vehicle

Abstract

To detect a sign of abnormality in an automated driving kit.SOLUTION: A vehicle (1) includes: an interface unit (102) which can communicate with an automated driving kit (20) capable of being attached to and detached from the vehicle, and which gives a control instruction related to automated driving control to each part of the vehicle on the basis of an instruction from the automated driving kit; and a preventive safety device (103) for implementing a preventive safety function of the vehicle. The preventive safety device includes performance evaluation means (1032) for evaluating driving performance of the automated driving kit on the basis of a degree of deviation between reference travel data in a region where the vehicle is traveling and travel data on the vehicle.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to the technical field of vehicles. [Background technology]

[0002] As this type of vehicle, for example, a vehicle has been proposed that is automatically driven by outputting control instructions to a functional unit of the vehicle in accordance with instructions from an automatic driving kit that can be attached to and detached from the vehicle (see Patent Document 1).In addition, a vehicle control system has been proposed that includes a first unit that generates a target trajectory based on a driving plan for the vehicle and a second unit that controls vehicle driving so that the vehicle follows the target trajectory, and the second unit intervenes in the driving control amount so as to prevent collision between the vehicle and an obstacle (see Patent Document 2). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-123146 [Patent Document 2] Patent Publication No. 2021-062780 Summary of the Invention [Problem to be solved by the invention]

[0004] In a vehicle that is being driven automatically using an automatic driving kit, there is a technical problem in that if an abnormality occurs in the function of the automatic driving kit, the vehicle will be unable to continue driving automatically.

[0005] The present invention has been made in consideration of the above problems, and an object of the present invention is to provide a vehicle that can detect signs of abnormalities in an autonomous driving kit. [Means for solving the problem]

[0006] A vehicle according to one aspect of the present invention is a vehicle that is configured to be able to communicate with an autonomous driving kit that is detachably attached to the vehicle, and is equipped with an interface unit that issues control instructions related to autonomous driving control to each part of the vehicle based on instructions from the autonomous driving kit, and an active safety device that realizes an active safety function of the vehicle, and the active safety device is configured to region The system further includes a performance evaluation means for evaluating the driving performance of the autonomous driving kit based on the degree of deviation between the reference driving data in the system and the driving data of the vehicle. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a block diagram showing a configuration of a vehicle according to an embodiment. [Figure 2] FIG. 2 is a conceptual diagram showing a relationship between a vehicle and a server device according to the embodiment. [Figure 3] FIG. 1 is a diagram illustrating an example of a plurality of areas set on a map. [Figure 4] 4 is a flowchart illustrating an example of an operation of the preventive safety device according to the embodiment. [Figure 5] 10 is a flowchart showing another example of the operation of the preventive safety device according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] An embodiment relating to a vehicle will be described with reference to FIGS.

[0009] (Vehicle configuration) 1, a vehicle 1 includes a cruise control system 10, a drive actuator 11, a braking actuator 12, a steering actuator 13, a recognition sensor 14, a driving state sensor 15, an external environment sensor 16, an interior environment sensor 17, and a communication device 18. Note that the vehicle 1 does not necessarily have to include the external environment sensor 16 and the interior environment sensor 17.

[0010] An automatic driving device 20 is connected to the vehicle 1. The automatic driving device 20 is a device that is detachable from the vehicle 1 and is independent of the vehicle 1. The automatic driving device 20 may be wired to the cruise control system 10 via a detachable connector. Here, the cruise control system 10 is a system unique to the vehicle 1. The cruise control system 10 is provided by the automobile manufacturer together with the vehicle 1. In contrast, the automatic driving device 20 is often designed and developed by a separate entity from the cruise control system 10. The automatic driving device 20 may also be referred to as an Autonomous Driving Kit (ADK).

[0011] The cruise control system 10 and the automatic driving device 20 may constitute an automatic driving system for automatically driving the vehicle 1. Note that "automated driving" may mean, for example, automatic driving of level 3 or higher in the level definition of the Society of Automotive Engineers (SAE).

[0012] Cruise control system 10 may include one or more processors and memory coupled to the processors. Cruise control system 10 may be electrically coupled to on-vehicle actuators (e.g., drive actuator 11, braking actuator 12, and steering actuator 13), on-vehicle sensors (e.g., recognition sensor 14, driving state sensor 15, external environment sensor 16, and interior environment sensor 17), and communication device 18 via an on-vehicle network (e.g., Controller Area Network (CAN)).

