JP2022084456A - Vehicle control device, information processing device, and production method for vehicle control system - Google Patents

Abstract

To provide a vehicle control device which enables a driver to more effectively utilize an ADAS.SOLUTION: The present invention relates to a vehicle control device 10 which is mounted on a vehicle and connected to an information processing device 20 outside of the vehicle in an information communicable manner. The vehicle comprises an external sensor 1, a vehicle sensor 2, a position sensor 3, and an ADAS actuator 7 for driving assistance of the vehicle. A skill processing unit 12 of the vehicle control device 10 calculates a driving tendency and a skill of a driver of the vehicle on the basis of external information and vehicle information. An assistance difficulty calculation unit 13 calculates an assistance difficulty on the basis of the driving tendency and the vehicle information. A travel history processing unit 14 acquires the skills of drivers of a plurality of vehicles, intervention frequencies of the driving assistances, driving assistance use rates and behavior fluctuations from the information processing device 20. A suggestion content determination unit 15 calculates an assistance utilization level on the basis of the assistance difficulty, the driving assistance use rate, the behavior fluctuation and the intervention frequency and utters a suggestion content based on the assistance difficulty and the assistance utilization level.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a production method of a vehicle control device, an information processing device, and a vehicle control system.

Conventionally, an invention relating to advice information notification according to the characteristics of a user who drives a vehicle has been known (Patent Document 1 below). The information processing device described in Patent Document 1 provides an in-vehicle device of a vehicle with advice information according to a point where the vehicle travels. This information processing apparatus includes detection information, acquisition means, associating means, specific means, determination means, storage means, and selection means (Patent Document 1 Summary, Claim 1 and the like).

The detection information indicates the position information indicating the location of the vehicle and the content detected by the sensor when any one of the plurality of types of sensors included in the vehicle detects a reference value or more. The acquisition means acquires vehicle information including the driving level of the user of the vehicle from the vehicle. The associating means associates a plurality of points with the detection information and the driving level detected at the points based on the vehicle information acquired from the plurality of vehicles.

The specific means identifies, for each of the plurality of points, a traveling state that is likely to occur at the point based on the detection information detected at the point. The determination means determines, at each of the plurality of points, the relationship between the traveling state that is likely to occur at the point and the driving level at the point. The storage means stores the operation level of the user for each of a plurality of users who should provide the advice information.

The selection means selects the advice information for each of the plurality of points according to the operation level of each of the plurality of users. Specifically, when it is determined that there is a relationship between the traveling state and the driving level with respect to the point to be selected of the advice information, the selection means corresponds to the driving level of the user. Select advice information. Further, when it is determined that the traveling state is not related to the driving level, the selection means selects advice information not related to the driving level of the user.

According to this conventional information processing device, when the driving state that tends to occur at a predetermined point and the driving level of the driving characteristic are related, the driver's advice information is selected according to the driving level of the driving characteristic. Advice information can be selected according to the driving skill (Patent Document 1, paragraph 0017).

Japanese Unexamined Patent Publication No. 2011-107978

It is expected that advanced driver assistance systems (ADAS) that support the driver's driving as well as the notification of advice information to the driver such as the above-mentioned conventional information processing device will become more and more popular in the future. However, the driver may not be able to use ADAS effectively due to, for example, inexperienced or inexperienced ADAS, low driving skill, or inconsistency between driving characteristics and ADAS characteristics.

The present disclosure provides a method of producing a vehicle control device, an information processing device, and a vehicle control system that enables a driver to use ADAS more effectively.

One aspect of the present disclosure is a vehicle control device mounted on a vehicle and connected to an information processing device outside the vehicle so as to be capable of information communication, wherein the vehicle detects outside world information around the vehicle. The vehicle control device includes a sensor, a vehicle sensor that detects vehicle information related to the traveling state of the vehicle, a position sensor that detects the position information of the vehicle, and an actuator for driving support of the vehicle. A proficiency level processing unit that calculates the driving tendency and proficiency level of the driver of the vehicle based on the outside world information and the vehicle information, and a support difficulty level calculation unit that calculates the support difficulty level based on the driving tendency and the vehicle information. A driving history processing unit that acquires the proficiency level of drivers of a plurality of vehicles, the intervention frequency of driving support, the driving support usage rate, and the behavior variation from the information processing device, the support difficulty level, and the driving support usage rate. A vehicle control device characterized by having an advice content determination unit that calculates a support utilization degree based on the behavior fluctuation and the intervention frequency and utters an advice content based on the support difficulty level and the support utilization degree. Is.

According to the above aspect of the present disclosure, it is possible to provide a vehicle control device that enables a driver to use ADAS more effectively.

The block diagram of the vehicle control device, the information processing device, and the vehicle control system of the first embodiment. FIG. 3 is a flow chart showing a processing flow of the vehicle control device of FIG. The characteristic diagram of the function used for the calculation of the front-back driving tendency in the driving tendency determination process of FIG. The characteristic diagram of the function used for the calculation of the left-right driving tendency in the driving tendency determination process of FIG. The characteristic diagram of the function used for the calculation of the driving proficiency level in the proficiency level determination process of FIG. The characteristic diagram of the function used for the calculation of the ACC support difficulty in the support difficulty determination process of FIG. The characteristic diagram of the function used for the calculation of the LK support difficulty in the support difficulty determination process of FIG. The characteristic diagram of the function used for the calculation of the ACC and LK usage rate in the travel history selection process of FIG. The characteristic diagram of the function used for the calculation of the ACC and LK behavior fluctuations in the travel history selection process of FIG. The characteristic diagram of the function used for the calculation of the ACC, LK intervention frequency in the travel history selection process of FIG. The characteristic diagram of the function used for the calculation of the threshold value about ACC in the advice content selection process of FIG. The characteristic diagram of the function used for the calculation of the threshold value about LK in the advice content selection process of FIG. The characteristic diagram of the function used for the calculation of the threshold value of a sensor processing value in the own vehicle information processing of FIG. The characteristic diagram of the function used for the calculation of the advice content in the advice utterance process of FIG. The flow diagram which shows the flow of the process of the vehicle control device of Embodiment 2. The flow diagram which shows the flow of the process of the vehicle control device of Embodiment 2. The flow diagram which shows the flow of the process of the vehicle control device of Embodiment 3. The flow diagram which shows the flow of the process of the vehicle control device of Embodiment 3.

Hereinafter, embodiments of the vehicle control device, the information processing device, and the production method of the vehicle control system of the present disclosure will be described with reference to the drawings.

[Embodiment 1]
FIG. 1 is a block diagram showing the first embodiment of the vehicle control device, the information processing device, and the production method of the vehicle control system of the present disclosure. The vehicle control system 100 includes, for example, a vehicle control device 10 mounted on a vehicle and an information processing device 20 on a cloud connected to the vehicle control device 10 so as to be capable of information communication. The information processing device 20 is, for example, a server, a database, or a computer on a computer network connected to a plurality of vehicle control devices 10 of a plurality of vehicles via a wireless communication line.

The vehicle control device 10 is, for example, an electronic control unit (ECU). More specifically, the vehicle control device 10 is, for example, an ECU for an advanced driver assistance system (ADAS) of a vehicle. Although not shown, the vehicle control device 10 includes, for example, a central processing unit (CPU), a storage device such as a memory, data and programs stored in the storage device, an input / output unit, a timer, and the like.

The vehicle control device 10 includes, for example, an input information processing unit 11, a proficiency level processing unit 12, a support difficulty calculation unit 13, a travel history processing unit 14, an advice content determination unit 15, and an ADAS setting change unit 16. , A data transmission unit 17 and an ADAS control processing unit 18. Each part of these vehicle control devices 10 represents, for example, a function of the vehicle control device 10 realized by executing a program stored in the storage device in the vehicle control device 10 by the CPU.

The vehicle on which the vehicle control device 10 is mounted includes, for example, a gasoline engine vehicle, a diesel engine vehicle, a hybrid vehicle, an electric vehicle, a fuel cell vehicle, and the like. The vehicle on which the vehicle control device 10 is mounted includes, for example, an outside world sensor 1, a vehicle sensor 2, a position sensor 3, an HMI device 4, an in-vehicle speaker 5, an in-vehicle microphone 6, and an ADAS actuator 7. ing. Hereinafter, the vehicle on which the vehicle control device 10 is mounted may be referred to as a "own vehicle".

The external sensor 1 includes, for example, a millimeter wave radar, sonar, a monocular camera, a stereo camera, LiDAR, a raindrop sensor, and the like. The outside world sensor 1 is connected to the vehicle control device 10 so as to be capable of information communication, detects position information and speed information of objects around the vehicle, lane shape information of the road on which the vehicle travels, and the like, and outputs various detected information to the outside world. It is transmitted to the vehicle control device 10 as information.

The vehicle sensor 2 includes, for example, a wheel speed sensor, an acceleration sensor, a yaw rate sensor, a steering angle sensor, a steering torque sensor, an accelerator position sensor, a brake hydraulic pressure sensor, and the like. The vehicle sensor 2 is connected to the vehicle control device so that information can be communicated, detects vehicle speed, acceleration, yaw rate, steering angle, steering torque, throttle opening, brake fluid pressure, etc., and various detected information is used as own vehicle information. It is transmitted to the vehicle control device 10.

The position sensor 3 is, for example, a receiver of a global positioning satellite system (GNSS), and is connected to a vehicle control device 10 so as to be capable of information communication. The position sensor 3 detects, for example, position coordinates including the latitude, longitude, and altitude of the vehicle on which the vehicle control device 10 is mounted, and transmits the detected position coordinates to the vehicle control device 10.

The HMI device 4 is, for example, an ECU for a human-machine interface, and is connected to the vehicle control device 10 so as to be capable of information communication. The HMI device 4 has, for example, an utterance function and a voice recognition function. The HMI device 4 controls the vehicle-mounted speaker 5 by the utterance function based on the control signal from the vehicle control device 10 to output voice. Further, the HMI device 4 controls the vehicle-mounted microphone 6, recognizes the voice of the driver of the vehicle by the voice recognition function, and transmits the recognized voice to the vehicle control device 10.

The ADAS actuator 7 includes a plurality of actuators connected to the vehicle control device 10 so as to be capable of information communication. The ADAS actuator 7 automatically operates the accelerator, brake, steering, transmission, etc. of the vehicle based on the control signal from the vehicle control device 10. The ADAS actuator 7 executes vehicle driving support including adaptive cruise control (ACC) and lane keeping (LK) under the control of the vehicle control device 10.

Hereinafter, the operations of the vehicle control device 10, the information processing device 20, and the vehicle control system 100 of the present embodiment will be described with reference to FIGS. 2 to 14. FIG. 2 is a flow chart showing a processing flow of the vehicle control device 10 of the present embodiment.

The series of processes of the vehicle control device 10 shown in FIG. 2 provides appropriate advice according to the situation to the driver who cannot use the ADAS function due to insufficient understanding of the ADAS function, for example. It is executed for the purpose of having the ADAS function utilized. The series of processing flows of the vehicle control device 10 shown in FIG. 2 are repeatedly executed with a processing cycle Ts of, for example, about 50 [ms].

(・ Acquisition process of own vehicle information P101)
When the vehicle control device 10 starts the processing flow shown in FIG. 2, the vehicle control device 10 first executes the own vehicle information acquisition processing P101. In this process P101, for example, the vehicle control device 10 uses the input information processing unit 11 to transmit the traveling speed Vsp of the own vehicle, the longitudinal acceleration LngG, the lateral acceleration LatG, the translational rotational motion including the yaw rate, and the accelerator, which are transmitted from the vehicle sensor 2. Acquire the operation amount of the pedal and brake pedal. Here, the vehicle control device 10 acquires, for example, a throttle opening degree and a brake fluid pressure as the operation amounts of the accelerator pedal and the brake pedal.

(・ External information acquisition process P102)
Next, the vehicle control device 10 executes the outside world information acquisition process P102. In this process P102, the vehicle control device 10 may, for example, receive position information and speed information of an object around the own vehicle transmitted from the external world sensor 1, lane information including a lane shape, information on the weather, etc., by the input information processing unit 11. To get.

Further, the vehicle control device 10 acquires, for example, the preceding vehicle distance Dist transmitted from the outside world sensor 1, the preceding vehicle relative speed rVy, and the lateral position deviation LatErr from the center of the lane of the own vehicle by the input information processing unit 11. do. Further, the vehicle control device 10 acquires, for example, the position information of the own vehicle transmitted from the position sensor 3 by the input information processing unit 11.

(・ Execution processing of driving support P103)
Next, the vehicle control device 10 executes the driving support execution process P103. In this process P103, the vehicle control device 10 executes, for example, the driving support selected by the driver of the own vehicle by the ADAS control processing unit 18. Specifically, the vehicle control device 10 outputs a control signal to the ADAS actuator 7 of the own vehicle by the ADAS control processing unit 18, and according to the selected driving support, the accelerator, brake, steering, and shift of the vehicle. Operate the machine automatically.

The driving assistance executed in this process P103 includes adaptive cruise control (ACC) and lane keeping (LK) as described above. ACC is mainly the driving support in the front-rear direction of the own vehicle by the automatic operation of the accelerator and the brake, and LK is the driving support in the left-right direction of the own vehicle mainly by the automatic operation of the steering. The vehicle control device 10 recognizes, for example, the ADAS setting change unit 16 that the driver has selected the driving support.

The driver's selection status of driving support is, for example, a combination of ACC enabled (SW_ACC = ON) or ACC disabled (SW_ACC = OFF) and LK enabled (SW_LK = ON) or LK disabled (SW_LK = OFF). .. Further, 1 is defined for valid (ON) and 0 is defined for invalid (OFF) in the selected state, and the preprocessor replaces the value with a numerical value when the vehicle is mounted on the vehicle control device 10.

(・ Driving tendency determination process P104)
Next, the vehicle control device 10 executes the driving tendency determination process P104. In this process P104, for example, the proficiency level processing unit 12 calculates the front-rear direction state and the left-right direction state of the own vehicle, and the vehicle control device 10 calculates the front-rear driving tendency LngDrv and the left-right driving tendency LatDrv based on them. calculate.

More specifically, the vehicle control device 10 first uses the preceding vehicle distance Dist, the preceding vehicle relative speed rVy, and the traveling speed Vsp, and sets the state in the front-rear direction of the own vehicle as a collision from the own vehicle to the preceding vehicle. The margin time TTC and the inter-vehicle time THW are calculated based on the following equations (1) and (2). In each calculation, measures are taken to prevent the denominator from becoming zero.

TTC = Dist / rVy ・ ・ ・ (1)
THW = Dist / Vsp ・ ・ ・ (2)

Further, the vehicle control device 10 has, for example, the lateral acceleration LatG acquired by the above-mentioned acquisition process P101 of the own vehicle information and the lateral position deviation acquired by the above-mentioned acquisition process P102 of the outside world information as the state in the left-right direction of the own vehicle. Load LatErr. Then, the vehicle control device 10 uses the collision margin time TTC and the inter-vehicle time THW, which are the states in the front-rear direction of the own vehicle, and the lateral acceleration LatG and the lateral position shift LatErr, which are the states in the left-right direction of the own vehicle, as follows. Based on the equations (3) and (4), the front-rear driving tendency LngDrv and the left-right driving tendency LatDrv are calculated.

LngDrv = func1 (TTC, THW) ・ ・ ・ (3)
LatDrv = func2 (LatG, | LatErr |) ・ ・ ・ (4)

In the above equation (3), the function func1 has the characteristics shown in FIG. That is, the vehicle control device 10 uses, for example, the function func1 having the collision margin time TTC and the inter-vehicle time THW, which are the states in the front-rear direction of the own vehicle, as arguments, and the front-rear driving tendency LngDrv (immature: 0, positive: 1, Or excellent: 2) is output. In the example shown in FIG. 3, if the collision margin time TTC is equal to or higher than a predetermined threshold value and the inter-vehicle time THW is within an appropriate range, the front-rear driving tendency LngDrv is “excellent”. Also, if the front-rear driving tendency LngDrv includes a shorter range of collision margin time TTC and the inter-vehicle time THW is in a shorter range compared to the "excellent" range, the front-rear driving tendency LngDrv becomes "aggressive". The range other than is "immature".

Similarly, in the above equation (4), the function func2 has the characteristics as shown in FIG. That is, the vehicle control device 10 uses, for example, the function func2 having the lateral acceleration LatG and the lateral displacement LatErr, which are the states of the own vehicle in the left-right direction, as arguments, and the left-right driving tendency LatDrv (immature: 0, positive: 1, Or excellent: 2) is output. In the example shown in FIG. 4, if the lateral acceleration LatG is equal to or less than a predetermined threshold value and the lateral position deviation LatErr is equal to or less than a predetermined threshold value, the left-right driving tendency LatDrv is “excellent”. In addition, when the range of lateral acceleration LatG is larger and the lateral position deviation LatErr is larger than when the left-right driving tendency LatDrv is "excellent", the left-right driving tendency LatDrv becomes "aggressive", and the other ranges are Become "immature".

(・ Operation state determination process P105)
Next, the vehicle control device 10 executes the driver's operating state determination process P105. In this process P105, for example, the vehicle control device 10 uses the brake fluid pressure acquired in the above-mentioned process P101, and the proficiency level processing unit 12 sets the maximum brake operation strength pdl_B_press in the last 10 [s]. Brake operation frequency pdl_B_freq is calculated. The brake operation strength pdl_B_press is always a value of 0 or more.

The brake operation frequency pdl_B_freq can be calculated as the time during which the operation amount of the brake pedal by the driver continues to be equal to or less than a predetermined value. This is because the longer the brake pedal is not operated, the less frequently the brake pedal is operated. This makes it easy to implement the calculation logic of the brake operation frequency pdl_B_freq.

More specifically, for example, when the driver's selection of driving assistance is ACC enabled (SW_ACC = ON), the vehicle control device 10 calculates the brake operation frequency pdl_B_freq as follows. The vehicle control device 10 calculates the difference between the command value of the brake fluid pressure from the ADAS control processing unit 18 to the ADAS actuator 7 and the detection value of the brake fluid pressure by the operation of the driver's brake pedal acquired from the vehicle sensor 2. do. Further, when the difference between the command value and the detection value is less than 1 [Mpa], the vehicle control device 10 adds 0.05 [s] corresponding to the processing cycle Ts to the brake operation frequency pdl_B_freq, and sets the command value and the detection value. If the difference is 1 [Mpa] or more, the brake operation frequency pdl_B_freq is reset to zero.

Further, when the driver's selection of driving support is ACC invalid (SW_ACC = OFF), the vehicle control device 10 calculates the brake operation frequency pdl_B_freq as follows. When the ACC is disabled, the ADAS control processing unit 18 calculates the command value of the brake fluid pressure, but does not output it to the ADAS actuator 7. The vehicle control device 10 corresponds to, for example, a processing cycle Ts when the difference between the command value of the brake fluid pressure sufficiently smoothed by the low-pass filter and the detected value of the brake fluid pressure is less than 1 [Mpa]. Add 0.05 [s] to the brake operation frequency pdl_B_freq. On the other hand, when the difference between the command value and the detected value of the brake fluid pressure is 1 [Mpa] or more, the vehicle control device 10 resets the brake operation frequency pdl_B_freq to zero.

Next, the vehicle control device 10 uses the throttle opening by the driver's accelerator pedal operation acquired in the above-mentioned process P101 to obtain the maximum accelerator operation opening pdl_A_press and the accelerator operation frequency in the last 10 [s]. Calculate pdl_A_freq. The accelerator operation opening pdl_A_press is always a value of 0 or more. For the same reason as the brake operation frequency pdl_B_freq, the accelerator operation frequency pdl_A_freq can also be calculated as the time during which the amount of operation of the accelerator pedal by the driver continues to be equal to or less than a predetermined value.

More specifically, for example, when the driver's selection of driving assistance is ACC enabled (SW_ACC = ON), the vehicle control device 10 calculates the accelerator operation frequency pdl_A_freq as follows. The vehicle control device 10 calculates the difference between the command value of the throttle opening from the ADAS control processing unit 18 to the ADAS actuator 7 and the detection value of the throttle opening by the operation of the accelerator pedal of the driver acquired from the vehicle sensor 2. do. Further, when the difference between the command value and the detection value of the throttle opening is less than 10 [%], the vehicle control device 10 adds, for example, 0.05 [s] corresponding to the processing cycle Ts to the accelerator operation frequency pdl_A_freq, and the above. If the difference between the command value and the detected value is 10 [%] or more, the accelerator operation frequency pdl_A_freq is reset to zero.

