JP2017109666A - Automatic driving control device and automatic driving control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic operation control device and an automatic operation control method capable of prompting a driver to easily switch from an automatic operation mode to a manual operation mode. SOLUTION: An automatic driving controller 4 switches to a manual driving mode in which when a driver performs a driving operation during an automatic driving mode in which the host vehicle automatically travels along a recommended route, the host vehicle travels according to the driving operation. In conjunction with the driving mode switching unit 4a for switching, the navigation system 2 for guiding the driver including the route change guidance such as the display of the turn-by-turn screen 24 according to the recommended route, and the route changing guidance in the automatic driving mode. An operation mode switching promotion unit 4b that prompts the driver to switch to the manual operation mode. [Selection] Figure 1

Description

  The present invention relates to an automatic operation control device and an automatic operation control method.

  In the conventional automatic operation control device, when the driver performs a driving operation during the automatic operation mode, the operation mode is switched to the manual operation mode. An example related to the technique described above is described in Patent Document 1.

Japanese Unexamined Patent Publication No. 2000-276690

The course change by automatic driving is technically difficult, and there are cases where it is difficult to continue automatic driving, so switching to the manual driving mode may be necessary. For this reason, there is a need for prompting the driver to easily switch from the automatic operation mode to the manual operation mode.
An object of the present invention is to provide an automatic operation control device and an automatic operation control method that can prompt the driver to easily switch from the automatic operation mode to the manual operation mode.

  In the present invention, the driver is prompted to switch to the manual operation mode in conjunction with the course change guidance during the automatic operation mode.

  Therefore, it is possible to prompt the driver to easily switch from the automatic operation mode to the manual operation mode.

It is a block diagram of the automatic driving | operation control apparatus of Example 1. FIG. 1 is a configuration diagram of a navigation system 2 of Example 1. FIG. 4 is an example of a map screen 22 displayed on the display device 15 by the navigation system 2. 4 is an example of a turn-by-turn screen 24 displayed on the display device 15 by the navigation system 2. FIG. 3 is a flowchart illustrating a task flow related to automatic driving according to the first embodiment. 3 is a flowchart illustrating a task flow related to traveling mode switching according to the first exemplary embodiment. It is a flowchart which shows the flow of the task regarding driving mode switching of Example 1 and Example 2. FIG. It is a time chart which shows operation | movement of the task regarding the driving mode switching of Example 1 at the time of making a left turn at the intersection from the state which drive | works the left turn lane in automatic driving mode. It is a time chart which shows the operation | movement of the task regarding driving mode switching of Example 1 at the time of turning left at an intersection from the state which drive | works the straight lane in automatic driving mode. 10 is a flowchart illustrating a task flow regarding travel mode switching according to the second and third embodiments. 10 is a flowchart illustrating a task flow regarding travel mode switching according to the second and third embodiments. 12 is a flowchart illustrating a flow of tasks related to traveling mode switching according to the third embodiment.

[Example 1]
[Automatic operation control device]
FIG. 1 is a configuration diagram of the automatic operation control apparatus according to the first embodiment.
The automatic operation control apparatus of Embodiment 1 is mounted on a vehicle that uses an engine as a power source. The external environment recognition device 1 recognizes the surrounding environment (road shape, white lines, obstacles, etc.) of the vehicle from a camera, a laser radar, or the like mounted on the vehicle. The navigation system (route guidance unit) 2 sets a recommended route (target route) from the current position of the vehicle to the destination set by the driver, and provides route guidance to the driver. Details will be described later. The own vehicle behavior detection device 3 includes a steering angle sensor that detects a steering angle of a front wheel, a vehicle speed sensor that detects a vehicle speed, a lateral G sensor that detects a lateral G, a yaw rate sensor that detects a yaw rate, and a turn signal. Detect car behavior. The automatic operation controller 4 sets the traveling mode to the automatic operation mode when a predetermined automatic operation start condition including selection of automatic operation by the driver (for example, automatic operation selection button ON) is satisfied. The automatic operation control controller 4 performs steering control and vehicle speed control so that the host vehicle automatically travels based on the recommended route regardless of the driver's driving operation (handle operation, pedal operation) during the automatic driving mode. Specifically, the automatic operation controller 4 calculates the target rudder angle of the front wheel in the steering control based on the surrounding environment of the own vehicle and the behavior of the own vehicle during the automatic operation mode, and the target rudder of the own vehicle in the vehicle speed control. Calculate the corner. The steering control device 5 drives the steering device 8 that steers the front wheels so that the steering angle of the front wheels becomes the target steering angle. The throttle control device 6 drives a throttle device 9 that opens and closes the throttle valve so that the vehicle speed of the host vehicle becomes the target vehicle speed. The brake control device 7 drives the brake device 10 that applies a braking force to each wheel so that the vehicle speed of the host vehicle becomes the target vehicle speed. The HUD device 11 displays vehicle information such as the vehicle speed and route guidance of the navigation system 2 as a virtual image on the front window of the own vehicle. The voice utterance device 12 utters various alarms, route guidance of the navigation system 2 and the like as synthesized speech. The alarm device 13 emits an alarm sound and performs various alarms. The steering vibration device 14 performs various alarms by vibrating the steering wheel.
When the driver's driving operation (handle operation or pedal operation, hereinafter also referred to as override) is detected during the automatic driving mode, the automatic driving controller 4 changes the driving mode from the automatic driving mode to the manual driving mode. Switch. Hereinafter, switching from the automatic operation mode to the manual operation mode is also referred to as “automatic → manual mode switching”, and switching from the manual operation mode to the automatic operation mode is also referred to as “manual → automatic mode switching”. In the manual driving mode, the vehicle is controlled in accordance with the driving operation of the driver, as in the case of normal driving where the driver does not select automatic driving. In addition, the automatic operation controller 4 performs manual ⇒ automatic mode switching when the automatic operation start condition is satisfied during the manual operation mode.