[0013] The drive actuator 11 is an actuator for accelerating the vehicle 1. The braking actuator 12 is an actuator for decelerating or stopping the vehicle 1. The steering actuator 13 is an actuator for steering the vehicle 1.

[0014] The recognition sensor 14 may include at least one of a camera (i.e., an image sensor) and a radar sensor (e.g., a millimeter-wave radar or a laser radar). The recognition sensor 14 is used to detect objects (e.g., vehicles, pedestrians, bicycles, fallen objects) present around the vehicle 1 and to measure the relative position and relative speed of the detected objects with respect to the vehicle 1. The recognition sensor 14 may include a position detection device that detects the position of the vehicle 1. The position detection device may be a GPS (Global Positioning System) sensor.

[0015] The driving condition sensor 15 may include at least one of a speed sensor, an acceleration sensor, and a yaw rate sensor. The driving condition sensor 15 is used to measure at least one of physical quantities (e.g., speed, acceleration, yaw rate) and parameters that indicate the driving condition of the vehicle 1. The external environment sensor 16 is a sensor that acquires information about the external environment of the vehicle 1. The external environment sensor 16 may include at least one of a raindrop sensor and a temperature sensor. The interior environment sensor 17 is a sensor that acquires information about the interior environment of the vehicle 1. The interior environment sensor 17 may include at least one of a camera, a temperature sensor, and a pressure sensor.

[0016] The communication device 18 is a device that enables the vehicle 1 to perform data communication with the outside. The communication device 18 may be connected to an external communication network via wireless communication. Therefore, the vehicle 1 may be a so-called connected car.

[0017] The cruise control system 10 includes a cruise control device 101, a vehicle control interface 102, and an active safety device 103, which are implemented as logically realized functional blocks or as physically realized processing circuits. The cruise control device 101, the vehicle control interface 102, and the active safety device 103 will be described later.

[0018] The automatic driving device 20 is electrically coupled to the ADK sensor 21. The ADK sensor 21 may be configured integrally with the automatic driving device 20. The ADK sensor 21 may be detachably attached to the automatic driving device 20 or the vehicle 1. The ADK sensor 21 is a sensor for acquiring information required when the automatic driving device 20 drives the vehicle 1. For example, the ADK sensor 21 may include a camera, a radar sensor, and a GPS sensor.

[0019] The automatic driving device 20 may have a function of formulating a driving plan. The automatic driving device 20 may calculate a target trajectory along which the vehicle 1 is to travel, based on the formulated driving plan and information acquired by the ADK sensor 21. For example, the target trajectory may include a sequence of points indicating multiple target positions of the vehicle 1, and at least one of a target speed and a target acceleration at each of the multiple target positions. The automatic driving device 20 transmits the calculated target trajectory to the cruise control system 10. Note that the automatic driving device 20 may repeatedly calculate the target trajectory and transmit the calculated target trajectory to the cruise control system 10 at a predetermined interval.

[0020] The target trajectory transmitted from the automatic driving device 20 is input to the cruise control device 101 via the vehicle control interface 102 of the cruise control system 10. For example, the cruise control device 101 calculates at least one of a drive control amount to be instructed to the drive actuator 11, a braking control amount to be instructed to the braking actuator 12, and a steering control amount to be instructed to the steering actuator 13, based on the target trajectory and the measurement results of the cruise state sensor 15.

[0021] The preventive safety device 103 is a device that intervenes in the driving control device 101 to prevent or avoid a collision between the vehicle 1 and an object. Examples of control for preventing or avoiding a collision between the vehicle 1 and an object include control for preventing the vehicle 1 from deviating from its lane (for example, lane departure prevention control, lane keeping assist control), control for maintaining a constant distance between the vehicle 1 and a preceding vehicle (for example, distance control), and control for automatically applying a braking force to the vehicle 1 when there is a high possibility of a collision between the vehicle 1 and an object (for example, collision damage mitigation brake).

