JP2011162132A - Automatic driving device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic driving device which can prevent the disturbance of a traffic environment in the periphery of a own vehicle by performing traveling control corresponding to the traffic environment in the periphery of the own vehicle when performing the automatic driving of the own vehicle. <P>SOLUTION: When performing automatic driving control to make a vehicle travel along a road on which the vehicle is traveling, an automatic control ECU (Electronic Control Unit) 1 in an automatic driving device detects the state of a lane on which the own vehicle travels, and performs automatic driving control based on the detected state of the lane. For example, when the own vehicle is traveling on the lane which is not along the road although there exists a lane along the road, on which it is possible to drive along the road in an own vehicle traveling lane, on the road on which the own vehicle travels, the automatic control ECU 1 generates a route for making the own vehicle move to the lane along the road. Also, when there exists two or more lanes along the road on the road on which the own vehicle travels, the automatic control ECU 1 generates the route for making the own vehicle move to the lane along the road which is suitable for traveling along the road. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an automatic driving apparatus, and more particularly, to an automatic driving apparatus that makes a vehicle travel along a road on a traveling road.

  2. Description of the Related Art Conventionally, as an automatic driving device that causes a vehicle to travel along a road, there is a traveling area determination device for a mobile robot that travels along a traveling path of a moving body (for example, see Patent Document 1). This travel area discriminating apparatus classifies a travelable area and a travel impossible area, and travels a moving body along a road along the travelable area.

JP 2009-175932 A

  However, in the travel area discriminating apparatus disclosed in Patent Document 1, the mobile body only travels along the travelable area. For this reason, when the moving body is a vehicle, traveling control is performed without considering the surrounding traffic environment and the like. Therefore, there is a problem that the traffic of other vehicles may be obstructed and cause traffic congestion.

  Accordingly, an object of the present invention is to perform automatic control that can prevent the traffic environment around the host vehicle from being hindered by performing traveling control according to the traffic environment around the host vehicle when performing the automatic driving of the host vehicle. It is to provide a driving device.

  An automatic driving apparatus according to the present invention that solves the above-described problems is an automatic driving apparatus that performs automatic driving control for causing a vehicle to travel along a road on a road, and the vehicle is in a lane in which the vehicle is traveling. Traveling lane state detection means for detecting a certain traveling lane state is provided, and automatic driving control is performed based on the detection result of the traveling lane state detection means.

  In the automatic driving apparatus according to the present invention, the automatic driving control is performed based on the detection result of the traveling lane state detecting means. For this reason, since automatic driving control can be performed according to the state of the traveling lane in which the host vehicle travels, automatic driving along the flow of other vehicles can be performed. Therefore, by performing the traveling control according to the surrounding environment of the own vehicle, the traveling control according to the traffic environment around the own vehicle can be performed when performing the automatic driving of the own vehicle. The environmental disturbance can be prevented. The traveling lane state in the present invention includes the number of lanes on the road, lane characteristics such as whether the road is a road lane, whether the vehicle is a straight lane or a right / left turn lane, and the like.

  Here, when there are a plurality of lanes in which the host vehicle can travel, the vehicle further includes a traveling lane type detecting means for detecting the type of the lane in which the host vehicle is traveling, and based on the detection result of the traveling lane type detecting device. It can be set as the aspect which selects the lane which a vehicle drive | works.

  Thus, when there are a plurality of lanes in which the host vehicle can travel, the lane in which the host vehicle is traveling can be selected according to the situation by detecting the type of the lane in which the host vehicle is traveling. As a result, it is possible to perform travel that does not oppose the flow of other vehicles, so that it is possible to more suitably prevent the traffic environment from being disturbed around the host vehicle.

  In addition, when the traveling lane type detection unit detects that the lane in which the host vehicle is traveling is an overtaking lane, control can be performed to change the host vehicle to the traveling lane.

