Vehicle control device

Abstract

To provide a vehicle control device that can maintain and improve a driving capability of a driver.SOLUTION: A vehicle control device 100 executes: human-machine capability request setting processing for setting a driving capability request that is made for allowing a vehicle 1 to travel in a traffic environment and in a travelling environment; driving capability determination processing for determining whether a driving capability with respect to each of a plurality of driving functions that a driver has satisfies the driving capability request or not; incomplete function identification processing for identifying, as an incomplete function, the driving function of the driver who has the driving capability that does not satisfy the driving capability request, of the plurality of driving functions that the driver has; driving function substitution processing for controlling the vehicle so that the vehicle 1 substitutes for the identified incomplete functions in stead; and driving capability support processing for providing information to the driver so that the driving capability with respect to the identified incomplete function is allowed to get close to a level of the driving capability request, which executes the driving function substitution processing and / or the driving capability support processing to allow the driver and the vehicle 1 to exert the driving capability request.SELECTED DRAWING: Figure 5

Description

[Technical Field]

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

[0002] Vehicles capable of driving using automated driving technology (or autonomous driving technology) have been developed. Under automated driving control, the vehicle drives by independently operating the vehicle (SAE automated driving level 3 or higher). In other words, the driver does not need to operate the vehicle, such as by using the accelerator, brakes, or steering wheel. Automated driving technology is useful for drivers with normal driving ability, and is particularly useful in terms of driving safety for elderly people with impaired driving ability and those with mild cognitive impairment (MCI).

[0003] On the other hand, drivers have a desire to drive vehicles themselves. However, if the required driving ability of the driver depending on the traffic environment, etc., does not balance with the driver's current driving ability, the driver may find driving boring or, conversely, experience psychological stress. Therefore, the present applicant has proposed a vehicle control device that provides driving assistance or driving load so as to balance the required driving ability and the current driving ability (see, for example, Patent Document 1). This vehicle control device allows the driver to drive a vehicle in a state where the required driving ability and the current driving ability are balanced. This allows the driver to drive safely in a fun and focused state, regardless of the difficulty of the traffic environment or the level of the driver's current driving ability. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6555649 Summary of the Invention [Problem to be solved by the invention]

[0005] The technology described in Patent Document 1 provides necessary driving assistance when a driver's current driving ability is relatively insufficient, thereby improving safety in vehicle driving. However, with this technology, the driver has to rely on the vehicle to make up for their insufficient driving ability, so it is not possible to maintain or improve the driver's driving ability. As a result, this technology is not able to extend the driver's safe driving lifespan.

[0006] The present invention has been made to solve such problems, and has an object to provide a vehicle control device that can maintain and improve the driving ability of a driver. [Means for solving the problem]

[0007] In order to achieve the above object, the present invention provides a vehicle control device that performs driving assistance control on a vehicle that is driven using a plurality of driving functions including a driving function, a stopping function, and a turning function, by a driver's vehicle operation using a plurality of driving functions, so that the vehicle drives in accordance with the traffic environment and driving environment around the vehicle, and the vehicle is controlled in accordance with the traffic environment and driving environment. Target driving route Required to run Includes target operation amount of target vehicle operation on the target driving route A human-machine performance requirement setting process is performed to set driving performance requirements, a driving performance determination process is performed to determine whether the driving performance of each of a plurality of driving functions possessed by the driver satisfies the driving performance requirements, a malfunctioning function identification process is performed to identify, among a plurality of driving functions possessed by the driver, a driving function of the driver whose driving performance does not satisfy the driving performance requirements as a malfunctioning function, a driving function substitution process is performed to control the vehicle so that the vehicle substitutes for and executes the identified malfunctioning function, and a driving performance support process is performed to provide the driver with information so that the driving performance of the identified malfunctioning function approaches the level of the driving performance requirements, and by executing the driving function substitution process and / or the driving performance support process, the driver and the vehicle are allowed to fulfill the driving performance requirements. The driver's multiple driving functions include at least a perception function that perceives predetermined objects outside the vehicle in the traffic environment and driving environment in order to travel along the target driving route, a judgment function that determines a target vehicle operation that should be performed in the traffic environment and driving environment, and an operation function that executes the target vehicle operation that should be performed in the traffic environment and driving environment by a target operation amount, and in the driving performance determination process, the driving performance of each of the perception function, judgment function, and operation function is that the driver perceives predetermined objects, selects a target vehicle operation that the driver should perform, and executes the target vehicle operation that the driver should perform by a target operation amount in order to travel along the target driving route, and it is determined whether each of the driving performance of the perception function, judgment function, and operation function is being exercised to satisfy the driving performance requirements. It is characterized by the following.

[0008] According to the present invention configured as described above, if a driver's driving ability is partially or completely low, the vehicle takes over the driving functions that demonstrate the low driving ability. As a result, in the present invention, the functions of the driver and the vehicle are automatically allocated in a human-machine system, and driving performance requirements are compensated for. In this way, even if the driver's driving ability is low, the vehicle takes over the driving functions that provide the insufficient driving ability. Therefore, in the present invention, the safety of vehicle driving is ensured, and the driver can extend his or her driving life without giving up driving. Furthermore, in the present invention, training is performed through a driving performance assistance process for driving functions with low driving performance that have been identified as malfunctioning functions. As a result, in the present invention, the driver can maintain or improve their driving ability for the malfunctioning functions. In addition, in the present invention configured as described above, the driving performance determination process determines whether the driver has a predetermined driving performance for each of a plurality of driving functions, thereby making it possible to identify a malfunctioning function that indicates poor driving performance.

[0009] In the present invention, the driving performance support process preferably notifies the driver of a vehicle operation that the driver should perform in response to a malfunction. In the present invention configured in this manner, the driver can maintain or improve their driving function by learning the vehicle operation that the driver should perform in response to a malfunction.

[0011] In the present invention, preferably, the driving performance assistance process provides different types of information depending on a plurality of driving functions of the driver. In the present invention configured in this manner, appropriate assistance information can be provided depending on the type of malfunction. [Effects of the Invention]

[0012] According to the vehicle control device of the present invention, it is possible to maintain and improve the driving ability of the driver. [Brief explanation of the drawings]

[0013] [Figure 1] FIG. 2 is an explanatory diagram of vehicle control according to an embodiment of the present invention. [Figure 2] 1 is a block diagram of a vehicle control device according to an embodiment of the present invention; [Figure 3] FIG. 2 is an explanatory diagram showing a processing flow of the vehicle control device according to the embodiment of the present invention. [Figure 4] FIG. 1 is an explanatory diagram of a conventional human-machine system. [Figure 5] FIG. 1 is an explanatory diagram of a human-machine system according to an embodiment of the present invention. [Figure 6] 3 is a flowchart of a driving assistance control according to an embodiment of the present invention. [Figure 7] 3 is a flowchart of a driving assistance control according to an embodiment of the present invention. [Figure 8] 10 is a flowchart of a delay notification process according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0014] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A vehicle control device according to an embodiment of the present invention will now be described with reference to the accompanying drawings. First, an overview of vehicle control provided by a vehicle control device according to an embodiment of the present invention will be described with reference to Fig. 1. Fig. 1 is an explanatory diagram of vehicle control.