[0022] An example of a method for the preventive safety device 103 to intervene in the cruise control device 101 is a method in which the preventive safety device 103 provides an intervention control amount to the cruise control device 101. In this case, the intervention control amount may include at least one of a drive control amount, a braking control amount, and a steering control amount. When an intervention control amount is provided from the preventive safety device 103 to the cruise control device 101, the cruise control device 101 prioritizes the intervention control amount over a control amount calculated from the target trajectory (specifically, at least one of a drive control amount, a braking control amount, and a steering control amount). The cruise control device 101 controls at least one of the drive actuator 11, the braking actuator 12, and the steering actuator 13 in accordance with the intervention control amount.

[0023] The automatic driving device 20 detects objects present around the vehicle 1 based on information acquired by the ADK sensor 21. The automatic driving device 20 then calculates a target trajectory so that the vehicle 1 will not collide with the detected object. Therefore, theoretically, if the cruise control device 101 calculates a control amount (specifically, at least one of a driving control amount, a braking control amount, and a steering control amount) according to the target trajectory calculated by the automatic driving device 20, a collision between the vehicle 1 and the object will not occur. However, if some abnormality occurs in the automatic driving device 20, the driving performance of the automatic driving device 20 may be permanently or temporarily degraded. For this reason, the preventive safety device 103 may be activated as a last resort to prevent or avoid a collision between the vehicle 1 and the object.

[0024] From the viewpoint of preventive safety, the preventive safety device 103 has a function as a performance evaluation device that evaluates the driving performance of the automatic driving device 20. The preventive safety device 103 may evaluate the driving performance of the automatic driving device 20 based on information obtained from at least one of the recognition sensor 14, the driving condition sensor 15, the external environment sensor 16, and the in-vehicle environment sensor 17. Details of the evaluation of the driving performance of the automatic driving device 20 will be described later. The preventive safety device 103 may take action according to the evaluation result of the driving performance of the automatic driving device 20.

[0025] 2, a plurality of vehicles including vehicle 1 are configured to be able to communicate with server device 30 via network N. Each of the plurality of vehicles including vehicle 1 transmits driving data to server device 30. The driving data may include, for example, speed, acceleration, position, time, the number of times collision damage mitigation braking has been activated, the frequency of execution of lane departure prevention control, etc.

[0026] The server device 30 accumulates a plurality of pieces of driving data transmitted from a plurality of vehicles. The server device 30 may associate each of the plurality of driving data with one of a plurality of areas preset on a map. The plurality of areas preset on the map may be mesh-shaped areas (so-called regional mesh) as shown in FIG. 3. The plurality of areas is not limited to mesh-shaped areas, and may be areas corresponding to a plurality of roads (for example, areas corresponding to expressways, areas corresponding to main roads, etc.). The server device 30 may accumulate the plurality of driving data after classifying them by vehicle type.

[0027] The server device 30 determines the standard driving behavior of the vehicle for each of the plurality of regions based on the plurality of linked driving data. The standard driving behavior of the vehicle is, for example, an average speed of V1 km / h and an average acceleration of A1 m / s 2 The execution frequency of lane departure prevention control may be expressed as N1 times / km, etc. The standard driving mode of a vehicle may be expressed as, for example, a median speed of V2 km / h and a median acceleration of A2 m / s. 2 The execution frequency of lane departure prevention control may be expressed as N2 times / km, etc. The standard driving behavior of a vehicle may be determined for each vehicle type.

[0028] Each of the plurality of vehicles, including vehicle 1, may sequentially transmit driving data to server device 30. Server device 30 may periodically update the standard driving behavior of the vehicle in at least one of the plurality of regions, based on the plurality of driving data transmitted from each of the plurality of vehicles.

[0029] The server device 30 provides information indicating the standard driving behavior of vehicles in each of a plurality of areas set in advance on a map to each of a plurality of vehicles including the vehicle 1.

[0030] (Performance evaluation method) A method for evaluating the driving performance of the automatic driving device 20 performed by the preventive safety device 103 will be described. The acquisition unit 1031 of the preventive safety device 103 acquires information indicating the standard driving behavior of the vehicle in at least one area of ​​a plurality of areas preset on a map from the server device 30 via the communication device 18. The at least one area is an area that includes the position where the vehicle 1 is currently traveling.

[0031] The evaluation unit 1032 of the preventive safety device 103 may identify the current driving mode of the vehicle 1 based on information obtained from the driving condition sensor 15, etc. The evaluation unit 103 compares the driving mode of the vehicle 1 with a standard driving mode for vehicles in an area including the position where the vehicle 1 is currently traveling, thereby determining the degree of deviation of the driving mode of the vehicle 1 from the standard driving mode.