[Navigation system]
FIG. 2 is a configuration diagram of the navigation system 2 according to the first embodiment.
The beacon receiving device 2a acquires traffic information from radio waves or optical beacons.
The GPS receiver 2b receives the longitude / latitude of the vehicle from a plurality of satellites (GPS satellites). The map information storage device 2c stores road map information (node and link information to which road attributes are assigned). The information held by the node includes the name of the intersection (kanji / reading) and the presence / absence of a traffic light. The information held by the link is the type of link (the “main link” that represents the main road section, the “link link” for connecting the main roads such as highways, JCT, and the intersection of ordinary roads. “Links within the intersection”, etc.), road type, road manager (country / prefecture / city / city), road width, number of lanes, road name, road number (eg national highway □), traffic regulation (one side) Such as traffic / prohibited traffic), VICS (Vehicle Information and Communication System: registered trademark) information, speed limit (maximum speed), etc. The external storage device 2d stores information related to the state of the vehicle. The operation input device 2e is, for example, a touch panel or a switch, and is operated when the driver inputs a destination or changes a display.
The navigation controller 2f performs various processes for providing route guidance to the driver. For example, as shown in FIG. 3, the current position of the own vehicle is detected from the longitude / latitude of the own vehicle and road map information, the road map around the own vehicle is developed in graphics, and a mark 21 indicating the current position is overlaid. The map screen 22 is displayed on the display device 15 as a normal screen of the navigation screen. When the GPS receiver 2b cannot receive the longitude / latitude of the host vehicle, the current position is estimated by dead reckoning from the behavior of the host vehicle input from the host vehicle behavior detection device 3. The display device 15 is, for example, a liquid crystal display or an organic EL display. In addition, the navigation controller searches for an optimal recommended route 23 that connects the current position and the destination in consideration of traffic information, etc., and displays the recommended route superimposed on the map screen 22 as well as display and audio output by the display device 15. The driver is guided using the utterance by the device 16. The voice utterance device 12 may be used as the voice output device 16.
Furthermore, the navigation controller 2f displays a navigation screen as shown in FIG. 4 until the branch exits when the distance to the branch (intersection, etc.) that the vehicle is to change its course is below a predetermined turn-by-turn display threshold. The turn-by-turn screen 24 is displayed, and the route change is urged by using the speech by the audio output device 16 (route change guidance). The turn-by-turn is a type of user interface of the navigation system 2 and is a display method that displays a traveling direction at an intersection or the like by voice or an arrow icon. The turn-by-turn screen 24 displays a map screen 25 from the current position to the branch, a mark 26 indicating the current position, an arrow 27 indicating the course direction, and a memory 28 indicating the distance to the branch. The turn-by-turn screen 24 may be displayed on the front window using the HUD device 11.
The automatic driving information output device 17 outputs, as navigation information, information held by each node and each link in the recommended route, and display start and end timing of the turn-by-turn screen 24 to a CAN communication line (not shown).

