and ahead of the vehicle 1 from current vehicle position information, map information, and sensor information, driving regulation information (speed limit, red traffic light, etc.), and preceding vehicle trajectory information (position and speed of the preceding vehicle). Furthermore, based on input information from the on-board camera 21 and radar 22, the ECU 10 detects the positions and speeds of objects around the vehicle 1 (vehicles, pedestrians, boundary lines, stop lines, traffic signs, etc.). This traffic environment detection process can substitute for the perception function in the driving-related functions.

[0041] Next, the ECU 10 sets a target driving route based on the information acquired in step S102 and the detection in step S103 (step S104). For example, as shown in FIG. 3, in a situation where the vehicle 1 is driving on a driving path (lane) 7 and is passing and attempting to overtake a vehicle 3 that is moving or stopped, the ECU 10 sets a plurality of candidate target driving routes Rcn (n=1, 2, 3). The candidate driving routes Rcn are specified by the target position (Px_k) and target speed (Vx_k) of the vehicle 1 on the driving route (k=0, 1, 2, . . . , n). This target driving route setting process can substitute for the determination function in the driving-related functions.

[0042] Generally, the driver of vehicle 1 drives vehicle 1 to avoid danger, taking into consideration the relationship between the distance (including lateral distance and longitudinal distance) between vehicle 1 and obstacles on or near the road (e.g., a preceding vehicle, a parked vehicle, a pedestrian, etc.) and the relative speed.

[0043] 3 , the ECU 10 is configured to set a two-dimensional distribution (speed distribution region 60) that defines an allowable upper limit value for the relative speed in the traveling direction of the vehicle 1 around an obstacle (e.g., a parked vehicle 3) detected by the vehicle 1 (over a lateral region, a rear region, and a front region) or at least between the obstacle and the vehicle 1. In the speed distribution region 60, an allowable upper limit value Vlim of the relative speed is set at each point around the obstacle. In this embodiment, in all driving assistance modes, the driving path is corrected so that the relative speed of the vehicle 1 with respect to the obstacle does not exceed the allowable upper limit value Vlim within the speed distribution region 60.

[0044] As can be seen from FIG. 3, the speed distribution region 60 is set so that, in principle, the smaller the lateral and longitudinal distances from the obstacle (the closer the vehicle is to the obstacle), the smaller the allowable upper limit value of the relative speed becomes. Also, for ease of understanding, FIG. 6 shows equal relative speed lines connecting points having the same allowable upper limit value. The equal relative speed lines a, b, c, and d correspond to allowable upper limit values ​​Vlim of 0 km / h, 20 km / h, 40 km / h, and 60 km / h, respectively. In this example, each equal relative speed region is set to a substantially rectangular shape. Then, candidate target driving routes are set so as to satisfy these allowable upper limits.

[0045] The speed distribution area 60 does not necessarily have to be set around the entire periphery of the obstacle, but may be set at least behind the obstacle and on one lateral side of the obstacle where the vehicle 1 is located (in Figure 3, the right area of ​​the vehicle 3).

[0046] The speed distribution region 60 can be set based on various parameters. For example, the parameters that can be considered include the relative speed between the vehicle 1 and the obstacle, the type of obstacle, the traveling direction of the vehicle 1, the moving direction and moving speed of the obstacle, the length of the obstacle, and the absolute speed of the vehicle 1. In this embodiment, the obstacles include vehicles, pedestrians, bicycles, cliffs, ditches, holes, fallen objects, and the like. Furthermore, the vehicles can be distinguished into automobiles, trucks, and motorcycles. The pedestrians can be distinguished into adults, children, and groups.

[0047] 3, when the vehicle 1 is traveling on the road 7, the ECU 10 of the vehicle 1 detects an obstacle (vehicle 3) based on image data from the on-board camera 21. At this time, the type of the obstacle (in this case, a vehicle or a pedestrian) is identified.

