JP2016097770A - Autonomous driving assist system, autonomous driving assist method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an autonomous driving assist system, autonomous driving assist method, and program capable of extending a zone in which autonomous driving can be implemented.SOLUTION: Included are road information acquisition means that acquires road information on a road in a forward advancing direction along a guide route, succession permissible zone extraction means that extracts succession permissible zones, in which autonomous driving during which an actuator is controlled based on the acquired road information, is succeeded to manual driving during which associated actuators are controlled based on operations performed on plural pieces of driving operation means, recommended succession zone designation means that designates the extracted succession permissible zones as recommended succession zones in which the autonomous driving can be succeeded to the manual driving, and individual succession permissible zone designation means that designates plural succession permissible zones out of the designated recommended succession zones as individual succession permissible zones in which control of at least one of the actuators associated with the pieces of driving operation means can be succeeded to the manual operation.SELECTED DRAWING: Figure 11

Description

  The present invention relates to an automatic driving support device, an automatic driving support method, and a program that support automatic driving.

Conventionally, various techniques for assisting automatic driving have been proposed.
For example, in an automatic driving device for a vehicle described in Patent Document 1, an automatic driving ECU (Electronic Control Unit) travels among all routes to a destination using road map information stored in a map database. Set the expressway section to be used. Then, the automatic operation ECU sets the parking area (final PA) immediately before the exit interchange in the expressway section as the evacuation area. Further, the automatic operation ECU sets the point before the final PA in the highway section as a takeover point for starting the takeover from the automatic operation to the manual operation. Subsequently, the automatic operation ECU is configured to control the automatic operation with the evacuation area as the destination when the automatic operation switch is turned on.

  Also, for example, in the automatic driving device described in Patent Document 2, the DCU (drive control unit) says “Release automatic steering, please prepare” when switching from automatic driving to driver driving. The voice information is emitted, the automatic steering is canceled, and the steering is left to the driver. When the automatic steering is canceled, the DCU next determines whether or not a deviation amount (travel deviation) between the target travel locus and the actual travel locus is equal to or less than a predetermined allowable range. Then, only when it is determined that the running deviation is less than the predetermined allowable range, the voice information “Automatic accelerator and automatic brake is released, please prepare” is issued, and the automatic accelerator and automatic brake are Release and leave the accelerator and brake to the driver. Thereafter, the DCU is configured to stop displaying “automatic operation” on the screen of the display device.

JP 2008-290680 A JP-A-9-86223

  However, in the vehicle automatic driving device described in Patent Document 1 described above, even if the takeover point for starting the takeover from the automatic operation to the manual operation can be set between the final PA and the exit interchange, A takeover point for starting takeover from automatic operation to manual operation is set at a point before PA. As a result, there is a possibility that the section in which the automatic operation can be performed is shortened.

  Further, in the automatic driving device described in Patent Document 2 described above, the DCU only cancels the automatic steering and leaves the steering to the driver, and then measures the running deviation and falls below a predetermined allowable range. Release the automatic accelerator and automatic brake. Therefore, it is necessary to cancel the automatic steering and the automatic accelerator and brake in the same section, and the total distance of the takeover section that takes over the operation of the steering, the accelerator, and the brake becomes long. As a result, when the technique described in Patent Document 2 is combined with the invention described in Patent Document 1, there is a possibility that the section in which the automatic operation can be performed is further shortened.

  Therefore, the present invention has been made to solve the above-described problems, and provides an automatic driving support device, an automatic driving support method, and a program that can lengthen a section in which automatic driving can be performed.

  In order to achieve the above object, the automatic driving support apparatus according to the first invention includes road information acquisition means for acquiring road information ahead in the traveling direction on the guide route, and the road information acquired via the road information acquisition means. Takeover permission to extract a takeover permission section that can be taken over from automatic operation that controls the actuator according to the road information to manual operation of manual operation that controls the corresponding actuator according to the operation of a plurality of driving operation means Section extraction means, recommended handover section setting means for setting a plurality of handover permission sections extracted through the handover permission section extraction means as recommended handover sections that can be handed over from the automatic operation to the manual operation, and the recommended handover section Among the recommended takeover sections set via the setting means, a plurality of takeover permission sections are designated as a number of actuators corresponding to the plurality of driving operation means. Characterized by comprising a separate takeover allowed interval setting means for setting a Kutomo one control to individual handover permitted interval possible takeover to the manual operation, the.