[About partially automated driving]
The automatic driving according to the first embodiment is a partial automatic driving that performs only a monotonous road on the recommended route. In automatic driving, the vehicle is maintained at the approximate center of the lane (running lane) while maintaining the distance from the preceding vehicle as appropriate, and obstacle avoidance (passing through, overtaking) is performed if necessary. Here, when all the recommended routes are set to automatic operation, the number of sensors is increased and control is complicated. There are also cases where automatic driving is difficult. Therefore, automatic driving is limited to monotonous roads and the number of sensors is reduced compared to the case of automatic driving all recommended routes by leaving the driver to change the course when turning left or right at the intersection. Cost reduction and safety improvement by reduction and simplification of control can be realized. In general, most of the total operation time (about 90%) is a monotonous road, and the time taken by the course change is very small (about 10%). For this reason, even when automatic driving is limited to road driving only, most of the total driving time can be covered, and the convenience of automatic driving is not significantly impaired.
In the partial automatic operation, the automatic ⇒ manual mode switching is performed at the timing when the driver override is detected. As a result, the driver can perform automatic ⇒ manual mode switching at an arbitrary timing, and the effect of avoiding the end of automatic driving at an unexpected timing of the driver can be achieved. On the other hand, the driver needs to switch from the automatic mode to the manual mode whenever the course is changed. Therefore, in a scene where a course change is required, it is necessary to prompt the driver for an override necessary for switching from automatic to manual mode in advance. Therefore, in the first embodiment, the following tasks related to automatic driving are performed with the aim of prompting the driver to easily switch the automatic mode to the manual mode. When there is no driver override at an intersection or the like, automatic driving is continued as much as possible, so that the vehicle can be stopped and lane departure can be suppressed and traffic flow is not hindered. When the vehicle deviates from the recommended route, the recommended route is reset by the navigation system 2.

[Tasks related to automatic operation]
FIG. 5 is a flowchart illustrating a flow of tasks related to automatic driving according to the first embodiment. This process is repeated in the automatic operation controller 4 at a predetermined control cycle (for example, 10 ms).
In step S1, the sensing result of the external environment recognition device 1 (the recognition result of the surrounding environment of the vehicle) is read.
In step S2, the vehicle behavior detected by the vehicle behavior detection device 3 is read.
In step S3, the navigation information output to the CAN communication line from the automatic driving information output device 17 of the navigation system 2 is read.
In step S4, a task relating to driving mode switching is executed as an interrupt process. Details will be described later.
In step S5, it is determined whether or not the travel mode is an automatic operation mode. If YES, the process proceeds to step S6. If NO, the process proceeds to step S7.
In step S6, control calculation for automatic operation is performed. That is, a target rudder angle and a target vehicle speed for automatically driving the vehicle based on the recommended route are calculated, the steering device 8 is driven according to the target rudder angle, and the throttle device 9 and the brake device 10 according to the target vehicle speed. Drive.
In step S7, a failure or the like is diagnosed.

[Tasks related to driving mode switching]
6 and 7 are flowcharts illustrating a task flow relating to the traveling mode switching according to the first embodiment. The automatic operation control controller 4 includes an operation mode switching unit 4a and an operation mode switching promotion unit 4b as configurations for performing the following tasks.
In step S11, the operation mode switching unit 4a determines whether or not the automatic driving system is ON, that is, whether or not the driver has selected automatic driving. If YES, the process proceeds to step S13. If NO, the process proceeds to step S13.
In step S12, the operation mode switching unit 4a sets the travel mode to the manual operation mode and ends the task.
In step S13, the operation mode switching unit 4a determines whether or not the travel mode in the previous control cycle was the automatic operation mode. If YES, the process proceeds to step S15. If NO, the process proceeds to step S14.
In step S14, in the operation mode switching unit 4a, the traveling mode is set to the automatic operation mode when all of the following four conditions that are the automatic operation start conditions are satisfied, and otherwise, the task is terminated.
1. The display screen of navigation system 2 is the normal screen (map screen 22)
2. No override
3. External recognition device 1 is detecting a white line
4. Vehicle speed is within a predetermined range The display screen of the navigation system 2 is determined from the navigation information. Whether or not there is an override is determined from the driver's steering torque, accelerator operation amount, and brake operation amount. Whether or not a white line is being detected is determined from the sensing result. Whether the vehicle speed is within a predetermined range is determined from the behavior of the host vehicle.