[0048] Furthermore, the ECU 10 calculates the position, relative speed, and absolute speed of the obstacle (vehicle 3) relative to the vehicle 1 based on the measurement data of the radar 22 and the vehicle speed data of the vehicle speed sensor 23. The position of the obstacle includes the x-direction position (vertical distance) along the traveling direction of the vehicle 1 and the y-direction position (lateral distance) along the lateral direction perpendicular to the traveling direction.

[0049] The ECU 10 sets a speed distribution region 60 for each of all detected obstacles (vehicle 3 in the case of FIG. 3). Then, the ECU 10 sets candidates for the target driving route so that the speed of the vehicle 1 does not exceed the allowable upper limit value Vlim of the speed distribution region 60.

[0050] That is, if the target speed at a certain target position exceeds the allowable upper limit defined by the speed distribution area 60 when the vehicle 1 travels along the set target travel route, the target speed is reduced without changing the target position (route Rc1 in Figure 3), the target position is changed to a detour route so that the target speed does not exceed the allowable upper limit without changing the target speed (route Rc3 in Figure 3), or both the target position and the target speed are changed (route Rc2 in Figure 3).

[0051] For example, Figure 3 shows a case where the target driving route R, which is tentatively set without taking into account the parked vehicle 3 ahead in order to reduce the calculation load, is a route that travels at 60 km / h (target speed) at the center position (target position) in the width direction of the driving lane 7.

[0052] When the vehicle 1 travels along the target travel route R, it crosses the constant relative speed lines d, c, c, and d in that order in the speed distribution region 60. That is, the vehicle 1 traveling at 60 km / h enters the region inside the constant relative speed line d (allowable upper limit value Vlim = 60 km / h). Therefore, the ECU 10 corrects the target travel route R so as to limit the target speed at each target position on the target travel route R to be equal to or less than the allowable upper limit value Vlim, thereby generating a target travel route candidate Rc1. That is, in the target travel route candidate Rc1, the target speed is gradually reduced to less than 40 km / h as the vehicle approaches the vehicle 3, and then gradually increased to the original 60 km / h as the vehicle moves away from the vehicle 3, so that the target vehicle speed is equal to or less than the allowable upper limit value Vlim at each target position.

[0053] Furthermore, the target travel route candidate Rc3 is a route that is set so as to travel outside the constant relative velocity line d (corresponding to a relative velocity of 60 km / h) without changing the target speed (60 km / h) of the target travel route R. In order to maintain the target speed of the target travel route R, the ECU 10 corrects the target travel route R to change the target position so that the target position is located on or outside the constant relative velocity line d, and sets the target travel route candidate Rc3. Therefore, the target speed of the target travel route candidate Rc3 is maintained at 60 km / h, which was the target speed of the target travel route R.

[0054] Furthermore, the target travel route candidate Rc2 is a route in which both the target position and the target speed of the target travel route R have been changed. In the target travel route candidate Rc2, the target speed is not maintained at 60 km / h, but is gradually reduced as the vehicle approaches the vehicle 3, and then is gradually increased to the original 60 km / h as the vehicle moves away from the vehicle 3.

[0055] After setting the candidates Rcn for the target driving route in step S104, the ECU 10 selects the optimal candidate from the candidates Rcn based on a predetermined evaluation function and predetermined constraints, sets the optimal candidate as the target driving route, and sets control target values ​​for causing the vehicle 1 to travel along the target driving route (step S105). The control target values ​​include, for example, target values ​​for the steering angle and acceleration / deceleration at each target position, and based on these target values, the ECU 10 generates command signals to be output to the corresponding control device 40 so that the vehicle 1 travels along the target driving route. This process of setting the control target values ​​can replace at least a portion of the operating functions of the driving-related functions.