[0015] The vehicle control device 100 of this embodiment (see FIG. 2) is configured on the premise that the driver will be the one to operate the vehicle 1. Therefore, the vehicle control device 100 assists the vehicle operation of the vehicle 1 at an appropriate level depending on the state of the driver. That is, in this embodiment, the driving assistance control of the vehicle 1 is provided in principle to fill the gap between the vehicle operation that the driver wants to perform and the vehicle operation that the driver can perform. For example, the driver's impaired driving function is mainly assisted. Furthermore, the vehicle control device 100 is configured to automatically switch the vehicle 1 to automatic driving control at a predetermined time.

[0016] Specifically, when the driver has normal driving ability, the vehicle control device 100 intervenes in vehicle operation only at specific times to perform driving assistance control (automatic acceleration, automatic braking, automatic steering, etc.). Specific times include, for example, when the driver's driving ability is temporarily reduced (e.g., due to fatigue or drowsiness) or when the driving environment is relatively difficult (e.g., complex surrounding traffic conditions, complex road shape, dark surroundings). Furthermore, when the driving ability of a driver (e.g., elderly or MCI) is partially reduced (e.g., due to insufficient muscle strength to operate the steering wheel), the vehicle control device 100 compensates for the reduced driving ability. Furthermore, the vehicle control device 100 performs driving assistance control to maintain or recover reduced driving ability or further improve driving ability.

[0017] On the other hand, when an abnormality sign is detected in which the driver's consciousness level or driving ability is decreasing suddenly or over a predetermined time (several minutes to several tens of minutes) (for example, when an acute illness occurs or when the drowsiness level is high), the vehicle control device 100 performs driving assistance control to maintain safe driving. Also, in the event of an abnormality in which the driver's consciousness or driving ability is lost, the vehicle control device 100 executes automatic driving control and performs processing to notify the outside of an emergency in order to avoid an accident.

[0018] Next, the configuration of a vehicle control device according to an embodiment of the present invention will be described with reference to Fig. 2. Fig. 2 is a block diagram of the vehicle control device. As shown in Fig. 2, the vehicle control device 100 mainly includes a controller 10 such as an ECU (Electronic Control Unit), an in-vehicle device 20, a vehicle control system 40, and an information notification device 50.

[0019] The in-vehicle device 20 includes an in-vehicle camera 21, an outside-vehicle camera 22, a radar 23, a plurality of vehicle behavior sensors (vehicle speed sensor 24, acceleration sensor 25, yaw rate sensor 26) that detect the behavior of the vehicle 1, a plurality of operation detection sensors (steering angle sensor 27, steering torque sensor 28, accelerator opening sensor 29, brake depression amount sensor 30) that detect the driver's operation, a positioning device 31, a navigation device 32, and an information and communication device 33.

[0020] The vehicle control system 40 includes an engine control system 41, a brake control system 42, and a steering control system 43, which respectively correspond to the vehicle's running, stopping, and turning functions. The information notification device 50 includes a display device 51, an audio output device 52, an information transmission device 53, and a plurality of actuators 54.

[0021] The controller 10 is configured by a computer device including a processor 11, a memory 12 that stores various programs and data executed by the processor 11, an input / output device, etc. The controller 10 is configured to output control signals for performing vehicle control (driving assistance control and automatic driving control) to the vehicle control system 40 and the information notification device 50 based on signals received from the in-vehicle device 20.

[0022] The in-vehicle camera 21 captures an image of the driver of the vehicle 1 and outputs image information. The controller 10 determines, based on this image information, in particular, the facial expression and upper body posture of the driver. The exterior camera 22 captures images of the surroundings of the vehicle 1 (typically, the area in front of the vehicle 1) and outputs image information. Based on this image information, the controller 10 identifies objects outside the vehicle and their positions. The objects include at least traffic participants and boundaries of the roadway. Specifically, the objects include surrounding moving bodies (vehicles, pedestrians, etc.) and stationary structures (obstacles, parked vehicles, roadways, lane markings, stop lines, traffic signals, traffic signs, intersections, etc.).

[0023] The radar 23 measures the position and speed of an object present around the vehicle 1 (typically in front of the vehicle 1). For example, the radar 23 may be a millimeter wave radar, a laser radar (LIDAR), an ultrasonic sensor, or the like.

[0024] The vehicle speed sensor 24 detects the speed (vehicle speed) of the vehicle 1. The acceleration sensor 25 detects the acceleration of the vehicle 1. The yaw rate sensor 26 detects the yaw rate generated in the vehicle 1. The steering angle sensor 27 detects the rotation angle (steering angle) of the steering wheel 43b of the vehicle 1. The steering torque sensor 28 detects the rotation torque associated with the rotation of the steering wheel 43b. The accelerator opening sensor 29 detects the depression amount of the accelerator pedal 41b. The brake depression amount sensor 30 detects the depression amount of the brake pedal 42b.

[0025] The positioning device 31 includes a GPS receiver and / or a gyro sensor, and detects the position (current vehicle position information) of the vehicle 1. The navigation device 32 stores map information internally and can provide the map information to the controller 10. The controller 10 can calculate the entire driving route (including driving lanes, intersections, traffic signals, etc.) to the destination based on the map information and the current vehicle position information.

[0026] The information communication device 33 communicates with external communication devices. For example, the information communication device 33 performs vehicle-to-vehicle communication with other vehicles and road-to-vehicle communication with a communication device outside the vehicle, receives various driving information and traffic information (traffic congestion information, speed limit information, etc.), and provides the information to the controller 10.

[0027] The engine control system 41 controls the driving force of an engine device (internal combustion engine, electric motor, etc.) of the vehicle 1. The controller 10 drives the engine device and can accelerate or decelerate the vehicle 1 by transmitting a control signal to the engine control device 41a based on an input from the accelerator pedal 41b.

[0028] The brake control system 42 controls the driving force of the brake device of the vehicle 1. The brake control system 42 includes brake actuators such as a hydraulic pump and a valve unit. The controller 10 drives the brake device and decelerates the vehicle 1 by sending a control signal to the brake control device 42a based on an input from a brake pedal 42b.

[0029] The steering control system 43 controls the driving force of the steering device of the vehicle 1. The steering control system 43 includes, for example, an electric motor of an electric power steering system. The controller 10 can drive the steering device and change the traveling direction of the vehicle 1 by sending a control signal to the steering control device 43a based on an input from the steering wheel 43b.