  In this way, when it is detected that the lane in which the host vehicle is traveling is an overtaking lane, by changing the lane of the host vehicle to the driving lane, the overtaking lane is not run for a long time by automatic driving. can do. As a result, it is possible to prevent the traffic in the overtaking lane from being hindered.

  Furthermore, when the traveling lane state detecting means detects that the lane in which the host vehicle is traveling is congested, it can be controlled so that the host vehicle is changed to another lane. .

  In this way, when it is detected that the lane in which the host vehicle is traveling is congested, it is possible to travel while avoiding the crowded lane by changing the host vehicle to another lane. . For this reason, it can contribute to the average of the traffic volume in several lanes. Therefore, it is possible to prevent the traffic environment around the host vehicle from being hindered.

  Further, when the traveling lane type detection means detects that the lane in which the host vehicle is traveling is a lane having an attribute indicating the driver's intention to travel, the traveling lane type detection means may be configured to travel according to the attribute of the lane. it can.

  As described above, by driving according to the attribute of the lane having the attribute indicating the driver's intention to travel, automatic driving in accordance with the driver's intention can be performed.

  According to the automatic driving apparatus according to the present invention, when performing automatic driving of the host vehicle, traveling control according to the traffic environment around the host vehicle is performed, thereby preventing the traffic environment around the host vehicle from being hindered. Can do.

It is a block block diagram of the automatic driving apparatus which concerns on embodiment of this invention. It is a flowchart which shows the process sequence in an automatic driving | operation apparatus. It is a flowchart which shows the process sequence following FIG. It is a flowchart which shows the procedure which selects the lane which becomes optimal when the own vehicle drive | works.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted. For the convenience of illustration, the dimensional ratios in the drawings do not necessarily match those described.

  FIG. 1 is a block diagram of an automatic driving apparatus according to an embodiment of the present invention. As shown in FIG. 1, the automatic driving apparatus according to the present embodiment includes a travel control ECU (Electronic control unit) 1. An automatic driving switching information detector 2, a lane information detector 3, and a traffic condition detector 4 are connected to the travel control ECU 1. Furthermore, a vehicle travel control unit 5 is connected to the travel control ECU 1.

  The automatic operation switching information detection unit 2 includes an ON / OFF switch provided at a position where the driver can reach. The ON / OFF switch is a switch that can be switched ON and OFF by a driver's operation. When the driver turns on the ON / OFF switch, the automatic driving switching information detection unit 2 transmits automatic driving start information to the travel control ECU 1. Conversely, when the driver turns the ON / OFF switch OFF, the automatic driving switching information detection unit 2 transmits automatic driving end information to the travel control ECU 1.

  Moreover, as the automatic driving switching information detection unit 2, a device provided with a driver state detecting means, a device provided with a voice sensor, or the like can be used. The automatic driving switching information detection unit 2 including a driver state detection unit includes, for example, a CCD camera disposed at a position where the driver's face seated on the driver's seat can be imaged as a driver state detection unit. The driver's arousal level is detected by performing image detection on the driver's face image. When the detected awakening level is lower than a predetermined threshold value and the driver is in an inappropriate driving state such as a dozing state, automatic driving start information is transmitted to the travel control ECU 1. In addition, after the automatic driving start information is transmitted, when the detected wakefulness is higher than a predetermined threshold value and the driver has returned to an appropriate driving state such as a snoozing state, the automatic driving is terminated with respect to the travel control ECU 1 Send information.

  Furthermore, in the automatic driving switching information detection unit 2 including a voice sensor, a voice sensor that detects the voice of the driver and a voice that detects whether or not the voice generated by the driver is a voice intended to start automatic driving. An analysis unit is provided. Here, when it is determined that the driver's voice detected by the voice sensor is intended to start automatic driving, automatic driving start information is transmitted to the travel control ECU 1. Further, when it is determined that the driver's voice detected by the voice sensor is intended to end the automatic driving, the automatic driving end information is transmitted to the travel control ECU 1.