[0056] Next, based on the traffic environment, ECU 10 identifies one or more driving-related functions that have a high load on the target driving route for which the control target values ​​were set in step S105 (step S106). For example, ECU 10 identifies the load on the perception function as being high when the number of obstacles (perception objects) on the target driving route is equal to or greater than a predetermined value (e.g., two), when it is nighttime (after sunset and before sunrise), or when the weather is bad, such as rain or fog. ECU 10 also identifies the load on the judgment function as being high when many types of operations are required to travel the target driving route (e.g., when it is necessary to operate multiple pedals, such as the accelerator pedal, brake pedal, steering wheel, and turn signal), when changing lanes, or when turning right or left. Furthermore, when complex or precise operations are required, for example, when the amplitude or rate of change of the control target value is equal to or greater than a predetermined value, when the number of operations or the rate of operation required to travel the target travel route is equal to or greater than a predetermined value, when the lane width on the target travel route is equal to or less than a predetermined value, when the road surface μ is equal to or less than a predetermined value, etc. The ECU 10 stores the driving-related functions that have been determined to have a high load in memory in association with the positions on the target travel route.

[0057] Next, the ECU 10 executes substitute control for the substitute target function acquired from the server 50 in step S101 based on the control target value set in step S105 (step S107).

[0058] For example, when the function to be substituted is a perception function, the ECU 10 outputs a control command to the head-up display control device 46 to highlight an obstacle (a perception target) on the target driving route on the AR-HUD. In the example of FIG. 4A , an obstacle (a falling rock) on the target driving route is highlighted on the AR-HUD with a square frame and a triangular arrow. In this way, when the driver is unable to personally extract and perceive an obstacle on the driving route and recovery is not expected (i.e., when the driver's perception performance is irreversibly low), the ECU 10 automatically extracts the obstacle on the target driving route on behalf of the driver and highlights it on the AR-HUD, thereby enabling the driver to perceive the obstacle. In other words, the vehicle 1 substitutes for the driver in demonstrating perception performance using the perception function.

[0059] Furthermore, when the function to be substituted is a judgment function, the ECU 10 outputs a control command to the head-up display control device 46 to display on the AR-HUD the sequence and content of driving operations to be performed when traveling along the target traveling route. In the examples of FIGS. 4B and 4C, a target traveling route (dotted line) is set to bypass an obstacle (falling rocks) on the target traveling route, and instructions are displayed on the AR-HUD (FIGS. 5B and 5C) to first apply the brakes to decelerate the vehicle 1 (FIG. 4B), and then turn the steering wheel right to make the vehicle 1 turn right (FIG. 4C). In this way, even if the driver perceives an obstacle on the traveling route, if the driver is unable to select the driving operations to be performed to avoid the obstacle and recovery is unlikely (i.e., if the driver's judgment performance is irreversibly low), the ECU 10 automatically selects the driving operations to be performed when traveling along the target traveling route (i.e., the driving operations required to achieve the control target values) on behalf of the driver and displays them on the AR-HUD, thereby presenting the driver with the driving operations required to travel along the target traveling route. In other words, the vehicle 1 performs the judgment performance using the judgment function.

[0060] Furthermore, if the function to be substituted is an operation function, ECU 10 outputs a command signal to the corresponding control device 40 so that the vehicle 1 travels along the target travel route based on the control target value set in step S105. In this way, if the driver is unable to perform the driving operation required to avoid an obstacle on the travel route with the appropriate amount and timing and recovery is not expected (i.e., if the driver's driving performance is irreversibly low), ECU 10 can automatically cause the control device 40 to perform the driving operation required to travel along the target travel route on behalf of the driver. In other words, the vehicle 1 performs the driving performance using the operation function on behalf of the driver.

[0061] Next, the ECU 10 executes the assist control for the assist target function acquired from the server 50 in step S101 based on the control target value set in step S105 (step S108).