[0030] The display device 51 can visually display support information (visual information) for assisting the driver in vehicle operation in a display area. Specifically, the display device 51 is a HUD. The display area corresponds to the size of the entire windshield of the vehicle 1 or a part of it, and the support information is displayed within the field of view of the driver. Also, a liquid crystal display may be used instead of the HUD. The audio output device 52 is, for example, a speaker, and can provide the driver with assistance information (auditory information) to assist the driver in operating the vehicle. The information transmitting device 53 can transmit information relating to driving assistance to an external information communication device (for example, a mobile information terminal of the driver).

[0031] The actuator 54 is configured with an electric motor, a gear mechanism, etc. The multiple actuators 54 are configured to move multiple operating parts (e.g., accelerator pedal 41b, brake pedal 42b, steering wheel 43b) that the driver operates when driving the vehicle 1 in the operating direction without input from the driver. The controller 10 outputs a control signal to each actuator 54, causing the corresponding operating part to perform a desired behavior.

[0032] The vehicle control system (for example, engine control system, brake control system, steering control system) of this embodiment operates by a drive-by-wire system, and is configured such that an operation input from an operation unit is transmitted as a control signal via the controller 10, and a drive device corresponding to the operation unit receives the control signal and drives based on the control signal. Therefore, the controller 10 can output a control signal to the drive device independently of the movement of the operation unit by the actuator 54.

[0033] Next, the processing flow of the vehicle control device according to the embodiment of the present invention will be described with reference to Fig. 3. Fig. 3 is an explanatory diagram showing the processing flow of the vehicle control device. Specifically, Fig. 3 shows that the controller 10 processes input information from the in-vehicle device 20, thereby providing various vehicle controls (driving assistance control, automatic driving control) using the vehicle control system 40 and the information notification device 50.

[0034] Vehicle control includes ADAS (Advanced Driver Assistance System), automatic acceleration, automatic braking, automatic steering, automatic vehicle stabilization control, automated driving (level 3 or higher), and support processes for maintaining and improving the driver's driving ability. ADAS includes at least support functions (automatic entry avoidance control) for following the vehicle ahead, preventing collisions with the vehicle ahead, preventing lane departure, etc. Automatic vehicle stabilization control is a control to stabilize the vehicle 1's attitude, i.e., vehicle dynamics (pitch, roll, yaw), and prevent skidding, rollover, etc.

[0035] The in-vehicle device 20 continuously transmits the acquired information to the controller 10. The controller 10 performs the following calculations or evaluations based on the acquired information. The controller 10 evaluates the traffic environment around the vehicle 1 (traffic environment evaluation) based on input information from the outside camera 22, radar 23, positioning device 31, navigation device 32 (map information), etc. Specifically, the controller 10 calculates the positions, speeds, etc. of objects around the vehicle 1 (vehicles, pedestrians, boundary lines, guardrails, stop lines, traffic signs, etc.).

[0036] The controller 10 also evaluates the driver's physical function (physical function evaluation) based on information from the steering angle sensor 27, steering torque sensor 28, brake depression amount sensor 30, in-vehicle camera 21, etc. Specifically, the controller 10 estimates the level of the driver's physical function, such as operating the operating unit with an appropriate amount of operation and operation speed, and visually perceiving visual stimuli outside the vehicle. Whether the driver is operating with an appropriate amount of operation and operation speed is evaluated based on the difference between the operation amount and operation speed (steering angle, steering angle speed, depression amount of brake pedal 42b, depression speed, brake hydraulic pressure, etc.) actually input by the driver via the operating unit and the target operation amount and operation speed when traveling along the target traveling route. The target traveling route is calculated based on driving requirements (destination, etc.) using the results of a traffic environment evaluation, a traveling environment evaluation, a physical function evaluation, etc., so that the vehicle 1 travels safely and efficiently.

[0037] Furthermore, the controller 10 evaluates the driving environment around the vehicle 1 (driving environment evaluation) based on information from the outside camera 22, the vehicle speed sensor 24, the acceleration sensor 25, the positioning device 31, etc. Specifically, the controller 10 estimates physical quantities that affect the vehicle dynamics (for example, the radius of the curve on the road and the road surface friction coefficient). The controller 10 also calculates the current vehicle dynamics of the vehicle 1 (vehicle dynamics calculation) based on information from the vehicle speed sensor 24, acceleration sensor 25, yaw rate sensor 26, etc. The vehicle dynamics includes speed, acceleration, yaw rate, three-axis rotation moment (pitch, yaw, roll), etc.

[0038] The controller 10 also determines the level of alertness of the driver based on image information from the in-vehicle camera 21 (alertness determination). For example, the level of alertness is evaluated based on the degree to which the driver's eyes and / or mouth are open, and the position or posture of the driver's upper body. The level of alertness can be evaluated, for example, on a four-level scale (zero, low, medium, high alertness).

[0039] Furthermore, the controller 10 determines whether there is a predicted risk in the traffic environment evaluation and the driving environment evaluation. The predicted risk includes a traffic risk caused by the traffic environment (e.g., collision of the vehicle 1 with another vehicle) and a driving risk caused by the driving environment that affects the vehicle dynamics (e.g., spinning out on a curved road). The controller 10 then evaluates the risk avoidance behavior taken by the driver in response to the predicted risk based on information from the on-board device 20, the in-vehicle camera 21, etc. (risk avoidance behavior evaluation).

[0040] Risks include vehicle accidents such as a collision of vehicle 1 and states in which vehicle 1 loses or loses its stability (spins, rollovers, etc.). Risk objects that can cause risk include traffic participants (other vehicles, pedestrians, etc.), guardrails, boundaries, traffic signals (red lights), stop lines, etc. Risk objects also include risk-generating parts of the roadway (such as clipping points on curved roads). These objects are considered risk objects if they are likely to cause a risk in the near future (within a predetermined time, such as 10 seconds) if the current vehicle behavior (vehicle dynamics) continues. Risk avoidance behavior is an action taken by the driver in response to a predicted risk, and is particularly a vehicle operation (acceleration, braking, and / or steering) performed to reduce the probability of the predicted risk occurring. For example, when the predicted paths of vehicle 1 and another vehicle intersect and a collision between the two vehicles is predicted, this is a vehicle operation that reduces the probability of a collision, or a vehicle operation that makes the closest distance between vehicle 1 and another vehicle equal to or greater than a predetermined distance. Furthermore, risk targets may include objects that may not pose a risk at present but should be perceived while driving, and objects that may pose a risk in the future beyond a predetermined time.

[0041] The risk avoidance behavior also includes the driver's behavior of perceiving a risk object (for example, another vehicle with a possibility of collision, or the vicinity of a clipping point on a curved road) before operating the operating unit. For example, the driver's gaze directed toward a risk object based on image information from the in-vehicle camera 21, or the driver's posture in response to the risk (i.e., the driver's perception of a risk object) are also included in the risk avoidance behavior.

