Driving assistance systems

Abstract

To reduce possibility that automatic travel control unsuitable to preference of a user is implemented and to reduce possibility that the user has discomfort for the automatic travel control.SOLUTION: An operation support device comprises a sensor which acquires environmental information concerning external environment of a vehicle and a control unit which executes learning control which memorizes behavior of the vehicle by manual operation performed during manual drive as learned behavior and automatic travel control which controls the behavior of the vehicle so as to reproduce the learned behavior. The control unit starts control of the behavior on the basis of the learned behavior during execution of the automatic travel control if the vehicle reaches control start point specified on the basis of start point at which manual operation is performed during manual drive and preference that a user specifies and proposes alternation of the preference to the user if the manual operation performed during execution of the automatic travel control satisfies prescribed override condition and the manual operation is performed without resulting from external environment.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to a driving support device that executes automatic driving control for controlling the behavior of a vehicle so as to reproduce the behavior of the vehicle changed by a manual operation performed during manual driving.

Background Art

[0002] Conventionally, there has been known a driving support device that executes automatic driving control for controlling the behavior of a vehicle so as to reproduce "the behavior of the vehicle learned during manual driving". For example, a driving support device described in Patent Document 1 (hereinafter referred to as the "conventional device") stores a driving route, vehicle speed, steering angle, and braking operation during teaching driving, and based on these, executes automatic parking control, which is a kind of automatic driving control.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

[0004] It is desirable that a user pre-specifies their preferences regarding automatic driving control to the driving support device, and automatic driving control considering the user's preferences is executed. For example, the above preferences relate to whether to speed up or slow down the start timing of performing behavior control for making the behavior of the vehicle in automatic driving control coincide with the behavior during manual driving.

[0005] However, there is a possibility that the preferences specified by the user (hereinafter referred to as "specified preferences") are different from the user's original preferences (hereinafter referred to as "original preferences"). When the specified preferences and the original preferences are different, automatic driving control that does not match the original preferences will be executed, and the user is likely to feel uncomfortable with such automatic driving control. Since the conventional device does not execute automatic driving control based on preference information, in the conventional device, the above problems caused by the difference between the specified preferences and the original preferences cannot occur.

[0006] This invention was made to address the aforementioned problems. Specifically, one of the objectives of this invention is to provide a driver assistance device that reduces the possibility of automatic driving control being performed in a manner inconsistent with the user's preferences, and reduces the possibility of the user feeling uncomfortable with the automatic driving control.

[0007] The driver assistance device of the present invention (hereinafter referred to as "the present invention device") is A sensor (22) that acquires environmental information regarding the external environment of the vehicle, The system includes a control unit (20) that performs learning control (steps 300 to 395) which stores the vehicle's behavior as learned behavior as a result of manual operations performed during manual driving, and automatic driving control (steps 500 to 595) which controls the vehicle's behavior to reproduce the learned behavior. The control unit is During the execution of the automatic driving control (step 505 "Yes"), if the vehicle reaches a control start point identified based on the starting point where manual operation was performed during the manual driving and the user's preferences regarding the automatic driving control specified by the user (step 525 "Yes"), behavior control is initiated to control the behavior of the vehicle based on the learned behavior (steps 545, 535), If the manual operation performed during the execution of the automatic driving control satisfies a predetermined override condition (step 515 "Yes"), the vehicle's behavior is controlled based on the manual operation (step 565), and it is determined based on the environmental information whether the manual operation was caused by the external environment (step 560), If it is determined that the manual operation was performed without being caused by the external environment (step 560 "No"), the user is suggested to change their preference (step 570). A driver assistance system configured in such a way.