In step S15, the operation mode switching promotion unit 4b determines whether or not the navigation screen is a normal screen (a state in which the map screen 22 is displayed). If YES, the process proceeds to step S16. If NO, the process proceeds to step S18.
In step S16, the operation mode switching unit 4a determines whether or not the driver has overridden. If YES, the process proceeds to step S17. If NO, the task is terminated.
In step S17, the operation mode switching unit 4a sets the travel mode to the manual operation mode and ends the task.
In step S18, the driving mode switching promotion unit 4b determines whether or not the current travel lane is a course change lane, that is, whether or not a lane change for changing the course is unnecessary. If YES, the process proceeds to step S19. If NO, the process proceeds to step S20.
In step S19, the operation mode switching promotion unit 4b determines whether or not the distance from the navigation information to the course change (branch) is a predetermined distance or less. If YES, the process proceeds to step S20. If NO, the process proceeds to step S21. Here, the predetermined distance is a distance shorter than the turn-by-turn display threshold.
In step S20, the driving mode switching promotion unit 4b prompts the driver to switch from the automatic mode to the manual mode, that is, override. Here, for example, at least one method of display by the HUD device 11 or the display device 15, utterance by the voice utterance device 12, and vibration of the steering wheel by the steering vibration device 14 is used to prompt switching to the manual operation mode.
In step S21, the operation mode switching unit 4a determines whether or not the driver has overridden. If YES, the process proceeds to step S22. If NO, the task is terminated.
In step S22, the operation mode switching unit 4a sets the travel mode to the manual operation mode and ends the task.

Next, an operation example of a task related to traveling mode switching according to the first embodiment will be described.
FIG. 8 is a time chart showing the operation of the task relating to the travel mode switching of the first embodiment when turning left at the intersection from the state of traveling in the left turn lane in the automatic operation mode.
At time t1, since the distance to the front intersection has become the turn-by-turn display threshold, the turn-by-turn screen 24 is displayed on the navigation screen. At this time, the current driving lane is a left turn lane, and the distance to the intersection is larger than the predetermined distance. Therefore, in the flowcharts of FIGS. The operation mode is continued.
At time t2, since the distance to the intersection has become a predetermined distance, the flow is S11 → S13 → S15 → S18 → S19 → S20 → S21, and the driver is prompted to switch from the automatic mode to the manual mode. Since the turn-by-turn screen 24 is displayed from before the intersection, the driver recognizes that the turn-by-turn screen 24 is displayed and that there is a branch that requires a course change (turn left). Accordingly, by prompting the driver to perform an override necessary for switching from the automatic mode to the manual mode in conjunction with the display timing of the turn-by-turn screen 24, the driver can promptly switch the automatic mode to the manual mode. At this time, if it is not necessary to change the lane to change the course, the automatic ⇒ manual mode switching is urged until just before the intersection where the course needs to be changed. Thereby, since the automatic driving is continued until just before the intersection, the automatic driving function can be used for a longer period of time and the convenience can be improved.
At time t3, since the driver has started overriding, the flow goes from S11 → S13 → S15 → S18 → S19 → S20 → S21 → S22, and automatic → manual mode switching is performed.
At time t4, the vehicle reaches the exit of the intersection, and the turn-by-turn screen 24 disappears from the navigation screen. At this time, since the driver continues overriding, the flow becomes S11 → S13 → S15 → S16 → S17, and the manual operation mode is maintained.
At time t5, since the driver override is completed, the flow goes from S11 to S13 to S14, and manual to automatic mode switching is performed.
FIG. 9 is a time chart showing the operation of the task relating to the travel mode switching of the first embodiment when turning left at the intersection from the state of traveling in the straight lane in the automatic operation mode.
At time t1, since the distance to the front intersection has become the turn-by-turn display threshold, the turn-by-turn screen 24 is displayed on the navigation screen. At this time, since the current driving lane is a straight lane, in the flowcharts of FIG. 6 and FIG. 7, the flow is S11 → S13 → S15 → S18 → S20 → S21 → S21. It is. By prompting the driver to override the automatic ⇒ manual mode switching in conjunction with the display timing of the turn-by-turn screen 24, the driver can promptly understand the automatic ⇒ manual mode switching. At this time, if it is necessary to change the lane to change the course, the automatic ⇒ manual mode switching is prompted simultaneously with the display of the turn-by-turn screen 24. Thereby, since it is possible to prompt the driver to change the lane at an early stage, the driver can change the lane with a margin.
The section from time t2 to t4 is the same as the section from time t3 to t5 in FIG.