[0042] The controller 10 also evaluates the driver's current cognitive load based on the results of the traffic environment evaluation (cognitive load evaluation). For example, the controller 10 evaluates that the greater the number of objects within a predetermined distance from the vehicle 1, the greater the driver's cognitive load, depending on the vehicle speed. The cognitive load can be evaluated, for example, in three stages (low, medium, and high). The controller 10 may also analyze, learn, and update the driver's cognitive ability level based on information about the driver's vehicle operation and line of sight. In this case, the cognitive load evaluation can be calculated as the ratio of the current cognitive load to the driver's cognitive ability level.

[0043] The controller 10 also stores in a storage unit a vehicle model that defines the physical motion of the vehicle 1. The vehicle model uses equations of motion to represent the relationship between the specifications of the vehicle 1 (mass, wheelbase, etc.) and physical variables (speed, acceleration, steering angle, etc.). The vehicle model can also apply the results of a driving environment evaluation (for example, road surface friction coefficient).

[0044] The controller 10 also stores a driver model of the driver who drives the vehicle 1 in a storage unit. The controller 10 analyzes and learns the driver's operating characteristics based on input information from the in-vehicle device 20 and constantly updates the driver model. The driver model represents the driver's operating characteristics, including the amount of operation for a specific operation under certain conditions, a reaction delay time (time constant), and the like. The results of a cognitive load assessment (level of cognitive load) and a physical function assessment can also be applied to the driver model. For example, in a situation where the cognitive load is high, the driver model is corrected so that the driver's operating ability decreases. Furthermore, if the results of the physical function assessment determine that the pedal force or arm strength is low, this is reflected in the time constants related to the amount of operation and the operating speed of the operating parts. The controller 10 can predict the driver's operation by using the driver model. The controller 10 also stores an ideal driver model, which represents the operating characteristics of an ideal driver with high driving ability, in a storage unit, and can therefore predict ideal operations.

[0045] The controller 10 can calculate vehicle dynamics predicted to occur between now and the near future (vehicle dynamics prediction calculation) by applying input information from the in-vehicle device 20 to the vehicle model and the driver model. That is, by inputting current conditions (traffic environment, driving environment, cognitive load, physical function) into the driver model and the vehicle model, the controller 10 can predict vehicle operations (type of operation, amount of operation, operation timing, etc.) performed by the driver between now and a predetermined time period (for example, 10 seconds from now), and calculate predicted vehicle dynamics caused by the predicted vehicle operation.

[0046] Furthermore, the controller 10 performs a driving ability evaluation. The driving ability represents the level of the driver's ability to avoid various risks. The controller 10 evaluates or calculates the driving ability relative to risk based on the results of the risk aversion behavior evaluation (risk aversion behavior performed by the driver), the difference between predicted vehicle dynamics and actual vehicle dynamics, and the results of the cognitive load evaluation (degree of cognitive load). The driving ability relative to risk may be, for example, the required risk aversion time required for the driver to avoid the predicted risk. The required risk aversion time may be the time from the start of the risk aversion behavior to the disappearance of the predicted risk, or the time required from the driver's perception of the risk to the completion of the risk aversion behavior. In this case, if the driving ability is evaluated low, the required risk aversion time is output as a larger value.

[0047] The controller 10 uses a driver model to calculate, for example, a predicted driving route of the vehicle 1 at a future time point, assuming that the current vehicle behavior continues for a predetermined time. When the predetermined time reaches a certain time, the risk cannot be avoided using the predicted driving route at that time. Then, the time until the risk occurs on the predicted driving route calculated at this time (risk margin time) may be set as the risk avoidance required time.

[0048] The controller 10 can update the driving ability data using the calculated driving ability evaluation. A driver's driving ability changes over time. For example, beginner drivers tend to improve their driving ability, while elderly people tend to decline. For the driving ability data, multiple driving ability data sets may be set corresponding to multiple evaluation periods. For example, short-term (1 to 6 months from the present), medium-term (3 to 9 months from the present), and long-term (1 to 2 years from the present) motor ability data sets can be created.

[0049] The controller 10 performs a function reallocation calculation based on the current vehicle dynamics, the results of the driving ability assessment (current driving ability), the results of the cognitive load assessment, and the results of the physical function assessment. The controller 10 executes driving assistance control or automated driving control based on this calculation. During normal driving, a driver (e.g., a beginner or elderly driver) demonstrates driving performance using his or her own driving functions (perceptual function, judgment function, physical function). However, if the driver is unable to avoid a predicted risk (i.e., if the driver's driving performance does not meet the driving ability required to avoid the predicted risk), the controller 10 executes driving assistance control so that the vehicle 1 takes over and performs the driving functions related to the insufficient driving ability. Furthermore, in the event of an abnormality (e.g., loss of consciousness), for example, automated driving control is executed, and the driver's driving functions are replaced by corresponding equivalent functions of the vehicle 1.

[0050] Furthermore, the controller 10 compares the result of the driving ability assessment (current driving ability relative to predicted risk) with the driving ability data, and if the current driving ability is lower than the past driving ability, the controller 10 performs assistance (including automatic driving) to compensate for the lowered driving ability. Furthermore, when the driver's level of alertness is medium (for example, mild drowsiness), the controller 10 performs a process to wake the driver (for example, blow cool air to the driver), and when the driver's level of alertness is low (for example, severe drowsiness or loss of consciousness), the controller 10 performs automatic driving.

[0051] Next, a human-machine system consisting of a driver and a vehicle in an embodiment of the present invention will be described. Figure 4 is an explanatory diagram of a conventional human-machine system, and Figure 5 is an explanatory diagram of the human-machine system in this embodiment.

[0052] As shown in Figure 4, a driver (human) has at least a perception function, a judgment function, and an operation function (or a physical function) for driving a vehicle, and uses these driving functions to demonstrate perception performance, judgment performance, and operation performance (or a driving performance). The driver uses the perception function to capture an object (perception performance), uses the judgment function to select or judge the vehicle operation to be performed for the captured object (judgment performance), and executes the selected vehicle operation with an appropriate amount and timing using the operation function (operation performance). Meanwhile, a vehicle has at least the functions of running, stopping, and turning. The vehicle runs while demonstrating running performance, braking performance, and handling stability performance by using these driving functions to operate the vehicle by the driver.

[0053] In this way, when a driver operates a vehicle by demonstrating their perception, judgment, and operation capabilities, the vehicle exhibits driving performance, braking performance, and handling stability. This allows 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 capabilities can be efficiently utilized. This improves overall vehicle performance (e.g., braking ability, fuel economy, etc.).