[0008] The present invention, when a manual operation satisfies override conditions during automatic driving, controls the vehicle's behavior based on the manual operation and determines whether the manual operation was caused by an external environment. If the manual operation was not caused by an external environment, it is highly likely that the user felt uncomfortable with the automatic driving control and intentionally performed the manual operation. In other words, it is highly likely that the specified preference differs from the user's original preference. Therefore, if the manual operation was not caused by an external environment, the present invention proposes changing the preference. If a change in preference is proposed, the user is more likely to change to a preference that matches their original preference. As a result, the present invention can reduce the possibility of automatic driving control that does not match the original preference being executed, and reduce the possibility of the user feeling uncomfortable with the automatic driving control. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic system configuration diagram of a driver assistance device according to an embodiment of the present invention. [Figure 2] Figure 1 is an explanatory diagram of the behavioral information stored in the behavioral information storage unit. [Figure 3] Figure 1 is a flowchart of the learning control routine executed by the CPU of the ECU. [Figure 4] Figure 1 is a flowchart of the driving plan generation routine executed by the ECU's CPU. [Figure 5] Figure 1 is a flowchart of the automatic driving control routine executed by the CPU of the ECU. [Figure 6] This is a flowchart of a part of the automatic driving control routine executed by the CPU of an ECU according to a first modified embodiment of the present invention. [Figure 7] This is a flowchart of a part of the automatic driving control routine executed by the CPU of an ECU according to a second modified embodiment of the present invention. [Modes for carrying out the invention]

[0010] As shown in Figure 1, the driver assistance device 10 according to this embodiment (hereinafter referred to as "this device 10") is applied to a vehicle VA and comprises the components shown in Figure 1.

[0011] The ECU20 performs automatic driving control, a type of autonomous driving. In automatic driving control, the ECU20 automatically drives the vehicle VA according to a driving plan generated based on the vehicle VA's behavior learned during manual driving and the user's specified preference information.

[0012] In this specification, "ECU20" is an electronic control unit comprising a microcomputer as its main component. ECU20 is also referred to as a control unit, controller, and computer. The microcomputer includes a CPU (processor), ROM, RAM, and interfaces, etc. The functions realized by ECU20 may be realized by multiple ECUs.

[0013] The external environment sensor 22 acquires environmental information about the external environment of the vehicle VA. For example, the external environment sensor 22 is a camera and acquires image data as environmental information by taking pictures of the scenery around the vehicle VA. The ECU 20 acquires environmental information from the external environment sensor 22.

[0014] The navigation device 24 includes a GNSS receiver 24a and a map data storage unit 24b. The GNSS (Global Navigation Satellite System) receiver 24a receives signals from multiple satellites and determines the current position (latitude and longitude) of the vehicle VA based on the received signals. The map data storage unit 24b stores map data.

[0015] The vehicle speed sensor 26 measures the vehicle speed Vs representing the speed of the vehicle VA. The accelerator operation amount sensor 28 measures the operation amount (accelerator operation amount) AP of an accelerator pedal (not shown) of the vehicle VA. The brake operation amount sensor 30 measures the operation amount (brake operation amount) BP of a brake pedal (not shown) of the vehicle VA. The steering angle sensor 32 measures the steering angle θs from the neutral position of a steering wheel (not shown). The acceleration sensor 34 measures the acceleration G of the vehicle VA.

[0016] The power train actuator 40 changes the driving force generated by a drive device (for example, an internal combustion engine and / or an electric motor) of the vehicle VA. The brake actuator 42 controls the braking force applied to the vehicle VA. The steering motor 44 is incorporated in the steering mechanism 46. The steering mechanism 46 is a mechanism for steering a steered wheel in response to an operation of a steering wheel. The steering motor 44 generates an automatic steering torque for changing the steering angle of the steered wheel in the steering mechanism 46 according to an instruction from the ECU 20.

[0017] The display device 48 is a touch panel type display and is disposed at a position visible to a driver in the passenger compartment. The preference specifying button 50 is a button for specifying preference information regarding the preference of a user for automatic driving control (hereinafter referred to as "user preference"). Specifically, the user specifies any one of "earlier", "normal", and "later" as preference information by operating the preference specifying button 50.

[0018] The storage device 52 has a non-volatile storage area. In this storage area, a behavior information storage unit 52a, a vehicle speed information storage unit 52b, and a preference information storage unit 52c are provided.

[0019] In the behavior information storage unit 52a, behavior information in which a point where a manual operation was performed during manual driving and the behavior of the vehicle VA (learned behavior) changed by the manual operation are associated with each other is stored. As shown in FIG. 2, the behavior information includes a start point, an end point, a type, a vehicle speed, and a steering angle.