[0032] For example, assume that the standard driving behavior for area Ar11 in FIG. 3 is an average speed of 50 km / h and an execution frequency of lane departure prevention control of 0.1 times / km. For example, if the speed of vehicle 1 is 55 km / h, the evaluation unit 1032 may set the degree of deviation for the speed to 5 km / h or +10%. For example, if the execution frequency of lane departure prevention control for vehicle 1 is 0.05 times / km, the evaluation unit 1032 may set the degree of deviation for the execution frequency of lane departure prevention control to -0.05 times / km or -50%. The evaluation unit 1032 may determine the execution frequency of lane departure prevention control for vehicle 1 based on the intervention history of the preventive safety device 103 with respect to the cruise control device 101.

[0033] Next, the evaluation unit 1032 may change the evaluation of the driving performance of the automatic driving device 20 by determining whether the degree of deviation calculated as described above crosses a threshold value. The threshold value may be set for each of a plurality of parameters indicating the driving mode of the vehicle 1 (e.g., speed, acceleration, frequency of execution of lane departure prevention control, frequency of execution of collision mitigation braking, etc.). When the degree of deviation calculated by the evaluation unit 1032 is expressed as a percentage, the threshold value may be set as follows: The threshold value related to speed may be +30%. The threshold value related to acceleration may be +30%. The threshold value related to the frequency of execution of lane departure prevention control may be +400%. The threshold value related to the frequency of execution of collision mitigation braking may be +400%.

[0034] Note that when the degree of deviation calculated by the evaluation unit 1032 is expressed, for example, by speed, acceleration, or frequency, the threshold value may be different for each region (e.g., region Ar11). For example, for region Ar11, the threshold value for speed may be +15 km / h, and the threshold value for the execution frequency of lane departure prevention control may be +0.4 times / km. For example, assume that the standard driving behavior for region Ar34 in FIG. 3 is an average speed of 100 km / h and an execution frequency of lane departure prevention control of 0.02 times / km. In this case, for region Ar34, the threshold value for speed may be +30 km / h, and the threshold value for the execution frequency of lane departure prevention control may be +0.08 times / km.

[0035] The evaluation unit 1032 may evaluate the driving performance of the automatic driving device 20 through the operations shown in the flowchart of Fig. 4. Here, the evaluation of the driving performance of the automatic driving device 20 is expressed as a numerical value (i.e., an evaluation value).

[0036] In the flowchart of FIG. 4, the evaluation unit 1032 determines whether the degree of deviation crosses a threshold value (step S101). Here, "crossing the threshold value" may mean "greater than the threshold value." If it is determined in step S101 that the threshold value has been crossed (step S101: Yes), the evaluation unit 1032 reduces the evaluation value related to the automatic driving device 20 by 1 (step S102). Thereafter, the processing of step S101 may be executed after a first predetermined time (e.g., tens to hundreds of milliseconds) has elapsed. In other words, the operation shown in the flowchart of FIG. 4 may be repeatedly performed at a period corresponding to the first predetermined time period.

[0037] The change in the evaluation value in the processing of step S102 ("-1" in FIG. 4) may vary depending on a plurality of parameters indicating the traveling mode of the vehicle 1 (e.g., speed, acceleration, execution frequency of lane departure prevention control, execution frequency of collision damage mitigation braking, etc.). For example, if the degree of deviation regarding the speed exceeds a threshold, the evaluation unit 1032 may decrease the evaluation value by 1. For example, if the degree of deviation regarding the degree of deviation regarding the execution frequency of lane departure prevention control exceeds a threshold, the evaluation unit 1032 may decrease the evaluation value by 5.

[0038] If it is determined in step S101 that the threshold value has not been crossed (step S101: No), the operation shown in the flowchart of Fig. 4 is terminated. Thereafter, the processing of step S101 may be executed after a first predetermined time has elapsed. Note that if it is determined in step S101 that the threshold value has not been crossed (step S101: No), the evaluation unit 1032 may increase the evaluation value related to the automatic driving device 20 by 0.1, provided that the evaluation value is smaller than the initial value.