[0054] During autonomous driving, the vehicle takes over all or most of the driver's perception, judgment, and physical functions. For example, perception functions are taken over by on-board cameras, acceleration sensors, radar, etc. Decision-making functions are taken over by the vehicle's computer. Physical functions are taken over by on-board actuators. As an exception, 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 functions or driving abilities (driving performance).

[0055] FIG. 5 shows an example of a human-machine system in this embodiment. In this embodiment, driving function substitution processing and driving performance support processing (maintenance support and improvement support) are executed. A driver with low driving ability (e.g., a beginner or elderly person) has a low level of at least one of the driving performances (perception, judgment, operation) related to driving functions (perception, judgment, operation). In addition, a driver with average driving ability (normal driver) may also have a relatively low level of driving performance.

[0056] In this embodiment, if the driver's driving ability is low when a predicted risk is detected (or when a risk is encountered), the vehicle control device 100 executes a driving function substitution process to substitute the driving functions (incomplete functions) related to the driver's low driving ability with the corresponding functions of the vehicle 1. In this process, the vehicle control device 100 detects the driving functions (perception, judgment, operation) of the driver that have low performance, and intervenes in vehicle operation so that the vehicle 1 assists only this low driving function (incomplete function). As a result, even if some of the driver's driving ability is impaired, the driving function of the human-machine system consisting of the driver and the vehicle 1 is maintained. In FIG. 5, the driver's judgment functions and judgment performance are exemplarily substituted by equivalent functions and performance of the vehicle 1.

[0057] Furthermore, in this embodiment, when executing the driving function substitution process, the vehicle control device 100 executes a driving performance support process (first support process) for maintaining or recovering the impaired driving ability. Figure 5 shows the Z function for executing this support process. This process prompts the driver to take action to maintain or recover the impaired driving ability at a predetermined time for the impaired driving functions (perception, judgment, operation) of the driver. Once the driver's driving ability has recovered to a level at which the predicted risk can be avoided, the driving function substitution process and the driving performance support process will no longer be executed.

[0058] Furthermore, in this embodiment, during normal times when no predicted risk is detected, the vehicle control device 100 executes a driving performance assistance process (second assistance process) to improve the driver's driving performance. Figure 5 shows an X function for executing this assistance process. In this process, the driver is prompted to improve their driving ability at a predetermined time for at least a malfunctioning function among the driver's driving functions. Figure 5 exemplarily shows a case where the driver's operating performance is lower than a required level.

[0059] The second assistance process is a process of providing the driver with advice on driving behaviors that the driver should perform so as to improve the driver's driving ability. For example, the driver is instructed on vehicle operations recommended by experienced drivers with high driving ability. This corresponds to the driver learning driving skills from an experienced driver. This assistance process allows the driver to learn exemplary vehicle operations for the driver's weaker functions among perception, judgment, and operation functions, thereby improving their driving ability.

[0060] Next, a processing flow of the driving assistance control of the vehicle control device according to the embodiment of the present invention will be described. Figures 6 and 7 are flowcharts of the driving assistance control, and Figure 8 is a flowchart of the delay notification process. After receiving a driving request (destination, etc.) from the driver or an external device via an input device (e.g., navigation device 32, information communication device 33), the controller 10 repeatedly performs driving assistance control over time (e.g., every 0.1 seconds).

[0061] 6, the controller 10 acquires information from the in-vehicle device 20 at predetermined time intervals (e.g., every 0.1 seconds) (S1). Based on the acquired information, the controller 10 executes processes such as traffic environment evaluation, driving environment evaluation, physical function evaluation, risk avoidance behavior evaluation, and vehicle dynamics calculation.

[0062] The controller 10 also calculates a target driving route based on the acquired information and driving requirements (S2). The target driving route includes a target driving trajectory (position information of multiple positions) from the present until a predetermined time (e.g., 10 seconds from now) and the speed at each position on the trajectory. The controller 10 calculates the target driving route so as to achieve predetermined safety and driving efficiency using the driving requirements and the results of traffic environment evaluation, driving environment evaluation, physical function evaluation, etc. The controller 10 can calculate multiple target driving routes that satisfy predetermined constraints (e.g., lateral acceleration is equal to or less than a predetermined value). For example, if an obstacle is present ahead of the vehicle 1, the controller 10 can set multiple target driving routes to avoid the obstacle. Note that even if the vehicle 1 deviates from the target driving route, it can still travel on another driving route. However, since the other driving routes are below predetermined standards, driving efficiency and ride comfort will be poor.

[0063] The controller 10 also calculates target vehicle dynamics for traveling along the target traveling route (S3). The target vehicle dynamics include the speed, acceleration, yaw rate, and three-axis rotation moment (pitch, yaw, roll) at each position on the target traveling route. The target vehicle dynamics are control target values ​​used when the vehicle 1 executes driving assistance control and automatic driving control. A plurality of target vehicle dynamics (or control target values) can be set corresponding to a plurality of target traveling routes.

[0064] Furthermore, the controller 10 calculates target vehicle operation amounts (accelerator opening, brake depression amount, steering angle, etc.) which are driving performance requirements for the driver and the vehicle 1 to achieve the physical quantities of the target vehicle dynamics at each position on the target driving route, or control signals for the control system 40 (human-machine performance requirement setting process).Drivability requirements having a predetermined range are set by multiple target driving routes.

[0065] Next, the controller 10 determines whether there is a predicted risk (S4). Specifically, the controller 10 determines whether there is a possibility that a risk will occur within a predetermined time due to the current vehicle behavior (vehicle dynamics) based on the traffic environment evaluation, the driving environment evaluation, etc. The controller 10 calculates the time from the present until the predicted risk (traffic risk and driving risk) occurs (i.e., the risk margin time TTR (time to risk)). If the risk margin time TTR is equal to or less than a predetermined time (e.g., 10 seconds), it is determined that there is a predicted risk. The risk margin time TTR is the predicted time until the vehicle 1 enters a risk area if the current vehicle behavior (vehicle dynamics such as speed and acceleration) is maintained. Entering a risk area refers to, for example, a position in a curve where a collision between the vehicle 1 and another vehicle or a spinout of the vehicle 1 is predicted.

[0066] The case where there is a predicted risk (S4: Yes) will be described. In this case, the controller 10 determines whether each driving function (perception function, judgment function, operation function) is demonstrating the driving performance required to avoid the risk (driving performance determination process).

[0067] First, the controller 10 determines whether the driver is demonstrating perceptual performance so as to prevent the vehicle 1 from deviating from the target driving route (S10) based on the result of the risk avoidance behavior evaluation. Specifically, the controller 10 determines whether the driver has perceived a risk object (for example, whether the driver has directed his / her gaze toward the risk object, or whether the driver has tilted his / her head or upper body to face lateral G) by a predetermined time (for example, until a predetermined time before the predicted occurrence time of the predicted risk, or until the vehicle 1 deviates from any of the target driving routes).