[0020] At the start point, the point where the manual operation regarding the behavior of the vehicle VA starts is registered. At the end point, the point where the above manual operation ends is registered. For the type, the type of the above manual operation is registered. The types include "deceleration", "acceleration", and "steering". Deceleration is an operation of stepping on the brake pedal to decelerate the vehicle VA, and acceleration is an operation of stepping on the accelerator pedal to accelerate the vehicle VA. Steering is an operation of steering the steering wheel to turn the vehicle VA.

[0021] When the type of the manual operation is either "deceleration" or "acceleration", for the vehicle speed, the acceleration G at each point during the period when the manual operation is being performed is registered. When the type of the manual operation is "steering", the steering angle θs at each point during the period when the manual operation is being performed is registered.

[0022] In the vehicle speed information storage unit 52b, vehicle speed information in which the vehicle speed Vs during manual driving and the point where the vehicle speed Vs is measured are associated is stored. In the preference information storage unit 52c, the preference information specified by the user is stored.

[0023] (Outline of operation) The ECU 20 acquires the position of the vehicle VA, the behavior of the vehicle VA, and the vehicle speed Vs during manual driving, and stores the behavior information and the vehicle speed information in the behavior information storage unit 52a and the vehicle speed information storage unit 52b respectively. The ECU 20 stores the preference information specified by the operation of the preference designation button 50 in the preference information storage unit 52c.

[0024] When the user designates a destination, the ECU 20 identifies the route from the current position of the vehicle VA to the destination based on the map data, and generates a driving plan including that route. Specifically, the ECU 20 identifies the control start point for starting the behavior control to match the behavior of the vehicle VA during automatic driving control with the behavior of the vehicle VA by the manual operation performed during manual driving based on "the start point of the manual operation specified based on the behavior information" and the preference information. The driving plan includes the start timing.

[0025] After generating a driving plan, the ECU20 executes automatic driving control. In automatic driving control, the ECU20 refers to the driving plan and starts the above behavioral control when the vehicle VA arrives at the control start point.

[0026] If a manual operation is performed while automatic driving control is in operation and that manual operation satisfies override conditions, the ECU20 temporarily suspends the automatic driving control and executes "override control that controls the vehicle VA so that the behavior of the vehicle VA matches the behavior of that manual operation."

[0027] If a manual operation satisfies the override conditions, the ECU20 determines, based on environmental information, whether the manual operation was caused by an external environment. Specifically, if the ECU20 determines that there are other vehicles (preceding vehicles and adjacent vehicles) around the vehicle VA, it determines that the manual operation was caused by an external environment. If it determines that there are no other vehicles around the vehicle VA, it determines that the manual operation was not caused by an external environment. A preceding vehicle is another vehicle traveling in front of the vehicle VA in the same lane. An adjacent vehicle is another vehicle traveling in an adjacent lane adjacent to the vehicle VA's lane.

[0028] If a manual operation is performed without being caused by an external environment, it is highly likely that the manual operation was performed because the automatic driving control did not match the user's original preferences. Therefore, if the ECU 20 determines that the manual operation was performed without being caused by an external environment, it will suggest to the user that they change their preference information. As an example, the ECU 20 will display a preference information change screen on the display device 48.

[0029] As a result, users are likely to realize that the designated preferences, which represent the preferences specified by the preference information, do not match their actual preferences, and are more likely to change the preference information to match their actual preferences. Therefore, the device 10 can reduce the possibility of automatic driving control being performed that does not match the actual preferences, and can reduce the possibility of users feeling uncomfortable with the automatic driving control.

[0030] (Specific operation) The CPU of ECU20 executes the routines shown in the flowcharts in Figures 3 to 5 at predetermined intervals.

[0031] <Learning control routine> When the appropriate time arrives, the CPU starts processing from step 300 in Figure 3, and in step 305, it determines whether manual driving is being performed. Specifically, the CPU determines that manual driving is being performed if none of the following are being performed: automatic driving control, ACC (Adaptive Cruise Control), or LTA (Lane Tracing Assist).

[0032] If manual operation is being performed, the CPU determines "Yes" in step 305 and executes steps 310 to 325. Step 310: The CPU obtains the vehicle speed Vs. Step 315: The CPU obtains the current position. Step 320: The CPU stores the vehicle speed Vs and current position as vehicle speed information in the vehicle speed information storage unit 52b.