Further, when the driver's selection of driving support is ACC invalid (SW_ACC = OFF), the vehicle control device 10 calculates the accelerator operation frequency pdl_A_freq as follows. When the ACC is invalid, the ADAS control processing unit 18 calculates the command value of the throttle opening, but does not output it to the ADAS actuator 7. The vehicle control device 10 corresponds to, for example, a processing cycle Ts when the difference between the command value of the throttle opening sufficiently smoothed by the low-pass filter and the detected value of the throttle opening is less than 10 [%]. Add 0.05 [s] to the accelerator operation frequency pdl_A_freq. On the other hand, when the difference between the command value and the detection value of the throttle opening is 10 [%] or more, the vehicle control device 10 resets the accelerator operation frequency pdl_A_freq to zero.

Next, the vehicle control device 10 uses the steering torque obtained by the driver's steering acquired in the above-mentioned processing P101, and the proficiency level processing unit 12 determines the maximum steering torque str_trq and the steering frequency in the last 10 [s]. Calculate str_freq. The steering torque str_trq becomes a negative value when the steering wheel rotates counterclockwise, and becomes a positive value when the steering wheel rotates clockwise.

More specifically, for example, when the driver's selection of driving assistance is LK valid (SW_LK = ON), the vehicle control device 10 calculates the steering frequency str_freq as follows. The vehicle control device 10 calculates the difference between the command value of the steering angle from the ADAS control processing unit 18 to the ADAS actuator 7 and the detection value of the steering angle by the operation of the steering wheel of the driver acquired from the vehicle sensor 2. Further, when the difference between the command value and the detection value of the steering angle is less than 5 [deg], the vehicle control device 10 adds 0.05 [s] corresponding to the processing cycle Ts to the steering frequency str_freq, and the command value. If the difference between the detected value and the detected value is 5 [deg] or more, the steering frequency str_freq is reset to zero.

Further, when the driver's selection of driving support is LK invalid (LK_ACC = OFF), the vehicle control device 10 calculates the accelerator operation frequency pdl_A_freq as follows. When the LK is invalid, the ADAS control processing unit 18 calculates the command value of the steering angle, but does not output it to the ADAS actuator 7. For example, when the difference between the command value of the steering angle sufficiently smoothed by the low-pass filter and the detected value of the steering angle is less than 5 [deg], the vehicle control device 10 corresponds to, for example, 0.05 corresponding to the processing cycle Ts. Add [s] to the steering frequency str_freq. On the other hand, when the difference between the command value and the detection value of the steering angle is 5 [deg] or more, the vehicle control device 10 resets the steering frequency str_freq to zero.

(・ Proficiency determination process P106)
Next, the vehicle control device 10 executes the driver proficiency determination process P106. Here, the driver's proficiency includes the driving proficiency mnvr_profici_lev regarding the driving operation and the road proficiency road_profici_lev regarding the experience of driving on individual roads. The vehicle control device 10 is operated by the proficiency level processing unit 12, for example, using the front-rear driving tendency LngDrv, the left-right driving tendency LatDrv, the traveling speed Vsp, and the processing cycle Ts, based on the following equations (5) and (6). Calculate proficiency level mnvr_profici_lev and road proficiency level road_profici_lev.

mnvr_profici_lev = mnvr_profici_lev + func3 (LngDrv, LatDrv) ・ ・ ・ (5)
road_profici_lev [x] [y] = road_profici_lev [x] [y] + Vsp * Ts ・ ・ ・ (6)

In the above equation (5), the function func3 has the characteristics shown in FIG. That is, the vehicle control device 10 uses, for example, the front-rear driving tendency LngDrv (immature: 0, positive: 1, or excellent: 2) and the left-right driving tendency LatDrv (immature: 0, positive: 1, or excellent: 2) as arguments. The correction value to be added to the driving proficiency level mnvr_profici_lev in the processing one cycle before is calculated by using the function func3.

In the example shown in FIG. 5, for example, if either the front-rear driving tendency LngDrv or the left-right driving tendency LatDrv is 0 indicating immaturity, the correction value is 0.00 indicating immaturity, and the driving proficiency level mnvr_profici_lev does not increase. Further, for example, if the front-rear driving tendency LngDrv and the left-right driving tendency LatDrv are both excellent 2, the correction value is 0.05, which indicates excellent, and the driving proficiency level mnvr_profici_lev increases at an early stage. On the other hand, if at least one of the front-rear driving tendency LngDrv and the left-right driving tendency LatDrv is 1, the correction value is 0.01, which indicates positive, and the correction value is 0.01, which is better than the case where both the front-rear driving tendency LngDrv and the left-right driving tendency LatDrv are superior. The increase in driving proficiency mnvr_profici_lev will be gradual.

Further, x and y in the above equation (6) are sequence numbers set based on the latitude and longitude of the own vehicle. That is, for example, the vehicle control device 10 sets the position information including the latitude and longitude of the own vehicle, that is, the mileage which is the product of the traveling speed Vsp and the processing cycle Ts for each road on which the own vehicle travels, one cycle before. Add to the road proficiency level road_profici_lev in the processing of. Therefore, the longer the mileage on a particular road, the greater the road proficiency road_profici_lev on that particular road. The vehicle control device 10 stores the driving proficiency level mnvr_profici_lev and the road proficiency level road_profici_lev for each driver of the own vehicle. As a result, the vehicle control device 10 can perform appropriate processing according to the proficiency level of each driver in the processing described later.

(・ Judgment processing of support difficulty P107)
Next, the vehicle control device 10 executes the support difficulty determination process P107. Here, the support difficulty includes the ACC support difficulty level dfclty_ACC, which indicates the difficulty level of driving support by ACC, and the LK support difficulty level dfclty_LK, which indicates the difficulty level of driving support by LK.

In this process P107, the vehicle control device 10 is, for example, by the support difficulty calculation unit 13, the front-rear driving tendency LngDrv, the brake operation strength pdl_B_press, the brake operation frequency pdl_B_freq, the accelerator operation opening pdl_A_press, the accelerator operation frequency pdl_A_freq, and the road attribute RoadType. Is used to calculate the ACC support difficulty level dfclty_ACC based on the following equation (7).

dfclty_ACC = func4 (LngDrv, pdl_B_press, pdl_B_freq,
pdl_A_press, pdl_A_freq, RoadType) ・ ・ ・ (7)

In the above equation (7), the function func4 has the characteristics shown in FIG. In FIG. 6, TH_Bp is the threshold value of the brake operation intensity pdl_B_press, TH_Bf is the threshold value of the brake operation frequency pdl_B_freq, TH_Ap is the threshold value of the accelerator operation opening pdl_A_press, and TH_Af is the threshold value of the accelerator operation frequency pdl_A_freq. Is. Road attribute RoadType is the attribute of the road on which the vehicle is currently traveling, for example, 1 for highways, 2 for motorways, 3 for highways, 4 for general roads, 5 for narrow streets, and so on. It is defined for each road and is included in the map information stored in advance in the vehicle control device 10.

In the example shown in FIG. 6, the function func4 has different threshold values set for, for example, a road having a road attribute RoadType of 2 or less such as an expressway and a road having a road attribute RoadType of 3 or more such as a general road. .. More specifically, the function func4 has TH_Bp = 1.0 [Mpa], TH_Bf = 20 [s], TH_Ap = 25 [%], TH_Af = 18 [for roads with a road attribute RoadType of 2 or less, respectively. For roads with a road attribute RoadType of 3 or more, each threshold is TH_Bp = 1.5 [Mpa], TH_Bf = 14 [s], TH_Ap = 30 [%], TH_Af = 10 [s]. It is set as.

Here, for the function func4 shown in FIG. 6, the front-rear driving tendency LngDrv = 2, the brake operation strength pdl_B_press = 0 [MPa], the brake operation frequency pdl_B_freq = 40 [s], the accelerator operation opening pdl_A_press = 35 [%], It is assumed that the accelerator operation frequency pdl_A_freq = 25 [s] and the road attribute RoadType = 1 are input.

In this case, of the four conditions of the function func4 shown in FIG. 6, the three conditions of brake operation intensity pdl_B_press ≦ TH_Bp, brake operation frequency pdl_B_freq ≧ TH_Bf, and accelerator operation frequency pdl_A_freq ≧ TH_Af are satisfied. Therefore, the function func4 outputs the ACC support difficulty level dfclty_ACC = 2, which satisfies the front-rear driving tendency LngDrv = 2, three of the four conditions, and corresponds to the road attribute RoadType ≤ 2. ACC support difficulty dfclty_ACC indicates that the higher the value, the higher the difficulty.

Further, in the process P107, the vehicle control device 10 uses, for example, the left / right driving tendency LatDrv, the steering torque str_trq, the steering frequency str_freq, and the road attribute RoadType by the support difficulty calculation unit 13, based on the following equation (8). , LK Support difficulty dfclty_LK is calculated.

dfclty_LK = func5 (LatDrv, str_trq, str_freq, RoadType) ・ ・ ・ (8)

In the above equation (8), the function func5 has the characteristics shown in FIG. 7. In the function func5 shown in FIG. 7, TH_St is the threshold value of the steering torque str_trq, and TH_Sf is the threshold value of the steering frequency str_freq. The road attribute RoadType is the same as the function func4 shown in FIG.

In the example shown in FIG. 7, the function func5 has different threshold values set for, for example, a road having a road attribute RoadType of 2 or less such as an expressway and a road having a road attribute RoadType of 3 or more such as a general road. .. More specifically, in the function func5, for roads having a road attribute RoadType of 2 or less, each threshold value is set as TH_St = 1 [Nm] and TH_Sf = 20 [s], respectively, and the road attribute RoadType is 3 or more. Each threshold value is set as TH_St = 2 [Nm] and TH_Sf = 12 [s] for each road.

Here, it is assumed that the left / right driving tendency LatDrv = 2, the steering torque str_trq = 1 [Nm], the steering frequency str_freq = 60 [s], and the road attribute RoadType = 1 are input to the function func5 shown in FIG. .. In this case, the two conditions of the function func5 shown in FIG. 7, the steering torque str_trq ≦ TH_St, and the steering frequency str_freq ≧ TH_Sf are all satisfied. Therefore, the function func5 outputs the LK support difficulty level dfclty_LK = 1, which satisfies all two conditions and corresponds to the road attribute RoadType ≤ 2. The LK support difficulty level dfclty_LK indicates that the higher the value, the higher the difficulty level.

(・ Driving history selection process P108)
Next, the vehicle control device 10 executes the travel history selection process P108. In this process P108, the vehicle control device 10 refers to the travel history information stored in the information processing apparatus 20 on the cloud by, for example, the travel history processing unit 14 shown in FIG. This travel history information includes, for example, position information transmitted from a plurality of vehicles including the own vehicle to the information processing apparatus 20, whether or not ACC is used, whether or not LK is used, driving proficiency level mnvr_profici_lev, and the like. That is, the travel history information stored in the information processing apparatus 20 is, in other words, the experience of the predecessor who traveled around the current value of the own vehicle.

Further, the information processing apparatus 20 is based on, for example, position information collected from a plurality of vehicles, whether or not ACC is used, whether or not LK is used, and driving proficiency level mnvr_profici_lev, and the driving proficiency level mnvr_profici_lev at each travel point x, y. Calculate and record the ACC usage rate UseRate_ACC and the LK usage rate UseRate_LK for each (see FIG. 8). In addition, this processing may be performed by the travel history processing unit 14 of the vehicle control device 10.

Further, the information processing apparatus 20 is based on, for example, position information collected from a plurality of vehicles, longitudinal acceleration LngG, lateral acceleration LatG, lateral displacement LatErr, and driving proficiency level mnvr_profici_lev, and the driving proficiency level at each travel point x, y. ACC behavior variation BehaviFluct_ACC and LK behavior variation BehaviFluct_LK for each mnvr_profici_lev are calculated and recorded (see FIG. 9). In addition, this processing may be performed by the travel history processing unit 14 of the vehicle control device 10.

Further, the information processing apparatus 20 is, for example, based on position information collected from a plurality of vehicles, accelerator operation frequency pdl_A_freq, brake operation frequency pdl_B_freq, steering frequency str_freq, and driving proficiency level mnvr_profici_lev, and driving proficiency at each travel point x, y. ACC intervention frequency IntrvntnFreq_ACC and LK intervention frequency IntrvntnFreq_LK for each degree mnvr_profici_lev are calculated and recorded (see FIG. 10). In addition, this processing may be performed by the travel history processing unit 14 of the vehicle control device 10.

In the travel history selection process P108, the vehicle control device 10 is, for example, by the travel history processing unit 14, based on the following equations (9) to (14), the ACC usage rate UseRate_ACC, the ACC behavior variation BehaviFluct_ACC, and the ACC. Intervention frequency IntrvntnFreq_ACC, LK usage rate UseRate_LK, LK behavior variation BehaviFluct_LK, and LK intervention frequency IntrvntnFreq_LK are calculated. In the calculation of the following equations (9) to (14), the vehicle control device 10 has, for example, the functions func6 to func8 shown in FIGS. 8 to 10, the usage rate of ACC and LK for each driving proficiency level mnvr_profici_lev, and the self Use the driving points x and y of the car and the driving proficiency level mnvr_profici_lev of the driver of the own car.

UseRate_ACC = func6 (x, y, ACC, mnvr_profici_lev) ・ ・ ・ (9)
BehaviFluct_ACC = func7 (x, y, ACC, mnvr_profici_lev) ・ ・ ・ (10)
IntrvntnFreq_ACC = func8 (x, y, ACC, mnvr_profici_lev) ・ ・ ・ (11)

UseRate_LK = func6 (x, y, LK, mnvr_profici_lev) ・ ・ ・ (12)
BehaviFluct_LK = func7 (x, y, LK, mnvr_profici_lev) ・ ・ ・ (13)
IntrvntnFreq_LK = func8 (x, y, LK, mnvr_profici_lev) ・ ・ ・ (14)

The function func6 of the above equations (9) and (12) has, for example, the characteristics shown in FIG. As in the above equation (9), the function func6 refers to the ACC usage rate UseRate_ACC for each driving proficiency level mnvr_profici_lev at the driving points x and y of the own vehicle when the third argument is ACC, and drives the driver of the own vehicle. Outputs the ACC usage rate UseRate_ACC corresponding to the proficiency level mnvr_profici_lev. Further, the function func6 refers to the LK usage rate UseRate_LK for each driving proficiency level mnvr_profici_lev at the driving points x and y of the own vehicle when the third argument is LK as in the above equation (12), and the driver of the own vehicle. Outputs the LK usage rate UseRate_LK corresponding to the driving proficiency level mnvr_profici_lev.

Further, the function func7 of the above equations (10) and (13) has, for example, the characteristics shown in FIG. As in the above equation (10), when the third argument is ACC, the function func7 refers to the ACC behavior variation BehaviFluct_ACC for each driving proficiency level mnvr_profici_lev at the driving points x and y of the own vehicle, and drives the driver of the own vehicle. Outputs ACC behavior variation BehaviFluct_ACC corresponding to proficiency level mnvr_profici_lev. Further, the function func7 refers to the LK behavior variation BehaviFluct_LK for each driving proficiency level mnvr_profici_lev at the driving points x and y of the own vehicle when the third argument is LK as in the above equation (13), and the driver of the own vehicle. Outputs the LK behavior variation BehaviFluct_LK corresponding to the driving proficiency level mnvr_profici_lev.

Further, the function func8 of the above equations (11) and (14) has, for example, the characteristics shown in FIG. As in the above equation (11), when the third argument is ACC, the function func8 refers to the ACC intervention frequency IntrvntnFreq_ACC for each driving proficiency level mnvr_profici_lev at the driving points x and y of the own vehicle, and drives the driver of the own vehicle. Output the ACC intervention frequency IntrvntnFreq_ACC corresponding to the proficiency level mnvr_profici_lev. Further, the function func8 refers to the LK intervention frequency IntrvntnFreq_LK for each driving proficiency level mnvr_profici_lev at the driving points x and y of the own vehicle when the third argument is LK as in the above equation (14), and the driver of the own vehicle. Outputs the LK intervention frequency IntrvntnFreq_LK corresponding to the driving proficiency level mnvr_profici_lev.

Here, it is assumed that the driving proficiency level mnvr_profici_lev of the driver of the own vehicle is low, and the following numerical values are calculated by the above equations (9) to (14). Each value is, for example, ACC usage rate UseRate_ACC = 20 [%], ACC behavior fluctuation BehaviFluct_ACC = -0.2 [G], ACC intervention frequency IntrvntnFreq_ACC = 20 [s], LK usage rate UseRate_LK = 10 [%], LK behavior fluctuation. BehaviFluct_LK = 0.15 [G], LK intervention frequency IntrvntnFreq_LK = 12 [s].

(・ Selection process of advice content P109)
Next, the vehicle control device 10 executes the advice content selection process P109. In this process P109, the vehicle control device 10 is, for example, by the advice content determination unit 15, as shown in the following equations (15) and (16), the function func9 and the function func10, and the ACC support difficulty level dfclty_ACC and LK support. Calculate the thresholds th_UR_acc, th_BF_acc, th_IF_acc, th_UR_lk, th_BF_lk, th_IF_lk using the difficulty level dfclty_LK.

(th_UR_acc, th_BF_acc, th_IF_acc) = func9 (dfclty_ACC) ・ ・ ・ (15)
(th_UR_lk, th_BF_lk, th_IF_lk) = func10 (dfclty_LK) ・ ・ ・ (16)

Here, the function func9 of the above equation (15) has the characteristics as shown in FIG. That is, when the ACC support difficulty level dfclty_ACC is input, the function func9 outputs the threshold value th_UR_acc of the ACC usage rate UseRate_ACC, the threshold value th_BF_acc of the ACC behavior variation BehaviFluct_ACC, and the threshold value th_IF_acc of the ACC intervention frequency IntrvntnFreq_ACC.

Further, the function func10 of the above equation (16) has the characteristics as shown in FIG. That is, when the LK support difficulty level dfclty_LK is input, the function func10 outputs the threshold value th_UR_lk of the LK usage rate UseRate_LK, the threshold value th_BF_lk of the LK behavior variation BehaviFluct_LK, and the threshold value th_IF_lk of the LK intervention frequency IntrvntnFreq_LK.

Here, it is assumed that the ACC support difficulty level dfclty_ACC = 2 and the LK support difficulty level dfclty_LK = 1 are calculated in the process P107 as described above. In this case, as shown in FIG. 11, the function func9 in the above equation (15) has a threshold value th_UR_acc = 30 [%] for the ACC usage rate UseRate_ACC, a threshold value th_BF_acc = 0.10 [G] for the ACC behavior variation BehaviFluct_ACC, and an ACC intervention. Frequency IntrvntnFreq_ACC threshold th_IF_acc = 15 [s] is output. In addition, as shown in FIG. 12, the function func10 in the above equation (16) has a threshold value th_UR_lk = 30 [%] for the LK usage rate UseRate_LK, a threshold value th_BF_lk = 0.12 [G] for the LK behavior variation BehaviFluct_LK, and an LK intervention frequency. IntrvntnFreq_LK threshold th_IF_lk = 10 [s] is output.

Further, in the advice content selection process P109, the vehicle control device 10 has the ACC first utilization degree Cmp1_acc, the ACC second utilization degree Cmp2_acc, and the LK first utilization degree Cmp1_lk based on the following equations (17) to (20). , LK Calculate the second utilization degree Cmp2_lk. Further, in the advice content selection process P109, the vehicle control device 10 calculates the ACC utilization degree Cmp_acc and the LK utilization degree Cmp_lk based on the following equations (21) and (22).