[0068] If the driver is not demonstrating perceptual performance (S10: No), the controller 10 identifies the driver's perceptual function as a malfunction and executes a driving function substitution process to substitute the driver's perceptual function with a corresponding function of the vehicle 1 (S11). In this process, the controller 10 sets the detected risk object as a tracking object and executes tracking control.

[0069] The controller 10 also executes a first support process for maintaining perceptual performance (S12). The controller 10 uses the information notification device 50 to notify the driver of the presence of a risk object that must be perceived in order to travel the target travel route, so as to bring the driver's driving performance (perceptual performance) closer to a level at which the target travel route can be traveled. This prompts the driver to perform an action of perceiving the risk object using his or her own eyes. In this embodiment, the vehicle operation includes the driver's action of perceiving the risk object. Specifically, the controller 10 uses the display device 51 to highlight the risk object in the display area. The controller 10 also notifies the appearance of the risk object by voice using the audio output device 52 (e.g., "obstacle ahead"). When the driver is prompted by such a notification and repeats the action of perceiving the risk object, the driver's perceptual performance can be maintained or restored.

[0070] On the other hand, if the driver is demonstrating perceptual performance (S10: Yes), the controller 10 determines whether the driver is demonstrating judgment performance with regard to the judgment function (S13). Specifically, the controller 10 determines whether the driver has made an appropriate decision for risk avoidance and initiated a recommended risk avoidance action by the predetermined time based on the result of the risk avoidance action evaluation. The recommended risk avoidance action is a target vehicle operation (e.g., accelerator, brake, or steering operation) for target vehicle dynamics. When the target vehicle dynamics is achieved, the risk is avoided. For example, if a braking operation is required to avoid a collision with an obstacle ahead, the controller 10 determines whether a braking operation has been initiated based on information from the brake depression amount sensor 30. Furthermore, if a steering operation is required to avoid a collision with an obstacle ahead, the controller 10 determines whether a steering operation has been initiated based on information from the steering angle sensor 27.

[0071] If the driver is not demonstrating judgment performance (S13: No), the controller 10 identifies the driver's judgment function as a malfunction and executes a driving function substitution process to substitute the driver's judgment function with a corresponding function of the vehicle 1 (S14). In this process, the controller 10 disables the driver's vehicle operation or overrides it with another vehicle operation, and executes vehicle control to avoid risks. In a drive-by-wire vehicle 1, even if the driver operates an operation unit, disabling the vehicle operation prevents a control signal from being generated based on the operation of the operation unit.

[0072] For example, when avoiding an obstacle ahead, the driver performs a steering operation to pass by the side of the obstacle. Meanwhile, because an oncoming vehicle is approaching, the target vehicle operation is to decelerate by braking (i.e., the target driving route is set to a route that decelerates before the obstacle). In this situation, the controller 10 disables the steering operation and outputs a control signal to the brake control device 42a to stop the vehicle before the obstacle. Conversely, if the target vehicle operation is a steering operation but the driver performs a braking operation, the controller 10 disables the braking operation and outputs a control signal to the steering control device 43a to avoid the obstacle.

[0073] The controller 10 also executes a first assistance process for maintaining judgment performance (S15). In this embodiment, at the time of processing step S15, the controller 10 stores the driving operation assistance information in the memory 12 and sets the assistance flag F to "1." After driving ends, the controller 10 uses the information notification device 50 to notify the driver of the driving operation assistance information so as to bring the driver's driving performance (judgment performance) closer to a level at which the driver can travel the target driving route. The driving operation assistance information includes information indicating the vehicle operations performed by the driver in response to the risk and information indicating the target vehicle operations that the driver should have performed in response to the risk.

[0074] The information stored as driving operation assistance information includes the vehicle operation performed by the driver (in the above example, the operation of the steering wheel 43b or the operation of the brake pedal 42b) and the target vehicle operation (the operation of the brake pedal 42b or the operation of the steering wheel 43b). This information may also include the amount of operation of the operating parts (brake pedal 42b, steering wheel 43b, etc.) over time. Furthermore, this information may also include image information from the in-vehicle camera 21 that shows the operation status of the operating parts by the driver, and image information including risk targets taken by the outside-vehicle camera 22.

[0075] 8, when driving of the vehicle 1 is completed (S70: Yes), the controller 10 determines whether the assistance flag F is set to "1" (S71). When the assistance flag F is set to "1" (S71: Yes), the controller 10 transmits the stored driving operation assistance information to the driver's mobile information terminal registered in the memory 12 using the information transmission device 53 (S72), and sets the assistance flag F to "0" (S73). The controller 10 may also display the driving operation assistance information using the display device 51. The controller 10 can determine that driving has been completed, for example, when it detects an engine-off (IG-off) signal of the vehicle 1 and / or when it detects that the speed of the vehicle 1 is zero.

[0076] This process allows the driver to recall driving situations in which he or she made inappropriate driving decisions while driving and compare the vehicle operations that the driver actually performed with the target vehicle operations that the driver should have performed, thereby enabling the driver to at least maintain, rather than degrade, driving performance in terms of at least the decision-making function, depending on the driving situation.

[0077] Although the driving operation assistance information may be provided while the vehicle 1 is traveling, there is a risk that the driver may become confused when the assistance information is provided. For this reason, in this embodiment, the assistance information for the determination function is provided after the driver has finished driving.

[0078] On the other hand, if the driver is demonstrating the judgment performance (S13: Yes), the controller 10 determines whether or not the driver is demonstrating the operation performance for the operation function (S16). Specifically, the controller 10 determines whether or not the driver has appropriately performed the vehicle operation of the risk avoidance behavior (mainly whether or not the amount of vehicle operation is appropriate) so as to reduce the occurrence probability of the predicted risk to zero. For this reason, the controller 10 takes into account not only the current vehicle dynamics but also changes in vehicle dynamics due to the risk avoidance behavior, and calculates the occurrence probability of the predicted risk using a vehicle model.

[0079] If the driver is demonstrating the operating ability (S16: Yes), the occurrence probability of the predicted risk will become zero within the predetermined time, and the controller 10 ends the processing. On the other hand, if the driver selected and executed the correct vehicle operation to avoid the risk but the amount of vehicle operation was insufficient, the predicted risk will still not be avoided.

[0080] Therefore, if the driver is not demonstrating the operating performance (S16: No), the controller 10 identifies the driver's operating function as a malfunctioning function and executes a driving function substitution process to substitute the driver's operating function with a corresponding function of the vehicle 1 (S17). In this process, the controller 10 executes vehicle control to avoid risks. For example, if the driver depresses the brake pedal 42b to avoid a collision with an obstacle, but the amount of depression is insufficient due to the driver's weak pedal force, the controller 10 outputs a control signal of an appropriate operation amount to the brake control device 42a so as to stop the vehicle before the obstacle. Also, if the driver operates the steering wheel 43b to avoid a collision with an obstacle, but the amount of operation is insufficient due to the driver's weak arm strength, the controller 10 outputs a control signal of an appropriate operation amount to the steering control device 43a to ensure clearance from the obstacle.