[0033] Step 325: The CPU determines whether the value of the Xope flag is "0". The value of the operation flag Xope is set to "0" when manual operation begins and to "1" when manual operation ends. The value of the operation flag Xope is set to "0" during the initialization routine. The initialization routine is executed by the CPU when the ignition key switch (not shown) of the vehicle VA is changed from the off position to the on position.

[0034] If the value of the operation flag Xope is "0", the CPU determines "Yes" in step 325, and the process proceeds to step 330. In step 330, the CPU determines whether manual operation has started. Specifically, if the accelerator operation amount AP becomes equal to or greater than the starting threshold APst, the CPU determines that acceleration operation has started. If the brake operation amount BP becomes equal to or greater than the starting threshold BPst, the CPU determines that deceleration operation has started. If the steering angle θs becomes equal to or greater than the starting threshold θst, the CPU determines that steering operation has started.

[0035] If no manual operation is initiated, the CPU determines "No" in step 330, and the process proceeds to step 395, at which point the CPU terminates this routine. On the other hand, if manual operation is initiated, the CPU determines "Yes" in step 330 and executes steps 335 through 345.

[0036] Step 335: The CPU sets the value of the Xope flag to "1". Step 340: The CPU registers the vehicle VA's current position as the starting point of the behavior information and registers the manual operation type as the type. Step 345: If the type of manual operation is either acceleration or deceleration, the CPU registers the current acceleration G in the behavior information's acceleration field. If the type of manual operation is steering, the CPU registers the current steering angle θs in the behavior information's steering angle field. The process then proceeds to step 395, at which point the CPU terminates this routine.

[0037] If the value of the operation flag Xope is "1" when the process proceeds to step 325, the CPU determines "No" in step 325, and the process proceeds to step 350. In step 350, the CPU determines whether the manual operation has ended. Specifically, if the accelerator operation amount AP becomes less than or equal to the "end threshold APen, which is a value smaller than the start threshold APst", the CPU determines that the acceleration operation has ended. If the brake operation amount BP becomes less than or equal to the "end threshold BPer, which is a value smaller than the start threshold BPst", the CPU determines that the deceleration operation has ended. If the steering angle θs becomes less than or equal to the "end threshold θen, which is a value smaller than the start threshold θst", the CPU determines that the steering operation has ended.

[0038] If manual operation is not completed, the CPU determines "No" in step 350, and the process proceeds to step 345.

[0039] If the manual operation is completed, the CPU determines "Yes" in step 350, and the CPU executes steps 355 and 360.

[0040] Step 355: The CPU sets the value of the Xope flag to "0". Step 360: The CPU registers the vehicle VA's current position at the end point of the behavior information. The process then proceeds to step 345.

[0041] <Driving plan generation routine> When an appropriate time arrives, the CPU starts processing from step 400 in Figure 4, and in step 405, it determines whether or not the user has entered a destination. For example, the user enters a destination by tapping the destination on the display device 48 where map data is displayed.

[0042] If no destination is entered, the CPU determines "No" in step 405. In this case, the process proceeds to step 495 and the CPU terminates this routine.

[0043] If a destination is entered, the CPU determines "Yes" in step 405 and executes steps 410 and 415.

[0044] Step 410: The CPU refers to map data to determine the route from the vehicle VA's current location to the destination. Step 415: The CPU determines whether the path includes the starting point of the behavior information.

[0045] If the route includes the starting point of the behavior information, the CPU determines "Yes" in step 415 and executes steps 420 to 430.

[0046] Step 420: The CPU sets control start points based on preference information for the starting points included in the route. Specifically, if the preference information is "early," the CPU sets a point a predetermined distance before the starting point as the control start point; if the preference information is "normal," it sets the starting point as the control start point; and if the preference information is "late," it sets a point a predetermined distance after the starting point as the control start point.

[0047] Step 425: The CPU obtains the vehicle speed Vs for each point included in the route from the vehicle speed information. Step 430: The CPU stores information including the route identified in step 410, behavioral information that includes the starting point in that route, the control start point set in step 420 for that starting point, and the vehicle speed Vs at the point acquired in step 425, as a driving plan. The process then proceeds to step 495, and the CPU terminates this routine.