[0062] For example, if the function to be assisted is a perception function, the ECU 10 outputs a control command to the headlight control device 44 to illuminate headlights onto an obstacle (a perception target) on the target driving route. In this way, when the driver is unable to extract and perceive an obstacle on the driving route by himself / herself but there is a possibility of recovery, or when the driver is able to perceive an obstacle but is gradually becoming more difficult to do so (i.e., when the driver's perception performance is reversibly low or when the driver's perception performance is sufficient but is tending to decline), the headlights can be used to illuminate the obstacle on the target driving route, thereby making it easier for the driver to perceive the obstacle. In other words, the vehicle 1 compensates for the lack of perception performance using the perception function, or the vehicle 1 promotes the improvement of perception performance.

[0063] Furthermore, when the function to be assisted is a judgment function, ECU 10 compares the order and content of driving operations to be performed when traveling along the target route with the order and content of actual driving operations performed by the driver. If there are any discrepancies (i.e., if the driver has made an error in driving), ECU 10 outputs control commands to the head-up display control device 46 and the speaker control device 45 to subsequently display the correct order and content of driving operations on the display or output audio from the speaker. In this way, when the driver perceives an obstacle on the route but is unable to select the driving operation to be performed to avoid the obstacle but has the potential to recover, or when the driver is able to select an appropriate driving operation but is gradually becoming more difficult (i.e., when the driver's judgment performance is reversibly low or when their judgment performance is sufficient but is declining), information pointing out the driver's judgment error and instructing the driver on appropriate driving operations can be output from the display and speaker to make the driver aware of the error in driving judgment and teach the driver what kind of decisions are appropriate. In other words, the vehicle 1 compensates for the lack of judgment performance using the judgment function, or promotes the improvement of judgment performance.

[0064] Furthermore, if the function to be assisted is an operation function, ECU 10 outputs a command signal to the corresponding control device 40 to increase the assist torque of the power steering, increase the assist force of the accelerator pedal or brake pedal, or bias the power steering, accelerator pedal, and brake pedal so as to approach the control target value set in step S105. In this way, when the driver is unable to perform the driving operation required to avoid an obstacle on the driving path with the appropriate amount and timing but has a possibility of recovery, or when the driver can perform the driving operation with the appropriate amount and timing but is gradually becoming more difficult (i.e., when the driver's maneuverability is reversibly low or when the maneuverability is sufficient but is tending to decline), the final amount and timing of operation are optimized by assisting the operation of the steering wheel and accelerator / brake pedal, and the driver can experience the appropriate amount and timing. In other words, vehicle 1 compensates for the lack of maneuverability using the operation function, or vehicle 1 promotes the improvement of maneuverability.

[0065] Next, ECU 10 acquires a deviation between the control target value set in step S105 and the control value of vehicle 1 corresponding to the driving operation of the driver (step S109). For example, ECU 10 acquires a deviation between the target values ​​of steering angle and acceleration / deceleration at each target position set in step S105 and the control values ​​of steering angle and acceleration / deceleration output to control device 40 in response to the driving operation when vehicle 1 passes each target position (or the position closest to each target position). Then, ECU 10 associates each target position with the acquired deviation value and stores it in memory.

[0066] Next, the ECU 10 determines whether the vehicle 1 has finished traveling (step S110). For example, the ECU 10 determines that the vehicle 1 has finished traveling when the ignition switch of the vehicle 1 is turned off. If the ECU 10 determines in step S110 that the vehicle 1 has not finished traveling yet (step S110: No), the ECU 10 returns to step S102. Thereafter, the ECU 10 repeats the processes of steps S102 to S109 until it is determined that the vehicle 1 has finished traveling.

[0067] In step S110, if it is determined that the vehicle 1 has finished traveling (step S110: Yes), the ECU 10 evaluates the driver's driving ability for this trip based on the deviation between the control target value obtained by the processing of step S109 during traveling and the control value corresponding to the driving operation (step S111).