  The lane information detection unit 3 includes a surrounding imaging CCD camera capable of imaging the surroundings of the vehicle and an image processing device that performs image processing on an image captured by the surrounding imaging CCD camera. The lane information detection unit 3 detects white lines and signs around the host vehicle by performing image processing on the image captured by the ambient imaging CCD camera. The lane information detection unit 3 generates lane information related to the vehicle on which the host vehicle travels based on the detected white line or sign.

  The lane information generated by the lane information detection unit 3 includes the characteristics of the host vehicle lane in which the host vehicle travels and other lanes around the host vehicle lane. As these characteristics, for example, when there are a plurality of lanes on the road, left and right positions, types of dedicated lanes for straight ahead, right turn, and left turn can be cited. The lane information detection unit 3 transmits the generated lane information to the travel control ECU 1.

  As the lane information detection unit 3, a navigation system, an infrastructure information acquisition device, or the like can be used. The navigation system is a system that performs detection of the current position of the host vehicle (host vehicle position) and traveling direction, route guidance to a destination, and the like. In the current position detection in the navigation system, the current position is detected using current position positioning using GPS [Global Positioning System] and map matching. The navigation system includes a map database in which map information and the like are stored. Based on the map information stored in this map database, lane information on which the host vehicle travels is extracted and transmitted to the travel control ECU 1 as generated lane information.

  The infrastructure information acquisition device includes an optical beacon receiver, for example, and receives infrastructure information supplied from a roadside device provided on the road. This infrastructure information includes lane information related to the lane of the road on which the host vehicle is traveling. In the infrastructure information acquisition device, lane information related to the lane in which the host vehicle travels is extracted from the received infrastructure information, and is transmitted to the travel control ECU 1 as generated lane information.

  The traffic situation detection unit 4 includes a surrounding imaging CCD camera and an image processing device that images the surroundings of the vehicle. The traffic condition detection unit 4 performs image processing on the image captured by the ambient imaging CCD camera by the image processing device, thereby determining the status of other vehicles traveling around the host vehicle, such as the presence or absence of other vehicles, the travel lanes of other vehicles. Detects traffic conditions related to traffic conditions for each driving lane. The traffic condition detection unit 4 transmits traffic condition information regarding the detected traffic condition to the travel control ECU 1.

  In the present embodiment, each of the lane information detection unit 3 and the traffic condition detection unit 4 includes a surrounding imaging CCD camera and an image processing device that image the surroundings of the vehicle. For this reason, in this embodiment, these surrounding imaging CCD cameras and image processing apparatuses are configured to serve as both the lane information detection unit 3 and the traffic condition detection unit 4. Moreover, as the traffic condition detection part 4, the distance sensor provided in the circumference | surroundings of a vehicle and said infrastructure information acquisition apparatus can also be used. The distance sensor detects a distance from the other vehicle around the host vehicle, and detects a traffic situation related to the situation of the other vehicle traveling around the host vehicle based on the detected distance from the other vehicle.

  In addition, the travel control ECU 1 includes an automatic driving switching determination unit 11 and a road traveling route generation unit 12. When receiving the automatic driving start information transmitted from the automatic driving switching information detecting unit 2, the automatic driving switching determining unit 11 determines to start the automatic driving of the host vehicle. Further, when automatic driving end information is received from the automatic driving switching information detection unit 2 after determining the start of automatic driving, it is determined that automatic driving of the host vehicle is to be ended.

  When it is determined that the automatic driving is started, the automatic driving switching determination unit 11 outputs an automatic driving start signal to the traveling route generation unit 12 along the road. Further, when it is determined that the automatic driving is to be ended, an automatic driving end signal is output to the traveling route generation unit 12 along the road.

  When the automatic driving start signal is output from the automatic driving switching determination unit 11, the road driving route generating unit 12 generates a driving route of the host vehicle. When the automatic driving end signal is output, the generation of the traveling route is ended. The road traveling route generation unit 12 uses the generated lane information transmitted from the lane information detection unit 3 and the traffic state information transmitted from the traffic state detection unit 4 when generating the traveling route.

