Using driver assistance to detect and address aberrant driver behavior

A control system for a vehicle, the control system comprising:

• memory configured to store a behavior model;
• and
• one or more processors operatively coupled to the memory, the one or more processors being configured to:
• perform state tracking of driving actions performed by a driver of the vehicle while the vehicle travels over a given distance;
• receive sensor information from a perception system, the sensor information including information associated with an external environment of the vehicle;
• maintain a driving log based on the state tracking of driving actions and the sensor information, the driving log indicating each time one of the driving actions performed by the driver falls outside of a threshold range and each time the driver fails to perform a driving action;
• determine, based on the driving log, whether the driver's behavior is aberrant;
• and
• when the driver's behavior is determined to be aberrant,
• control the vehicle to perform one or more actions while operating in a semi-autonomous driving mode.