  An automatic driving support method according to a first aspect of the present invention is an automatic driving support method executed by an automatic driving support device including a control unit, which is executed by the control unit and is ahead of the traveling direction on the guide route. Based on the road information acquisition step for acquiring road information and the road information acquired in the road information acquisition step, the automatic operation for controlling the actuator according to the road information corresponds to the operation of a plurality of driving operation means. A handover permission section extraction step for extracting a handover permission section that can be handed over to a manual operation of a manual operation for controlling an actuator to perform the plurality of handover permission sections extracted in the handover permission section extraction process from the automatic operation to the manual operation. A recommended takeover section setting step set as a recommended takeover section that can be taken over, and a plurality of takeover permission sections among the recommended takeover sections set in the recommended takeover section setting step. And characterized in that and a separate takeover allowed interval setting step of setting the individual takeover permission section capable takeover to the manual operation of at least one control of the corresponding actuator to the plurality of driving operation means.

  The program according to the first aspect of the invention is based on the road information acquired via the road information acquisition means in a computer provided with road information acquisition means for acquiring road information ahead of the traveling direction on the guide route. A handover permission section extraction step for extracting a handover permission section that can be handed over from an automatic operation that controls an actuator according to the road information to a manual operation of a manual operation that controls a corresponding actuator according to the operation of a plurality of driving operation means And a recommended takeover section setting step for setting a plurality of takeover permission sections extracted in the takeover permission section extraction step as recommended takeover sections that can be handed over from the automatic operation to the manual operation, and the recommended takeover section setting step. Among the recommended takeover sections, a plurality of takeover permission sections are set to at least one of the actuators corresponding to the plurality of driving operation means. Is a program for executing the individual takeover allowed interval setting step of setting a control to individual handover permitted interval possible takeover to the manual operation, the.

  In order to achieve the above object, an automatic driving support apparatus according to a second aspect of the present invention provides road information acquisition means for acquiring road information ahead in the traveling direction on a guide route, and the road information acquired via the road information acquisition means. In accordance with the road information, takeover permission to extract a takeover permission section that can be taken over from manual operation of manual operation that controls the corresponding actuator according to the operation of a plurality of driving operation means to automatic operation that controls the actuator Section extraction means, recommended handover section setting means for setting a plurality of handover permission sections extracted via the handover permission section extraction means as recommended handover sections that can be handed over from manual operation to the automatic operation, and the recommended handover section Among the recommended takeover sections set via the setting means, a plurality of takeover permission sections are designated as a number of actuators corresponding to the plurality of driving operation means. Characterized in that the Kutomo one control provided with an automatic takeover allowed interval setting means for setting the automatic takeover permission section capable takeover to the automatic operation.

  An automatic driving support method according to a second aspect of the invention is an automatic driving support method executed by an automatic driving support device including a control unit, which is executed by the control unit and is ahead of the traveling direction on the guide route. A road information acquisition step for acquiring road information, and a manual operation for controlling corresponding actuators according to operations of a plurality of driving operation means according to the road information based on the road information acquired in the road information acquisition step A handover permission section extracting step for extracting a transfer permission section that can be transferred from the manual operation to the automatic operation for controlling the actuator, and a plurality of transfer permission sections extracted in the handover permission section extraction process from the manual operation to the automatic operation. A recommended takeover section setting step set as a recommended takeover section that can be taken over, and a plurality of takeover permission sections among the recommended takeover sections set in the recommended takeover section setting step. And characterized by comprising a an automatic takeover allowed interval setting step of setting at least one control in automatic takeover permission section capable takeover to the automatic operation of the corresponding actuator to the plurality of driving operation means.

  According to a second aspect of the present invention, there is provided a program based on the road information acquired through the road information acquisition unit in a computer including road information acquisition unit that acquires road information ahead in the traveling direction on the guide route. A handover permission section extracting step of extracting a handover permission section that can be handed over from a manual operation of manual driving that controls corresponding actuators according to operations of a plurality of driving operation means according to the road information to automatic driving that controls the actuators And a recommended takeover section setting step for setting a plurality of takeover permission sections extracted in the takeover permission section extraction step as recommended takeover sections that can be handed over from the manual operation to the automatic operation, and the recommended takeover section setting step. Among the recommended takeover sections, a plurality of takeover permission sections are set to at least one of the actuators corresponding to the plurality of driving operation means. Is a program for executing an automatic takeover allowed interval setting step of setting a control to an automatic takeover permission section capable takeover to the automatic operation, the.