[0068] For example, the ECU 10 extracts evaluation sections identified in step S106 as having a high load on each driving-related function. The larger the average value of the deviation between the control target value and the control value corresponding to the driving operation in the extracted evaluation section (e.g., the deviation amount per unit time or per unit length in the evaluation section), the lower the driving ability of the driving-related function identified as having a high load in that section is evaluated. For example, the ECU 10 evaluates the driver's perceptual performance by calculating a perceptual performance score based on the average value of the deviation between the control target value and the control value corresponding to the driving operation in the evaluation section identified as having a high load on the perceptual function. The driving ability score can be expressed, for example, as a numerical value that increases as the driving ability increases. The ECU 10 calculates the driving ability scores for the driving-related functions identified as having a high load in each evaluation section for all evaluation sections in the current driving, and then obtains the average value of the driving ability scores for each driving-related function as the evaluation result of the driving ability for each driving-related function in the current driving.

[0069] Next, the ECU 10 associates an ID and the evaluation date and time with the driving ability evaluation result acquired in step S111, and transmits the result to the server 50 via the communication device 31 (step S112), and ends the driving assistance control process.

[0070] Next, the driving ability determination process of the vehicle control device 100 of this embodiment will be described with reference to Fig. 5 and Fig. 6. Fig. 5 is a flowchart of the driving ability determination process of this embodiment, and Fig. 6 is an explanatory diagram of driving ability evaluation in this embodiment.

[0071] For example, when the server 50 receives the evaluation result of the driving ability from the vehicle 1, the server 50 starts the driving ability determination process shown in Fig. 5. The driving ability determination process is executed for each of the driving-related functions.

[0072] When the driving ability determination process is started, the server 50 acquires the evaluation results received from the vehicle 1 and updates the data in the evaluation result database 52 (step S201). As shown in Fig. 6, the evaluation result database 52 stores past evaluation results (driving ability scores) for each driving-related function. When the server 50 acquires new evaluation results from the vehicle 1, it adds the evaluation results of each driving-related function to the evaluation result database 52.

[0073] Next, the server 50 analyzes the past evaluation results of the driving ability stored in the updated evaluation result database 52 (step S202). For example, the server 50 calculates the average value, variance, and rate of change (slope when the score is expressed as a linear function of time) of the driving ability score for each driving-related function over a recent predetermined period (e.g., one year). Note that if the period of the driving ability evaluation results stored in the evaluation result database 52 is less than one year or if the number of evaluation result data is less than a predetermined number (e.g., 24), the server 50 may presume that the driver is a novice, and unconditionally set each driving-related function as an assistance target function.

[0074] Next, the server 50 determines whether the driver's ability for each driving-related function is below a predetermined standard (i.e., the ability is insufficient) based on the analysis of the evaluation result in step S202 (step S203). For example, if the average value of the driving ability score for the most recent predetermined period (e.g., one year) is less than a predetermined value (e.g., 80), the server 50 determines that the ability for that driving-related function is insufficient.

[0075] When it is determined that the driver's ability is insufficient for each driving-related function (step S203: Yes), the server 50 determines whether the driver's ability for that driving-related function will not improve in the future (i.e., it is impossible to improve) (step S204). For example, the server 50 determines that the ability for that driving-related function is impossible to improve if the variance of the driving ability score over the most recent predetermined period (e.g., one year) is less than a predetermined value. This is because when the difference between high and low driving ability is large (i.e., the variance is large), it is considered that there is room for improvement in the driver's driving ability, but when there is no prospect of ability improvement, it is considered that the driving ability is always low to a certain extent (i.e., the variance is small).

[0076] If it is determined that the driver's ability cannot be improved for each driving-related function (step S204: Yes), the server 50 sets the driving-related function as a proxy-subject function (step S205). For the driving-related function set as a proxy-subject function, proxy control is executed in the subsequent driving assistance control.

[0077] On the other hand, if it is determined in step S203 that the driver's ability for each driving-related function is not insufficient (i.e., sufficient) (step S203: No), the server 50 determines whether the driver's ability for that driving-related function is on a declining trend (step S206). For example, if the rate of change in the driving ability score over the most recent predetermined period (e.g., one year) is negative, the server 50 determines that the ability for that driving-related function is on a declining trend.