Cmp1_acc = sum {(UseRate_ACC> th_UR_acc), (| BehaviFluct_ACC | <th_BF_acc),
(IntrvntnFreq_ACC <th_IF_acc)} ・ ・ ・ (17)

Cmp2_acc = sum {(UseRate_ACC> 1.3 * th_UR_acc), (| BehaviFluct_ACC | <0.7 * th_BF_acc),
(IntrvntnFreq_ACC <0.7 * th_IF_acc)} ・ ・ ・ (18)

Cmp1_lk = sum {(UseRate_LK> th_UR_lk), (| BehaviFluct_LK | <th_BF_lk),
(IntrvntnFreq_LK <th_IF_lk)} ・ ・ ・ (19)

Cmp2_lk = sum {(UseRate_LK> 1.3 * th_UR_lk), (| BehaviFluct_LK | <0.7 * th_BF_lk),
(IntrvntnFreq_LK <0.7 * th_IF_lk)} ・ ・ ・ (20)

Cmp_acc = func11 (Cmp1_acc + Cmp2_acc) ・ ・ ・ (21)
Cmp_lk = func11 (Cmp1_lk + Cmp2_lk) ・ ・ ・ (22)

The functions sum {(condition A), (condition B), (condition C)} in the above equations (17) to (20) output the number of the conditions A, B, C in the curly braces that satisfy the condition. do. That is, the function sum {(condition A), (condition B), (condition C)} outputs 0 if all the conditions in the curly braces are not satisfied, and if one is satisfied, then 1 or 2 is satisfied. 2, if all are satisfied, 3 is output. The functions func11 (X) in the above equations (21) and (22) output -1 when X ≧ 4, output +1 when X ≦ 2, and output 0 in other cases. ..

Here, in the above-mentioned process P108, for example, ACC usage rate for ACC UseRate_ACC = 20 [%], ACC behavior variation BehaviFluct_ACC = -0.2 [G], ACC intervention frequency IntrvntnFreq_ACC = 20 [s], and LK usage rate for LK. UseRate_LK = 10 [%], LK behavior variation BehaviFluct_LK = 0.15 [G], and LK intervention frequency IntrvntnFreq_LK = 12 [s] have been calculated. Also, as mentioned above, for example, the thresholds for ACC th_UR_acc = 30 [%], th_BF_acc = 0.10 [G], and th_IF_acc = 15 [s], and the thresholds for LK th_UR_lk = 30 [%], th_BF_lk = 0.12 [G]. , And th_IF_lk = 10 [s] are set.

In this case, in the above equation (17), the condition A of the functions sum {(condition A), (condition B), (condition C)} is not satisfied (0), the condition B is not satisfied (0), and the condition. Since C is not satisfied (0), the ACC first utilization degree Cmp1_acc becomes 0. Further, also in the above equation (18), since all the conditions A to C of the functions sum {(condition A), (condition B), (condition C)} are not satisfied, the ACC second utilization degree Cmp2_acc is also 0. Further, in the above equation (19), the function sum {(condition A), (condition B), (condition C)} does not satisfy the condition A (0), the condition B is not satisfied (0), and the condition C Since (0) is not satisfied, the LK first utilization degree Cmp1_lk becomes 0. Further, also in the above equation (20), since all the conditions A to C of the functions sum {(condition A), (condition B), (condition C)} are not satisfied, the LK second utilization degree Cmp2_lk also becomes 0. As a result, in the above equations (21) and (22), the ACC utilization Cmp_acc and the LK utilization Cmp_lk also become 0, respectively.

Further, the vehicle control device 10 executes the following processes P109-1 to P109-7 in the advice content selection process P109. For example, when the vehicle control device 10 performs the operations of the above equations (17) to (22) and then the road attribute RoadType in the previous processing cycle and the road attribute RoadType in the current processing cycle are the same. , The next process P109-1 is executed. If the road attribute RoadType in the previous processing cycle and the road attribute RoadType in the current processing cycle are different from each other, the vehicle control device 10 executes the processing P109-7 described later to reset the advice content.

(・ ・ ACC usage determination process P109-1)
For example, the vehicle control device 10 determines whether or not ACC is used in the own vehicle by the advice content determination unit 15, and if the ACC function is not used (SW_ACC = OFF), the following process P109-2 is executed. However, when the ACC function is being used (SW_ACC = ON), the process 109-3 described later is executed.

(・ ・ ACC support difficulty histogram calculation process P109-2)
For example, the vehicle control device 10 calculates a histogram about the difficulty level of driving support by ACC by the advice content determination unit 15 based on the following equation (23), and has the highest frequency class HistgTop_ACC_idx and its maximum frequency. Output HistgTop_ACC_num. After that, the vehicle control device 10 executes the process P109-4 described later.

(HistgTop_ACC_idx, HistgTop_ACC_num) =
histogram_ACC {limit (1, 7, dfclty_ACC + Cmp_acc)} ・ ・ ・ (23)

In the above equation (23), the first argument A1 and the second argument A2 of the function limit (A1, A2, A3) are numerical values for limiting the lower limit and the upper limit of the third argument A3, and the argument A3 is. , ACC Support Difficulty dfclty_ACC and ACC utilization Cmp_acc. The function limit (A1, A2, A3) outputs A1 when the third argument A3 is less than or equal to the first argument A1, and outputs A2 when the third argument A3 is greater than or equal to the second argument A2. In addition, the function histogram_ACC (A) calculates the frequency distribution of the argument A over the past 300 seconds (= 5 minutes), and outputs the highest frequency class HistgTop_ACC_idx and its highest frequency HistgTop_ACC_num.

(... Reset process P109-3)
For example, the vehicle control device 10 resets all the frequencies of each class in the frequency distribution of the difficulty of driving support by ACC for the past 5 minutes to 9 (no advice) by the advice content determination unit 15, and the next process 109 -4 is executed. Since the vehicle control device 10 of the present embodiment is mainly intended to give advice to a driver who does not have a habit of using the ADAS function, the advice is given when the driver is using the ACC function (SW_ACC = ON). Not performed.

(・ ・ LK usage determination process P109-4)
For example, the vehicle control device 10 determines whether or not LK is used in the own vehicle by the advice content determination unit 15, and if the LK function is not used (SW_LK = OFF), the following process P109-5 is executed. However, when the LK function is being used (SW_LK = ON), the process 109-6 described later is executed.

(・ ・ LK support difficulty histogram calculation process P109-5)
For example, the vehicle control device 10 calculates a histogram about the difficulty of driving support by LK based on the following equation (24) by the advice content determination unit 15, and the highest frequency class HistgTop_LK_idx and its maximum frequency HistgTop_LK_num. Is output. After that, the vehicle control device 10 executes the processing P110 of the own vehicle information.

(HistgTop_LK_idx, HistgTop_LK_num) =
histogram_LK {limit (1, 7, dfclty_LK + Cmp_lk)} ・ ・ ・ (24)

In the above equation (24), the function limit (A1, A2, A3) is the same function as the above equation (23), and when the third argument A3 is equal to or less than the first argument A1, A1 is output and the first argument is output. 3 If the argument A3 is equal to or greater than the second argument A2, A2 is output. In addition, the function histogram_LK (A) calculates the frequency distribution of the argument A over the past 300 seconds (= 5 minutes), and outputs the highest frequency class HistgTop_LK_idx and its highest frequency HistgTop_LK_num.

(... Reset process P109-6)
For example, the vehicle control device 10 resets all the frequencies of each class in the frequency distribution of the difficulty of driving support by LK for the past 5 minutes to 9 (without advice) by the advice content determination unit 15, and the vehicle information The process P110 is executed. Since the vehicle control device 10 of the present embodiment is mainly intended to give advice to a driver who does not have a habit of using the ADAS function, the advice is given when the driver is using the LK function (SW_LK = ON). Not performed.

(... Reset process P109-7)
The vehicle control device 10 has a different road attribute RoadType between the previous processing cycle and the current processing cycle, that is, when the vehicle enters the expressway from the general road, or when the vehicle returns to the general road after getting off the expressway. The frequency of each class in the frequency distribution of the difficulty of both ACC and LK driving support for the past 5 minutes is reset to 9 (without advice), and the next process P110 is executed.

(・ Processing of own vehicle information P110)
In the vehicle information processing P110, the vehicle control device 10 has, for example, the class HistgTop_ACC_idx of the highest frequency of the histogram representing the support difficulty of ACC obtained by the advice content determination unit 15 and the above equation (24). ) Refers to HistgTop_LK_idx, which is the highest frequency class in the histogram that represents the difficulty of supporting LK. Then, the vehicle control device 10 executes the following processes P110-1 to P110-4 by, for example, the advice content determination unit 15, and determines the sensor processing value and its threshold value to be used in the next processing P111.

(... 1st condition determination process P110-1)
The vehicle control device 10 determines whether or not the HistgTop_ACC_idx, which has the highest frequency of the histogram indicating the support difficulty of ACC, and the HistgTop_LK_idx, which has the highest frequency of the histogram, which represents the support difficulty of LK, satisfy the following first conditions. judge.

First condition: HistgTop_ACC_idx <HistgTop_LK_idx -1 and HistgTop_ACC_idx <5

If the first condition is not satisfied, the vehicle control device 10 executes the next process P110-2. On the other hand, when the first condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advisory function Adv as described in (a1) to (a4) below, and the conditions described later. The determination process P111 is executed.

(A1) Sensor processing value 1 = Brake operation frequency pdl_B_freq + Accelerator operation frequency pdl_A_freq,
Threshold 1 = (threshold TH_Bf + threshold TH_Af) x 1.5
(A2) Sensor processing value 2 = Brake operation strength pdl_B_press, Threshold 2 = Threshold TH_Bp / 2
(A3) Sensor processing value 3 = Steering frequency str_freq, Threshold 3 = Threshold TH_Sf × func12 (mnvr_profici_lev)
(A4) ADAS advisory function Adv = ACC

As shown in FIG. 13, the function func12 in the above (a3) has a characteristic of outputting a numerical value of 1 or more according to the driving proficiency level mnvr_profici_lev, and increases proportionally as the driving proficiency level mnvr_profici_lev increases. Output the numerical value to be. By using the function func12, it is possible to give advice according to the driver's situation.

(... 2nd condition determination process P110-2)
The vehicle control device 10 determines whether or not the HistgTop_ACC_idx, which has the highest frequency of the histogram indicating the support difficulty of ACC, and the HistgTop_LK_idx, which has the highest frequency of the histogram, which represents the support difficulty of LK, satisfy the following second conditions. judge.

Second condition: HistgTop_LK_idx <HistgTop_ACC_idx -1 and HistgTop_LK_idx <5

If the second condition is not satisfied, the vehicle control device 10 executes the next process P110-3. On the other hand, when the above second condition is satisfied, the vehicle control device 10 determines the sensor processing value and its threshold value to be used in the next processing P111, and the ADAS advisory function Adv as described in (b1) to (b4) below. Then, the process P111 described later is executed.

(B1) Sensor processing value 1 = Steering frequency str_freq, Threshold 1 = Threshold TH_Sf / 2 × func12 (mnvr_profici_lev)
(B2) Sensor processing value 2 = Steering torque str_trq, Threshold 2 = Threshold TH_Sf / 2
(B3) Sensor processing value 3 = (brake operation frequency pdl_B_freq + accelerator operation frequency pdl_A_freq),
Threshold 3 = (threshold TH_Bf + threshold TH_Af)
(B4) ADAS advisory function Adv = LK

As shown in FIG. 13, the function func12 in the above (b1) has a characteristic of outputting a numerical value of 1 or more according to the driving proficiency level mnvr_profici_lev, and increases proportionally as the driving proficiency level mnvr_profici_lev increases. Output the numerical value to be. By using the function func12, it is possible to give advice according to the driver's situation.

(... Third condition determination process P110-3)
The vehicle control device 10 determines whether or not the HistgTop_ACC_idx, which has the highest frequency of the histogram indicating the support difficulty of ACC, and the HistgTop_LK_idx, which has the highest frequency of the histogram, which represents the support difficulty of LK, satisfy the following third condition. judge.

Third condition: HistgTop_ACC_idx <5 and HistgTop_LK_idx <5

If the third condition is not satisfied, the vehicle control device 10 executes the following process P110-4. On the other hand, when the above third condition is satisfied, the vehicle control device 10 determines the sensor processing value and its threshold value to be used in the next processing P111, and the ADAS advisory function Adv as described in (c1) to (c4) below. Then, the process P111 described later is executed.

(C1) Sensor processing value 1 = (brake operation frequency pdl_B_freq + accelerator operation frequency pdl_A_freq),
Threshold 1 = (threshold TH_Bf + threshold TH_Af) x 1.5
(C2) Sensor processing value 2 = Brake operation strength pdl_B_press, Threshold 2 = Threshold TH_Bp / 2
(C3) Sensor processing value 3 = Steering frequency str_freq, Threshold 3 = Threshold TH_Sf x 2 x func12 (mnvr_profici_lev)
(C4) ADAS advisory function Adv = BOTH (ACC and LK)

As shown in FIG. 13, the function func12 in the above (c3) has a characteristic of outputting a numerical value of 1 or more according to the driving proficiency level mnvr_profici_lev, and increases proportionally as the driving proficiency level mnvr_profici_lev increases. Output the numerical value to be. By using the function func12, it is possible to give advice according to the driver's situation.

(... Advice invalid processing P110-4)
The vehicle control device 10 determines the sensor processing value and its threshold value to be used in the next processing P111, and the ADAS advisory function Adv as follows (d1) to (d4) to invalidate the advisory function, and then disables the advisory function. The process P111 is executed.

(D1) Sensor processing value 1 = Brake operation frequency pdl_B_freq, Threshold 1 = 360000 [s]
(D2) Sensor processing value 2 = Brake operation strength pdl_B_press, threshold value 2 = 0
(D3) Sensor processing value 3 = Steering frequency str_freq, Threshold 3 = 360000 [s]
(D4) ADAS advisory function Adv = NONE (disabled)

(・ Condition determination process P111)
In the condition determination P111, for example, the vehicle control device 10 has the following conditions (i) to (iii) in which the sensor processing values 1 to 3 and the threshold values 1 to 3 set in the previous processing P110 are set by the advice content determination unit 15. Is satisfied, and it is determined whether or not the elapsed time from the previous utterance of the advice satisfies the following condition (iv).

(I) Sensor processing value 1> Threshold 1
(Ii) Sensor processing value 2 <threshold value 2
(Iii) Sensor processing value 3> Threshold 3
(Iv) Elapsed time> 15 [min]

As shown in FIG. 2, when all the conditions (i) to (iv) are satisfied in the process P111 (YES), the vehicle control device 10 executes the next process P112. On the other hand, if any of the above conditions (i) to (iv) is not satisfied in the process P111 (NO), the vehicle control device 10 executes the process P115 described later.

(・ Advice utterance processing P112)
In the advice utterance process P112, for example, the vehicle control device 10 determines the advice content speech to be spoken from the vehicle-mounted speaker 5 based on the following equation (25) by the advice content determination unit 15, and responds to the determined advice content speech. The control signal is transmitted to the HMI device 4. The HMI device 4 controls the vehicle-mounted speaker 5 based on the control signal received from the vehicle control device 10, and causes the vehicle-mounted speaker 5 to utter the advice content speech.

(speech) = func13 (Adv, dfclty_ACC + Cmp_acc, dfclty_LK + Cmp_lk) ・ ・ ・ (25)

The function func13 (A1, A2, A3) in the above equation (25) has the characteristics shown in FIG. The function func13 (A1, A2, A3) has the ACC support difficulty dfclty_ACC and ACC utilization Cmp_acc of the second argument A2 when the ADAS advisory function Adv of the first argument A1 is set to "ACC". Determine the advice content speech based on the sum. Here, for example, assuming that the ACC support difficulty level is dfclty_ACC = 2 and the ACC utilization level is Cmp_acc = 0, as mentioned above, the advice content "I think it would be useful to use ACC, but would you like to use it?" Is decided. It is uttered from the vehicle-mounted speaker 5.

In addition, the function func13 (A1, A2, A3) has LK support difficulty dfclty_LK and LK utilization Cmp_lk of the third argument A3 when the ADAS advisory function Adv of the first argument A1 is set to "LK". Determine the speech content based on the sum of and. Here, for example, assuming that the LK support difficulty level dfclty_LK = 1 and the LK utilization level Cmp_lk = 0, as described above, the advice content "I recommend using LK, but do you use it?" Is decided. , Is uttered from the vehicle-mounted speaker 5.

In addition, the function func13 (A1, A2, A3) gives advice based on the lower of the second argument A2 and the third argument A3 when the ADAS advisory function Adv of the first argument A1 is set to "BOTH". Determine the content speech. Here, for example, assuming that the ACC support difficulty level dfclty_ACC = 2, the ACC utilization level Cmp_acc = 0, the LK support difficulty level dfclty_LK = 1, and the LK utilization level Cmp_lk = 0, as described above, "Use of ACC and LK". Is recommended, but do you want to use it? ”Is decided, and the in-vehicle speaker 5 speaks.

When the ADAS advisory function Adv of the first argument A1 of the function func13 (A1, A2, A3) is set to "NONE", it was set in the advisory invalidation process P110-4 in the above-mentioned process P111. Sensor processing values 1 to 3 and their thresholds 1 to 3 are used. Therefore, in the above-mentioned process P111, all of the above-mentioned conditions (a) to (d) are not satisfied (NO), and the vehicle control device 10 executes the process P115 described later. However, even if the process P112 is executed with the ADAS advisory function Adv of the first argument A1 set to "NONE" for some reason, the function func13 (A1, A2, A3) does not speak the advice content. Set.

(・ Judgment process of acceptance of advice P113)
Next, the vehicle control device 10 executes the determination process P113 for accepting advice by the driver. For example, the vehicle control device 10 controls the HMI device 4 by the ADAS setting change unit 16 and recognizes the driver's voice through the vehicle-mounted microphone 6. The vehicle control device 10 may recognize the switch operation of the driver via the HMI device 4, or may recognize the gesture of the driver taken by the in-vehicle camera.

In this process P113, the vehicle control device 10 recognizes the driver's voice and gesture, for example, for a recognition time of about 5 [s] at the longest. By limiting the recognition time of voices and gestures to a short time in this way, it is possible to prevent the driver's voices and gestures other than the response to the advice content from being erroneously recognized, and to prevent the vehicle control device 10 from malfunctioning. can do.

Further, in the process P113, the vehicle control device 10 determines whether or not the driver has accepted the advice content uttered in the previous process P112 based on the recognized driver's voice, switch operation, gesture, and the like. judge. The vehicle control device 10 executes the ADAS setting change process P114 when the confirmed driver's intention is acceptance (YES) of the advice content, and when it is not (NO), the transmission data. The preparation process P115 is executed.

(・ ADAS setting change process P114)
In the ADAS setting change process P114, the vehicle control device 10 changes the ADAS setting by, for example, the data transmission unit 17. More specifically, the vehicle control device 10 turns on the ACC, LK, or ACC and LK functions in ADAS according to the advice given in process P112, for example, as shown in FIG. As a result, the ADAS setting switches from the SW_ACC = OFF, SW_LK = OFF, or SW_ACC = OFF and SW_LK = OFF states to the SW_ACC = ON, SW_LK = ON, or SW_ACC = ON and SW_LK = ON states. .. After the end of the ADAS setting change process P114, the vehicle control device 10 executes the transmission data preparation process P115.

(・ Transmission data preparation process P115)
In the transmission data preparation process P115, for example, in order for the vehicle control device 10 to transmit various information of its own vehicle to the information processing device 20 on the cloud by the data transmission unit 17, for example, the following equation (26) Prepare the data as in (37).

use_acc = ringbuf (use_acc, last_time, SW_ACC) ・ ・ ・ (26)
userate_ACC = Σ (use_acc) / DataNumb ・ ・ ・ (27)
use_lk = ringbuf (use_lk, last_time, SW_LK) ・ ・ ・ (28)
userate_LK = Σ (use_lk) / DataNumb ・ ・ ・ (29)
lng_g_acc = ringbuf (lng_g_acc, last_time, LngG) ・ ・ ・ (30)
behavifluct_ACC = Σ (lng_g_acc) / DataNumb ・ ・ ・ (31)
lat_g_lk = ringbuf (lat_g_lk, last_time, LatG) ・ ・ ・ (32)
behavifluct_LK = Σ (lat_g_lk) / DataNumb ・ ・ ・ (33)
pdl_intvn = ringbuf {pdl_intvn, last_time, slctLow (pdl_A_freq, pdl_B_freq)}
... (34)
intrvntnfreq_ACC = Σ (pdl_intvn) / DataNumb ・ ・ ・ (35)
str_intvn = ringbuf (str_intvn, last_time, str_freq) ・ ・ ・ (36)
intrvntnfreq_LK = Σ (str_intvn) / DataNumb ・ ・ ・ (37)

The function ringbuf (A1, A2, A3) on the right side of the above equations (26), (28), (30), (32), (34), and (36) is the circular address A2 (= last_time) in the memory space A1. It is a function that rewrites the contents of. Further, on the right side of the above equations (27), (29), (31), (33), (35), and (37), the function Σ (A) is a function for obtaining the sum of each element of the memory space A. Yes, DataNumb is the number of data in the last 10 [s], and is 20 when the processing cycle Ts is 50 [ms]. Further, the function slctLow (A1, A2) in the above equation (34) is a function for selecting the smaller of A1 and A2.