[0039] Alternatively, if the evaluation value for the automatic driving device 20 is smaller than the initial value, the evaluation unit 1032 may increase the evaluation value for the automatic driving device 20 by 0.1 on the condition that the evaluation value for the automatic driving device 20 does not determine that the threshold has been crossed in the determination of step S101 within a second predetermined time (e.g., 5 seconds) after the determination of step S101 that the threshold has been crossed. The evaluation unit 1032 may set the evaluation value for the automatic driving device 20 to the initial value (i.e., reset) when the ignition of the vehicle 1 is turned off. Furthermore, the evaluation unit 1032 may set the evaluation value for the automatic driving device 20 to the initial value (i.e., reset) when the location in which the vehicle 1 is traveling switches from one area (e.g., area Ar11 in FIG. 3) to another area (e.g., area Ar12 in FIG. 3).

[0040] Preventive safety device 103 performs the operation shown in the flowchart of Fig. 5 in parallel with the operation shown in the flowchart of Fig. 4. In Fig. 5, threshold A is smaller than threshold B, threshold B is smaller than threshold C, and threshold C is smaller than threshold D (i.e., threshold A<threshold B<threshold C<threshold D).

[0041] 5, the preventive safety device 103 determines whether the evaluation value related to the automatic driving device 20 is smaller than the threshold value A (step S201). If it is determined in the processing of step S201 that the evaluation value related to the automatic driving device 20 is smaller than the threshold value A (step S201: Yes), the preventive safety device 103 causes the driving control device 101 to intervene so that the vehicle 1 moves to the shoulder of the road (step S205).

[0042] In the processing of step S201, if it is determined that the evaluation value related to the automatic driving device 20 is equal to or greater than threshold value A (step S201: No), the preventive safety device 103 determines whether the evaluation value related to the automatic driving device 20 is smaller than threshold value B (step S202). In the processing of step S202, if it is determined that the evaluation value related to the automatic driving device 20 is smaller than threshold value B (step S202: Yes), the preventive safety device 103 causes the cruise control device 101 to intervene so as to limit the speed of the vehicle 1 (for example, so that the speed of the vehicle 1 does not exceed a predetermined speed) (step S206).

[0043] In the processing of step S202, if it is determined that the evaluation value related to the automatic driving device 20 is equal to or greater than threshold B (step S202: No), the preventive safety device 103 determines whether the evaluation value related to the automatic driving device 20 is smaller than threshold C (step S203). In the processing of step S203, if it is determined that the evaluation value related to the automatic driving device 20 is smaller than threshold C (step S203: Yes), the preventive safety device 103 relaxes the activation conditions of the preventive safety function (in other words, changes the activation conditions so that the preventive safety function is more likely to activate) (step S207).

[0044] In the processing of step S203, if it is determined that the evaluation value related to the automatic driving device 20 is equal to or greater than the threshold C (step S203: Yes), the preventive safety device 103 determines whether the evaluation value related to the automatic driving device 20 is smaller than the threshold D (step S204). In the processing of step S204, if it is determined that the evaluation value related to the automatic driving device 20 is smaller than the threshold D (step S204: Yes), the preventive safety device 103 reports to the outside of the vehicle 1 via the vehicle control interface 102 and the communication device 18 (step S208).

[0045] In the processing of step S208, the preventive safety device 103 may send a report to HELPNET. HELPNET refers to a management center for emergency response operated by at least one of the business that provides the vehicle 1 and the business that maintains the vehicle 1. As a result of the processing of step S208, an emergency response for the vehicle 1 may be performed by an operator of HELPNET. Alternatively, as a result of the processing of step S208, an emergency response for the vehicle 1 may be performed by an automatic response of the HELPNET system. For example, as an emergency response for the vehicle 1, a vehicle stop instruction may be sent from HELPNET to the vehicle 1.

[0046] In the process of step S204, if it is determined that the evaluation value related to the automatic driving device 20 is equal to or greater than the threshold value D (step S204: No), the operation shown in the flowchart of Fig. 5 is ended. After that, the process of step S201 may be performed.

[0047] (Technical Effects) When the vehicle 1 is traveling according to the target trajectory calculated by the automatic driving device 20, if the degree of deviation between the standard traveling behavior of the area in which the vehicle 1 is traveling (for example, area Ar11, etc.) and the traveling behavior of the vehicle 1 exceeds a threshold, it can be interpreted that the traveling behavior of the vehicle 1 is not suitable for the environment in which the vehicle 1 is located. In this case, it can be said that the automatic driving device 20 has not calculated a target trajectory suitable for the environment in which the vehicle 1 is located.