Next, the effect will be described.
Example 1 has the following effects.
(1) An operation mode switching unit 4a that switches to a manual operation mode in which the vehicle travels according to the driving operation when the driver performs a driving operation during the automatic operation mode in which the own vehicle automatically travels along the recommended route; In accordance with the recommended route, the navigation system 2 that guides the route including the route change guidance such as the display of the turn-by-turn screen 24 to the driver, and the driver enters the manual operation mode in conjunction with the route change guidance during the automatic operation mode. An operation mode switching facilitating unit 4b that prompts switching.
Therefore, it is possible to prompt the driver to easily switch from the automatic operation mode to the manual operation mode.
(2) The automatic driving mode is a driving mode in which the vehicle is automatically driven only on a portion of the recommended route that can be driven along the road.
Therefore, compared with the case where all of the recommended routes are automatically operated, the cost can be reduced by reducing the number of sensors and simplifying the control.
(3) The driving mode switching promotion unit 4b prompts the driver to switch to the manual driving mode when the route change guidance is given.
Therefore, the driver can be more easily understood to switch from the automatic operation mode to the manual operation mode.
(4) The driving mode switching promotion unit 4b changes the timing for prompting the driver to switch to the manual driving mode depending on whether or not the lane in which the vehicle is traveling is a lane corresponding to the route change destination by the route change guidance. Make it.
Therefore, the driver can be prompted to switch to the manual operation mode at a timing according to the traveling state of the host vehicle.

[Example 2]
Next, Example 2 will be described. The task in the second embodiment is different from that in the first embodiment in terms of driving mode switching.
[Tasks related to driving mode switching]
7, 10, and 11 are flowcharts illustrating a task flow related to the traveling mode switching according to the second embodiment. In addition, the same step number is attached | subjected to the step which performs the same process as Example 1, and description is abbreviate | omitted.
In step S31, the operation mode switching unit 4a determines whether or not the system is first turned on after the ignition switch is turned on. If YES, the process proceeds to step S32. If NO, the process proceeds to step S33.
In step S32, the first counter m and the second counter n are initialized (zero cleared) in the operation mode switching promotion unit 4b.
In step S33, the operation mode switching promotion unit 4b determines whether or not the navigation screen is a course change screen, that is, whether or not the turn-by-turn screen 24 is displayed. If YES, the process proceeds to step S34, and if NO, the process proceeds to step S35.
In step S34, the operation mode switching promotion unit 4b initializes the first counter m and the second counter n, and ends the task.
In step S35, the operation mode switching unit 4a determines whether or not an indispensable condition for transitioning to the automatic operation mode is satisfied. If YES, the process proceeds to step S36, and if NO, the process proceeds to step S37. The essential conditions are the following three conditions based on the driving environment, and it is determined that the essential conditions are satisfied when all the three conditions are satisfied.
1. Road type is major national highway or highway
2. The speed limit is higher than the specified vehicle speed (eg 40km / h)
3. No traffic restrictions due to bad weather etc. The road type and speed limit are determined from the navigation information. The traffic regulation is determined from the traffic information of the beacon receiving device 2a.
In step S36, the operation mode switching unit 4a determines whether or not the recommended condition for transitioning to the automatic operation mode is satisfied (half or more). If YES, the process proceeds to step S38, and if NO, the process proceeds to step S39. The recommended conditions are the following three conditions based on the vehicle state. When two or more of the three conditions are satisfied, it is determined that the recommended conditions are satisfied.
1. The distance between your vehicle and the preceding vehicle is more than the specified distance
2. Your vehicle is in the middle of the lane
3. The driving lane is the next lane change position (for example, the right lane if the next is a right turn)
The inter-vehicle distance, the position in the lane, and the traveling lane are determined from the navigation information.
In step S37, the operation mode switching promoting unit 4b increments the second counter n (n = n + 1).
In step S38, the driving mode is set to the automatic driving mode in the driving mode switching unit 4a, and the task ends.
In step S39, the operation mode switching promoting unit 4b increments the first counter m (m = m + 1).
In step S40, the operation mode switching promotion unit 4b determines whether or not the first counter m is less than 500. If YES, the process proceeds to step S41, and if NO, the task is terminated.
In step S41, the driving mode switching promotion unit 4b prompts the driver to weaken the condition for transitioning to the automatic driving mode, and the task is terminated. Specifically, a warning sound is generated only once by the alarm device 13, and only recommended conditions that are not satisfied by the HUD device 11 or the display device 15 are displayed briefly.
In step S42, the operation mode switching promotion unit 4b determines whether or not the second counter n is less than 1,000. If YES, the process proceeds to step S43, and if NO, the task is terminated.
In step S43, the driving mode switching promotion unit 4b strongly urges the driver to satisfy the condition for transitioning to the automatic driving mode, and the task is terminated. Specifically, the alarm device 13 generates a warning sound twice, speaks only the essential conditions that are not satisfied by the voice speaking device 12, and completes only the essential conditions that are not satisfied by the HUD device 11 or the display device 15. indicate.