[0078] If it is determined that the driver's ability for each driving-related function is on a declining trend (step S206: Yes), the server 50 sets the driving-related function as an assistance target function (step S207). Also, if it is determined in step S204 that the driver's ability for a driving-related function in which the ability is insufficient can be improved (step S204: No), the server 50 sets the driving-related function as an assistance target function (step S207).

[0079] After executing the process of step S205 or S207, the server 50 ends the driving ability determination process. Also, if it is determined in step S206 that the driver's ability for each driving-related function is not on a declining trend (step S206: No), the server 50 ends the driving ability determination process without setting the driving-related function as either a substitute target function or an assisted target function, since the driver's ability for that driving-related function is sufficient and is not on a declining trend.

[0080] Although the embodiments of the present invention have been described above, the specific configurations and means of the present invention can be modified and improved as desired within the scope of the technical ideas of the inventions set forth in the claims. Such modifications will be described below.

[0081] First, the problems that the invention aims to solve and the effects of the invention are not limited to those described above, and the present invention may solve problems that are not described above or achieve effects that are not described above, or may solve only some of the problems that are described or achieve only some of the effects that are described.

[0082] In the above-described embodiment, an example was described in which the driving assistance control processing is performed by the ECU 10 of the vehicle 1 and the driving ability judgment processing is performed by the server 50, but some or all of each processing may be performed by either the ECU 10 or the server 50.

[0083] Furthermore, the above-mentioned substitute control and assistance control are just examples, and various substitute controls that act on behalf of each driving-related function, and various assistance controls that assist the driver in demonstrating their abilities with respect to that driving-related function, can be adopted depending on the driving-related function.

[0084] Furthermore, in the above-described embodiment, it was explained that the vehicle control device 100 determines whether the driver's ability for each driving-related function is below a predetermined standard (i.e., the ability is insufficient) and whether the driver's ability will not improve in the future (i.e., the ability cannot be improved) based on the results of past evaluations of the driver's ability, but these determinations may also be made based on the results of current evaluations of driving ability rather than the results of past evaluations of driving ability.

[0085] For example, the vehicle control device 100 evaluates the driver's level of alertness by acquiring the degree of opening of the driver's eyes and / or mouth and the position or posture of the driver's upper body from image information from the camera 21 that captures images of the interior of the vehicle. Based on this level of alertness of the driver, the vehicle control device 100 can determine whether the driver's current perceptual performance is below a predetermined standard and whether the perceptual performance can be improved in the future. For example, the vehicle control device 100 evaluates the level of alertness on a four-level scale (zero, low, medium, and high), and determines that the current perceptual performance is below the predetermined standard when the level of alertness is medium or lower, and determines that the perceptual performance cannot be improved in the future (i.e., the driver's perceptual performance is irreversibly low) when the level of alertness is low or lower.

[0086] Furthermore, the vehicle control device 100 can determine whether the driver's current judgment performance is below a predetermined standard and whether the judgment performance can be improved in the future, based on a comparison between the control target value set in step S105 and the driving operation by the driver. For example, the vehicle control device 100 evaluates the difference between the timing at which the change in the control target value begins and the timing at which the driving operation begins on a four-level scale (zero, small, medium, large), and determines that the current judgment performance is below the predetermined standard when the difference is medium or larger, and determines that the judgment performance cannot be improved in the future (i.e., the driver's judgment performance is irreversibly low) when the difference is large.

[0087] Furthermore, the vehicle control device 100 can determine whether the driver's current operating performance is below a predetermined standard and whether the operating performance can be improved in the future, based on a comparison between the control target value set in step S105 and the driving operation by the driver. For example, the vehicle control device 100 evaluates the deviation between the control target value and the control value corresponding to the driving operation on a four-level scale (zero, small, medium, large), and determines that the current operating performance is below the predetermined standard when the deviation is medium or larger, and determines that the operating performance cannot be improved in the future (i.e., the driver's operating performance is irreversibly low) when the deviation is large.