  For example, when the traffic condition information transmitted from the traffic condition detection unit 4 includes information such as a signal or a sign, a traveling route is generated according to the traffic rule corresponding to the information. When information on other vehicles, pedestrians, obstacles, and the like is included, a travel route that avoids contact with these is generated.

  The road traveling route generating unit 12 transmits the traveling route information corresponding to the generated traveling route of the host vehicle to the vehicle traveling control unit 5. This traveling route information is transmitted to the vehicle traveling control unit 5, whereby automatic driving is performed. The traveling route here includes a road traveling route for traveling along the road. Further, when the generation of the travel route has been completed, the road traveling route generation unit 12 ends the transmission of the travel route information to the vehicle travel control unit 5. When the transmission of the travel route information ends, the automatic operation ends and the operation is switched to manual operation.

  The vehicle traveling control unit 5 automatically operates driving operation elements such as a throttle actuator, a brake actuator, a shift position, a steering, and a winker to perform traveling control for traveling the vehicle regardless of whether or not the driver operates. In the vehicle travel control unit 5, the host vehicle automatically travels along the travel route corresponding to the travel route information transmitted from the road travel route generation unit 12 in the travel control ECU 1 by automatically operating various driving operation elements. .

  Next, a processing procedure in the automatic driving apparatus according to the present embodiment will be described. FIG. 2 is a flowchart showing a processing procedure in the automatic driving apparatus according to the present embodiment, and FIG. 3 is a flowchart showing a processing procedure following FIG. In the automatic driving device according to the present embodiment, when it is determined that automatic driving is necessary in accordance with a driver's instruction or according to the driver state, the road runs when the road can be traveled. If this is not possible, the vehicle is automatically driven by other travel means.

  As shown in FIG. 2, in the automatic driving apparatus according to the present embodiment, when manual driving is being performed, first, the automatic driving switching determination unit 11 determines whether or not there is a course generation start instruction (S11). . The presence / absence of a course generation start instruction is determined by the presence / absence of reception of automatic driving start information transmitted from the automatic driving switching information detection unit 2. As a result, if the automatic driving start information is not received and it is determined that there is no course generation start instruction, step S1 is repeated until there is a course generation start instruction.

  On the other hand, if automatic driving start information is received and it is determined that there is a course generation start instruction, automatic driving is started. When automatic driving is started, it is determined whether the lane in which the host vehicle is traveling is either a right turn lane or a left turn lane (S12). The determination as to whether the lane in which the host vehicle is traveling is either a right turn lane or a left turn lane is made based on the generated lane information transmitted from the lane information detection unit 3.

  As a result, when it is determined that the lane in which the host vehicle is traveling is either a right-turn lane or a left-turn lane, the road driving route generation unit 12 determines whether the right turn route or the right turn route according to the type of lane. A left turn course is generated (S13). In the case of a lane that can be turned right and straight, left and straight, or right and left and straight instead of a right turn or left turn lane, straight ahead is given priority. Thereafter, it is determined whether a right turn or a left turn is completed (S14). Here, when the right turn or the left turn is not completed, the process returns to step S12 and the same processing is repeated.

  On the other hand, when it is determined that the right turn or the left turn is completed, the automatic operation switching determination unit 11 determines whether there is a course generation end instruction (S15). The presence / absence of a course generation end instruction is determined by the presence / absence of reception of automatic driving end information transmitted from the automatic driving switching information detection unit 2.

  As a result, if the automatic driving end information is not received and it is determined that there is no course generation end instruction, the process returns to step S14, and the determination of whether the right turn or left turn is completed is repeated. On the other hand, when the automatic driving end information is received and it is determined that there is a course generation end instruction, the automatic driving is switched to the manual driving, and the processing by the automatic driving device is ended.