Use_acc on the left side of the above equation (25) is a memory space for storing ON (= 1) or OFF (= 0) of the ACC function for the past 10 [s]. That is, in equation (26), the contents of the circular address last_time of the memory space use_acc that stores the ON (= 1) or OFF (= 0) of the ACC function for the past 10 [s] are the contents of the latest ACC valid (SW_ACC =). Indicates to rewrite to ON) or invalid (SW_ACC = OFF). Further, userate_ACC on the left side of the above equation (27) is the average usage rate of the ACC function during the past 10 [s].

Similarly, use_lk on the left side of the above equation (28) is a memory space for storing ON (= 1) or OFF (= 0) of the LK function during the past 10 [s]. That is, in equation (28), the contents of the circular address last_time of the memory space use_lk that stores the ON (= 1) or OFF (= 0) of the LK function during the past 10 [s] are the contents of the latest LK valid (SW_LK =). Indicates to rewrite to ON) or invalid (SW_LK = OFF). Further, userate_LK on the left side of the above equation (29) is the average usage rate of the LK function during the past 10 [s].

Further, lng_g_acc in the above equation (30) and lat_g_lk in the above equation (32) are memory spaces for storing the accelerations of the vehicle's longitudinal acceleration LngG and lateral acceleration LatG during the past 10 [s], respectively. That is, in the equations (30) and (32), the contents of the circular address last_time of the memory space lng_g_acc and lat_g_lk that store the front-rear acceleration LngG and the lateral acceleration LatG of the own vehicle during the past 10 [s] are described in the latest front-back acceleration LngG. , Rewrites to lateral acceleration LatG. Further, behavifluct_ACC and behavifluct_LK in the above equations (31) and (33) are average values of the front-rear acceleration LngG and the lateral acceleration LatG of the own vehicle during the past 10 [s], respectively.

Further, pdl_intvn in the above formula (34) and str_intvn in the above formula (36) are memory spaces that store the past 10 [s] minutes of the elapsed time since the last pedal operation and steering operation of the own vehicle, respectively. be. That is, the equation (34) describes the contents of the circular address last_time of the memory space pdl_intvn that stores the past 10 [s] minutes of the elapsed time since the last pedal operation, and the latest accelerator operation frequency pdl_A_freq and brake operation frequency pdl_B_freq are small. It means to rewrite to the direction. Further, the equation (36) expresses that the content of the circular address last_time of the memory space pdl_intvn that stores the past 10 [s] minutes of the elapsed time from the last steering operation is rewritten to the latest steering frequency str_freq. Further, intrvntnfreq_ACC and intrvntnfreq_LK in the above equations (35) and (37) are average values for the past 10 [s] of the elapsed time from the last pedal operation and the steering operation, respectively.

(・ Transmission permission determination process P116)
Next, the vehicle control device 10 executes the process P116 for determining whether or not various information of the own vehicle prepared in the previous process P115 can be transmitted. In this process P116, in the vehicle control device 10, for example, whether the elapsed time Te since the last transmission of various information of the own vehicle to the information processing device 20 on the cloud by the data transmission unit 17 exceeds the threshold value ThrTimeElapsed. Judge whether or not. When the elapsed time Te exceeds the threshold value ThrTimeElapsed (YES), the vehicle control device 10 executes the data transmission process P117, and when the elapsed time Te is equal to or less than the threshold value ThrTimeElapsed (NO), the past data update process P118 is performed. Run.

In the transmission permission determination process P116, the vehicle control device 10 increases the threshold value ThrTimeElapsed, for example, as the distance between the node points on the navigation map of the own vehicle becomes wider. This makes it possible to reduce the amount of communication between the vehicle control device 10 and the information processing device 20 on the cloud, for example, when the vehicle is traveling on a simple terrain such as a straight road or a highway. Become.

(・ Data transmission process P117)
Next, in the vehicle control device 10, for example, the data transmission unit 17 prepares the average usage rate userate_ACC of the ACC function, the average usage rate userate_LK of the LK function, the average value behavifluct_ACC of the front-rear acceleration LngG, and the lateral acceleration prepared in the above-mentioned process P115. Various data including the average value behavifluct_LK of the acceleration LatG, the average value intrvntnfreq_ACC of the elapsed time from the last pedal operation, and the average value intrvntnfreq_LK of the elapsed time since the last steering operation are transmitted to the information processing apparatus 20 on the cloud. After that, the vehicle control device 10 executes the past data update process P118.

(・ Update processing of past data P118)
In the past data update process P118, the vehicle control device 10 updates the circulation address last_time used in the function ringbuf (A1, A2, A3), processes between the latest 10 [s] such as the accelerator operation opening pdl_A_press, and data transmission. Various post-processing such as counting up the elapsed time Te after the end of the processing P117 is performed to end one cycle of the processing flow shown in FIG.

Hereinafter, the operation of the production method of the vehicle control device 10, the information processing device 20, and the vehicle control system 100 of the present embodiment will be described.

As described above, the vehicle control device 10 of the present embodiment is mounted on the vehicle and connected to the information processing device 20 outside the vehicle so as to be capable of information communication. The vehicle has an outside world sensor 1 that detects outside world information around the vehicle, a vehicle sensor 2 that detects vehicle information related to the running state of the vehicle, a position sensor 3 that detects the position information of the vehicle, and for vehicle driving support. It is equipped with an actuator 7 for ADAS. The vehicle control device 10 has a proficiency level processing unit 12, a support difficulty level calculation unit 13, a travel history processing unit 14, and an advice content determination unit 15. The proficiency level processing unit 12 calculates the driving tendency of the driver of the vehicle including the front-rear driving tendency LngDrv and the left-right driving tendency LatDrv, and the proficiency level including the driving proficiency level mnvr_profici_lev and the road proficiency level road_profici_lev based on the outside world information and the vehicle information. do. The support difficulty calculation unit 13 calculates the support difficulty including the ACC support difficulty dfclty_ACC and the LK support difficulty dfclty_LK based on the driving tendency and the vehicle information. The travel history processing unit 14 has the proficiency level of drivers of a plurality of vehicles from the vehicle control device 10, the intervention frequency of driving support including ACC intervention frequency IntrvntnFreq_ACC and LK intervention frequency IntrvntnFreq_LK, and the driving including ACC usage rate UseRate_ACC and LK usage rate UseRate_LK. Acquire the support usage rate and the behavior variation including ACC behavior variation BehaviFluct_ACC and LK behavior variation BehaviFluct_LK. The advice content determination unit 15 calculates the support utilization including the ACC utilization Cmp_acc and the LK utilization Cmp_lk based on the support difficulty, the driving support usage rate, the behavior fluctuation, and the intervention frequency, and as shown in FIG. Speak the content of advice based on the degree of difficulty of support and the degree of utilization of support.

With such a configuration, according to the present embodiment, it is possible to provide a vehicle control device 10 that enables a driver to use ADAS more effectively. More specifically, sensor information including external world information, vehicle information, position information, etc., and driving history including driver proficiency of multiple vehicles, frequency of intervention of driving support, driving support usage rate, behavior fluctuation, etc. Based on the information, the appropriate advice content can be spoken at the appropriate timing. In addition, by setting the advice content as a closed question that can be answered by approval and denial, the driver who is driving can easily reply, and the driving support to be executed after the reply becomes clear.

Further, in order to utter the advice content based on the support difficulty level and the support utilization level, the vehicle control device 10 of the present embodiment utters an appropriate advice content according to the running state of the vehicle for each driver at an appropriate timing. Can be done. More specifically, the drivers of multiple other vehicles also provide driving assistance, such as when the driving assistance utilization rate of multiple vehicles traveling at the driving point of the own vehicle is low and the driver's intervention frequency for driving assistance is high. We do not give advice to encourage the use of driving assistance in situations where it is not used and driving assistance cannot be used effectively. This prevents encouraging the use of driving assistance in situations where driving assistance is difficult, and makes it possible to utter advice content at an appropriate timing according to the situation.

Further, in the vehicle control device 10 of the present embodiment, the advice content determination unit 15 utters the advice content including the recommendation of driving support or the usefulness of driving support, as shown in FIG. More specifically, in the example shown in FIG. 14, the advice content determination unit 15 is "useful" and "a little useful" as the usefulness of the driving support, in addition to the advice content recommending the use of the driving support including ACC and LK. , "There is no merit" and so on. This enables the driver of the own vehicle to determine the use of driving assistance based on the usefulness of the driving assistance included in the advice content, and makes it possible to use ADAS more effectively.

Further, the information processing device 20 of the present embodiment is connected to the vehicle control device 10 described above so as to be capable of information communication. The information processing device 20 of the present embodiment has proficiency levels such as driving proficiency mnvr_profici_lev and road proficiency road_profici_lev, and interventions such as ACC intervention frequency IntrvntnFreq_ACC and LK intervention frequency IntrvntnFreq_LK from a plurality of vehicle control devices 10 mounted on a plurality of vehicles. It collects driving history information including frequency, driving support usage rates such as ACC usage rate UseRate_ACC and LK usage rate UseRate_LK, and behavior fluctuations such as ACC behavior fluctuation BehaviFluct_ACC and LK behavior fluctuation BehaviFluct_LK.

With such a configuration, according to the present embodiment, it is possible to provide an information processing device 20 that enables a driver of a vehicle equipped with a vehicle control device 10 to use ADAS more effectively. More specifically, the information processing device 20 collects the travel history information of a plurality of vehicles from the plurality of vehicle control devices 10, so that each vehicle control device 10 can share the travel history information of the plurality of vehicles. It will be possible. As a result, the vehicle control device 10 issues advice content recommending the use of driving support at a driving point suitable for driving support based on the driving history information acquired from the information processing device 20, and the vehicle control device 10 issues a driving point unsuitable for driving support. It will be possible to avoid issuing advice that recommends the use of driving assistance. Therefore, the information processing device 20 of the present embodiment enables the driver of the vehicle equipped with the vehicle control device 10 to use ADAS more effectively.

Further, the vehicle control system 100 is a plurality of vehicle control devices 10 mounted on the plurality of vehicles, and an information processing device 20 arranged outside the plurality of vehicles and connected to the plurality of vehicle control devices 10 so as to be capable of information communication. And have. Further, the vehicle equipped with the vehicle control device 10 has an outside world sensor 1 that detects outside world information around the vehicle, a vehicle sensor 2 that detects vehicle information related to the running state of the vehicle, and a position sensor that detects the position information of the vehicle. 3 and an ADAS actuator 7 for vehicle driving support are provided. The production method of the vehicle control system 100 of the present embodiment includes the following processes executed by each vehicle control device 10. Processes P104 to P106 for calculating the driving tendency and proficiency of the driver of each vehicle based on the outside world information and the vehicle information. Process P107 for calculating the support difficulty level based on the driving tendency and vehicle information. Processes P108 to P112 of acquiring travel history information of a plurality of vehicles from the information processing device 20, calculating the support utilization degree based on the travel history information, and uttering advice contents based on the support difficulty level and the support utilization degree. Further, the production method of the vehicle control system 100 of the present embodiment includes a process P117 for collecting travel history information from a plurality of vehicle control devices 10 by the information processing device 20.

With such a configuration, according to the present embodiment, it is possible to provide a production method of the vehicle control system 100 that enables the driver of the vehicle equipped with the vehicle control device 10 to use ADAS more effectively. .. More specifically, the information processing device 20 collects the travel history information of a plurality of vehicles from the plurality of vehicle control devices 10, so that each vehicle control device 10 can share the travel history information of the plurality of vehicles. It will be possible. As a result, the vehicle control device 10 issues advice content recommending the use of driving support at a driving point suitable for driving support based on the driving history information acquired from the information processing device 20, and the vehicle control device 10 issues a driving point unsuitable for driving support. It will be possible to avoid issuing advice that recommends the use of driving assistance. Therefore, the production method of the vehicle control system 100 of the present embodiment enables the driver of the vehicle equipped with the vehicle control device 10 to use ADAS more effectively.

Further, in the production method of the vehicle control system 100 of the present embodiment, the information processing device 20 collects driving history information including the driving support usage rate, behavior fluctuation, and intervention frequency for each proficiency level, and each vehicle control device. By 10, the support utilization degree is calculated based on the driving support usage rate, behavior fluctuation, and intervention frequency. With such a configuration, according to the production method of the vehicle control system 100 of the present embodiment, appropriate advice according to the proficiency level of the driver of the vehicle equipped with the vehicle control device 10 is given, the driving support usage rate, the behavior variation, and the like. And it will be possible to provide the driver at the right time based on the frequency of intervention.

Further, in the production method of the vehicle control system 100 of the present embodiment, the advice content uttered by each vehicle control device 10 includes advice recommending the use of driving support and advice indicating the usefulness of driving support. With this configuration, as described above, the driver of the vehicle equipped with the vehicle control device 10 can determine the use of the driving support based on the usefulness of the driving support included in the advice content, which is more effective. It will be possible to use ADAS.

As described above, according to the present embodiment, there is provided a method for producing a vehicle control device 10, an information processing device 20, and a vehicle control system 100 that enable a driver to use ADAS more effectively. Can be done.

[Embodiment 2]
Next, the second embodiment of the production method of the vehicle control device, the information processing device, and the vehicle control system of the present disclosure will be described with reference to FIGS. 15 and 16 with reference to FIGS. 1 and 3 to 14. .. 15 and 16 are flow charts showing a processing flow of the vehicle control device 10 of the present embodiment.

The series of processes of the vehicle control device 10 of the present embodiment shown in FIGS. 15 and 16 provides appropriate advice according to the situation to the driver who has just started using the ADAS function, and further enhances the ADAS function. It is executed for the purpose of getting effective utilization. Hereinafter, the differences between the present embodiment and the first embodiment will be mainly described, and the same parts as those of the first embodiment of the present embodiment will be omitted as appropriate.

Each process from the vehicle information acquisition process P201 to the operation state determination process P205 shown in FIG. 15 is the same as each process from the vehicle information acquisition process P101 to the operation state determination process P105 of the first embodiment. Is. In the vehicle control device 10 of the present embodiment, in the proficiency determination process P206, as in the process P106 of the first embodiment, the driving proficiency level mnvr_profici_lev regarding the driving operation and the road proficiency level road_profici_lev regarding the experience of driving on individual roads are used. Is calculated.

Further, the vehicle control device 10 of the present embodiment uses the front-rear driving tendency LngDrv, the left-right driving tendency LatDrv, and the processing cycle Ts in the proficiency determination process P206, and is based on the following equations (38) and (39). Calculate the ACC function proficiency level ProficiLev_ACC and the LK function proficiency level ProficiLev_LK.

ProficiLev_ACC = ProficiLev_ACC + LngDrv * Ts ・ ・ ・ (38)
ProficiLev_LK = ProficiLev_LK + LatDrv * Ts ・ ・ ・ (39)

Next, the vehicle control device 10 of the present embodiment executes the same processes P207 and P208 as the support difficulty determination process P107 and the travel history selection process P108 of the above-described first embodiment. Next, the vehicle control device 10 of the present embodiment executes the ADAS function use determination process P209 as shown in FIG. In this process P209, the vehicle control device 10 determines whether or not the ADAS function of the own vehicle is used, for example, by the advice content determination unit 15.

More specifically, in the process P209, when both ACC and LK of the own vehicle are not used and SW_ACC = OFF and SW_LK = OFF (NO), the vehicle control device 10 has the advice content selection process P109 of the first embodiment. The same processes P210 to P219 as up to the past data update process P118 are executed. In the process P209, when either ACC or LK of the own vehicle is not used and SW_ACC = OFF or SW_LK = OFF (NO), the vehicle control device 10 has the advice content selection process P109 of the first embodiment in the past. The same processes P210 to P219 as up to the data update process P118 may be executed. For example, in the process P209, when both ACC and LK of the own vehicle are used and SW_ACC = ON and SW_LK = ON (YES), the vehicle control device 10 executes the following advice content selection process P220.

(・ Selection process of advice content P220)
When the vehicle control device 10 starts the advice content selection process P220, the vehicle control device 10 first executes the advice content initialization process P220-0.

(... Initialization process of advice content P220-0)
For example, the vehicle control device 10 initially uses the following equations (40) to (43) by the advice content determination unit 15 to initialize the ACC advice content adv_idx_ACC, ACC advice content adv_msg_ACC, LK advice content adv_idx_LK, and LK advice content adv_msg_LK. To become. The ACC advice number adv_idx_ACC and the ACC advice content adv_msg_ACC have a one-to-one correspondence, and the LK advice number adv_idx_LK and the LK advice content adv_msg_LK have a one-to-one correspondence.

adv_idx_ACC = 9 ・ ・ ・ (40)
adv_msg_ACC = "Do not advise" ・ ・ ・ (41)
adv_idx_LK = 9 ・ ・ ・ (42)
adv_msg_LK = "Do not advise" ... (43)

(・ ・ ACC advice content determination process P220-1)
Next, the vehicle control device 10 executes the ACC advice content determination process P220-1 by, for example, the advice content determination unit 15. In this process P220-1, the vehicle control device 10 determines whether or not the following conditions (A1) to (A3) are satisfied. The condition (A1) corresponds to the situation where more than half of the other vehicles traveling at the driving point of the own vehicle use ACC and can utilize ACC. In addition, the condition (A2) corresponds to the situation where the ACC can be used without any problem even in the own vehicle. In addition, the condition (A3) corresponds to the situation where the driver of the own vehicle is not able to utilize the ACC and is operating the brake.

(A1) ACC usage rate UseRate_ACC: 50 [%] or more, ACC intervention frequency IntrvntnFreq_ACC: 30 [s] or more (A2) ACC support difficulty dfclty_ACC: 2 or less (A3) Brake operation frequency pdl_B_freq: 10 [s] or less, collision Margin time TTC: 12 [s] or more, relative speed rVy of the preceding vehicle: 1 [m / s] or less, approaching the preceding vehicle, ACC: in use (SW_ACC = ON)

When all of the above conditions (A1) to (A3) are satisfied, the vehicle control device 10 is, for example, by the ADAS setting change unit 16, as an advice candidate, ACC advice number adv_idx_ACC = 1, ACC advice content adv_msg_ACC = "while confirming safety. , It's easier to leave it to ACC a little more, but do you want to use the guide function? ”And execute the process P220-5 described later. If at least one of the above conditions (A1) to (A3) is not satisfied, the next second ACC advice content determination process P220-2 is executed.

(・ ・ ACC advice content determination process P220-2)
In the ACC advice content determination process P220-2, the vehicle control device 10 determines whether or not the following conditions (B1) to (B3) are satisfied. The condition (B1) corresponds to a situation in which many of the other vehicles traveling at the driving point of the own vehicle do not use the ACC and cannot utilize the ACC. In addition, condition (B2) corresponds to a situation where it is difficult to use ACC even in the own vehicle. In addition, the condition (B3) corresponds to the situation where the driver of the own vehicle frequently operates the brake because the braking is insufficient only by ACC.

(B1) ACC usage rate UseRate_ACC: 30 [%] or less, ACC intervention frequency IntrvntnFreq_ACC: 10 [s] or less (B2) ACC support difficulty dfclty_ACC: 5 or more (B3) Brake operation frequency pdl_B_freq: 10 [s] or less, collision Margin time TTC: 6 [s] or less, relative speed rVy of the preceding vehicle: 1 [m / s] or more, approaching the preceding vehicle, ACC: in use (SW_ACC = ON)

When all of the above conditions (B1) to (B3) are satisfied, the vehicle control device 10 is, for example, by the ADAS setting change unit 16, as an advice candidate, ACC advice number adv_idx_ACC = 2, ACC advice content adv_msg_ACC = "ACC is useful now. I'm sorry, do you want to turn it off? ”And execute the process P220-5 described later. If at least one of the above conditions (B1) to (B3) is not satisfied, the following third ACC advice content determination process P220-3 is executed.