[0088] Even when making a judgment based on the evaluation results of the current driver's ability as described above, the vehicle control device 100 can execute substitute control (steps S205, S107) if it determines that the driver's ability for at least some of the driving-related functions is below a predetermined standard (step S203: Yes) and will not improve in the future (step S204: Yes), and can execute assistance control (steps S207, S108) to have the vehicle 1 assist the driver in demonstrating the ability if it determines that the driver's ability for at least some of the driving-related functions is below a predetermined standard (step S203: Yes) and can improve in the future (step S204: No).

[0089] Finally, the effects 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 evaluates the driver's ability for each of a plurality of driving-related functions that the driver has for driving a vehicle based on the driver's driving operation. Furthermore, based on the evaluation result of the driver's ability, the vehicle control device 100 determines whether the driver's ability for each driving-related function is below a predetermined standard and whether the driver's ability will not improve in the future. If the vehicle control device 100 determines that the driver's ability for at least some of the driving-related functions is below the predetermined standard and will not improve in the future, it executes substitute control to have the vehicle perform the driving-related functions so that driving can be performed without the driver exerting those abilities. If the vehicle control device 100 determines that the driver's ability for at least some of the driving-related functions is below the predetermined standard and will be able to improve in the future, it executes assistance control to have the vehicle 1 assist the driver in exerting those abilities.

[0090] As described above, in this embodiment, for driving-related functions for which the driver's ability is determined to be below a predetermined standard and not likely to improve in the future, the vehicle 1 substitutes for the driver to perform driving performance using the function. As a result, the vehicle 1 substitutes for functions for which the driver's driving ability is low, providing the performance necessary for driving, thereby ensuring safe driving of the vehicle 1, while allowing the driver to perform driving performance for functions for which the driver's driving ability is sufficient without being substituted. Furthermore, for driving-related functions for which the driver's ability is determined to be below a predetermined standard and likely to be improved in the future, the vehicle 1 performs various assistance controls related to the driving-related functions. As a result, for driving-related functions for which the driver's ability has room for improvement, the vehicle 1 does not simply substitute for the function, but instead actively allows the driver to perform driving performance, thereby compensating for the driver's insufficient ability and encouraging the driver to improve their ability. Therefore, while ensuring safe driving through automated driving, the driver's driving ability can be maintained and improved through driving.

[0091] In this embodiment, the driving-related functions include a perception function for perceiving the traffic environment, a judgment function for determining the driving operation required in the traffic environment, and an operation function for performing the driving operation. In this way, the driving-related functions are classified according to the driving operation process, so that the driver's ability can be appropriately evaluated. Therefore, the driving-related functions to be the targets of substitute control or assist control can be appropriately selected.

[0092] Furthermore, in this embodiment, the vehicle control device 100 detects the traffic environment of the vehicle 1, sets a target driving route according to the detected traffic environment, and sets a control target value for the vehicle to drive along the target driving route. The vehicle control device 100 then evaluates the driver's ability based on the deviation between the control target value and the vehicle control value corresponding to the driver's driving operation. This makes it possible to evaluate the driver's ability based on the control target value set according to the traffic environment, and to perform an appropriate driving ability evaluation that takes the traffic environment into consideration. Therefore, it is possible to appropriately select driving-related functions that should be subject to substitute control or assist control.