  In the automatic driving support device, the automatic driving support method, and the program according to the first invention having the above-described configuration, a plurality of transfer permission sections that can be transferred from automatic driving to manual driving are extracted and set as recommended transfer sections. A plurality of takeover permission sections among the recommended takeover sections are set as individual takeover permission sections in which at least one control of the actuators corresponding to the plurality of driving operation means can be handed over to manual operation.

  As a result, the travel distance of the individual takeover permission section is shorter than the travel distance of the takeover permission section that takes over all control of the actuator from automatic operation to manual operation of manual operation. It is possible to set closer to the end point. Therefore, it is possible to set a recommended handover section that is handed over from automatic operation to manual operation closer to the end point of the guide route, and it is possible to lengthen a section in which automatic operation can be performed.

  In the automatic driving support device, the automatic driving support method, and the program according to the second invention having the above-described configuration, a plurality of takeover permission sections that can be taken over from manual operation to automatic driving are extracted and set as recommended takeover sections. Then, a plurality of takeover permission sections among the recommended takeover sections are set as automatic takeover permission sections in which at least one control of the actuators corresponding to the plurality of driving operation means can be handed over to the automatic operation.

  As a result, the travel distance of the automatic takeover permission section is shorter than the travel distance of the takeover permission section that takes over all control of the actuator from manual operation of manual operation to automatic operation. It is possible to set closer to the start point. Therefore, it is possible to set a recommended takeover section that is handed over from manual operation to automatic operation closer to the starting point of the guide route, and it is possible to lengthen a section in which automatic operation can be performed.

It is a block diagram which shows an example of the structure regarding this invention in the own vehicle. It is a figure which shows an example of the proficiency level data table stored in parameter DB. It is a flowchart which shows the "recommended takeover section setting process" performed in a navigation apparatus. It is a flowchart which shows the "recommended takeover section setting process" performed in a navigation apparatus. It is explanatory drawing which shows an example of the setting of the simultaneous transfer permission area from automatic operation to manual operation. It is explanatory drawing which shows an example of the individual transfer permission area from automatic operation to manual operation. It is explanatory drawing which shows an example of selection of a simultaneous transfer permission area. It is explanatory drawing which shows an example of the setting of an individual transfer permission area. It is explanatory drawing which shows an example of the automatic transfer permission area from manual operation to automatic operation. It is explanatory drawing explaining the taking over of the automatic driving | operation in a specific area. It is explanatory drawing explaining an example of the setting of the recommended taking over section on a guidance route. It is a figure which shows an example of the display of the automatic driving area and semi-automatic driving area on a guidance path | route.

  Hereinafter, an automatic driving support device, an automatic driving support method, and a program according to the present invention will be described in detail with reference to the drawings based on an embodiment in which a navigation device is embodied.

[Schematic configuration of own vehicle]
A schematic configuration of the host vehicle 1 according to the present embodiment will be described with reference to FIG. As shown in FIG. 1, the host vehicle 1 according to the present embodiment basically includes a navigation device 2 installed on the host vehicle 1 and a vehicle control ECU (Electronic Control Unit) 3.

  Here, the navigation device 2 is provided on the center console or panel surface of the interior of the host vehicle 1, and displays a map around the vehicle and a search route to the destination, and voice guidance regarding route guidance. Is provided. Then, the current position of the host vehicle 1 is specified by the GPS 31 or the like, and when the destination is set, a search for a plurality of routes to the destination and guidance according to the set guide route are displayed on the liquid crystal display 15 or This is performed using the speaker 16. The detailed configuration of the navigation device 2 will be described later.

  The vehicle control ECU 3 is an electronic control unit that controls the entire host vehicle 1. The vehicle control ECU 3 is connected to a navigation control unit 13 (to be described later) included in the navigation device 2. Further, the vehicle control ECU 3 includes an in-vehicle display (in-vehicle LCD) 5 for displaying a speedometer, a human interface (HMI) 6, a front photographing camera 76A, a rear photographing camera 76B, a millimeter wave radar 77, an accelerator sensor 78, A brake switch 79, a steering sensor 80, a vehicle speed sensor 51 for detecting the vehicle speed, and the like are connected.