[0048] If the path does not include the starting point when the CPU proceeds to step 415, the CPU determines "No" in step 415 and proceeds to step 425.

[0049] <Automatic Driving Control Routine> When the appropriate time arrives, the CPU starts processing from step 500 in Figure 5, and in step 505, it determines whether or not automatic driving control is turned on. After the destination is entered, an execution button to turn on automatic driving control is displayed on the display device 48. The user can turn on automatic driving control by tapping the execution button.

[0050] If automatic driving control is enabled, the CPU determines "Yes" in step 505, and the process proceeds to step 510. In step 510, the CPU determines whether a driving plan is stored. If a driving plan is stored, the CPU determines "Yes" in step 510, and the process proceeds to step 515. In step 515, the CPU determines whether manual operation has met the override conditions.

[0051] In detail, the CPU determines that a manual operation has met the override condition if any of the following conditions OV1 to OV3 are met. Condition OV1: The accelerator input amount AP is greater than or equal to the override threshold APor. Condition OV2: The brake operation amount BP is greater than or equal to the override threshold BPor. Condition OV3: The steering angle θs is greater than or equal to the override threshold θor. The override thresholds APor, BPor, and θor are set to values ​​greater than the starting thresholds APst, BPst, and θst, respectively.

[0052] If no manual operation is performed, or if the manual operation does not meet the override conditions, the CPU determines "No" in step 515, and the process proceeds to step 520. In step 520, the CPU determines whether the value of the behavior flag Xkyo is "0". The value of the behavior flag Xkyo is set to "1" when the vehicle VA arrives at the control start point of the travel plan, and to "0" when the vehicle VA arrives at the end point of the travel plan. Note that the value of the behavior flag Xkyo is set to "0" in the initialization routine.

[0053] If the value of the behavior flag Xkyo is "0", the CPU determines "Yes" in step 520, and the process proceeds to step 525. In step 525, the CPU determines whether or not the vehicle VA has arrived at the control start point of the travel plan.

[0054] If vehicle VA has not arrived at the control start point, the CPU determines "No" in step 525 and executes steps 530 and 535. Step 530: The CPU obtains the target acceleration Gtgt as a target value based on the vehicle speed information of the driving plan. Specifically, the CPU obtains the vehicle speed of the position closest to the vehicle VA's current position from the vehicle speed information, and obtains the target acceleration Gtgt to match the vehicle speed Vs to that vehicle speed. Step 535: The CPU outputs the target acceleration Gtgt to the powertrain actuator 40 and the brake actuator 42. As a result, the powertrain actuator 40 and the brake actuator 42 are controlled so that their acceleration G matches the target acceleration Gtgt. The process then proceeds to step 595, and the CPU terminates this routine.

[0055] If the vehicle VA arrives at the control start point when the CPU proceeds to step 525, the CPU determines "Yes" in step 525 and executes steps 540 and 545. Step 540: The CPU sets the value of the behavior flag Xkyo to "1". Step 545: The CPU obtains target values ​​based on the behavior information of the driving plan. Specifically, if the type of behavior information is either "acceleration" or "deceleration", the CPU obtains a target acceleration Gtgt to match the acceleration G with "the acceleration of the behavior information at the position closest to the vehicle VA's current position". If the type of behavior information is "steering", the CPU obtains a target steering angle θtgt to match the steering angle θs with "the steering angle of the behavior information at the position closest to the vehicle VA's current position". The process then proceeds to step 535. If the target steering angle θtgt was obtained as the target value in step 540, the CPU outputs the target steering angle θtgt to the steering motor 44 in step 535. The steering motor 44 is controlled so that the steering angle θs matches the target steering angle θtgt. The control that matches the acceleration G or steering angle θs to the target value obtained in step 545 is referred to as the behavior control described above.

[0056] If the value of the behavior flag Xkyo is "1" when the CPU proceeds to step 520, the CPU determines "No" in step 520 and proceeds to step 550. In step 550, the CPU determines whether the vehicle VA has arrived at the end point of the behavior information included in the travel plan.