(・ ・ ACC advice content determination process P220-3)
In the ACC advice content determination process P220-3, the vehicle control device 10 determines whether or not the following conditions (C1) to (C3) are satisfied. The condition (C1) corresponds to the situation where more than half of the other vehicles traveling at the driving point of the own vehicle use ACC and can utilize ACC. In addition, the condition (C2) corresponds to the situation where the ACC can be used in the own vehicle. In addition, the condition (C3) corresponds to a situation in which the driver of the own vehicle wants to shorten the set inter-vehicle distance (set inter-vehicle time THW) in the ACC.

(C1) ACC usage rate UseRate_ACC: 50 [%] or more, ACC intervention frequency IntrvntnFreq_ACC: 30 [s] or more (C2) ACC support difficulty dfclty_ACC: 4 or less (C3) Accelerator operation frequency pdl_A_freq: 10 [s] or less, inter-vehicle distance Time THW: Set value> Time between actual vehicles, Relative velocity rVy of the preceding vehicle: Approaching the preceding vehicle at 1 [m / s] or less, ACC: In use (SW_ACC = ON)

When all of the above conditions (C1) to (C3) are satisfied, the vehicle control device 10 is, for example, by the ADAS setting change unit 16, as an advice candidate, ACC advice number adv_idx_ACC = 3, ACC advice content adv_msg_ACC = "shortening the set inter-vehicle distance". Do you want to do this? ”And execute the process P220-5 described later. If at least one of the above conditions (C1) to (C3) is not satisfied, the following fourth ACC advice content determination process P220-4 is executed.

(・ ・ ACC advice content determination process P220-4)
In the ACC advice content determination process P220-4, the vehicle control device 10 determines whether or not the following conditions (D1) to (D3) are satisfied. The condition (D1) corresponds to the situation where more than half of the other vehicles traveling at the driving point of the own vehicle use ACC and can utilize ACC. In addition, the condition (D2) corresponds to the situation where the ACC can be used in the own vehicle. In addition, the condition (D3) corresponds to a situation in which the driver of the own vehicle wants to extend the inter-vehicle distance (inter-vehicle time THW) in ACC.

(D1) ACC usage rate UseRate_ACC: 50 [%] or more, ACC intervention frequency IntrvntnFreq_ACC: 30 [s] or more (D2) ACC support difficulty dfclty_ACC: 4 or less (D3) Brake operation frequency pdl_B_freq: 10 [s] or less, inter-vehicle distance Time THW: Set value <Time between actual vehicles, Relative velocity rVy of the preceding vehicle: Non-approaching, ACC: In use (SW_ACC = ON)

When all of the above conditions (D1) to (D3) are satisfied, the vehicle control device 10 is, for example, by the ADAS setting change unit 16, as an advice candidate, ACC advice number adv_idx_ACC = 4, ACC advice content adv_msg_ACC = "widen the set inter-vehicle distance. Do you want to do this? ”And execute the next process P220-5. If at least one of the above conditions (D1) to (D3) is not satisfied, the following first LK advice content determination process P220-5 is executed.

(・ ・ LK advice content determination process P220-5)
Next, the vehicle control device 10 executes the LK advice content determination process P220-5 by, for example, the advice content determination unit 15. In this process P220-5, the vehicle control device 10 determines whether or not the following conditions (E1) to (E3) are satisfied. The condition (E1) corresponds to the situation where more than half of the other vehicles traveling at the driving point of the own vehicle use LK and can utilize LK. In addition, the condition (E2) corresponds to the situation where the LK can be used without any problem even in the own vehicle. In addition, the condition (E3) corresponds to the situation where the driver of the own vehicle is not able to utilize the LK and is operating the steering wheel.

(E1) LK usage rate UseRate_LK: 50 [%] or more, LK intervention frequency IntrvntnFreq_LK: 20 [s] or more (E2) LK support difficulty dfclty_LK: 2 or less (E3) Steering frequency str_freq: 10 [s] or less, horizontal position Misalignment LatErr: Within ± 0.3 [m], LK: In use (SW_LK = ON)

When all of the above conditions (E1) to (E3) are satisfied, the vehicle control device 10 is, for example, by the ADAS setting change unit 16, as advice candidates, LK advice number adv_idx_LK = 1, LK advice content adv_msg_LK = "while confirming safety. , It would be easier to leave the steering operation to LK a little more, but do you want to use the guide function? ”And execute the process P220-8 described later. If at least one of the above conditions (E1) to (E3) is not satisfied, the next second LK advice content determination process P220-6 is executed.

(・ ・ LK advice content determination process P220-6)
In the LK advice content determination process P220-6, the vehicle control device 10 determines whether or not the following conditions (F1) to (F3) are satisfied. The condition (F1) corresponds to a situation in which many of the other vehicles traveling at the driving point of the own vehicle do not use the LK and cannot utilize the LK. In addition, the condition (F2) corresponds to the situation where it is difficult to use the LK even in the own vehicle. In addition, the condition (F3) corresponds to the situation where the driver of the own vehicle frequently operates the steering wheel due to insufficient steering with LK alone.

(F1) LK usage rate UseRate_LK: 30 [%] or less, LK intervention frequency IntrvntnFreq_LK: 10 [s] or less (F2) LK support difficulty dfclty_ACC: 5 or more (F3) Steering frequency str_freq: 10 [s] or less, horizontal position Misalignment LatErr: 0.6 [m] or more, LK: In use (SW_LK = ON)

When all of the above conditions (F1) to (F3) are satisfied, the vehicle control device 10 is, for example, by the ADAS setting change unit 16, as an advice candidate, LK advice number adv_idx_LK = 2, LK advice content adv_msg_LK = "LK is useful now. I'm sorry, do you want to turn it off? ”And execute the process P220-8 described later. If at least one of the above conditions (F1) to (F3) is not satisfied, the next third LK advice content determination process P220-7 is executed.

(・ ・ LK advice content determination process P220-7)
In the LK advice content determination process P220-7, the vehicle control device 10 determines whether or not the following conditions (G1) to (G3) are satisfied. The condition (G1) corresponds to the situation where more than half of the other vehicles traveling at the driving point of the own vehicle use LK and can utilize LK. In addition, the condition (G2) corresponds to the situation where the LK can be easily used even in the own vehicle. In addition, the condition (G3) corresponds to a situation in which the driver of the own vehicle wants to drive on a driving line other than the center of the lane against the steering force controlled by the LK.

(G1) LK usage rate UseRate_LK: 50 [%] or more, LK intervention frequency IntrvntnFreq_LK: 20 [s] or more (G2) LK support difficulty dfclty_ACC: 2 or less (G3) Steering torque str_trq: ± 2 [Nm] over, LK : In use (SW_LK = ON)

When all of the above conditions (G1) to (G3) are satisfied, the vehicle control device 10 uses, for example, the ADAS setting change unit 16 to set the LK advice number adv_idx_LK = 3 and the LK advice content adv_msg_LK = "LK driving line" as advice candidates. Do you want to change it? ”And execute the next road attribute determination process P220-8. If at least one of the above conditions (G1) to (G3) is not satisfied, the state initialized by the initialization process P220-0 is maintained, and the next road attribute determination process P220-8 is executed.

(... Road attribute judgment process P220-8)
If the road attribute RoadType is different between the previous processing cycle and the current processing cycle, or if the presence / absence of LK (SW_LK = ON / OFF) is different, the vehicle control device 10 will be ACC for the past 5 minutes. The frequency of each class in the frequency distribution of the difficulty of driving support of both LKs is reset to 9 (without advice), and the processing P221 of the own vehicle information described later is executed. On the other hand, if the road attribute RoadType is the same in the previous processing cycle and the current processing cycle, and if the presence / absence of LK (SW_LK = ON / OFF) is the same, the next processing P220-9 is executed.

(・ ・ ACC advice number histogram calculation process P220-9)
The vehicle control device 10 calculates, for example, a histogram for the ACC advice number adv_idx_ACC and the LK advice number adv_idx_LK based on the following equations (44) and (45) by the advice content determination unit 15. Further, the vehicle control device 10 outputs the class HistgTop_ACC_idx and HistgTop_LK_idx of the highest frequency of those histograms and the highest frequency HistgTop_ACC_num and HistgTop_LK_num. After that, the vehicle control device 10 executes the next processing P221 of the own vehicle information.

(HistgTop_ACC_idx, HistgTop_ACC_num)
= histogram_ACC (adv_idx_ACC) ・ ・ ・ (44)
(HistgTop_LK_idx, HistgTop_LK_num) = histogram_LK (adv_idx_LK) ・ ・ ・ (45)

In the vehicle control system 100 of the present embodiment, the selection process P220 of the above-mentioned advice content is executed by the vehicle control device 10, but it can also be executed by the information processing device 20. In this case, it becomes easy to change the content of the advice according to the area where the vehicle is traveling and the current.

(・ Processing of own vehicle information P221)
In the own vehicle information processing P221, the vehicle control device 10 executes each of the following processes to set the sensor processing value, its threshold value, and the ADAS advisory function Adv.

(... Initialization process P221-0)
The vehicle control device 10 initializes the sensor processing values 1 to 3, the threshold values 1_1 to 3_1, and the threshold values 1_2 to 3_2 as shown in the following (a1) to (a4), and next is the first condition determination processing P221-1. To execute. This initialization process P221-0 is a process for preventing utterance when the conditions are not met in all the processes after the first condition determination process P221-1.

(A1) Sensor processing value 1 = 0, threshold value 1_1 = 8, threshold value 1_2 = 9
(A2) Sensor processing value 2 = 0, threshold 2_1 = 8, threshold 2_2 = 9
(A3) Sensor processing value 3 = 0, threshold value 3_1 = 8, threshold value 3_2 = 9
(A4) ADAS advisory function = ACC

(... 1st condition determination process P221-1)
The vehicle control device 10 has the following first condition: HistgTop_ACC_num, which is the highest frequency of the histogram of the ACC advice number adv_idx_ACC, HistgTop_LK_num, which is the highest frequency of the histogram of the LK advice number adv_idx_LK, and HistgTop_ACC_idx, which is the highest frequency class of the histogram of the ACC advice number adv_idx_ACC. Judge whether or not the condition is satisfied.

First condition: HistgTop_ACC_num> HistgTop_LK_num +10 and HistgTop_ACC_idx = 1

In addition, the class HistgTop_ACC_idx of the highest frequency of the histogram of ACC advice number adv_idx_ACC in the first condition is ACC advice number adv_idx_ACC = 1, and ACC advice content adv_msg_ACC = "It is easier to leave it to ACC a little more while checking safety, Do you want to use the guide function? " If the first condition is not satisfied, the vehicle control device 10 executes the next process P221-2. On the other hand, when the first condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advisory function Adv as described in (b1) to (b4) below, and the conditions described later. The determination process P222 is executed.

(B1) Sensor processing value 1 = Brake operation strength pdl_B_press,
Threshold 1_1 = 0.1 [MPa], Threshold 1_2 = 1.5 [MPa]
(B2) Sensor processing value 2 = collision margin time TTC, threshold 2_1 = 10 [s], threshold 2_2 = 9999 [s]
(B3) Sensor processing value 3 = Relative velocity rVy of the preceding vehicle, threshold value 3_1 = -1 [m / s], threshold value 3_2 = 1 [m / s]
(B4) ADAS advisory function Adv = ACC

(... 2nd condition determination process P221-2)
The vehicle control device 10 has the following second conditions: HistgTop_ACC_num, which is the highest frequency of the histogram of the ACC advisory number adv_idx_ACC, HistgTop_LK_num, which is the highest frequency of the histogram of the LK advisory number adv_idx_LK, and HistgTop_ACC_idx, which is the highest frequency class of the histogram of the ACC advisory number adv_idx_ACC. Judge whether or not the condition is satisfied.

Second condition: HistgTop_ACC_num> HistgTop_LK_num +10 and HistgTop_ACC_idx = 2

In addition, the class HistgTop_ACC_idx of the highest frequency of the histogram of ACC advice number adv_idx_ACC in the second condition is ACC advice number adv_idx_ACC = 2, and ACC advice content adv_msg_ACC = "I'm sorry that ACC is not useful now, do you want to turn it off?" It corresponds to. If the second condition is not satisfied, the vehicle control device 10 executes the next process P221-3. On the other hand, when the above second condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advisory function Adv as described in (c1) to (c4) below, and the conditions described later. The determination process P222 is executed.

(C1) Sensor processing value 1 = Brake operation strength pdl_B_press,
Threshold 1_1 = 1.5 [MPa], Threshold 1_2 = 4 [MPa]
(C2) Sensor processing value 2 = collision margin time TTC, threshold 2_1 = 2 [s], threshold 2_2 = 6 [s]
(C3) Sensor processing value 3 = Relative velocity rVy of the preceding vehicle, threshold value 3_1 = -10 [m / s], threshold value 3_2 = -1 [m / s]
(C4) ADAS advisory function Adv = ACC

(... Third condition determination process P221-3)
The vehicle control device 10 has the following third condition: HistgTop_ACC_num, which is the highest frequency of the histogram of the ACC advisory number adv_idx_ACC, HistgTop_LK_num, which is the highest frequency of the histogram of the LK advisory number adv_idx_LK, and HistgTop_ACC_idx, which is the highest frequency class of the histogram of the ACC advisory number adv_idx_ACC. Judge whether or not the condition is satisfied.

Third condition: HistgTop_ACC_num> HistgTop_LK_num +10 and HistgTop_ACC_idx = 3

In addition, the class HistgTop_ACC_idx of the highest frequency of the histogram of ACC advice number adv_idx_ACC in the third condition is ACC advice number adv_idx_ACC = 3, and it corresponds to ACC advice content adv_msg_ACC = "Do you want to shorten the set inter-vehicle distance?" .. If the third condition is not satisfied, the vehicle control device 10 executes the following process P221-4. On the other hand, when the above third condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advisory function Adv as described in (d1) to (d4) below, and the conditions described later. The determination process P222 is executed.

(D1) Sensor processing value 1 = accelerator operation opening pdl_A_press, threshold value 1_1 = 2 [%], threshold value 1_2 = 20 [%]
(D2) Sensor processing value 2 = Actual inter-vehicle time THW-Set inter-vehicle time THW,
Threshold 2_1 = -0.5 [s], Threshold 2_2 = -0.1 [s]
(D3) Sensor processing value 3 = Relative velocity rVy of the preceding vehicle, Threshold 3_1 = -0.5 [m / s], Threshold 3_2 = 0.5 [m / s]
(D4) ADAS advisory function Adv = ACC

(... 4th condition determination process P221-4)
The vehicle control device 10 has the following fourth condition: HistgTop_ACC_num, which is the highest frequency of the histogram of the ACC advisory number adv_idx_ACC, HistgTop_LK_num, which is the highest frequency of the histogram of the LK advisory number adv_idx_LK, and HistgTop_ACC_idx, which is the highest frequency class of the histogram of the ACC advisory number adv_idx_ACC. Judge whether or not the condition is satisfied.

Fourth condition: HistgTop_ACC_num> HistgTop_LK_num +10 and HistgTop_ACC_idx = 4

The class HistgTop_ACC_idx of the highest frequency of the histogram of the ACC advice number adv_idx_ACC in the fourth condition is the ACC advice number adv_idx_ACC = 4, and corresponds to the ACC advice content adv_msg_ACC = "Would you like to increase the set inter-vehicle distance?". If the fourth condition is not satisfied, the vehicle control device 10 executes the next process P221-5. On the other hand, when the above-mentioned fourth condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advisory function Adv as described in (e1) to (e4) below, and the conditions described later. The determination process P222 is executed.

(E1) Sensor processing value 1 = Brake operation strength pdl_B_press,
Threshold 1_1 = 0.1 [MPa], Threshold 1_2 = 1 [MPa]
(E2) Sensor processing value 2 = Actual inter-vehicle time THW-Set inter-vehicle time THW,
Threshold 2_1 = 0.1 [s], Threshold 2_2 = 0.5 [s]
(E3) Sensor processing value 3 = Relative velocity rVy of the preceding vehicle, Threshold 3_1 = -0.5 [m / s], Threshold 3_2 = 0.5 [m / s]
(E4) ADAS advisory function Adv = ACC

(... Fifth condition determination process P221-5)
The vehicle control device 10 has the following fifth condition: HistgTop_LK_num, which is the highest frequency of the histogram of the LK advisory number adv_idx_LK, HistgTop_ACC_num, which is the highest frequency of the histogram of the ACC advisory number adv_idx_ACC, and HistgTop_LK_idx, which is the highest frequency class of the histogram of the LK advisory number adv_idx_LK. Judge whether or not the condition is satisfied.

Fifth condition: HistgTop_LK_num> HistgTop_ACC_num +10 and HistgTop_LK_idx = 1

In addition, the class HistgTop_LK_idx of the highest frequency of the histogram of LK advice number adv_idx_LK in the 5th condition is LK advice number adv_idx_LK = 1, and LK advice content adv_msg_LK = "It is easier to leave the steering operation to LK a little more while confirming safety. However, do you want to use the guide function? " When the fifth condition is not satisfied, the vehicle control device 10 executes the next process P221-6. On the other hand, when the above-mentioned fifth condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advisory function Adv as described in (f1) to (f4) below, and the conditions described later. The determination process P222 is executed.

(F1) Sensor processing value 1 = Steering torque str_trq, Threshold 1_1 = -2 [Nm], Threshold 1_2 = 2 [Nm]
(F2) Sensor processing value 2 = lateral acceleration LatG, threshold 2_1 = -0.03 [G], threshold 2_2 = 0.03 [G]
(F3) Sensor processing value 3 = Relative velocity rVy of the preceding vehicle, Threshold 3_1 = -0.03 [m / s], Threshold 3_2 = 0.03 [m / s]
(F4) ADAS advisory function Adv = LK

(... 6th condition determination process P221-6)
The vehicle control device 10 has the following sixth condition: HistgTop_LK_num, which is the highest frequency of the histogram of the LK advisory number adv_idx_LK, HistgTop_ACC_num, which is the highest frequency of the histogram of the ACC advisory number adv_idx_ACC, and HistgTop_LK_idx, which is the highest frequency class of the histogram of the LK advisory number adv_idx_LK. Judge whether or not the condition is satisfied.

Sixth condition: HistgTop_LK_num> HistgTop_ACC_num +10 and HistgTop_LK_idx = 2

In addition, the class HistgTop_LK_idx of the highest frequency of the histogram of LK advice number adv_idx_LK in the 6th condition is LK advice number adv_idx_LK = 2, and LK advice content adv_msg_LK = "I'm sorry that LK is not useful now, do you want to turn it off?" It corresponds to. If the sixth condition is not satisfied, the vehicle control device 10 executes the next process P221-7. On the other hand, when the sixth condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advisory function Adv as described in (g1) to (g4) below, and the conditions described later. The determination process P222 is executed.

(G1) Sensor processing value 1 = Steering torque str_trq, Threshold 1_1 = 5 [Nm], Threshold 1_2 = -5 [Nm]
(G2) Sensor processing value 2 = lateral acceleration LatG, threshold 2_1 = 0.15 [G], threshold 2_2 = -0.15 [G]
(G3) Sensor processing value 3 = Relative velocity rVy of the preceding vehicle, Threshold 3_1 = 0.3 [m / s], Threshold 3_2 = -0.3 [m / s]
(G4) ADAS advisory function Adv = LK

(... 7th condition determination process P221-7)
The vehicle control device 10 has the following seventh condition: HistgTop_LK_num, which is the highest frequency of the histogram of the LK advisory number adv_idx_LK, HistgTop_ACC_num, which is the highest frequency of the histogram of the ACC advisory number adv_idx_ACC, and HistgTop_LK_idx, which is the highest frequency class of the histogram of the LK advisory number adv_idx_LK. Judge whether or not the condition is satisfied.

Seventh condition: HistgTop_LK_num> HistgTop_ACC_num +10 and HistgTop_LK_idx = 3

In addition, the class HistgTop_LK_idx of the highest frequency of the histogram of LK advice number adv_idx_LK in the 7th condition is LK advice number adv_idx_LK = 3, and corresponds to LK advice content adv_msg_LK = "Do you want to change the running line of LK?" There is. If the seventh condition is not satisfied, the vehicle control device 10 executes the next process P221-8. On the other hand, when the above seventh condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advisory function Adv as described in (h1) to (h4) below, and the conditions described later. The determination process P222 is executed.