  The vehicle control ECU 3 is connected to a steering actuator 81 that drives a steering device (not shown), an accelerator actuator 82 that drives an accelerator device (not shown), a brake actuator 83 that drives a brake device (not shown), and the like. Then, the vehicle control ECU 3 controls the steering actuator 81, the accelerator actuator 82, the brake actuator 83, and the like to automatically drive the host vehicle 1.

  The vehicle control ECU 3 includes a CPU 71 as an arithmetic device and a control device, an internal storage device such as a RAM 72 used as a working memory when the CPU 71 performs various arithmetic processes, and a ROM 73 in which a control program and the like are recorded. Yes. Then, the CPU 71 creates an operation plan based on the route data of the guide route received from the navigation control unit 13 of the navigation device 2, the gradient information of each link on the route, the link length, the operation section information described later, and the like. .

  The human interface 6 is provided with an automatic operation start button 61 for instructing the start of automatic operation. The driver can instruct the vehicle control ECU 3 to start automatic driving by pressing and turning on the automatic driving start button 61 on a toll road such as a national highway, an urban highway, and a general toll road. Here, the automatic operation start button 61 is switched between ON and OFF every time the user presses it. When the automatic operation start button 61 is turned on, the automatic operation control is started. On the other hand, when the automatic operation start button 61 is turned off during the execution of the automatic operation control, the automatic operation control is ended and the operation is switched to the manual operation depending on the operation of the driver. .

  When an instruction to start automatic driving is input, the CPU 71 starts from the current position of the host vehicle and, based on the driving plan, on the guide route, a toll road exit ramp (rampway), toll gate Set the interruption timing (end point) to switch from automatic operation to manual operation by the driver at (interchange) etc. For example, the CPU 71 sets an interruption timing (end point) at a position 100 m before the exit of the toll road.

  Then, the CPU 71 controls driving of an unillustrated engine device, brake device, electric power steering, and the like based on the operation plan, and takes over from manual operation to automatic operation to near the interruption timing (end point) on the guide route. After traveling in automatic operation, control is performed so that automatic operation is handed over to manual operation on the front side in the traveling direction of the interruption timing.

  The front shooting camera 76A is attached in the vicinity of the rear mirror of the host vehicle 1, and is configured by a CCD camera or the like to capture the front of the host vehicle and outputs an image signal to the vehicle control ECU 3. The rear photographing camera 76B is attached to the rear end portion of the host vehicle 1, and is configured by a CCD camera or the like to photograph the rear of the host vehicle and outputs an image signal to the vehicle control ECU 3. The CPU 71 performs image processing on the image signal input from the front shooting camera 76 </ b> A, and recognizes an image of a white line (for example, a roadside band, a lane boundary line, etc.) indicating the boundary of the traveling lane by edge detection or the like.

  Then, the CPU 71 drives and controls an unillustrated engine device, brake device, electric power steering and the like so that the host vehicle 1 travels along the white line. Further, the CPU 71 outputs white line image recognition data to the navigation device 2. Further, the CPU 71 performs image processing on the image signals input from the front shooting camera 76 </ b> A and the rear shooting camera 76 </ b> B, detects the relative position of the other vehicle around the host vehicle 1 with respect to the host vehicle 1, and navigation. Output to device 2. Further, the CPU 71 performs image processing on image signals input from the front shooting camera 76 </ b> A and the rear shooting camera 76 </ b> B, detects a space around the host vehicle 1, and outputs the detected space to the navigation device 2.

  The millimeter wave radar 77 is attached to the center position of the front end of the host vehicle 1 and the center position of the rear end of the host vehicle 1, and the distance to other vehicles existing around the front of the host vehicle and the rear of the host vehicle and The relative speed with respect to the vehicle 1 is detected, and the distance to the detected other vehicle and the relative speed data of the other vehicle existing in the vicinity with respect to the own vehicle 1 are output to the vehicle control ECU 3. The CPU 71 is based on the distance from the millimeter wave radar 77 to the other vehicle in the vicinity and the relative speed data of the other vehicle in the vicinity with respect to the own vehicle 1. The relative position and relative speed of the vehicle 1 with respect to the host vehicle 1 are detected and output to the navigation device 2.

  The accelerator sensor 78 is attached to an accelerator pedal (not shown), detects the amount of depression of the driver's accelerator pedal (hereinafter referred to as “actual accelerator opening”), and outputs it to the vehicle control ECU 3. In the state of manual operation depending on the operation of the driver, the CPU 71 controls the driving of an accelerator actuator 82 (not shown) of the engine device corresponding to the actual accelerator opening input from the accelerator sensor 78, so that the actual traveling of the host vehicle 1 is performed. The output (hereinafter referred to as “actual running output”) is controlled.