  As described above, in the automatic driving device according to the present embodiment, when the lane in which the host vehicle is traveling is either a right turn lane or a left turn lane, a right turn route or a left turn depends on the type of lane. A course is being generated. It is considered that the driver who drives the vehicle traveling in the right turn lane or the left turn lane has an intention to make a right turn or a left turn.

  For this reason, it is possible to generate a route according to a right turn or a left turn that is an attribute of the lane in which the host vehicle travels (hereinafter referred to as “own vehicle lane”), so automatic driving can be performed according to the driver's intention Even if automatic driving is performed, the road flow can be prevented from being delayed. Therefore, it is possible to prevent the traffic environment around the host vehicle from being hindered.

  If it is determined in step S12 that the lane in which the host vehicle is traveling is neither a right turn lane nor a left turn lane, the process proceeds to the flowchart shown in FIG. Here, the road traveling route generation unit 12 determines whether or not there is a lane (hereinafter referred to as “road lane”) on the road on which the host vehicle is traveling. S21). The determination as to whether or not there is a road lane is made based on the generated lane information transmitted from the lane information detection unit 3.

  Here, examples of the lanes that cannot be traveled along the road include T-lanes, lanes that are prohibited from entering, and branch lanes, which are lanes that cannot be determined as a road lane. These lanes other than the lanes that cannot travel are road lanes. In addition, when the generated lane information is an error, it is impossible to determine whether or not the road can be traveled. Therefore, the determination is made by assuming that the lane cannot travel on the road.

  As a result of the determination here, if it is determined that there is no road or lane in the lane in which the host vehicle is traveling, a route for changing the lane toward the lane that proceeds to a road other than the road is generated ( S27). The road other than the road can be a road whose direction is close to the running road, a road with a wide road width, a road facing the left turn direction, or the like.

  Thereafter, the automatic driving switching determination unit 11 determines whether or not there is a course generation end instruction (S28). As a result, if the automatic driving end information is not received and it is determined that there is no course generation end instruction, the process returns to step S21, and whether there is a road lane on the road on which the host vehicle is traveling. Repeat the decision whether or not. On the other hand, when the automatic driving end information is received and it is determined that there is a course generation end instruction, the automatic driving is switched to the manual driving, and the processing by the automatic driving device is ended.

  For example, when an automatic driving end signal is not output from the automatic driving switching determination unit 11, it is difficult to continue automatic driving if driving on a road and a lane where driving is not possible. At this time, when there is no road lane, automatic driving can be continued even if it is not possible to immediately return to manual operation by generating a course that changes lanes toward a lane that goes to a road other than the road. it can.

  If it is determined in step S21 that there is a road lane on the road on which the host vehicle travels, it is determined whether or not the vehicle lane is a road lane (S22). The determination as to whether the vehicle is a road lane is made based on the generated lane information transmitted from the lane information detection unit 3.

  As a result, when it is determined that the vehicle lane is not a road lane, a route for changing the lane toward the road lane is generated (S23). As described above, when the own vehicle travel lane is not a road or lane, it is possible to control the vehicle to travel in the road lane by generating a course that changes the lane toward the road lane.

  For example, when the automatic driving switching information detecting unit 2 detects a state in which manual driving is temporarily difficult, an automatic driving stop may be performed as an automatic driving. In this case, it is desired to continue the automatic operation for a long time as much as possible. However, when the automatic operation cannot be performed unless the road is in the lane, the automatic operation cannot be performed unless the road is in the lane. In this regard, by generating a route for changing the lane toward the road lane, the road driving operation can be continued.

  Therefore, for example, automatic operation for continuing traveling can be immediately started by a simple operation without performing destination setting or the like. In addition, in the event of a temporary emergency, for example, when it becomes difficult to visually recognize the front by the sunlight or the lights of the oncoming vehicle, unnecessary emergency stop or emergency start can be avoided. Accordingly, it is possible to suitably prevent the traffic environment around the host vehicle from being hindered, and to prevent a decrease in traveling efficiency of the host vehicle.