[0081] The controller 10 also executes a first support process for maintaining maneuverability (S18). The controller 10 uses the information notification device 50 to notify the driver of the appropriate operation amount and operation timing for traveling along the target travel route by the movement of the operating unit so as to bring the driver's driving performance (operational ability) closer to a level at which the target travel route can be traveled. This allows the driver to master the appropriate operation and maintain driving performance at least with respect to the operation function. Specifically, the controller 10 uses the actuator 54 to move the operating unit (e.g., brake pedal 42b, steering wheel 43b) for performing the intervening vehicle control to an operation position corresponding to the appropriate operation amount.

[0082] Next, a case where there is no predicted risk (S4: No) will be described. In this case, the controller 10 determines whether each driving function (perception function, judgment function, operation function) is exhibiting a predetermined level of driving performance (driving performance determination process).

[0083] First, the controller 10 determines whether the driver is demonstrating the perceptual performance required for traveling along the target traveling route (or for executing the target vehicle operation) (S20). The controller 10 sets an object to be perceived based on a predetermined traffic environment (e.g., other vehicles traveling around the vehicle 1) and a traveling environment (e.g., entering a curved road), and determines that the driver is not properly demonstrating the required perceptual performance if the driver does not perceive the object to be perceived at the appropriate time. The object to be perceived is set by analyzing and learning data on the behavior (gaze, posture, etc.) of experienced drivers while driving. Cases in which it is determined that the required perceptual performance is not properly demonstrating include, for example, when the driver does not perceive a target object, speed limit, external G, etc. that should be perceived. The controller 10 makes the above determination based on, for example, image information from the in-vehicle camera 21.

[0084] For example, when turning right at an intersection on a left-hand traffic road, if the driver does not see objects (e.g., other vehicles, pedestrians) on the right and ahead, it is determined that the driver has not perceived the objects that should be perceived. Also, if the vehicle speed on a curved road exceeds the appropriate speed, it is determined that the driver has not perceived that the vehicle is speeding. Also, if the driver does not assume an appropriate driving posture while driving on a curved road (e.g., tilting the upper body and head to face lateral G), it is determined that the driver has not perceived external G. Note that if there is no object that should be used to exercise the perception function, step S20 may be determined as positive.

[0085] If the driver is not demonstrating perceptual performance (S20: No), the controller 10 identifies the driver's perceptual function as a malfunction and executes a second support process for improving perceptual performance (S22). The controller 10 uses the information notification device 50 to notify the driver of the manner in which perceptual function is exercised by an experienced driver with high driving ability to travel along the target route, so as to bring the driver's driving performance (perceptual performance) closer to a level at which the driver can travel along the target route. This allows the driver to learn the perceptual behavior (perceptual objects, timing, etc.) of an experienced driver who serves as a model and improve their perceptual performance. In this embodiment, vehicle operation includes perceptual behavior.

[0086] For example, when the driver does not perceive a target that should be perceived when making a right turn, the controller 10 visually highlights the target that should be perceived in the display area of ​​the display device 51. The controller 10 may also notify the driver of the target that should be perceived using the audio output device 52.

[0087] Furthermore, if the driver does not perceive that the speed is excessive, the controller 10 narrows the driver's field of view ahead of the vehicle. In this case, the display device 51 darkens (or reduces transparency of) the portion of the display area corresponding to the peripheral portion of the windshield, thereby narrowing the range in which the driver can see the outside through the windshield. This makes the driver perceive the speed of the external scenery within the narrow field of view as being fast, making it easier for the driver to notice that the vehicle 1 is traveling too fast. Note that the controller 10 may use the display device 51 or the audio output device 52 to notify the driver that the vehicle 1 is speeding.

[0088] Furthermore, when the driver does not perceive external G, the controller 10 notifies the driver by the display device 51 and the audio output device 52 that external G is being applied to the vehicle 1, and also notifies the driver of the posture that he or she should take.

[0089] On the other hand, if the driver is demonstrating perceptual performance (S20: Yes), the controller 10 determines whether the driver is demonstrating judgment performance with regard to the judgment function (S23). Specifically, the controller 10 determines whether the driver has selected and started a target vehicle operation (e.g., accelerator, brake, or steering operation), and whether the driver is performing a vehicle operation different from the target vehicle operation. A vehicle operation different from the target vehicle operation includes an unnecessary and wasteful vehicle operation (e.g., whether the driver is performing unnecessary snaking driving on a straight road).

[0090] If the driver is not demonstrating good judgment (S23: No), the controller 10 identifies the driver's judgment function as being impaired and executes a second support process to improve the driver's judgment performance (S25). In this case, the controller 10 does not invalidate the driver's vehicle operation or override it with another vehicle operation.

[0091] For example, if the driver turns the steering wheel once in a left turning direction when turning right and then turns it again in a right turning direction, the controller 10 stores the driving operation assistance information in the memory 12 and sets the assistance flag F to "1" as described in step S15. Then, as already described with reference to FIG. 8, the controller 10 uses the information notification device 50 to notify the driver of the driving operation assistance information after the end of driving so as to bring the driver's driving performance (judgment performance) closer to a level at which the driver can travel the target driving route. In this case, the driving operation assistance information includes information indicating the vehicle operation (left turning operation) performed by the driver when turning right and information indicating the target vehicle operation that the driver should have performed when turning right.

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

[0093] This process allows the driver to learn the judgment behavior of experienced drivers who serve as role models for driving along the target driving route, thereby improving their judgment performance. Although the driving operation assistance information may be notified while the vehicle 1 is traveling, there is a risk that the driver may become confused when the assistance information is notified. Therefore, in this embodiment, the assistance information is notified after the driver has finished driving.

[0094] On the other hand, if the driver is demonstrating the judgment performance (S23: Yes), the controller 10 determines whether or not the driver is demonstrating the operation performance for the operation function (S26). Specifically, the controller 10 determines whether or not the vehicle operation has been performed appropriately (mainly, whether or not the vehicle operation amount is appropriate). More specifically, the controller 10 determines whether or not the difference between the target operation amount and the actual operation amount of the driver is equal to or greater than a predetermined threshold, or whether or not the actual driving route has deviated from the target driving route by more than a threshold due to the difference in the operation amount (or whether or not the actual vehicle dynamics have deviated from the target vehicle dynamics by more than a threshold).