[0093] Furthermore, in this embodiment, the vehicle control device 100 identifies, based on the traffic environment, among multiple driving-related functions, a driving-related function that requires a relatively high level of driver ability, and evaluates the driver's ability based on the discrepancy between the control target value and the control value of the vehicle 1 corresponding to the driving operation as the evaluation of the identified driving-related function. Because multiple driving-related functions affect each other (for example, perceptual errors can lead to judgment errors), by identifying a driving-related function that requires a relatively high level of ability in the traffic environment (i.e., that is prone to insufficient ability), it is possible to perform an appropriate driving ability evaluation for the driving-related function that is likely to affect the driver's driving operation in that traffic environment. Therefore, it is possible to appropriately select the driving-related function to be the target of substitute control or assist control. [Explanation of symbols]

[0094] 1 vehicle 10 ECU 20 Onboard equipment 21 In-vehicle camera 22 Radar 23 Vehicle speed sensor 24 Acceleration sensor 25 Yaw rate sensor 26 Steering angle sensor 27 Accelerator sensor 28 Brake sensor 29 Positioning System 30 Navigation System 31 Communication equipment 40 Control device 41 Engine control device 42 Brake control device 43 Steering control device 44 Headlight control device 45 Speaker control device 46 Head-up display (HUD) control device 50 servers 51 processors 52 Evaluation Results Database 100 Vehicle control device

Claims

1. ability evaluation means for evaluating the ability of a driver for each of a plurality of driving-related functions provided to the driver for driving a vehicle based on the driving operation of the driver; a determining means for determining whether the driver's ability for each of the driving-related functions is below a predetermined standard and whether the driver's ability will not improve in the future, based on the evaluation result of the driver's ability; vehicle control means for executing substitute control to have the vehicle perform the driving-related functions on behalf of the driver when the determination means determines that the driver's abilities for at least some of the driving-related functions are below a predetermined standard and will not improve in the future, so that driving can be performed without the driver having to exercise those abilities, and for executing assist control to have the vehicle assist the driver in exercising those abilities when the determination means determines that the driver's abilities for at least some of the driving-related functions are below a predetermined standard and will be improveable in the future; Equipped with the vehicle control means detects a traffic environment of the vehicle, sets a target driving route in accordance with the detected traffic environment, and sets a control target value of the vehicle for driving along the target driving route; the ability evaluation means evaluates the driver's ability as being lower as the deviation between the control target value and the control value of the vehicle corresponding to the driving operation of the driver increases for each of the plurality of driving-related functions; Vehicle control device.

2. The vehicle control device according to claim 1 , wherein the driving-related functions include a perception function for perceiving a traffic environment, a determination function for determining a driving operation required in the traffic environment, and an operation function for performing the driving operation.

3. 3. The vehicle control device according to claim 1, wherein the ability evaluation means identifies, based on the traffic environment, a driving-related function among the plurality of driving-related functions that requires a relatively high level of ability from the driver, and evaluates the driver's ability based on a deviation between the control target value and a control value of the vehicle corresponding to the driving operation as an evaluation of the identified driving-related function.

4. a capability evaluation step of evaluating the capability of a driver based on a driving operation of the driver for each of a plurality of driving-related functions that the driver has in order to drive a vehicle; a determining step of determining whether the driver's ability for each of the driving-related functions is below a predetermined standard and whether the driver's ability will not improve in the future, based on the evaluation result of the driver's ability; a vehicle control step of executing substitute control to have the vehicle perform the driving-related functions on behalf of the driver so that the driver can drive without using the functions if it is determined in the determination step that the driver's abilities with respect to at least some of the driving-related functions are below predetermined standards and will not improve in the future, and executing assistance control to have the vehicle assist the driver in using the functions if it is determined in the determination step that the driver's abilities with respect to at least some of the driving-related functions are below predetermined standards and will be improveable in the future; and the vehicle control step includes a step of detecting a traffic environment of the vehicle, setting a target driving route in accordance with the detected traffic environment, and setting a control target value of the vehicle for driving along the target driving route; the ability evaluation step includes a step of evaluating the ability of the driver as being lower as a deviation between the control target value and a control value of the vehicle corresponding to a driving operation of the driver increases for each of the plurality of driving-related functions. Vehicle control method.

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