  The brake switch 79 is attached to a brake pedal (not shown), detects whether or not the driver has depressed the brake pedal, and outputs it to the vehicle control ECU 3. The brake switch 79 outputs an ON signal to the vehicle control ECU 3 when the driver does not depress the brake pedal, and outputs an OFF signal to the vehicle control ECU 3 when the driver depresses the brake pedal. Further, when an OFF signal is input from the brake switch 79 during execution of the automatic driving control, the CPU 71 ends the automatic driving control and switches to manual driving depending on the operation of the driver.

  The steering sensor 80 is attached to a steering device (not shown), detects a steering operation amount, and outputs the detected steering operation amount to the conductor control ECU 3. The CPU 71 controls the driving direction of the host vehicle 1 by controlling the driving of the steering actuator 81 in accordance with the steering operation amount input from the steering sensor 80.

[Schematic configuration of navigation device]
Next, a schematic configuration of the navigation device 2 will be described. As shown in FIG. 1, the navigation apparatus 2 according to the present embodiment includes a current location detection processing unit 11 that detects the current position of the host vehicle, a data recording unit 12 that records various data, and input information. The navigation control unit 13 for performing various arithmetic processes, the operation unit 14 for receiving operations from the operator, the liquid crystal display (LCD) 15 for displaying information such as a map to the operator, and route guidance A communication device 17 that communicates with a speaker 16 that outputs voice guidance related to, etc., a road traffic information center (not shown), a map information distribution center (not shown), and the like via a mobile phone network, and the liquid crystal display 15 It is comprised from the touchscreen 18 with which the surface was mounted | worn.

Instead of the touch panel 18, a remote controller, joystick, mouse, touch pad, etc. may be provided.
A vehicle speed sensor 51 is connected to the navigation control unit 13. In addition, the navigation control unit 13 is electrically connected to the vehicle control ECU 3 so as to be able to acquire a relative positional relationship, a relative speed, and the like of another vehicle existing around the host vehicle 1 with respect to the host vehicle 1.

  Hereinafter, each component constituting the navigation device 2 will be described. The current position detection processing unit 11 includes a GPS 31 and the like, and includes the current position of the own vehicle 1 (hereinafter referred to as “own vehicle position”), the own vehicle direction, The travel distance, elevation angle, etc. can be detected. For example, it is possible to detect the turning speed of the three axes by the gyro sensor, and to detect the azimuth (horizontal direction) and the traveling direction of the elevation angle.

  Further, the communication device 17 can receive the latest traffic information and weather information distributed from a probe center, a road traffic information center, and the like (not shown) at predetermined time intervals (for example, every five minutes). It is configured. The “traffic information” is, for example, detailed information related to traffic information such as travel time of each link, road traffic information regarding road traffic congestion, traffic regulation information due to road construction, building construction, and the like. In the case of road traffic information, the detailed information is the actual length of the traffic jam, the time when traffic congestion is expected to be resolved, and in the case of traffic regulation information, the duration of road construction, construction work, etc. The type of traffic regulation such as lane regulation, the time zone of traffic regulation, etc. The communication device 17 is configured to be capable of two-way communication with a communication device mounted on a surrounding vehicle of the host vehicle 1. The latest traffic information and weather information received via the communication device 17 are stored in the data recording unit 12 as current traffic information corresponding to each corresponding link.

  The data recording unit 12 includes an external storage device and a hard disk (not shown) as a recording medium, a map information database (map information DB) 25, a parameter database (parameter DB) 27 stored in the hard disk, and a predetermined data A controller board or the like (not shown) for reading programs and the like and writing predetermined data to the hard disk is provided.

  The map information DB 25 stores navigation map information 26 used for travel guidance and route search of the navigation device 2. In addition, the parameter DB 27 stores a count value of the number of times of automatic driving by automatic driving of the driver, a proficiency level data table 85 (see FIG. 2) described later, and the like.

  Here, the navigation map information 26 is composed of various information necessary for route guidance and map display. For example, new road information for specifying each new road, map display data for displaying a map, Search for intersection data related to intersections, node data related to node points, link data related to roads (links), search data for searching routes, facility data related to POI (Point of Interest) such as stores that are a type of facility, and points. Search data and the like.