(H1) Sensor processing value 1 = Steering torque str_trq, Threshold 1_1 = -5 [Nm], Threshold 1_2 = 5 [Nm]
(H2) Sensor processing value 2 = lateral acceleration LatG, threshold 2_1 = -0.03 [G], threshold 2_2 = 0.03 [G]
(H3) Sensor processing value 3 = Relative velocity rVy of the preceding vehicle, Threshold 3_1 = -0.03 [m / s], Threshold 3_2 = 0.03 [m / s]
(H4) ADAS advisory function Adv = LK

(... 8th condition determination process P221-8)
The vehicle control device 10 determines whether or not the HistgTop_ACC_idx of the highest frequency of the histogram of the ACC advisory number adv_idx_ACC and the HistgTop_LK_idx of the highest frequency of the histogram of the LK advisory number adv_idx_LK satisfy the following eighth condition.

Eighth condition: HistgTop_ACC_idx = 1 and HistgTop_LK_idx = 1

In addition, each class HistgTop_ACC_idx and HistgTop_LK_idx in the eighth condition are ACC advice number adv_idx_ACC = 1 and LK advice number adv_idx_LK = 1, respectively. This is ACC advice content adv_msg_ACC = "It is easier to leave the steering operation to ACC a little more while checking safety, but do you use the guide function?", LK advice content adv_msg_LK = "While checking safety, a little more It is easier to leave the steering operation to LK, but do you use the guide function? " If the eighth condition is not satisfied, the vehicle control device 10 executes the next process P221-9. On the other hand, when the above eighth condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advisory function Adv as described in (i1) to (i7) below, and the conditions described later. The determination process P222 is executed.

(I1) Sensor processing value 1 = Brake operation strength pdl_B_press,
Threshold 1_1 = 0.1 [MPa], Threshold 1_2 = 1.5 [MPa]
(I2) Sensor processing value 2 = collision margin time TTC, threshold 2_1 = 10 [s], threshold 2_2 = 9999 [s]
(I3) Sensor processing value 3 = Relative velocity rVy of the preceding vehicle, threshold value 3_1 = -1 [m / s], threshold value 3_2 = 1 [m / s]
(I4) Sensor processing value 4 = Steering torque str_trq, Threshold 4_1 = -2 [Nm], Threshold 4_2 = 2 [Nm]
(I5) Sensor processing value 5 = lateral acceleration LatG, threshold 5_1 = -0.03 [G], threshold 5_2 = 0.03 [G]
(I6) Sensor processing value 6 = Relative velocity rVy of the preceding vehicle, threshold value 6_1 = -0.03 [m / s], threshold value 6_2 = 0.03 [m / s]
(I7) ADAS advisory function Adv = BOTH (ACC and LK)

(... 9th condition determination process P221-9)
The vehicle control device 10 determines whether or not the HistgTop_ACC_idx of the highest frequency of the histogram of the ACC advisory number adv_idx_ACC and the HistgTop_LK_idx of the highest frequency of the histogram of the LK advisory number adv_idx_LK satisfy the following ninth degree.

Ninth condition: HistgTop_ACC_idx = 2 and HistgTop_LK_idx = 2

The classes HistgTop_ACC_idx and HistgTop_LK_idx in the ninth condition are ACC advice number adv_idx_ACC = 2 and LK advice number adv_idx_LK = 2, respectively. This corresponds to ACC advice content adv_msg_ACC = "I'm sorry that ACC isn't useful now, do you want to turn it off?" And LK advice content adv_msg_LK = "I'm sorry that LK isn't useful now, do you want to turn it off?" ing. If the ninth condition is not satisfied, the vehicle control device 10 executes the next process P222. On the other hand, when the ninth condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advisory function Adv as described in (j1) to (j7) below, and the conditions described later. The determination process P222 is executed.

(J1) Sensor processing value 1 = Brake operation strength pdl_B_press,
Threshold 1_1 = 1.5 [MPa], Threshold 1_2 = 4 [MPa]
(J2) Sensor processing value 2 = collision margin time TTC, threshold 2_1 = 2 [s], threshold 2_2 = 6 [s]
(J3) Sensor processing value 3 = Relative velocity rVy of the preceding vehicle, threshold value 3_1 = -10 [m / s], threshold value 3_2 = -1 [m / s]
(J4) Sensor processing value 4 = Steering torque str_trq, Threshold 4_1 = -5 [Nm], Threshold 4_2 = 5 [Nm]
(J5) Sensor processing value 5 = lateral acceleration LatG, threshold 5_1 = -0.03 [G], threshold 5_2 = 0.03 [G]
(J6) Sensor processing value 6 = Relative velocity rVy of the preceding vehicle, threshold value 6_1 = -0.03 [m / s], threshold value 6_2 = 0.03 [m / s]
(J7) ADAS advisory function Adv = BOTH (ACC and LK)

(・ Condition determination process P222)
In the condition determination process P222, for example, the vehicle control device 10 satisfies the predetermined conditions by the sensor processing values 1 to 3, the threshold values 1_1 to 3_1, and the threshold values 1_2 to 3_2 set in the previous process P221 by the advice content determination unit 15. However, it is determined whether or not the elapsed time from the previous utterance of the advice exceeds 15 [min].

More specifically, when the ADAS advisory function Adv = ACC or LK, the vehicle control device 10 determines whether or not the sensor processing values 1 to 3 satisfy each of the following conditions.

(Condition for sensor processing value 1)
When threshold value 1_1 <threshold value 1_2: sensor processing value 1> threshold value 1_1 and sensor processing value 1 <threshold value 1_2
When threshold value 1_1> threshold value 1_2: sensor processing value 1> threshold value 1_1 or sensor processing value 1 <threshold value 1_2

(Condition of sensor processing value 2)
When threshold value 2_1 <threshold value 2_2: sensor processing value 2> threshold value 2_1 and sensor processing value 2 <threshold value 2_2
When threshold value 2_1> threshold value 2_2: sensor processing value 2> threshold value 2_1 or sensor processing value 2 <threshold value 2_2

(Condition of sensor processing value 3)
When threshold value 3_1 <threshold value 3_2: sensor processing value 3> threshold value 3_1 and sensor processing value 3 <threshold value 3_2
When threshold value 3_1> threshold value 3_2: sensor processing value 3> threshold value 3_1 or sensor processing value 3 <threshold value 3_2

In the vehicle control device 10, when the sensor processing values 1 to 3 satisfy each of the above conditions and the elapsed time from the previous advice utterance exceeds 15 [min], the next advice utterance process P223. To execute. Further, in the vehicle control device 10, when the sensor processing values 1 to 3 do not satisfy any of the above conditions, or the elapsed time from the previous utterance of the advice is 15 [min] or less, the embodiment The transmission data preparation process P216 similar to the transmission data preparation process P115 of 1 is executed.

Further, when the ADAS advisory function Adv = BOTH, the vehicle control device 10 determines whether or not the sensor processing values 1 to 6 satisfy each of the following conditions.

(Condition for sensor processing value 1)
When threshold value 1_1 <threshold value 1_2: sensor processing value 1> threshold value 1_1 and sensor processing value 1 <threshold value 1_2
When threshold value 1_1> threshold value 1_2: sensor processing value 1> threshold value 1_1 or sensor processing value 1 <threshold value 1_2

(Condition of sensor processing value 2)
When threshold value 2_1 <threshold value 2_2: sensor processing value 2> threshold value 2_1 and sensor processing value 2 <threshold value 2_2
When threshold value 2_1> threshold value 2_2: sensor processing value 2> threshold value 2_1 or sensor processing value 2 <threshold value 2_2

(Condition of sensor processing value 3)
When threshold value 3_1 <threshold value 3_2: sensor processing value 3> threshold value 3_1 and sensor processing value 3 <threshold value 3_2
When threshold value 3_1> threshold value 3_2: sensor processing value 3> threshold value 3_1 or sensor processing value 3 <threshold value 3_2

(Condition of sensor processing value 4)
When threshold value 4_1 <threshold value 4_2: sensor processing value 4> threshold value 4_1 and sensor processing value 4 <threshold value 4_2
When threshold value 4_1> threshold value 4_2: sensor processing value 4> threshold value 4_1 or sensor processing value 4 <threshold value 4_2

(Condition of sensor processing value 5)
When threshold value 5_1 <threshold value 5_2: sensor processing value 5> threshold value 5_1 and sensor processing value 5 <threshold value 5_2
When threshold value 5_1> threshold value 5_2: sensor processing value 5> threshold value 5_1 or sensor processing value 5 <threshold value 5_2

(Condition of sensor processing value 6)
When threshold value 6_1 <threshold value 6_2: sensor processing value 6> threshold value 6_1 and sensor processing value 6 <threshold value 6_2
When threshold value 6_1> threshold value 6_2: sensor processing value 6> threshold value 6_1 or sensor processing value 6 <threshold value 6_2

In the vehicle control device 10, when the sensor processing values 1 to 6 satisfy each of the above conditions and the elapsed time from the previous advice utterance exceeds 15 [min], the next advice utterance process P223. To execute. Further, the vehicle control device 10 is an embodiment in which the sensor processing values 1 to 6 do not satisfy any of the above conditions, or the elapsed time from the previous utterance of the advice is 15 [min] or less. The transmission data preparation process P216 similar to the transmission data preparation process P115 of 1 is executed.

(・ Advice utterance processing P223)
In the advice speech processing P223, the vehicle control device 10 uses, for example, the ADAS advice function Adv and the highest frequency class HistgTop_ACC_idx, HistgTop_LK_idx of the histogram of the ACC advice number adv_idx_ACC and LK advice number adv_idx_LK by the advice content determination unit 15 as follows. Based on the equation (46), the advice content speech to be spoken from the vehicle-mounted speaker 5 is determined.

(speech) = (Adv, HistgTop_ACC_idx, HistgTop_LK_idx) ・ ・ ・ (46)

Here, the function speech (A1, A2, A3) outputs the speech content based on the second argument A2 when the first argument A1 = ACC, and the third argument A3 when the first argument A1 = LK. The utterance content based on is output, and when the first argument A1 = BOTH, the utterance content in which the second argument A2 and the third argument A3 are integrated is output. For example, the function speech (adv = BOTH, HistgTop_ACC_idx = 1, HistgTop_LK_idx = 1) says, "It's easier to leave the driving operation to ADAS (ACC and LK) a little more while checking the safety, but do you use the guide function? The content of the utterance is output.

Further, the vehicle control device 10 transmits a control signal according to the advice content output by the function speech (A1, A2, A3) to the HMI device 4. The HMI device 4 controls the vehicle-mounted speaker 5 based on the control signal received from the vehicle control device 10, and causes the vehicle-mounted speaker 5 to utter the advice content.

(・ Judgment process of acceptance of advice P224)
Next, the vehicle control device 10 carries out the same process P224 as the above-mentioned advice acceptance determination process P113 of the first embodiment. When the confirmed driver's intention is acceptance (YES) of the advice content, the vehicle control device 10 executes the next ADAS setting change process P225. When the confirmed driver's intention is other than acceptance of the advice content (NO), the vehicle control device 10 has the same processes P216 to P219 as those from the transmission data preparation process 115 to the past data update process P118 of the first embodiment. To execute.

(・ ADAS setting change process P225)
In the ADAS setting change process P225, the vehicle control device 10 changes the ADAS setting by, for example, the ADAS setting change unit 16. For example, in the above-mentioned process P223, when the in-vehicle speaker 5 says, "It is easier to leave the driving operation to ADAS (ACC and LK) a little more while checking the safety, but do you use the guide function?" Turns on the ADAS guide function. When this guide function is turned on, the following guide voice is uttered from the vehicle-mounted speaker 5 during system operation in the ACC and LK executed in the above-mentioned driving support execution process P203.

When the vehicle is following the preceding vehicle by ACC and braking is required more than the deceleration 0.07 [G], it is said that the vehicle will decelerate. In addition, when the vehicle is following the preceding vehicle by ACC and requires acceleration stronger than the acceleration of 0.05 [G], it is said that the vehicle will accelerate. When the LK steers more than + 0.1G (right) while maintaining the lane of the own vehicle, it is said that "turn right". When the vehicle steers more than -0.1G (left) while maintaining the lane by LK, it is said that "turn left".

Also, in the above-mentioned process P223, when the system says "ADAS (ACC and LK) are not useful now. Do you want to turn it off?" From the in-vehicle speaker 5, the ADAS control function is turned off. .. If the ADAS advisory function Adv = BOTH, speak or turn off only the applicable ACC or LK. Further, in the above-mentioned process P223, when the in-vehicle speaker 5 utters "Do you want to shorten the set inter-vehicle distance?", The set inter-vehicle time corresponding to the set inter-vehicle distance of the ACC is subtracted by 0.1s. However, from the viewpoint of preventing road rage, for example, the set inter-vehicle time is limited to 1.0 [s] or more.

Further, in the above-mentioned process P223, when the in-vehicle speaker 5 utters "Do you want to widen the set inter-vehicle distance?", The set inter-vehicle time corresponding to the set inter-vehicle distance of the ACC is added by 0.1 s. However, for example, the set inter-vehicle time is limited to 2.5 [s] or less so as not to cause stress on the following vehicle. Further, in the above-mentioned process P223, when the vehicle-mounted speaker 5 utters "Do you want to change the target line?", The target horizontal position corresponding to the target traveling line of the LK is set to the current horizontal position. However, the settable range of the target lateral position is limited to, for example, about ± 0.5 [m] in consideration of the error of the external sensor 1.

According to the production method of the vehicle control device 10, the information processing device 20, and the vehicle control system 100 of the present embodiment, the production method of the vehicle control device 10, the information processing device 20, and the vehicle control system 100 of the first embodiment described above. Can produce the same effect as. Further, according to the present embodiment, even when the ADAS function is used, appropriate advice is given according to the driving situation, the function is changed to improve usability, or the function is turned off so as not to be used. Therefore, it is possible to suppress the anaerobic condition of the driver equipped with the vehicle control device 10 toward ADAS.

[Embodiment 3]
Next, the third embodiment of the production method of the vehicle control device, the information processing device, and the vehicle control system of the present disclosure will be described with reference to FIGS. 17 and 18 with reference to FIGS. 1 and 3 to 14. .. 17 and 18 are flow charts showing a processing flow of the vehicle control device 10 of the present embodiment.

The series of processes of the vehicle control device 10 of the present embodiment shown in FIGS. 17 and 18 provides appropriate advice according to the situation to the driver who has become accustomed to the ADAS function, and makes the ADAS function more preferred by the driver. It is executed for the purpose of having you customize the setting to suit. Hereinafter, the differences between the present embodiment and the second embodiment will be mainly described, and the same parts as those of the second embodiment will be omitted as appropriate.

Each process from the own vehicle information acquisition process P301 to the operation state determination process P317 shown in FIG. 17 is the same as each process from the own vehicle information acquisition process P201 to the transmission permission determination process P217 of the above-described second embodiment. Is.

The vehicle control device 10 of the present embodiment transmits, for example, the following data to the information processing device 20 on the cloud in the data transmission process P318 shown in FIG. The vehicle control device 10 has, for example, the average usage rate userate_ACC of the ACC function, the average usage rate userate_LK of the LK function, the average value behavifluct_ACC of the front-rear acceleration LngG, the average value behavifluct_LK of the lateral acceleration LatG, and the average elapsed time since the last pedal operation. Sends various data including the value intrvntnfreq_ACC and the average value of the elapsed time since the last steering operation intrvntnfreq_LK.

As a result, if the advice is denied more than the prescribed number in the same place, when the data is stored in the information processing device 20 on the cloud, it is considered that the reliability of the data stored so far is low, and a new data is added after that. Increases the reliability weight of the data to be processed. As a result, the data stored in the information processing apparatus 20 on the cloud can be optimized, and the accuracy of advice can be further improved. After the end of the data transmission process P318, the vehicle control device 10 executes the same process P319 as the past data update process P219 of the second embodiment, and ends the process flow of one cycle.

(・ Selection process of advice content P320)
When the vehicle control device 10 starts the advice content selection process P320, it first executes the same process P320-0 as the advice content initialization process P220-0 of the second embodiment, and then determines the ACC advice content. Execute P320-1. The advice content selection process P320 of the present embodiment is different from the above-described embodiment in that the proficiency level of ACC and LK is taken into consideration and that not only the target value of the control system but also the control characteristics are changed.

(・ ・ ACC advice content determination process P320-1)
Next, the vehicle control device 10 executes the ACC advice content determination process P320-1 by, for example, the advice content determination unit 15. In this process P320-1, the vehicle control device 10 determines whether or not the following conditions (A1) to (A3) are satisfied. The condition (A1) corresponds to the situation where more than half of the other vehicles traveling at the driving point of the own vehicle use ACC and can utilize ACC. In addition, the condition (A2) corresponds to the situation where the ACC can be used without any problem even in the own vehicle. In addition, the condition (A3) corresponds to the situation where the driver of the own vehicle has little experience in using ACC and operates the brake without using ACC.

(A1) ACC usage rate UseRate_ACC: 50 [%] or more, ACC intervention frequency IntrvntnFreq_ACC: 30 [s] or more (A2) ACC support difficulty dfclty_ACC: 2 or less (A3) Brake operation frequency pdl_B_freq: 10 [s] or less, collision Margin time TTC: 12 [s] or more, relative speed rVy of the preceding vehicle rVy: 1 [m / s] or less, approaching the preceding vehicle, ACC: in use (SW_ACC = ON), ACC function proficiency ProficiLev_ACC: 7200 [s] or less

When all of the above conditions (A1) to (A3) are satisfied, the vehicle control device 10 is, for example, by the ADAS setting change unit 16, as an advice candidate, ACC advice number adv_idx_ACC = 1, ACC advice content adv_msg_ACC = "while confirming safety. , It's easier to leave it to ACC a little more, but do you want to use the guide function? ”And execute the process P320-6 described later. If at least one of the above conditions (A1) to (A3) is not satisfied, the next second ACC advice content determination process P320-2 is executed.

(・ ・ ACC advice content determination process P320-2)
In the ACC advice content determination process P320-2, the vehicle control device 10 determines whether or not the following conditions (B1) to (B3) are satisfied. The condition (B1) corresponds to a situation in which many of the other vehicles traveling at the driving point of the own vehicle do not use the ACC and cannot utilize the ACC. In addition, condition (B2) corresponds to a situation where it is difficult to use ACC even in the own vehicle. In addition, the condition (B3) corresponds to the situation where the driver of the own vehicle has less than intermediate experience in using the ACC, the braking is insufficient with the ACC alone, and the brake is operated frequently.

(B1) ACC usage rate UseRate_ACC: 30 [%] or less, ACC intervention frequency IntrvntnFreq_ACC: 10 [s] or less (B2) ACC support difficulty dfclty_ACC: 5 or more (B3) Brake operation frequency pdl_B_freq: 10 [s] or less, collision Margin time TTC: 6 [s] or less, Relative velocity rVy of the preceding vehicle: Approaching the preceding vehicle within ± 3 [m / s], ACC: In use (SW_ACC = ON), ACC function proficiency ProficiLev_ACC: 36000 [s] Less than

When all of the above conditions (B1) to (B3) are satisfied, the vehicle control device 10 is, for example, by the ADAS setting change unit 16, as an advice candidate, ACC advice number adv_idx_ACC = 2, ACC advice content adv_msg_ACC = "ACC is useful now. I'm sorry, do you want to turn it off? ”And execute the process P320-6 described later. If at least one of the above conditions (B1) to (B3) is not satisfied, the following third ACC advice content determination process P320-3 is executed.

(・ ・ ACC advice content determination process P320-3)
In the ACC advice content determination process P320-3, the vehicle control device 10 determines whether or not the following conditions (C1) to (C3) are satisfied. The condition (C1) corresponds to the situation where more than half of the other vehicles traveling at the driving point of the own vehicle use ACC and can utilize ACC. In addition, the condition (C2) corresponds to the situation where the ACC can be used in the own vehicle. In addition, the condition (C3) corresponds to a situation in which the driver of the own vehicle wants to shorten the set inter-vehicle distance (set inter-vehicle time THW) in the ACC.