  In the task relating to the driving mode switching of the second embodiment, when the turn-by-turn screen 24 disappears during the manual driving mode, the driver is prompted to switch the manual mode to the automatic mode. Since the display of the turn-by-turn screen 24 disappears when exiting from a branch such as an intersection, the driver recognizes that the branch that needs to be changed is completed when the turn-by-turn screen 24 disappears. Accordingly, by prompting the driver to satisfy the conditions necessary for manual-to-automatic mode switching in conjunction with the timing when the turn-by-turn screen 24 disappears, manual-to-automatic mode switching can be urged to be easily understood by the driver. At this time, if all of the essential conditions for transitioning to the automatic operation mode are not satisfied, the driver until the second counter n reaches 1,000, that is, 10 seconds elapses after the turn-by-turn screen 24 disappears. Strongly urge you to meet all of the essential requirements. Thus, the driver can recognize the reason why manual ⇒ automatic mode switching is not performed (the driving environment in which switching to the automatic driving mode is impossible). On the other hand, if more than half of the recommended conditions for transitioning to the automatic operation mode are not satisfied, the operation is continued until the first counter m reaches 500 after the turn-by-turn screen 24 disappears, that is, until 5 seconds elapse. Encourage people to meet more than half of the recommended conditions. As a result, the driver can learn from the body how the vehicle state (the distance from the preceding vehicle, the position in the lane, the position of the traveling lane) can be switched manually to the automatic mode. In other words, you can grasp the tips for using the automatic driving function for a long time. In addition, when not satisfying more than half of the recommended conditions, the driver is weaker than when not satisfying all of the essential conditions, so that the driver is not bothered or nervous.

Next, the effect will be described.
The second embodiment has the following effects.
(5) The operation mode switching unit 4a switches to the automatic operation mode when the driver stops the operation operation or turns on the automatic operation selection button during the manual operation mode, and the operation mode switching promotion unit 4b performs the manual operation. The driver is prompted to switch to the automatic driving mode in conjunction with the end of the route change guidance in the mode.
Therefore, it is possible to prompt the driver to easily switch from the manual operation mode to the automatic operation mode.
(6) The driving mode switching promotion unit 4b prompts the driver to switch to the automatic driving mode when the course change guidance is completed.
Therefore, it is possible to prompt the driver to easily switch from the manual operation mode to the automatic operation mode.
(7) When the driver stops the driving operation during the manual operation mode, the operation mode switching unit 4a satisfies both the essential condition based on the traveling environment of the own vehicle and the recommended condition based on the traveling state of the own vehicle. Switching to the automatic driving mode, the driving mode switching promoting unit 4b changes the method for prompting the driver to switch to the automatic driving mode depending on whether only the essential conditions are satisfied or not.
Accordingly, the driver can recognize whether the reason why the switching to the automatic driving mode is impossible is in the traveling environment or the vehicle state.

Example 3
Next, Example 3 will be described. The task in the third embodiment is different from that in the first and second embodiments in terms of driving mode switching.
[Tasks related to driving mode switching]
10, FIG. 11 and FIG. 12 are flowcharts showing the flow of tasks related to the travel mode switching of the third embodiment. In addition, the same step number is attached | subjected to the step which performs the same process as Example 1 or Example 2, and description is abbreviate | omitted.
If YES in step S13, the process proceeds to step S15.
In step S51, the operation mode switching unit 4a determines whether or not the driver has overridden both hands and feet, that is, whether or not both the steering wheel operation and the pedal operation are performed. If YES, the process proceeds to step S22. If NO, the process proceeds to step S52.
In step S52, in the operation mode switching unit 4a, the control amount of the actuator related to the operation not performed by the driver is gradually reduced with zero as a target, and the task is terminated. Specifically, when there is no steering operation, the steering current for steering control is gradually reduced to zero, and when there is no pedal operation, the throttle opening for vehicle speed control is gradually reduced to zero.
In the task relating to the driving mode switching of the third embodiment, after prompting the driver to switch from the automatic mode to the manual mode, for example, when the driver performs only the steering operation and does not perform the pedal operation, the throttle opening is gradually increased. Decrease gradually to zero. This makes it easier for the driver to understand that the automatic ⇒ manual mode switching is required due to a decrease in vehicle speed. Therefore, the driver can be strongly encouraged to switch from automatic to manual mode. At this time, the steering current for control is not gradually reduced, and the steering angle control according to the steering wheel operation is continued, so that mode confusion can be suppressed.