  In addition, as node data, actual road junctions (including intersections, T-junctions, etc.), node coordinates (positions) set for each road according to the radius of curvature, etc. Elevation, node attribute indicating whether the node is a node corresponding to an intersection, etc., a connection link number list that is a list of link IDs that are identification numbers of links connected to the node, and a node of a node adjacent to the node via a link Data related to an adjacent node number list that is a list of numbers is recorded.

  Further, as link data, a link ID for specifying a link for each link constituting the road, a link length indicating the length of the link, a coordinate position (for example, latitude and longitude) of the start point and end point of the link, Presence / absence of median strip, link gradient, road width to which link belongs, number of lanes, legal speed, presence / absence of lane change prohibition line, coordinate position of both end points of lane change prohibition line (for example, latitude and longitude) Data representing railroad crossings, etc. for curves, curvature radii, intersections, T-junctions, curve entrances and exits, etc., for road types, in addition to general roads such as national roads, prefectural roads, narrow streets, etc. Data representing toll roads such as national roads, city expressways, general toll roads, and toll bridges are recorded.

  Furthermore, regarding toll roads, data relating to the toll road entrance and exit attachment roads (rampways), toll gates (interchanges), charges for each travel section, and the like are recorded. A toll road such as a national highway, a city highway, a car road, and a general toll road is referred to as a toll road. One-digit or two-digit national roads excluding toll roads, three-digit or more national roads, major local roads, prefectural roads, municipal roads, etc. are called general roads.

  In addition, as search data, data used for searching and displaying a route to a set destination is recorded, and costs for passing through a node (hereinafter referred to as node cost) and roads are configured. Cost data used for calculating a search cost including a link cost (hereinafter referred to as a link cost), route display data for displaying a guide route selected by the route search on a map of the liquid crystal display 15, and the like. It is configured. This link cost is data indicating the average travel time required to pass through the link, and is, for example, “3 (min)”.

The facility data includes hotel, amusement park, palace, hospital, gas station, parking lot, station, airport, ferry landing, interchange (IC), junction (JCT), service area, parking area (PA). POI names and addresses, telephone numbers, coordinate positions on the map (for example, latitude and longitude of the center position, entrance, exit, etc.), facility icons and landmarks that display the location of the facility on the map, etc. Are stored together with the facility ID that identifies the POI. In addition, a registered facility ID for specifying a registered facility such as a convenience store or a gas station registered by the user is also stored.
The contents of the map information DB 25 are updated by downloading update information distributed from the map information distribution center (not shown) via the communication device 17.

  As shown in FIG. 1, the navigation control unit 13 constituting the navigation device 2 is a working device that controls the entire navigation device 2, the CPU 41 as the control device, and the CPU 41 performs various arithmetic processes. In addition to being used as a memory, it has a RAM 42 for storing route data when a route is searched, an internal storage device such as a ROM 43 for storing control programs, a timer 45 for measuring time, etc. Yes. Further, the ROM 43 sets a “recommended takeover section setting process” for setting a takeover permission section to be taken over from manual operation to automatic operation on a guide route, which will be described later, and from automatic operation to manual operation (see FIGS. 3 and 4). Etc. are stored.

  The operation unit 14 is operated when correcting the current position at the start of travel, inputting a departure point as a guidance start point and a destination as a guidance end point, or when searching for information about facilities, etc. Consists of keys and multiple operation switches. The navigation control unit 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches.

  Also, the liquid crystal display 15 includes map information currently traveling, map information around the destination, operation guidance, operation menu, key guidance, guidance route from the current location to the destination, guidance information along the guidance route, traffic Information, news, weather forecast, time, mail, TV program, etc. are displayed.

  Further, the speaker 16 outputs voice guidance or the like for guiding traveling along the guidance route based on an instruction from the navigation control unit 13. Here, the voice guidance to be guided includes, for example, “200m ahead, turn right at XX intersection”.

  The touch panel 18 is a transparent panel-like touch switch mounted on the display screen of the liquid crystal display 15. Various instruction commands can be input by pressing buttons or a map displayed on the screen of the liquid crystal display 15. It is possible to do the same. Note that the touch panel 18 may be configured by an optical sensor liquid crystal method or the like that directly presses the screen of the liquid crystal display 15.

Next, an example of the proficiency level data table 85 stored in the parameter DB 27 will be described with reference to FIG.
As shown in FIG. 2, the proficiency level data table 85 includes a “driving experience level” representing driving experience by the driver's automatic driving, “automatic driving count by automatic driving”, “distance necessary for simultaneous takeover”, It consists of “distance necessary for handing over steering operation” and “distance necessary for handing over pedal operation”.