  On the other hand, if it is determined that the host vehicle lane is a road lane, it is determined whether there are a plurality of road lanes on the road on which the host vehicle is traveling (S24). As a result, when it is determined that there are not a plurality of road lanes (single), a route that continuously travels in the traveling lane is generated (S25). Thus, when there is a single road lane on the road that is running, the automatic driving can be preferably continued by continuing the road lane.

  Thereafter, the automatic driving switching determination unit 11 determines whether or not there is a route generation end instruction (S28). If it is determined that there is no route generation end instruction, the process returns to step S21 and the host vehicle travels. The determination whether or not there is a road lane on the road is repeated. On the other hand, when it is determined that there is a course generation end instruction, the automatic operation is switched to the manual operation, and the process by the automatic operation device is ended.

  If it is determined in step S24 that there are a plurality of road lanes, a lane suitable for the host vehicle to travel can be selected from the plurality of road lanes. Therefore, the lane that is optimal when the host vehicle travels is selected (S26). The procedure for selecting the optimum lane when the host vehicle travels is performed according to the flowchart shown in FIG. FIG. 4 is a flowchart showing a procedure for selecting an optimum lane when the host vehicle travels.

  As shown in FIG. 4, when selecting the lane that is optimal for the host vehicle to travel, it is first determined whether or not the host vehicle lane is congested (S31). If it is determined that the host vehicle lane is not congested, it is determined whether the host vehicle lane is the leftmost road lane in the road on which the host vehicle is traveling ( S32). As a result, when it is determined that the host vehicle travel lane is the leftmost road lane, a course that continuously travels in the traveling lane is generated (S33), and the process returns to step S28.

  When driving on a road, if you drive on a crowded lane, you may not be able to maintain a sufficient inter-vehicle distance with other vehicles located in the front and back, and may come into contact with other vehicles located in the front and rear Becomes higher. On the other hand, when driving in a lane that is not crowded, it is possible to keep a sufficient distance between vehicles, easily avoiding contact with other vehicles, and low efficiency such as sudden start and stop Driving can be avoided. For this reason, it is preferable to travel in a crowded lane rather than traveling in a crowded lane.

  Looking at the left-right relationship of lanes, generally, the left lane is often the driving lane and the right lane is often the overtaking lane, and in the overtaking lane, traffic flow is often fast. If you are driving on a passing lane with such a fast traffic flow, it may interfere with the traffic, and if you get on the traffic flow, you may exceed the speed limit. Therefore, it is preferable to travel in the left lane. Therefore, when driving on a road by automatic driving, it is optimal to drive in a left lane that is not congested.

  In step S32, when it is determined that the host vehicle lane is the leftmost road lane in the road on which the host vehicle is traveling, the vehicle is traveling in a left lane that is not congested. Therefore, automatic driving can be suitably continued by generating a course that continuously travels in the traveling lane (S33).

  If it is determined in step S32 that the vehicle lane is not the leftmost road lane on the road on which the vehicle is traveling, whether the leftmost road lane is congested or not. Is determined (S34). As a result, when it is determined that the leftmost road lane is not congested, it is preferable to travel on the leftmost road lane. For this reason, a course for changing the lane to the left lane is generated (S35), and the process returns to step S28.

  On the other hand, when it is determined that the leftmost road lane is congested, it is preferable to travel in a non-congested lane in which the vehicle is currently traveling rather than traveling in the left lane. . Therefore, in this case, a route that continuously travels in the vehicle lane that is currently traveling is generated (S33), and then the process returns to step S28.

  Furthermore, if it is determined in step S31 that the vehicle lane is congested, it is determined whether or not the adjacent road lane is congested (S36). As a result, when it is determined that the adjacent road lane is congested, both the own vehicle traveling lane and the adjacent road lane are congested. In this case, it is less likely that a person who has run without changing the lane will come into contact with another vehicle or the like, and the traffic environment around the host vehicle can be suitably prevented. Therefore, in this case (S33), the process returns to step S28.