[0048] The preventive safety device 103 reduces the evaluation value related to the automatic driving device 20 when the degree of deviation crosses a threshold. Therefore, when the evaluation value starts to decrease, it can be interpreted as a sign that an abnormality is occurring in the automatic driving device 20. Therefore, it can be said that the vehicle 1 equipped with the preventive safety device 103 can detect a sign of an abnormality in the automatic driving device 20.

[0049] Furthermore, if the evaluation value related to the automatic driving device 20 drops by a predetermined amount or more (for example, if the evaluation value falls below at least one of thresholds A, B, C, and D in the flowchart of FIG. 5), the preventive safety device 103 intervenes in the driving control device 101. Here, if the evaluation value related to the automatic driving device 20 drops by a predetermined amount or more, there is a high possibility that an abnormality has occurred in the automatic driving device 20. In this case, the preventive safety device 103 intervenes in the driving control device 101, thereby ensuring the safety of the vehicle 1.

[0050] Aspects of the invention derived from the above-described embodiments will be described below.

[0051] A vehicle according to one aspect of the invention is configured to be able to communicate with an autonomous driving kit that is detachably attached to the vehicle, and is equipped with an interface unit that gives control instructions related to autonomous driving control to each part of the vehicle based on instructions from the autonomous driving kit, and a preventive safety device that realizes the preventive safety functions of the vehicle, wherein the preventive safety device is equipped with a performance evaluation means that evaluates the driving performance of the autonomous driving kit based on the degree of deviation between standard driving data in the area in which the vehicle is traveling and the vehicle's driving data.

[0052] In the above-described embodiment, the "autonomous driving device 20" corresponds to an example of an "autonomous driving kit," the "vehicle control interface 102" corresponds to an example of an "interface unit," and the "evaluation unit 1032" corresponds to an example of a "performance evaluation means." In the above-described embodiment, the "standard driving behavior related to the area Ar11" corresponds to an example of "reference driving data in the area," and the "current driving behavior of the vehicle 1" corresponds to an example of "vehicle driving data."

[0053] The performance evaluation means may evaluate the driving performance of the autonomous driving kit based on a determination result of whether the degree of deviation has crossed a predetermined threshold. In this case, the performance evaluation means may change the evaluation of the driving performance of the autonomous driving kit when it is determined that the degree of deviation has crossed the predetermined threshold.

[0054] The reference driving data and the vehicle driving data may include a plurality of parameters corresponding to each other, the performance evaluation means may determine the degree of deviation of each of the plurality of parameters, and the predetermined threshold may include a plurality of thresholds corresponding respectively to the plurality of parameters.

[0055] The present invention is not limited to the above-described embodiments, but can be modified as appropriate within the scope of the claims and the gist or concept of the invention as can be read from the entire specification, and vehicles with such modifications are also included in the technical scope of the present invention. [Explanation of symbols]

[0056] 1...vehicle, 10...cruising control system, 20...automatic driving device, 101...cruising control device, 102...vehicle control interface, 103...preventive safety device, 1031...acquisition unit, 1032...evaluation unit

Claims

1. A vehicle that is configured to be able to communicate with an autonomous driving kit that is detachably attached to the vehicle, and that is equipped with an interface unit that issues control instructions related to autonomous driving control to each part of the vehicle based on instructions from the autonomous driving kit, and a preventive safety device that realizes a preventive safety function of the vehicle, The preventive safety device includes a performance evaluation means for evaluating the driving performance of the autonomous driving kit based on the degree of deviation between reference driving data in an area in which the vehicle is traveling and the driving data of the vehicle. A vehicle characterized by:

2. The vehicle according to claim 1, wherein the performance evaluation means evaluates the driving performance of the autonomous driving kit based on a determination result of whether the degree of deviation exceeds a predetermined threshold.

3. The vehicle according to claim 2, wherein the performance evaluation means changes the evaluation of the driving performance of the autonomous driving kit when it is determined that the degree of deviation has crossed the predetermined threshold.

4. the reference driving data and the vehicle driving data include a plurality of parameters corresponding to each other, the performance evaluation means determines the degree of deviation of each of the plurality of parameters; The predetermined threshold value includes a plurality of threshold values ​​respectively corresponding to the plurality of parameters.

3. The vehicle according to claim 2.

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