(C1) ACC usage rate UseRate_ACC: 50 [%] or more, ACC intervention frequency IntrvntnFreq_ACC: 30 [s] or more (C2) ACC support difficulty dfclty_ACC: 4 or less (C3) Accelerator operation frequency pdl_A_freq: 10 [s] or less, inter-vehicle distance Time THW: Set value> Time between actual vehicles, Relative velocity rVy of the preceding vehicle: Approaching the preceding vehicle at 1 [m / s] or less, ACC: In use (SW_ACC = ON)

When all of the above conditions (C1) to (C3) are satisfied, the vehicle control device 10 is, for example, by the ADAS setting change unit 16, as an advice candidate, ACC advice number adv_idx_ACC = 3, ACC advice content adv_msg_ACC = "shortening the set inter-vehicle distance". Do you want to do this? ”And execute the process P320-6 described later. If at least one of the above conditions (C1) to (C3) is not satisfied, the following fourth ACC advice content determination process P320-4 is executed.

(・ ・ ACC advice content determination process P320-4)
In the ACC advice content determination process P320-4, the vehicle control device 10 determines whether or not the following conditions (D1) to (D3) are satisfied. The condition (D1) corresponds to the situation where more than half of the other vehicles traveling at the driving point of the own vehicle use ACC and can utilize ACC. In addition, the condition (D2) corresponds to the situation where the ACC can be used in the own vehicle. In addition, the condition (D3) corresponds to a situation in which the driver of the own vehicle wants to extend the inter-vehicle distance (inter-vehicle time THW) in ACC.

(D1) ACC usage rate UseRate_ACC: 50 [%] or more, ACC intervention frequency IntrvntnFreq_ACC: 30 [s] or more (D2) ACC support difficulty dfclty_ACC: 4 or less (D3) Brake operation frequency pdl_B_freq: 10 [s] or less, inter-vehicle distance Time THW: Set value <Time between actual vehicles, Relative velocity rVy of the preceding vehicle: Non-approaching, ACC: In use (SW_ACC = ON)

When all of the above conditions (D1) to (D3) are satisfied, the vehicle control device 10 is, for example, by the ADAS setting change unit 16, as an advice candidate, ACC advice number adv_idx_ACC = 4, ACC advice content adv_msg_ACC = "widen the set inter-vehicle distance. Do you want to do this? ”And execute the process P320-6 described later. If at least one of the above conditions (D1) to (D3) is not satisfied, the following first LK advice content determination process P320-5 is executed.

(・ ・ ACC advice content determination process P320-5)
In the ACC advice content determination process P320-5, the vehicle control device 10 determines whether or not the following conditions (E1) to (E3) are satisfied. The condition (E1) corresponds to the situation where more than half of the other vehicles traveling at the driving point of the own vehicle use ACC and can generally utilize ACC. In addition, the condition (E2) corresponds to the situation where the ACC can be used in the own vehicle. In addition, the condition (E3) corresponds to the situation where the driver of the own vehicle is seeking driving support by ACC even in the situation where a certain sudden deceleration is required.

(E1) ACC usage rate UseRate_ACC: 50 [%] or more, ACC intervention frequency IntrvntnFreq_ACC: 30 [s] or more (E2) ACC support difficulty dfclty_ACC: 4 or less (E3) Brake operation frequency pdl_B_freq: 30 [s] or more, inter-vehicle distance Time THW: Set value> Time between actual vehicles, Relative speed rVy of the preceding vehicle: Approach, ACC: In use (SW_ACC = ON), ACC function proficiency ProficiLev_ACC: 720000 [s] or higher

When all of the above conditions (E1) to (E3) are satisfied, the vehicle control device 10 uses, for example, the ADAS setting change unit 16 to set the ACC advice number adv_idx_ACC = 5 and the ACC advice content adv_msg_ACC = "ACC control characteristics" as advice candidates. Do you want to strengthen it? ”And execute the next process P320-6. If at least one of the above conditions (E1) to (E3) is not satisfied, the vehicle control device 10 maintains the initialized settings and executes the next first LK advice content determination process P320-6. do.

(・ ・ LK advice content determination process P320-6)
Next, the vehicle control device 10 executes the LK advice content determination process P320-6 by, for example, the advice content determination unit 15. In this process P320-6, the vehicle control device 10 determines whether or not the following conditions (F1) to (F3) are satisfied. The condition (F1) corresponds to the situation where more than half of the other vehicles traveling at the driving point of the own vehicle use LK and can utilize LK. In addition, the condition (F2) corresponds to the situation where the LK can be used without problems even in the own vehicle. In addition, the condition (F3) corresponds to the situation where the driver of the own vehicle has little experience in using LK and operates the steering wheel without utilizing LK.

(F1) LK usage rate UseRate_LK: 50 [%] or more, LK intervention frequency IntrvntnFreq_LK: 20 [s] or more (F2) LK support difficulty dfclty_LK: 2 or less (F3) Steering frequency str_freq: 10 [s] or less, horizontal position Misalignment LatErr: Within ± 0.3 [m], LK: In use (SW_LK = ON), LK function proficiency ProficiLev_LK: 7200 [s] or less

When all of the above conditions (F1) to (F3) are satisfied, the vehicle control device 10 is, for example, by the ADAS setting change unit 16, as an advice candidate, LK advice number adv_idx_LK = 1, LK advice content adv_msg_LK = "while confirming safety. , It would be easier to leave the steering operation to LK a little more, but do you want to use the guide function? ”And execute the process P320-10 described later. If at least one of the above conditions (F1) to (F3) is not satisfied, the next second LK advice content determination process P320-7 is executed.

(・ ・ LK advice content determination process P320-7)
In the LK advice content determination process P320-7, the vehicle control device 10 determines whether or not the following conditions (G1) to (G3) are satisfied. The condition (G1) corresponds to a situation in which many of the other vehicles traveling at the driving point of the own vehicle do not use the LK and cannot utilize the LK. In addition, the condition (G2) corresponds to the situation where it is difficult to use LK even in the own vehicle. In addition, the condition (G3) corresponds to the situation where the driver of the own vehicle has less than intermediate experience in using the LK, the steering is insufficient with the LK alone, and the steering wheel is frequently operated.

(G1) LK usage rate UseRate_LK: 30 [%] or less, LK intervention frequency IntrvntnFreq_LK: 10 [s] or less (G2) LK support difficulty dfclty_ACC: 5 or more (G3) Steering frequency str_freq: 10 [s] or less, horizontal position Misalignment LatErr: 0.6 [m] or more, LK: In use (SW_LK = ON), LK function proficiency ProficiLev_LK: 36000 [s] or less

When all of the above conditions (G1) to (G3) are satisfied, the vehicle control device 10 is, for example, by the ADAS setting change unit 16, as an advice candidate, LK advice number adv_idx_LK = 2, LK advice content adv_msg_LK = "LK is useful now. I'm sorry, do you want to turn it off? ”And execute the process P320-10 described later. If at least one of the above conditions (G1) to (G3) is not satisfied, the next third LK advice content determination process P320-8 is executed.

(・ ・ LK advice content determination process P320-8)
In the LK advice content determination process P320-8, the vehicle control device 10 determines whether or not the following conditions (H1) to (H3) are satisfied. The condition (H1) corresponds to the situation where more than half of the other vehicles traveling at the driving point of the own vehicle use LK and can utilize LK. In addition, the condition (H2) corresponds to the situation where the LK can be easily used even in the own vehicle. In addition, the condition (G3) corresponds to a situation in which the driver of the own vehicle wants to drive on a driving line other than the center of the lane against the steering force controlled by the LK.

(H1) LK usage rate UseRate_LK: 50 [%] or more, LK intervention frequency IntrvntnFreq_LK: 20 [s] or more (H2) LK support difficulty dfclty_ACC: 2 or less (H3) Steering torque str_trq: ± 2 [Nm] over, LK : In use (SW_LK = ON)

When all of the above conditions (H1) to (H3) are satisfied, the vehicle control device 10 uses, for example, the ADAS setting change unit 16 to set the LK advice number adv_idx_LK = 3 and the LK advice content adv_msg_LK = "LK traveling line" as advice candidates. Do you want to change it? ”And execute the process P320-10 described later. If at least one of the above conditions (H1) to (H3) is not satisfied, the next fourth LK advice content determination process P320-9 is executed.

(・ ・ LK advice content determination process P320-9)
In the LK advice content determination process P320-9, the vehicle control device 10 determines whether or not the following conditions (I1) to (I3) are satisfied. The condition (I1) corresponds to the situation where more than half of the other vehicles traveling at the driving point of the own vehicle use LK and can utilize LK. In addition, the condition (I2) corresponds to the situation where the LK can be easily used even in the own vehicle. In addition, condition (I3) corresponds to the situation where the driver of the own vehicle has abundant experience in using LK and is seeking driving support by LK even on a sharp curve to some extent.

(I1) LK usage rate UseRate_LK: 50 [%] or more, LK intervention frequency IntrvntnFreq_LK: 20 [s] or more (I2) LK support difficulty dfclty_ACC: 2 or less (I3) Steering frequency str_freq: 20 [s] or more, steering torque str_trq: Within ± 2 [Nm], LK: In use (SW_LK = ON), LK function proficiency ProficiLev_LK: 72000 [s] or higher

When all of the above conditions (I1) to (I3) are satisfied, the vehicle control device 10 is, for example, by the ADAS setting change unit 16, LK advice number adv_idx_LK = 4, LK advice content adv_msg_LK = "strengthen the LK control characteristics" as advice candidates. "Are you sure?" Is set, and the next road attribute determination process P320-10 is executed. If at least one of the above conditions (I1) to (I3) is not satisfied, the initialized setting is maintained and the next road attribute determination process P320-10 is executed.

(... Road attribute judgment process P320-10)
The vehicle control device 10 has different road attribute RoadTypes, different ACC usage (SW_ACC = ON / OFF), or LK usage (SW_LK =) between the previous processing cycle and the current processing cycle. If ON / OFF) is different, reset all the frequencies of each class in the frequency distribution of the difficulty of driving support for both ACC and LK for the past 5 minutes to 9 (without advice), and the vehicle information described later. Process P321 is executed.

On the other hand, if the road attribute RoadType is the same in the previous processing cycle and the current processing cycle, the presence / absence of ACC (SW_ACC = ON / OFF) is the same, and the presence / absence of LK (SW_LK = ON /). When OFF) is the same, the same process P320-11 as the ACC advisory number histogram calculation process P220-9 of the second embodiment is executed. After that, the information processing apparatus 20 executes the next processing P321 of the own vehicle information.

(・ Processing of own vehicle information P321)
In the own vehicle information processing P321, the vehicle control device 10 executes each of the following processes to set the sensor processing value, its threshold value, and the ADAS advisory function Adv.

(... Initialization process P321-0)
The vehicle control device 10 initializes the sensor processing values 1 to 3, the threshold values 1_1 to 3_1, and the threshold values 1_2 to 3_2 as shown in the following (a1) to (a4), and performs the following first condition determination processing P321-1. To execute. This initialization process P321-0 is a process for preventing utterance when all the processes after the first condition determination process P321-1 do not meet the conditions.

(A1) Sensor processing value 1 = 0, threshold value 1_1 = 8, threshold value 1_2 = 9
(A2) Sensor processing value 2 = 0, threshold 2_1 = 8, threshold 2_2 = 9
(A3) Sensor processing value 3 = 0, threshold value 3_1 = 8, threshold value 3_2 = 9
(A4) ADAS advisory function = ACC

(... 1st condition determination process P321-1)
The vehicle control device 10 has the following first condition: HistgTop_ACC_num, which is the highest frequency of the histogram of the ACC advice number adv_idx_ACC, HistgTop_LK_num, which is the highest frequency of the histogram of the LK advice number adv_idx_LK, and HistgTop_ACC_idx, which is the highest frequency class of the histogram of the ACC advice number adv_idx_ACC. Judge whether or not the condition is satisfied.

First condition: HistgTop_ACC_num> HistgTop_LK_num +10 and HistgTop_ACC_idx = 1

In addition, the class HistgTop_ACC_idx of the highest frequency of the histogram of ACC advice number adv_idx_ACC in the first condition is ACC advice number adv_idx_ACC = 1, and ACC advice content adv_msg_ACC = "It is easier to leave it to ACC a little more while checking safety, Do you want to use the guide function? " If the first condition is not satisfied, the vehicle control device 10 executes the next process P321-2. On the other hand, when the first condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advisory function Adv as described in (b1) to (b4) below, and the conditions described later. The determination process P322 is executed.

(B1) Sensor processing value 1 = Brake operation strength pdl_B_press,
Threshold 1_1 = 0.1 [MPa], Threshold 1_2 = 1.5 [MPa]
(B2) Sensor processing value 2 = collision margin time TTC, threshold 2_1 = 10 [s], threshold 2_2 = 9999 [s]
(B3) Sensor processing value 3 = Relative velocity rVy of the preceding vehicle, threshold value 3_1 = -1 [m / s], threshold value 3_2 = 1 [m / s]
(B4) ADAS advisory function Adv = ACC

(... 2nd condition determination process P321-2)
The vehicle control device 10 has the following second conditions: HistgTop_ACC_num, which is the highest frequency of the histogram of the ACC advisory number adv_idx_ACC, HistgTop_LK_num, which is the highest frequency of the histogram of the LK advisory number adv_idx_LK, and HistgTop_ACC_idx, which is the highest frequency class of the histogram of the ACC advisory number adv_idx_ACC. Judge whether or not the condition is satisfied.

Second condition: HistgTop_ACC_num> HistgTop_LK_num +10 and HistgTop_ACC_idx = 2

In addition, the class HistgTop_ACC_idx of the highest frequency of the histogram of ACC advice number adv_idx_ACC in the second condition is ACC advice number adv_idx_ACC = 2, and ACC advice content adv_msg_ACC = "I'm sorry that ACC is not useful now, do you want to turn it off?" It corresponds to. If the second condition is not satisfied, the vehicle control device 10 executes the next process P321-3. On the other hand, when the above second condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advisory function Adv as described in (c1) to (c4) below, and the conditions described later. The determination process P322 is executed.

(C1) Sensor processing value 1 = Brake operation strength pdl_B_press,
Threshold 1_1 = 1.5 [MPa], Threshold 1_2 = 4 [MPa]
(C2) Sensor processing value 2 = collision margin time TTC, threshold 2_1 = 2 [s], threshold 2_2 = 6 [s]
(C3) Sensor processing value 3 = Relative velocity rVy of the preceding vehicle, threshold value 3_1 = -10 [m / s], threshold value 3_2 = -1 [m / s]
(C4) ADAS advisory function Adv = ACC

(... Third condition determination process P321-3)
The vehicle control device 10 has the following third condition: HistgTop_ACC_num, which is the highest frequency of the histogram of the ACC advisory number adv_idx_ACC, HistgTop_LK_num, which is the highest frequency of the histogram of the LK advisory number adv_idx_LK, and HistgTop_ACC_idx, which is the highest frequency class of the histogram of the ACC advisory number adv_idx_ACC. Judge whether or not the condition is satisfied.

Third condition: HistgTop_ACC_num> HistgTop_LK_num +10 and HistgTop_ACC_idx = 3

In addition, the class HistgTop_ACC_idx of the highest frequency of the histogram of ACC advice number adv_idx_ACC in the third condition is ACC advice number adv_idx_ACC = 3, and it corresponds to ACC advice content adv_msg_ACC = "Do you want to shorten the set inter-vehicle distance?" .. If the third condition is not satisfied, the vehicle control device 10 executes the next process P321-4. On the other hand, when the above third condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advisory function Adv as described in (d1) to (d4) below, and the conditions described later. The determination process P322 is executed.

(D1) Sensor processing value 1 = accelerator operation opening pdl_A_press, threshold value 1_1 = 2 [%], threshold value 1_2 = 20 [%]
(D2) Sensor processing value 2 = Actual inter-vehicle time THW-Set inter-vehicle time THW,
Threshold 2_1 = -0.5 [s], Threshold 2_2 = -0.1 [s]
(D3) Sensor processing value 3 = Relative velocity rVy of the preceding vehicle, Threshold 3_1 = -0.5 [m / s], Threshold 3_2 = 0.5 [m / s]
(D4) ADAS advisory function Adv = ACC

(... 4th condition determination process P321-4)
The vehicle control device 10 has the following fourth condition: HistgTop_ACC_num, which is the highest frequency of the histogram of the ACC advisory number adv_idx_ACC, HistgTop_LK_num, which is the highest frequency of the histogram of the LK advisory number adv_idx_LK, and HistgTop_ACC_idx, which is the highest frequency class of the histogram of the ACC advisory number adv_idx_ACC. Judge whether or not the condition is satisfied.

Fourth condition: HistgTop_ACC_num> HistgTop_LK_num +10 and HistgTop_ACC_idx = 4

The class HistgTop_ACC_idx of the highest frequency of the histogram of the ACC advice number adv_idx_ACC in the fourth condition is the ACC advice number adv_idx_ACC = 4, and corresponds to the ACC advice content adv_msg_ACC = "Would you like to increase the set inter-vehicle distance?". If the fourth condition is not satisfied, the vehicle control device 10 executes the next process P321-5. On the other hand, when the above-mentioned fourth condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advisory function Adv as described in (e1) to (e4) below, and the conditions described later. The determination process P322 is executed.

(E1) Sensor processing value 1 = Brake operation strength pdl_B_press,
Threshold 1_1 = 0.1 [MPa], Threshold 1_2 = 1 [MPa]
(E2) Sensor processing value 2 = Actual inter-vehicle time THW-Set inter-vehicle time THW,
Threshold 2_1 = 0.1 [s], Threshold 2_2 = 0.5 [s]
(E3) Sensor processing value 3 = Relative velocity rVy of the preceding vehicle, Threshold 3_1 = -0.5 [m / s], Threshold 3_2 = 0.5 [m / s]
(E4) ADAS advisory function Adv = ACC

(... Fifth condition determination process P321-5)
The vehicle control device 10 has the following fifth condition: HistgTop_ACC_num, which is the highest frequency of the histogram of the ACC advisory number adv_idx_ACC, HistgTop_LK_num, which is the highest frequency of the histogram of the LK advisory number adv_idx_LK, and HistgTop_ACC_idx, which is the highest frequency class of the histogram of the ACC advisory number adv_idx_ACC. Judge whether or not the condition is satisfied.

Fifth condition: HistgTop_ACC_num> HistgTop_LK_num +10 and HistgTop_ACC_idx = 5

In addition, the class HistgTop_ACC_idx of the highest frequency of the histogram of ACC advice number adv_idx_ACC in the 5th condition is ACC advice number adv_idx_ACC = 5, and corresponds to ACC advice content adv_msg_ACC = "Do you want to strengthen the control characteristics of ACC?" .. If the fifth condition is not satisfied, the vehicle control device 10 executes the next process P321-6. On the other hand, when the above-mentioned fifth condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advisory function Adv as described in (f1) to (f4) below, and the conditions described later. The determination process P222 is executed.

(F1) Sensor processing value 1 = Brake operation strength pdl_B_press,
Threshold 1_1 = 0.01 [MPa], Threshold 1_2 = 0.01 [MPa]
(F2) Sensor processing value 2 = Actual inter-vehicle time THW-Set inter-vehicle time THW,
Threshold 2_1 = -1.5 [s], Threshold 2_2 = -0.5 [s]
(F3) Sensor processing value 3 = collision margin time TTC, threshold value 3_1 = 3 [s], threshold value 3_2 = 6 [s]
(F4) ADAS advisory function Adv = ACC

(... 6th condition determination process P321-6)
The vehicle control device 10 has the following sixth condition: HistgTop_LK_num, which is the highest frequency of the histogram of the LK advisory number adv_idx_LK, HistgTop_ACC_num, which is the highest frequency of the histogram of the ACC advisory number adv_idx_ACC, and HistgTop_LK_idx, which is the highest frequency class of the histogram of the LK advisory number adv_idx_LK. Judge whether or not the condition is satisfied.

Sixth condition: HistgTop_LK_num> HistgTop_ACC_num +10 and HistgTop_LK_idx = 1

In addition, the class HistgTop_LK_idx of the highest frequency of the histogram of LK advice number adv_idx_LK in the 6th condition is LK advice number adv_idx_LK = 1, and LK advice content adv_msg_LK = "It is easier to leave the steering operation to LK a little more while confirming safety. However, do you want to use the guide function? " If the sixth condition is not satisfied, the vehicle control device 10 executes the next process P321-7. On the other hand, when the sixth condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advisory function Adv as described in (g1) to (g4) below, and the conditions described later. The determination process P322 is executed.