  On the other hand, if it is determined that the adjacent road lane is not congested, driving on the adjacent road lane preferably avoids contact with other vehicles while hindering the traffic environment around the host vehicle. It can prevent suitably. Therefore, in this case, a route for changing the lane to the adjacent road lane is generated (S37), and the process returns to step S28. In this way, the lane that is optimal for the host vehicle to travel is selected.

  As described above, in the automatic driving apparatus according to the present embodiment, when there is a road lane on the road on which the host vehicle travels, when the road is not traveling on the road lane, the route to move to the road lane is determined. Generate. For this reason, for example, even when a temporary emergency occurs, it is possible to prevent unnecessary emergency stop and emergency start, and it is possible to prevent a decrease in traveling efficiency of the host vehicle.

  Further, when there are a plurality of road lanes on the road on which the host vehicle travels, a lane suitable for the host vehicle to travel is selected. Specifically, when the own vehicle travel lane is not the left lane that is the travel lane but the right lane that is the overtaking lane, a route that moves to the left lane is generated. Furthermore, when the road on which the host vehicle is traveling is congested, a route that moves to a non-congested road is generated. Therefore, by performing traveling control according to the surrounding environment of the host vehicle, the traveling control according to the traffic environment around the host vehicle can be performed when performing the automatic driving of the host vehicle. It is possible to prevent the surrounding traffic environment from being hindered.

  The preferred embodiment of the present invention has been described above, but the present invention is not limited to the above embodiment. For example, in the above-described embodiment, the own vehicle lane is a right / left turn exclusive lane, or there is a road lane on the road on which the host vehicle is running, and in that case, the own vehicle lane is The course to be generated is set depending on whether the road is a lane. Also, depending on whether there are multiple road lanes, in which case the vehicle lane is the left lane, and whether the vehicle lane and adjacent lanes are congested, the route to be generated is set. Yes. On the other hand, it is also possible to adopt a mode in which a course is generated using any part of these determinations.

  Moreover, in the said embodiment, when it is judged in step S36 that both the own vehicle travel lane and the adjacent lane are congested, the course which continuously travels the lane currently drive | working is produced | generated. On the other hand, if it is determined that both the vehicle lane and the adjacent lane are congested, it is determined whether or not the leftmost road or lane is congested. If the lane is not congested, it is possible to generate a route that changes the route to the left lane.

  DESCRIPTION OF SYMBOLS 1 ... Travel control ECU, 2 ... Automatic driving | operation switching information detection part, 3 ... Lane information detection part, 4 ... Traffic condition detection part, 5 ... Vehicle driving | running control part, 11 ... Automatic driving | operation switching judgment part, 12 ... Road driving path Generator.

Claims (5)

An automatic driving device that performs automatic driving control for driving a vehicle along a road along a road,
It has traveling lane state detection means for detecting a traveling lane state that is the state of the lane in which the host vehicle is traveling,
An automatic driving apparatus that performs the automatic driving control based on a detection result of a traveling lane state detecting means. When there is a plurality of lanes in which the host vehicle can travel, the vehicle further includes a traveling lane type detecting means for detecting the type of lane in which the host vehicle is traveling,
The automatic driving device according to claim 1, wherein a lane in which the host vehicle travels is selected based on a detection result of the traveling lane type detection device.   3. The automatic driving device according to claim 2, wherein the traveling lane type detection means controls to change the own vehicle to a traveling lane when detecting that the lane in which the own vehicle is traveling is an overtaking lane. .   The automatic driving according to claim 2, wherein when the traveling lane state detecting means detects that the lane in which the host vehicle is traveling is congested, control is performed to change the host vehicle to another lane. apparatus.   2. The vehicle according to claim 1, wherein when the travel lane type detection unit detects that the lane in which the host vehicle is traveling is a lane having an attribute indicating a driver's intention to travel, the vehicle travels according to the attribute of the lane. Automatic driving device.

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