[0057] If vehicle VA has not reached the end point, the CPU determines "No" in step 550, and the process proceeds to step 545. If vehicle VA has reached the end point, the CPU determines "Yes" in step 550, and the process proceeds to step 555. In step 555, the CPU sets the value of the behavior flag Xkyo to "0", and the process proceeds to step 530.

[0058] If the manual operation satisfies the override condition when the CPU proceeds to step 515, the CPU determines "Yes" in step 515, and the process proceeds to step 560. In step 560, the CPU determines, based on environmental information, whether the manual operation that satisfied the override condition was caused by an external environment. Specifically, as described above, the CPU determines whether or not other vehicles are present around the vehicle VA.

[0059] If manual operation is performed due to an external environmental factor, the CPU determines "Yes" in step 560, and the process proceeds to step 565. In step 565, the CPU obtains target values ​​corresponding to the manual operation. Specifically, if condition OV1 is met, the CPU obtains target acceleration Gtgt corresponding to the accelerator operation amount AP; if condition OV2 is met, it obtains target acceleration Gtgt corresponding to the brake operation amount BP; and if condition OV3 is met, it obtains target steering angle θtgt corresponding to the steering angle θs. After that, the process proceeds to step 535.

[0060] If the manual operation is performed without being caused by an external environment, the CPU determines "No" in step 560, and the process proceeds to step 570. In step 570, the CPU suggests to the user that they change their preference information by displaying the preference information change screen on the display device 48. After that, the process proceeds to step 565.

[0061] If the automatic driving control is turned off when the CPU proceeds to step 505, the CPU determines "No" in step 505. In this case, the process proceeds to step 595, and the CPU terminates this routine.

[0062] If the CPU does not have a driving plan stored when it proceeds to step 510, the CPU determines "No" in step 510. In this case, the process proceeds to step 595, and the CPU terminates this routine.

[0063] <First variation> In this modified version, the ECU 20 determines whether a manual operation that satisfies override conditions is performed during the execution of automatic driving control, and if that manual operation is not caused by the external environment, the ECU 20 determines whether the manual operation was performed before the vehicle VA arrived at the control start point. If the manual operation is performed before the vehicle VA arrives at the control start point, the ECU 20 suggests to the user that the preference information be moved earlier than the current setting. If the manual operation is performed after the vehicle VA arrives at the control start point, the ECU 20 suggests to the user that the preference information be moved later than the current setting. This makes it possible to suggest preferences to the user that match the timing of the user's manual operation.

[0064] In detail, if the CPU of the ECU20 in this modified example determines "No" in step 560 shown in Figure 5, the process proceeds to step 605 shown in Figure 6. In step 605, the CPU determines whether the manual operation that satisfies the override condition was performed before the vehicle VA arrived at the control start point. The CPU selects the control start point that is closest to the vehicle VA's current position and within a predetermined distance from the vehicle VA's current position as the control start point used for the determination in step 605.

[0065] If manual operation is performed before the vehicle VA arrives at the control start point, the CPU determines "Yes" in step 605, and the process proceeds to step 610. In step 610, the CPU determines whether the preference information was specified "early".

[0066] If the preference information is not specified as "early" (i.e., if the preference information is specified as "normal" or "late"), the CPU determines "No" in step 610, and the process proceeds to step 615. In step 615, the CPU suggests to the user that they change their preference information to be earlier than the current specification. After that, the process proceeds to step 565 in Figure 5. If the preference information is specified as "early", the CPU determines "Yes" in step 610, and the process proceeds to step 565 in Figure 5.

[0067] On the other hand, if manual operation is performed after the vehicle VA has reached the control start point when the CPU proceeds to step 605, the process proceeds to step 620. In step 620, the CPU determines whether the preference information is specified as "late".

[0068] If the preference information is not specified as "slow" (i.e., if the preference information is specified as "normal" or "early"), the CPU determines "No" in step 620, and the process proceeds to step 625. In step 625, the CPU suggests to the user that they change their preference information to be slower than the current specification. After that, the process proceeds to step 565 in Figure 5. If the preference information is specified as "slow", the CPU determines "Yes" in step 620, and the process proceeds to step 565 in Figure 5.