(G1) Sensor processing value 1 = Steering torque str_trq, Threshold 1_1 = -2 [Nm], Threshold 1_2 = 2 [Nm]
(G2) Sensor processing value 2 = lateral acceleration LatG, threshold 2_1 = -0.03 [G], threshold 2_2 = 0.03 [G]
(G3) Sensor processing value 3 = Relative velocity rVy of the preceding vehicle, Threshold 3_1 = -0.03 [m / s], Threshold 3_2 = 0.03 [m / s]
(G4) ADAS advisory function Adv = LK

(... 7th condition determination process P321-7)
The vehicle control device 10 has the following seventh condition: HistgTop_LK_num, which is the highest frequency of the histogram of the LK advisory number adv_idx_LK, HistgTop_ACC_num, which is the highest frequency of the histogram of the ACC advisory number adv_idx_ACC, and HistgTop_LK_idx, which is the highest frequency class of the histogram of the LK advisory number adv_idx_LK. Judge whether or not the condition is satisfied.

Seventh condition: HistgTop_LK_num> HistgTop_ACC_num +10 and HistgTop_LK_idx = 2

In addition, the class HistgTop_LK_idx of the highest frequency of the histogram of LK advice number adv_idx_LK in the 7th condition is LK advice number adv_idx_LK = 2, and LK advice content adv_msg_LK = "I'm sorry that LK is not useful now, do you want to turn it off?" It corresponds to. If the seventh condition is not satisfied, the vehicle control device 10 executes the next process P321-8. On the other hand, when the above seventh condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advisory function Adv as described in (h1) to (h4) below, and the conditions described later. The determination process P322 is executed.

(H1) Sensor processing value 1 = Steering torque str_trq, Threshold 1_1 = 5 [Nm], Threshold 1_2 = -5 [Nm]
(H2) Sensor processing value 2 = lateral acceleration LatG, threshold 2_1 = 0.15 [G], threshold 2_2 = -0.15 [G]
(H3) Sensor processing value 3 = Relative velocity rVy of the preceding vehicle, Threshold 3_1 = 0.3 [m / s], Threshold 3_2 = -0.3 [m / s]
(H4) ADAS advisory function Adv = LK

(... 8th condition determination process P321-8)
The vehicle control device 10 has the following eighth condition: HistgTop_LK_num, which is the highest frequency of the histogram of the LK advisory number adv_idx_LK, HistgTop_ACC_num, which is the highest frequency of the histogram of the ACC advisory number adv_idx_ACC, and HistgTop_LK_idx, which is the highest frequency class of the histogram of the LK advisory number adv_idx_LK. Judge whether or not the condition is satisfied.

Eighth condition: HistgTop_LK_num> HistgTop_ACC_num +10 and HistgTop_LK_idx = 3

In addition, the class HistgTop_LK_idx of the highest frequency of the histogram of LK advice number adv_idx_LK in the 8th condition is LK advice number adv_idx_LK = 3, and corresponds to LK advice content adv_msg_LK = "Do you want to change the running line of LK?" There is. If the eighth condition is not satisfied, the vehicle control device 10 executes the next process P321-9. On the other hand, when the above eighth condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advisory function Adv as described in (i1) to (i4) below, and the conditions described later. The determination process P322 is executed.

(I1) Sensor processing value 1 = Steering torque str_trq, Threshold 1_1 = -5 [Nm], Threshold 1_2 = 5 [Nm]
(I2) Sensor processing value 2 = lateral acceleration LatG, threshold 2_1 = -0.03 [G], threshold 2_2 = 0.03 [G]
(I3) Sensor processing value 3 = Relative velocity rVy of the preceding vehicle, Threshold 3_1 = -0.03 [m / s], Threshold 3_2 = 0.03 [m / s]
(I4) ADAS advisory function Adv = LK

(... 9th condition determination process P321-9)
The vehicle control device 10 has the following ninth condition: HistgTop_LK_num, which is the highest frequency of the histogram of the LK advisory number adv_idx_LK, HistgTop_ACC_num, which is the highest frequency of the histogram of the ACC advisory number adv_idx_ACC, and HistgTop_LK_idx, which is the highest frequency class of the histogram of the LK advisory number adv_idx_LK. Judge whether or not the condition is satisfied.

Ninth condition: HistgTop_LK_num> HistgTop_ACC_num +10 and HistgTop_LK_idx = 4

In addition, the class HistgTop_LK_idx of the highest frequency of the histogram of LK advice number adv_idx_LK in the 9th condition is LK advice number adv_idx_LK = 4, and corresponds to LK advice content adv_msg_LK = "Do you want to strengthen the control characteristics of LK?" .. If the ninth condition is not satisfied, the vehicle control device 10 executes the next process P321-10. On the other hand, when the above-mentioned ninth condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advisory function Adv as described in (j1) to (j4) below, and the conditions described later. The determination process P322 is executed.

(J1) Sensor processing value 1 = Steering torque str_trq, Threshold 1_1 = -1 [Nm], Threshold 1_2 = 1 [Nm]
(J2) Sensor processing value 2 = lateral acceleration LatG, threshold 2_1 = 0.18 [G], threshold 2_2 = -0.18 [G]
(J3) Sensor processing value 3 = Relative velocity rVy of the preceding vehicle, Threshold 3_1 = -0.05 [m / s], Threshold 3_2 = 0.05 [m / s]
(J4) ADAS advisory function Adv = LK

(... 10th condition determination process P321-10)
The vehicle control device 10 determines whether or not the HistgTop_ACC_idx of the highest frequency of the histogram of the ACC advisory number adv_idx_ACC and the HistgTop_LK_idx of the highest frequency of the histogram of the LK advisory number adv_idx_LK satisfy the following tenth condition.

Tenth condition: HistgTop_ACC_idx = 1 and HistgTop_LK_idx = 1

In addition, each class HistgTop_ACC_idx and HistgTop_LK_idx in the tenth condition are ACC advice number adv_idx_ACC = 1 and LK advice number adv_idx_LK = 1, respectively. This is ACC advice content adv_msg_ACC = "It is easier to leave the steering operation to ACC a little more while checking safety, but do you use the guide function?", LK advice content adv_msg_LK = "While checking safety, a little more It is easier to leave the steering operation to LK, but do you use the guide function? " If the tenth condition is not satisfied, the vehicle control device 10 executes the next process P321-11. On the other hand, when the tenth condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advisory function Adv as described in (k1) to (k7) below, and the conditions described later. The determination process P322 is executed.

(K1) Sensor processing value 1 = Brake operation strength pdl_B_press,
Threshold 1_1 = 0.1 [MPa], Threshold 1_2 = 1.5 [MPa]
(K2) Sensor processing value 2 = collision margin time TTC, threshold 2_1 = 10 [s], threshold 2_2 = 9999 [s]
(K3) Sensor processing value 3 = Relative velocity rVy of the preceding vehicle, Threshold 3_1 = -1 [m / s], Threshold 3_2 = 1 [m / s]
(K4) Sensor processing value 4 = Steering torque str_trq, Threshold 4_1 = -2 [Nm], Threshold 4_2 = 2 [Nm]
(K5) Sensor processing value 5 = lateral acceleration LatG, threshold 5_1 = -0.03 [G], threshold 5_2 = 0.03 [G]
(K6) Sensor processing value 6 = Relative velocity rVy of the preceding vehicle, Threshold 6_1 = -0.03 [m / s], Threshold 6_2 = 0.03 [m / s]
(K7) ADAS advisory function Adv = BOTH (ACC and LK)

(... 11th condition determination process P221-11)
The vehicle control device 10 determines whether or not the HistgTop_ACC_idx of the highest frequency of the histogram of the ACC advisory number adv_idx_ACC and the HistgTop_LK_idx of the highest frequency of the histogram of the LK advisory number adv_idx_LK satisfy the following eleventh frequency.

Eleventh condition: HistgTop_ACC_idx = 2 and HistgTop_LK_idx = 2

In addition, each class HistgTop_ACC_idx and HistgTop_LK_idx in the eleventh condition are ACC advice number adv_idx_ACC = 2 and LK advice number adv_idx_LK = 2, respectively. This corresponds to ACC advice content adv_msg_ACC = "I'm sorry that ACC isn't useful now, do you want to turn it off?" And LK advice content adv_msg_LK = "I'm sorry that LK isn't useful now, do you want to turn it off?" ing. When the eleventh condition is not satisfied, the vehicle control device 10 executes the next condition determination process P322. On the other hand, when the above eleventh condition is satisfied, the vehicle control device 10 determines the sensor processing value to be used, its threshold value, and the ADAS advisory function Adv as described in (l1) to (l7) below, and the following conditions are met. The determination process P322 is executed.

(L1) Sensor processing value 1 = Brake operation strength pdl_B_press,
Threshold 1_1 = 1.5 [MPa], Threshold 1_2 = 4 [MPa]
(L2) Sensor processing value 2 = collision margin time TTC, threshold 2_1 = 2 [s], threshold 2_2 = 6 [s]
(L3) Sensor processing value 3 = Relative velocity rVy of the preceding vehicle, threshold value 3_1 = -10 [m / s], threshold value 3_2 = -1 [m / s]
(L4) Sensor processing value 4 = Steering torque str_trq, Threshold 4_1 = -5 [Nm], Threshold 4_2 = 5 [Nm]
(L5) Sensor processing value 5 = lateral acceleration LatG, threshold 5_1 = -0.03 [G], threshold 5_2 = 0.03 [G]
(L6) Sensor processing value 6 = Relative velocity rVy of the preceding vehicle, threshold value 6_1 = -0.03 [m / s], threshold value 6_2 = 0.03 [m / s]
(L7) ADAS advisory function Adv = BOTH (ACC and LK)

(・ Condition determination process P322)
The vehicle control device 10 performs the same process P322 as the condition determination process P222 of the second embodiment described above. The vehicle control device 10 executes the next advice utterance process P323 when the sensor processing values 1 to 3 satisfy each condition and the elapsed time from the previous advice utterance exceeds 15 [min]. Further, in the vehicle control device 10, when the sensor processing values 1 to 3 do not satisfy any of the conditions, or the elapsed time from the previous utterance of the advice is 15 [min] or less, the transmission data described later The preparation process P326 is executed.

Further, when the sensor processing values 1 to 6 satisfy each condition and the elapsed time from the previous advice utterance exceeds 15 [min], the vehicle control device 10 executes the next advice utterance process P323. do. Further, in the vehicle control device 10, when the sensor processing values 1 to 6 do not satisfy any of the conditions, or the elapsed time from the previous utterance of the advice is 15 [min] or less, the transmission data described later The preparation process P326 is executed.

(・ Advice utterance processing P323)
The vehicle control device 10 executes the same process P323 as the utterance process P223 of the advice of the second embodiment described above.

(・ Judgment process of acceptance of advice P324)
Next, the vehicle control device 10 carries out the same process P324 as the above-mentioned advice acceptance determination process P224 of the second embodiment. When the confirmed driver's intention is acceptance (YES) of the advice content, the vehicle control device 10 executes the next ADAS setting change process P325. When the confirmed driver's intention is other than acceptance of the advice content (NO), the vehicle control device 10 sets the driver reaction driver_reaction = 0 and executes the process P326 described later.

(・ ADAS setting change process P325)
The vehicle control device 10 changes the ADAS setting by, for example, the ADAS setting changing unit 16 in the same manner as the ADAS setting changing process P225 of the second embodiment described above. For example, in the above-mentioned process P323, when the in-vehicle speaker 5 says "Do you want to strengthen the control characteristics of ACC?", The ADAS setting change unit 16 sets the rate of change limiter on the deceleration side in ACC to the default setting. 10 [%] spread. Similarly, in the above-mentioned process P323, when the in-vehicle speaker 5 utters "Do you want to strengthen the LK control characteristics?", The ADAS setting change unit 16 sets the range of the maximum control amount of the steering control command value in the LK. Increase by 10% from the default.

(・ Preparation process for transmission data P326)
The vehicle control device 10 performs the same process P326 as the transmission data preparation process P216 of the second embodiment. For example, in order for the vehicle control device 10 to transmit various information of its own vehicle to the information processing device 20 on the cloud by the data transmission unit 17, data such as the following equations (47) to (58) are used. Prepare for.

use_acc = ringbuf (use_acc, last_time, SW_ACC) ・ ・ ・ (47)
userate_ACC = Σ (use_acc) / DataNumb ・ ・ ・ (48)
use_lk = ringbuf (use_lk, last_time, SW_LK) ・ ・ ・ (49)
userate_LK = Σ (use_lk) / DataNumb ・ ・ ・ (50)
lng_g_acc_on = ringbuf (lng_g_acc_on, last_time_on, LngG) ・ ・ ・ (51)
behavifluct_ACC = Σ (lng_g_acc_on) / DataNumb ・ ・ ・ (52)
lat_g_lk_on = ringbuf (lat_g_lk_on, last_time_on, LatG) ・ ・ ・ (53)
behavifluct_LK = Σ (lat_g_lk_on) / DataNumb ・ ・ ・ (54)
pdl_intvn_on = ringbuf {pdl_intvn_on, last_time_on,
slctLow (pdl_A_freq, pdl_B_freq)} ・ ・ ・ (55)
intrvntnfreq_ACC = Σ (pdl_intvn_on) / DataNumb ・ ・ ・ (56)
str_intvn_on = ringbuf (str_intvn_on, last_time_on, str_freq) ・ ・ ・ (57)
intrvntnfreq_LK = Σ (str_intvn_on) / DataNumb ・ ・ ・ (58)

In this embodiment, the vehicle's longitudinal acceleration LngG and lateral acceleration LatG average values behavifluct_ACC and behavifluct_LK for the past 10 [s], and the past 10 [s] minutes of the elapsed time from the last pedal operation and steering operation. The average values intrvntnfreq_ACC and intrvntnfreq_LK are divided into the case of using ADAS and the case of using negative. As a result, more accurate driving history information, that is, the experience of the ancestor can be stored in the information processing device 20 on the cloud, and more appropriate advice can be given to the driver. After the transmission data preparation process P326 is completed, the past data update process P319 is executed from the transmission permission determination process P317, and one cycle of the processing flow ends.

According to the production method of the vehicle control device 10, the information processing device 20, and the vehicle control system 100 of the present embodiment, the production method of the vehicle control device 10, the information processing device 20, and the vehicle control system 100 of the first embodiment described above. Can produce the same effect as. Further, in the present embodiment, the proficiency level for ADAS functions such as ACC and LK is considered in the above-mentioned processes P320-1, P320-2, P320-6, and P320-7. Therefore, it is possible to prevent unnecessary advice from drivers who are familiar with ADAS.

Further, the vehicle control device 10 of the present embodiment customizes the control characteristics of ADAS in the above-mentioned processes P320-5 and P320-9 in consideration of the fact that the driver becomes overconfident when he / she becomes accustomed to ADAS. Can be done. Specifically, as the driver becomes accustomed to ACC, it becomes easier to approach the preceding vehicle by leaving the braking operation to ACC even in situations where some sudden deceleration is required. In addition, as the driver becomes accustomed to LK, the lateral position shift of the vehicle traveling on the curve, which is left to LK, tends to increase. The vehicle control device 10 of the present embodiment can determine such a situation and customize the control characteristics of ADAS. Therefore, even if the driver becomes more proficient in ADAS, it becomes easier to customize to a better control state, and the driver's confidence in ADAS can be improved.

Although the embodiment of the production method of the vehicle control device, the information processing device, and the vehicle control system according to the present disclosure has been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment. , Even if there are design changes, etc. to the extent that they do not deviate from the gist of this disclosure, they are included in this disclosure. For example, in the above-described embodiment, the example in which the notification of the advice content based on the support difficulty level and the support utilization level is performed by the utterance from the speaker has been described, but the advice content is given by a method other than the utterance such as displaying on the display device. You may notify.

1 External sensor 2 Vehicle sensor 3 Position sensor 7 Actuator for ADAS 10 Vehicle control device 12 Familiarity processing unit 13 Support difficulty calculation unit 14 Travel history processing unit 15 Advice content determination unit 20 Information processing device
BehaviFluct_ACC ACC Behavior fluctuation (behavior fluctuation, driving history information)
BehaviFluct_LK LK Behavior fluctuation (behavior fluctuation, driving history information)
Cmp_acc ACC utilization (support utilization)
Cmp_lk LK utilization (support utilization)
dfclty_ACC ACC Support difficulty (support difficulty)
dfclty_LK LK Support difficulty (support difficulty)
Dist preceding vehicle distance (outside world information)
IntrvntnFreq_ACC ACC Intervention frequency (intervention frequency, driving history information)
IntrvntnFreq_LK LK Intervention frequency (intervention frequency, driving history information)
LatDrv Left / Right driving tendency (driving tendency)
LatErr Lateral misalignment (outside world information)
LatG Lateral acceleration (vehicle information)
LngDrv Front-back driving tendency (driving tendency)
mnvr_profici_lev Driving proficiency (proficiency, driving history information)
pdl_A_freq Accelerator operation frequency (vehicle information)
pdl_B_freq Brake operation frequency (vehicle information)
road_profici_lev Road proficiency (proficiency, driving history information)
THW inter-vehicle time (outside world information)
TTC collision margin time (outside world information)
UseRate_ACC ACC usage rate (driving support usage rate, driving history information)
UseRate_LK LK usage rate (driving support usage rate, driving history information)

Claims (6)

A vehicle control device mounted on a vehicle and connected to an information processing device outside the vehicle so as to be capable of information communication.
The vehicle includes an outside world sensor that detects outside world information around the vehicle, a vehicle sensor that detects vehicle information related to the running state of the vehicle, a position sensor that detects the position information of the vehicle, and driving support of the vehicle. With actuators for,
The vehicle control device is
A proficiency level processing unit that calculates the driving tendency and proficiency level of the driver of the vehicle based on the outside world information and the vehicle information.
A support difficulty calculation unit that calculates the support difficulty based on the driving tendency and the vehicle information,
A driving history processing unit that acquires the proficiency level of drivers of a plurality of vehicles, the intervention frequency of driving support, the driving support usage rate, and the behavior variation from the information processing device.
With the advice content determination unit that calculates the support utilization level based on the support difficulty level, the driving support usage rate, the behavior fluctuation, and the intervention frequency, and notifies the advice content based on the support difficulty level and the support utilization level. A vehicle control device characterized by having. The vehicle control device according to claim 1, wherein the advice content determination unit notifies the advice content including the recommendation of the driving support or the usefulness of the driving support. An information processing device connected to the vehicle control device according to claim 1 so as to be capable of information communication.
An information processing device for collecting travel history information including the proficiency level, the intervention frequency, the driving support usage rate, and the behavior variation from a plurality of vehicle control devices mounted on the plurality of vehicles. It is a production method of a vehicle control system.
The vehicle control system includes a plurality of vehicle control devices mounted on the plurality of vehicles, and an information processing device arranged outside the plurality of vehicles and connected to the plurality of vehicle control devices so as to be capable of information communication. ,
The vehicle includes an outside world sensor that detects outside world information around the vehicle, a vehicle sensor that detects vehicle information related to the running state of the vehicle, a position sensor that detects the position information of the vehicle, and driving support of the vehicle. With actuators for,
The production method of the vehicle control system is as follows.
Each vehicle control device calculates the driving tendency and proficiency of the driver of each vehicle based on the outside world information and the vehicle information, and calculates the support difficulty level based on the driving tendency and the vehicle information. , A process of acquiring travel history information of a plurality of the vehicles from the information processing device, calculating the support utilization degree based on the travel history information, and notifying the support difficulty level and the advice content based on the support utilization degree. ,
A method for producing a vehicle control system, which comprises a process of collecting travel history information from a plurality of vehicle control devices by the information processing device. The information processing device collects the driving history information including the driving support usage rate, behavior fluctuation, and intervention frequency for each proficiency level.
The method for producing a vehicle control system according to claim 4, wherein each of the vehicle control devices calculates the support utilization degree based on the driving support usage rate, the behavior variation, and the intervention frequency. The vehicle control system according to claim 4, wherein the advice content notified by each of the vehicle control devices includes advice recommending the use of the driving support and advice indicating the usefulness of the driving support. Production method.

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