[Other Examples]
As mentioned above, although the form for implementing this invention was demonstrated based on the Example, the concrete structure of this invention is not limited to the structure shown in the Example, and is the range which does not deviate from the summary of invention. Any design changes are included in the present invention.
“Prompt weakly” in step S41 may be anything that prompts weaker than step S43. That is, “strongly urge” in step S43 may be anything that strongly urges than step S41. In the case of using the display, the visibility is increased when the display is strongly urged (the display is enlarged or highlighted), and the visibility is decreased when the display is urged weakly. When using utterances or alert sounds, the volume is increased when strongly urged, and the volume is decreased when urged weakly. Further, the vibration of the steering wheel may be used. In this case, the vibration is increased when strongly urged, and the vibration is decreased when weakly urged. It may be strongly urged by increasing the transmission means and weakly urged by reducing the transmission means.

The technical ideas that can be grasped from the embodiments described above are described below.
In one aspect of the automatic driving control device, when the driver performs a driving operation during the automatic driving mode in which the host vehicle automatically travels along the target route, the automatic driving control device causes the host vehicle to travel according to the driving operation. An operation mode switching unit that switches to a mode, a route guidance unit that performs route guidance including a route change guidance to the driver according to the target route, and a manual operation that is performed by the driver in conjunction with the route change guidance during the automatic operation mode. An operation mode switching facilitating section that prompts switching to the operation mode.
In a more preferred aspect, in the above aspect, the automatic operation mode is a travel mode in which the host vehicle is automatically traveled only in a portion of the target route that can travel along a road.
In another preferred aspect, in any one of the above aspects, the driving mode switching promotion unit prompts the driver to switch to the manual driving mode when the route change guidance is given.
In still another preferred aspect, in any one of the above aspects, the driving mode switching promoting unit drives depending on whether or not the lane in which the host vehicle is traveling is a lane corresponding to a course change destination by the course change guidance. If the timing for prompting the user to switch to the manual operation mode is different.
In still another preferred aspect, in any one of the above aspects, the driving mode switching promoting unit is configured to cope with a case where the lane in which the host vehicle is traveling is a lane corresponding to a route change destination by the route change guide. The timing for prompting the driver to switch to the manual operation mode is delayed as compared with the case where the lane is not.
In still another preferred aspect, in any one of the above aspects, the operation mode switching unit is configured to perform a steering operation and a pedal operation after the driver is prompted to switch to the manual operation mode by the operation mode switching promotion unit. Of these, the control amount of the actuator of the vehicle corresponding to the driving operation not performed by the driver is gradually reduced.
In still another preferred aspect, in any one of the above aspects, the operation mode switching unit is configured to cause the driver to stop the operation during the manual operation mode or to turn on the automatic operation selection button to turn on the automatic operation mode. The driving mode switching promoting unit prompts the driver to switch to the automatic driving mode in conjunction with the end of the route change guidance in the manual driving mode.
In still another preferred aspect, in any one of the above aspects, the driving mode switching promotion unit prompts the driver to switch to the automatic driving mode when the route change guidance ends.
In still another preferred aspect, in any one of the above aspects, the driving mode switching unit may be configured such that when the driver stops the driving operation during the manual driving mode, the essential condition based on the traveling environment of the host vehicle and the driver When both of the recommended conditions based on the driving state of the vehicle are satisfied, the operation mode is switched to the automatic operation mode, and the operation mode switching accelerating unit provides the driver with a case where only the essential condition is satisfied and a case where the essential condition is not satisfied. Different methods to encourage switching to automatic operation mode.
In still another preferred aspect, in any one of the above aspects, the driving mode switching promoting unit, when not satisfying the essential condition, allows the driver to enter the automatic driving mode than when satisfying only the essential condition. Encourage switching.