[0069] <Second variation> In this modified example, if a manual operation that satisfies the override condition is performed during the execution of automatic driving control and that manual operation is not caused by the external environment, the ECU 20 identifies the starting point closest to the starting point corresponding to the point where the manual operation was performed as the corresponding point. The ECU 20 determines whether at least one of the following conditions PA1 and PA2 was met at the past time when the vehicle VA under manual driving was located at that corresponding point. Note that conditions PA1 and PA2 may also be referred to as the first condition and the second condition, respectively. Condition PA1: Another vehicle was present in the vicinity of vehicle VA. Condition PA2: Construction work was being carried out within a specified range from the corresponding point.

[0070] Even if at least one of conditions PA1 and PA2 was met at a past point in time, it is possible that at least one of conditions PA1 and PA2 may cease to be met afterward. In such cases, if the behavior of the vehicle VA at the past point in time is reproduced, it is highly likely that the behavior of that vehicle VA will not match the user's intentions. In this case, the user is likely to perform a manual operation that satisfies the override condition.

[0071] If at least one of conditions PA1 and PA2 was met in the past, the ECU20 will ask the user whether or not to relearn the behavior of the vehicle VA. If the user chooses to relearn the behavior of the vehicle VA, the automatic driving control will be turned off, and the behavior of the vehicle VA during manual driving will be relearned. This allows the vehicle VA to relearn behavior that is appropriate for the current situation, reducing the possibility that the user may feel uncomfortable with the automatic driving control.

[0072] In detail, if the CPU of the ECU20 in this modified example determines "No" in step 560 shown in Figure 5, the process proceeds to step 705 shown in Figure 7. In step 705, the CPU refers to the behavior information and determines whether there is a starting point (corresponding point) within a predetermined distance from the current position of the vehicle VA (the point where a manual operation satisfying the override condition was performed).

[0073] Incidentally, in this modified example, if manual operation is initiated by the learning control routine (step 330 "Yes" shown in Figure 3), in step 340, the CPU acquires environmental information and construction information, and stores behavior information including these in the behavior information storage unit 52a. The construction information includes information indicating whether or not construction is being carried out within a predetermined range from the current position of the vehicle VA. The CPU acquires the construction information by referring to the map data stored in the map data storage unit 24b.

[0074] If a corresponding location exists, the CPU determines "Yes" in step 705 shown in Figure 7, and the process proceeds to step 710. In step 710, the CPU refers to the environmental information included in the behavior information of the corresponding location and determines whether condition PA1 was met at a past point in time.

[0075] If condition PA1 was not met at a past point in time, the CPU determines "No" in step 710, and the process proceeds to step 715. In step 715, the CPU refers to the construction information included in the behavior information of the corresponding location to determine whether condition PA2 was met at a past point in time.

[0076] If condition PA2 was not met at a previous point in time, the CPU determines "No" in step 715, and the process proceeds to step 570 as shown in Figure 5.

[0077] If condition PA1 was met at a past point in time when the process proceeds to step 710, the CPU determines "Yes" in step 710 and executes steps 720 and 725.

[0078] Step 720: The CPU asks the user whether or not to relearn the behavior of the vehicle VA. Specifically, the CPU displays a query screen on the display device 48 to ask whether or not to relearn the behavior of the vehicle VA. This query screen includes a Yes button and a No button.

[0079] Step 725: The CPU determines whether the user has agreed to retraining. Specifically, the CPU determines that the user has agreed to retraining if the Yes button is touched, and that the user has refused to retrain if the No button is touched.

[0080] If the user agrees to retraining, the CPU determines "Yes" in step 725, and the process proceeds to step 730. In step 730, the CPU turns off (terminates) the automatic driving control. After that, the process proceeds to step 565 as shown in Figure 5. Once the automatic driving control is turned off, the user takes manual control, and the system begins to learn the behavior of the vehicle VA.

[0081] If the user refuses to retrain, the CPU determines "No" in step 725, and the process proceeds to step 565 as shown in Figure 5.

[0082] <Third variation> If a manual operation that satisfies the override condition is performed during self-driving control, the ECU20 may determine that the manual operation was caused by an external environment, even if there are no other vehicles around the vehicle VA, as long as construction work is being carried out within a predetermined range from the vehicle VA's current position. In other words, if there are no other vehicles around the vehicle VA and no construction work is being carried out within a predetermined range from the vehicle VA's current position, the ECU20 may determine that the manual operation was not caused by an external environment.