  The “number of times of automatic driving by automatic driving” stores the number of times of automatic driving corresponding to each driving experience level of the driver. For example, “1-5 times” is stored as the number of times of automatic driving corresponding to the “experienced” driving experience level. The “distance required for simultaneous takeover” is the distance required to take over the steering operation of the steering device and the accelerator and brake pedal operations from manual operation to automatic operation, or from automatic operation to manual operation. , And stored in association with each driving experience level of the driver. For example, “1000 m” is stored as the distance required for simultaneous handover corresponding to the “experienced” driving experience level.

  The “distance necessary for taking over the steering operation” is the distance required for taking over only the steering operation of the steering device from the manual operation to the control by the vehicle control ECU 3 or from the control by the vehicle control ECU 3 to the manual operation. Are stored in association with each driving experience level. For example, “400 m” is stored as the distance required for taking over the steering operation corresponding to the “experienced” driving experience level. The “distance necessary for handing over the pedal operation” is a distance required for handing over only the accelerator and brake pedal operations from manual operation to control by the vehicle control ECU 3 or from control by the vehicle control ECU 3 to manual operation. Is stored in association with each driving experience level of the driver. For example, “600 m” is stored as the distance required for taking over the pedal operation corresponding to the “experienced” driving experience level.

[Recommended takeover section setting process]
Next, in the host vehicle 1 configured as described above, the process is executed by the CPU 41 of the navigation device 2 and is taken over from the manual operation on the guide route to the automatic operation and from the automatic operation to the manual operation. The “recommended takeover section setting process” for setting the permission section and the like will be described with reference to FIGS.

  3 and 4 is a process executed every predetermined time, for example, every 0.1 second after the guide route is determined and transmitted to the vehicle control ECU 3. is there. Further, for example, when the automatic driving start button 61 is pressed and turned on on a highway, the vehicle control ECU 3 outputs a pressing signal indicating that the automatic driving start button 61 is pressed to the navigation device 2. .

  As shown in FIGS. 3 and 4, first, in step (hereinafter abbreviated as “S”) 11, the CPU 41 of the navigation device 2 sends a pressing signal indicating that the automatic driving start button 61 has been pressed from the vehicle control ECU 3. A determination process is performed to determine whether or not an input has been made, that is, whether or not the automatic operation start button 61 has been turned ON. And when it determines with the pressing signal showing that the automatic driving | operation start button 61 was pressed not being input (S11: NO), CPU41 complete | finishes the said process.

  On the other hand, if it is determined that a pressing signal indicating that the automatic driving start button 61 has been pressed is input (S11: YES), the CPU 41 proceeds to the processing of S12. In S12, the CPU 41 reads out the route information such as the link ID of each link on the guide route and the coordinate position of each node to which each link is connected from the navigation map information 26 and stores it in the RAM 42.

  In S <b> 13, the CPU 41 acquires the vehicle position based on the detection result of the current location detection processing unit 11. Subsequently, the CPU 41, based on the navigation map information 26, road information such as the altitude of each node, such as the gradient of each link on the guidance route, the number of lanes, the radius of curvature, the road surface condition, etc., ahead of the vehicle position in the traveling direction. Is stored in the RAM 42. Further, the CPU 41 reads the current traffic information and weather information corresponding to each link on the guide route ahead of the vehicle position in the traveling direction from the data recording unit 12 and stores it in the RAM 42.

  Subsequently, in S14, the CPU 41 can simultaneously take over both the steering operation of the steering device and the accelerator and brake pedal operations from the manual operation to the automatic operation or from the automatic operation to the manual operation on the guide route. A takeover permission section is extracted and stored in the RAM 42. Specifically, as shown in FIG. 5, the CPU 41 starts road information about each link on the guide route 86 from the own vehicle position 87 to the exit 88 of the expressway where the automatic driving is terminated and the end point 88 such as an interchange. Read traffic information and weather information.

  Then, on the guide route 86, the CPU 41, for example, a section of an environment with high driving difficulty such as merging, exit point (lane), steep slope, steep curve, bad road, strong wind (crosswind), steering operation and pedaling. Both of the operations are extracted from the manual operation to the automatic operation, or are extracted as respective non-takeover sections 89 that cannot be taken over from the automatic operation to the manual operation, and stored in the RAM 42. Further, the CPU 41 can simultaneously take over the sections excluding the non-takeover sections 89 on the guide route 86 from the manual operation to the automatic operation or from the automatic operation to the manual operation. The permitted section 91 is extracted and stored in the RAM 42.