[0095] If the driver is demonstrating the operating performance (S26: Yes), the controller 10 ends the process. On the other hand, if the driver is not demonstrating the operating performance (S26: No), the controller 10 identifies the driver's operating function as a malfunction and executes a second support process for improving the operating performance (S28). In this support process, the controller 10 uses the information notification device 50 to notify the driver of the appropriate operation amount and operation speed of the operating unit for traveling along the target driving route, so as to bring the driver's driving performance (operational performance) closer to a level at which the target driving route can be traveled. This allows the driver to learn the operating behavior (operation amount, operation speed, etc.) of a veteran driver who serves as a model and improve their operating performance.

[0096] For example, when turning right, if the driver turns the steering wheel 43b to the right, but the amount of rotation is small due to the driver's weak arm strength, causing the actual driving path to deviate from the target driving path, the controller 10 can use the display device 51 and / or the audio output device 52 to notify the driver that the rotation speed of the steering wheel 43b was small, the actual operation amount and the target operation amount, visual representations of the actual path and the target driving path, etc.

[0097] Furthermore, for example, when the driver depresses the brake pedal 42b on a curved road, but the depressing speed is slow due to the driver's small depressing force, and the actual driving path is outside the target driving path, the controller 10 can use the display device 51 and / or the audio output device 52 to notify the driver that the depressing speed of the brake pedal 42b was slow, the actual operating speed and the target operating speed, visual representations of the actual path and the target driving path, etc.

[0098] The operation of the vehicle control device 100 according to the embodiment of the present invention will be described below. The vehicle control device 100 of this embodiment performs driving assistance control on the vehicle 1, which runs using a plurality of driving functions including a running function, a stopping function, and a turning function, by the driver's vehicle operation using the plurality of driving functions, so that the vehicle 1 runs in accordance with the traffic environment and driving environment around the vehicle 1. The vehicle control device 100 performs a human-machine performance requirement setting process (S3) that sets driving performance requirements required for the vehicle 1 to run in the traffic environment and driving environment, a driving performance determination process (S10, S13, S16, S20, S23, S26) that determines whether the driving performance of each of the plurality of driving functions possessed by the driver satisfies the driving performance requirements, and a malfunctioning function identification process ( The control unit 100 executes a driving function substitution process (S10, S13, S16, S20, S23, S26) that controls the vehicle so that the vehicle 1 takes over and performs the identified malfunctioning function (S11, S14, S17), and a driving performance assistance process (S12, S15, S18, S22, S25, S28) that provides the driver with information to bring the driving performance of the identified malfunctioning function closer to the level of the driving performance requirement, thereby allowing the driver and vehicle 1 to fulfill the driving performance requirement by executing the driving function substitution process and / or the driving performance assistance process.

[0099] In this embodiment configured as described above, if the driver's driving ability is partially or completely low, the vehicle 1 takes over the driving functions that demonstrate the low driving ability. As a result, in this embodiment, the allocation of functions between the driver and the vehicle 1 in the human-machine system is automatically performed, and the driving performance requirement is compensated for. In this way, in this embodiment, even if the driver's driving ability is low, the vehicle 1 takes over the driving functions for the insufficient driving performance. Therefore, in this embodiment, the safety of vehicle driving is ensured, and the driver can extend his driving life without giving up driving. Furthermore, in this embodiment, training is performed by the driving performance assistance process for driving functions with low driving performance that have been identified as malfunctioning functions. As a result, in this embodiment, the driver can maintain or improve the driving ability for the malfunctioning functions.

[0100] In this embodiment, the driving performance support process preferably notifies the driver of the vehicle operation that the driver should perform in response to the malfunction. In this embodiment, the driver can maintain or improve their driving performance by learning the vehicle operation that the driver should perform in response to the malfunction.

[0101] In addition, in this embodiment, preferably, the driver's multiple driving functions include at least a perception function for perceiving the traffic environment and the driving environment, a judgment function for determining the vehicle operation to be performed in the traffic environment and the driving environment, and an operation function for executing the vehicle operation to be performed in the traffic environment and the driving environment, and the driving performance determination process determines whether the driving performance of each of the perception function, judgment function, and operation function satisfies the driving performance requirements. In this embodiment, the driving performance determination process determines whether the driver has a predetermined driving performance for each of the multiple driving functions. As a result, in this embodiment, it is possible to identify defective functions that have poor driving performance.

[0102] In addition, in the present embodiment, preferably, different types of information are provided in the driving performance assistance process depending on the plurality of driving functions of the driver. In the present embodiment configured in this manner, appropriate assistance information can be provided depending on the type of malfunction. [Explanation of symbols]

[0103] 1 vehicle 10 Controllers 20 Onboard equipment 40 Control device 50 Information notification device 100 Vehicle control device

Claims

1. A vehicle control device that performs driving assistance control for a vehicle that runs using a plurality of driving functions including a running function, a stopping function, and a turning function by a driver's vehicle operation using a plurality of driving functions, so that the vehicle runs in accordance with a traffic environment and a driving environment around the vehicle, a human-machine performance requirement setting process for setting driving performance requirements including a target operation amount of a target vehicle operation on the target driving route that is required for the vehicle to travel along the target driving route in the traffic environment and the driving environment; a driving performance determination process for determining whether the driving performance of each of the plurality of driving functions possessed by the driver satisfies the driving performance requirement; a malfunctioning function identification process for identifying, as a malfunctioning function, a driving function of the driver having driving performance that does not satisfy the driving performance requirement, among the plurality of driving functions possessed by the driver; a driving function substitution process for controlling the vehicle so that the vehicle substitutes for and executes the identified malfunctioning function; a driving performance assistance process for providing information to the driver so as to bring the driving performance of the identified malfunctioning function closer to the required driving performance level; By executing the driving function substitution process and / or the driving performance assistance process, the driver and the vehicle fulfill the driving performance requirement; the plurality of driving functions of the driver include, in order to travel along the target travel route, at least a perception function of perceiving predetermined objects outside the vehicle in the traffic environment and the travel environment, a judgment function of determining a target vehicle operation to be performed in the traffic environment and the travel environment, and an operation function of executing the target vehicle operation to be performed in the traffic environment and the travel environment by a target operation amount, A vehicle control device in which, in the driving performance judgment process, the driving performance of each of the perception function, the judgment function, and the operation function is the driver perceiving the specified object, the driver selecting the target vehicle operation to be performed, and the driver executing the target vehicle operation to be performed by the target operation amount in order to travel the target driving route, and it is judged whether the driving performance of each of the perception function, the judgment function, and the operation function is being exerted to satisfy the driving performance requirement.

2. The vehicle control device according to claim 1 , wherein the driving performance assistance process is a process of informing the driver of a vehicle operation that the driver should perform in response to the malfunction.

3. The vehicle control device according to claim 1 or 2, wherein, in the driving performance assistance process, different information is provided depending on a plurality of driving functions of the driver.

4. A vehicle control device as described in claim 1, wherein in the driving performance judgment process, it is determined whether each driving performance for the perception function, the judgment function, and the operation function is being exerted in this order to satisfy the driving performance requirements.

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