[0083] <Fourth variation> In the above embodiment, when the value of the behavior flag Xkyo is "0" in automatic driving control, the vehicle VA is controlled so that the vehicle speed Vs matches the vehicle speed Vs during manual driving (see steps 530 and 535 shown in Figure 5). However, the control of the vehicle VA when the value of the behavior flag Xkyo is "0" in automatic driving control is not limited to this.

[0084] As an example, in step 530, the CPU may obtain a target acceleration Gtgt to match the vehicle speed Vs with a preset set vehicle speed Vs. As another example, in step 530, the CPU may obtain a target acceleration Gtgt to match the vehicle speed Vs with the average vehicle speed obtained based on the vehicle speed information.

[0085] In the above embodiment, the user's preference information is specified by operating the preference specification button 50, but this is not limited to this. For example, the user may specify the preference information by voice, or the user may specify the preference information by touching the display device 48.

[0086] Furthermore, in the above embodiment, the ECU 20 learned acceleration G or steering angle θs as a value representing the behavior of the vehicle VA that changes due to manual operation during manual driving, but is not limited to this. For example, the ECU 20 may learn vehicle speed Vs instead of acceleration G, or yaw rate instead of steering angle θs.

[0087] Furthermore, in the above embodiment, the ECU 20 made suggestions for changing preference information (step 570 shown in Figure 5) and requests for relearning (step 720 shown in Figure 7) by displaying a screen on the display device 48, but is not limited to this. For example, the ECU 20 may make suggestions for changing preference information and requests for relearning by having a voice message be emitted from a speaker (not shown).

[0088] This device 10 is applicable to vehicles such as engine-powered vehicles, hybrid vehicles, plug-in hybrid vehicles, fuel cell vehicles, and electric vehicles. [Explanation of symbols]

[0089] 10...Driving assistance system, 20...ECU, 22...External environment sensor, 40...Powertrain actuator, 42...Brake actuator, 44...Steering motor, 50...Preference selection button, 52a...Behavior information storage unit, 52c...Preference information storage unit.

Claims

1. Sensors that acquire environmental information about the vehicle's external environment, The system includes a control unit that performs learning control, which stores the vehicle's behavior as learned behavior, which is changed by manual operations performed during manual driving, and automatic driving control, which controls the vehicle's behavior to reproduce the learned behavior. The control unit is During the execution of the automatic driving control, if the vehicle reaches a control start point identified based on the starting point where manual operation was performed during manual driving and the user's preferences regarding automatic driving control specified by the user, behavior control is initiated to control the vehicle's behavior based on the learned behavior. If the manual operation performed during the execution of the automatic driving control satisfies predetermined override conditions, the vehicle's behavior is controlled based on the manual operation, and it is determined, based on the environmental information, whether the manual operation was caused by the external environment. If it is determined that the manual operation was performed without being caused by the external environment, the system will suggest to the user that they change their preference. A driver assistance system configured in such a way.

2. In the driving support device according to claim 1, The control unit is configured to determine, based on the environmental information, that the operation was performed without being caused by the external environment, if it determines that no other vehicles are present in the vicinity of the vehicle. Driving assistance system.

3. In the driving support device according to claim 1, The aforementioned preference concerns whether to start the behavior control earlier or later. The control unit is If the manual operation satisfies the override condition and is performed without being caused by the external environment, determine whether the manual operation was performed before reaching the control start point. If the manual operation is performed before reaching the control start point, it is proposed to change the preference so that the start timing is earlier. If the manual operation is performed after the control start point has been reached, we propose modifying the preference so that the start timing is delayed. A driver assistance system configured in such a way.

4. In the driving support device according to claim 1, The control unit is If the manual operation satisfies the override condition and the manual operation was performed without being caused by the external environment, then it is determined whether at least one of the following conditions is met: first, that at the time the vehicle being manually operated was located at the corresponding starting point which is the closest starting point to the point where the manual operation was performed, other vehicles were present around the vehicle at that time; and second, that construction work was being carried out within a predetermined range from the vehicle's position at that time. If at least one of the first and second conditions is met, the user is asked whether or not to re-store the learned behavior. A driver assistance system configured in such a way.

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