From another point of view, in one aspect, the automatic driving control method is, in one aspect, when the driver performs a driving operation during the automatic driving mode in which the host vehicle automatically travels along the target route. In the automatic operation control method for switching to the manual operation mode for driving the vehicle, the driver is prompted to switch to the manual operation mode in conjunction with the course change guidance to the driver in the automatic operation mode.
In a more preferred aspect, in the above aspect, when the route change guidance is given, the driver is prompted to switch to the manual operation mode.
In another preferable aspect, in any one of the above aspects, the timing for prompting the driver to switch to the manual operation mode is determined depending on whether or not the traveling lane is a lane corresponding to a route change destination by the route change guide. Make it different.
In yet another preferred aspect, in any of the above aspects, when the lane in which the host vehicle is traveling is a lane corresponding to a route change destination according to the route change guide, driving is performed more than a case where the lane is not a corresponding lane. The timing for prompting the user to switch to the manual operation mode is delayed.
In still another preferred aspect, in any one of the above aspects, the driver stops driving operation during the manual operation mode or switches to the automatic operation mode by turning on an automatic operation selection button, and the manual operation mode The driver is prompted to switch to the automatic driving mode in conjunction with the end of the route change guidance.
In still another preferred aspect, in any of the above aspects, when the driver stops the driving operation during the manual operation mode, the recommended condition based on the traveling environment of the host vehicle and the recommendation based on the traveling state of the host vehicle When both of the conditions are satisfied, the mode is switched to the automatic driving mode, and the method of prompting the driver to switch to the automatic driving mode is different depending on whether only the essential conditions are satisfied or not.
In still another preferred aspect, in any of the above aspects, when the essential condition is not satisfied, the driver is more strongly urged to switch to the automatic operation mode than when only the essential condition is satisfied.

2 Navigation system (route guidance unit)
4a Operation mode switching part
4b Driving mode switching promotion part

Claims (12)

An operation mode switching unit that switches to a manual operation mode that causes the vehicle to travel according to the driving operation when the driver performs a driving operation during the automatic operation mode that automatically travels the vehicle along the target route;
A route guidance unit that performs route guidance including route change guidance to the driver according to the target route;
An operation mode switching facilitator that prompts the driver to switch to the manual operation mode in conjunction with the route change guidance during the automatic operation mode;
An automatic operation control device comprising: In the automatic operation control device according to claim 1,
The automatic driving mode is a driving mode in which the vehicle is automatically driven only in a portion of the target route that can travel along a road. In the automatic operation control device according to claim 1,
The driving mode switching promoting unit urges the driver to switch to the manual driving mode when the route change guidance is given. In the automatic operation control device according to claim 3,
The driving mode switching facilitating unit varies the timing for prompting the driver to switch to the manual driving mode depending on whether or not the lane in which the host vehicle is traveling is a lane corresponding to the course changing destination by the course changing guide. An automatic operation control device characterized by In the automatic operation control device according to claim 1,
The operation mode switching unit switches to the automatic operation mode when the driver stops the operation during the manual operation mode or by turning on the automatic operation selection button.
The operation mode switching promotion unit prompts the driver to switch to the automatic operation mode in conjunction with the end of the route change guidance during the manual operation mode. In the automatic operation control device according to claim 5,
The driving mode switching promoting unit urges a driver to switch to the automatic driving mode when the route change guidance is completed. In the automatic operation control device according to claim 5,
The driving mode switching unit, when the driver stops driving operation during the manual driving mode, when both the essential condition based on the traveling environment of the host vehicle and the recommended condition based on the traveling state of the host vehicle are satisfied Switch to the automatic operation mode,
The driving mode switching promoting unit is configured to change a method for prompting a driver to switch to the automatic driving mode depending on whether only the essential condition is satisfied or not satisfying the essential condition. . In an automatic driving control method for switching to a manual driving mode in which the vehicle is driven according to the driving operation when the driver performs a driving operation during the automatic driving mode of automatically driving the vehicle along the target route,
An automatic driving control method, wherein the driver is prompted to switch to the manual driving mode in conjunction with a course change guide to the driver in the automatic driving mode. In the automatic operation control method according to claim 8,
An automatic driving control method characterized by prompting a driver to switch to the manual driving mode when the route change guidance is given. In the automatic operation control method according to claim 9,
An automatic driving control method characterized in that the timing for prompting the driver to switch to the manual driving mode is made different depending on whether or not the traveling lane is a lane corresponding to the route changing destination by the route changing guide. In the automatic operation control method according to claim 8,
The driver stops driving operation during the manual driving mode or switches to the automatic driving mode by turning on the automatic driving selection button,
An automatic driving control method, wherein the driver is prompted to switch to the automatic driving mode in conjunction with the end of the route change guidance in the manual driving mode. In the automatic operation control method according to claim 11,
When the driver stops driving operation during the manual driving mode, when both the essential condition based on the traveling environment of the host vehicle and the recommended condition based on the traveling state of the host vehicle are satisfied, the mode is switched to the automatic driving mode.
An automatic driving control method, wherein a method for prompting a driver to switch to the automatic driving mode is different depending on whether only the essential condition is satisfied or not.

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