  Next, in S15, the CPU 41 manually operates only one of the steering operation of the steering device and the pedal operation of the accelerator and the brake individually from the non-transferable section excluding the simultaneous transfer permission section on the guide route. To the control by the vehicle control ECU 3 (hereinafter referred to as “semi-automatic driving”) or a section that can be handed over from the semi-automatic driving to the manual driving is extracted as an individual take-over permission section.

  Specifically, as shown in FIG. 6, the CPU 41 performs a steering operation only from a manual operation to a semi-automatic operation when a pedal operation of an accelerator and a brake such as a rough road with up and down slopes exceeding a predetermined value is required. Or a section that can be handed over from semi-automatic operation to manual operation is extracted as an individual handover permission section 92 and stored in the RAM 42. Further, the CPU 41 manually operates only the accelerator and brake pedal operations when steering operation such as strong wind (crosswind) or a sharp curve is necessary in each non-takeover section 89 ahead of the own vehicle position 87 in the traveling direction. A section that can be taken over from semiautomatic operation or from semiautomatic operation to manual operation is extracted as an individual takeover permission section 93 and stored in the RAM 42.

  Then, in S16, the CPU 41 becomes familiar with the driver's automatic driving on the simultaneous takeover section closest to each of the vehicle position (starting point) and the exit of the highway where the automatic driving ends and the end point of the interchange on the guidance route. Extract based on degree. Specifically, the CPU 41 first reads out from the parameter DB 27 a count value of the number of times of automatic driving by automatic driving of the driver, for example, a count value of three times. Then, the CPU 41 uses the count value as the “automatic travel count by automatic driving” in the proficiency level data table 85 stored in the parameter DB 27, corresponding to this “automatic travel count by automatic driving”. ", For example, 1000 m is read out and stored in the RAM 42 as" distance LT "required for simultaneous takeover.

  Subsequently, the CPU 41 sequentially reads out the distance of each simultaneous takeover permission section existing on the front side in the traveling direction from the own vehicle position (starting point) to the front side in the traveling direction. Then, the CPU 41 extracts the simultaneous takeover permission section that is equal to or longer than the distance LT necessary for simultaneous takeover and is closest to the vehicle position (start point), and performs both the steering operation of the steering device and the pedal operation of the accelerator and the brake. It is stored in the RAM 42 as a simultaneous transfer permission section on the start point side that can be transferred from manual operation to automatic operation. Thereby, the simultaneous transfer permission section on the start point side of the distance suitable for the driving experience level of the driver can be extracted.

  In addition, the CPU 41 sequentially reads out the distances of the simultaneous takeover permission sections existing on the front side in the traveling direction from the exit of the expressway where the automatic driving is terminated or an interchange or the like to the front side in the traveling direction. Then, the CPU 41 extracts the simultaneous takeover permission section that is equal to or longer than the distance LT necessary for simultaneous takeover and is closest to the end point, and performs both the steering operation of the steering device and the pedal operation of the accelerator and the brake from the automatic operation to the manual operation. Is stored in the RAM 42 as a simultaneous take-over permission section on the end point side that can be taken over. Thereby, it is possible to extract the simultaneous takeover permission section on the end point side of the distance suitable for the driving experience level of the driver.

  For example, as shown in FIG. 7, the CPU 41 determines whether each of the simultaneous takeover permission sections 91 </ b> A, 91 </ b> B, 91 </ b> C exists on the front side in the traveling direction from the exit 88 of an expressway that terminates automatic driving of the guide route 86 or an interchange. The distances L1, L2, and L3 are sequentially read out toward the front side in the traveling direction. The distances L1 and L2 of the simultaneous takeover permission sections 91A and 91B are less than the distance LT necessary for simultaneous takeover, and the distance L3 of the third simultaneous takeover permission section 91C on the front side in the traveling direction from the end point 88 is the simultaneous takeover. It is more than the distance LT required for.

  For this reason, the CPU 41 extracts the simultaneous take-over permission section 91C, and at the end point closest to the end point 88 capable of taking over both the steering operation of the steering device and the pedal operation of the accelerator and the brake from the automatic driving to the manual driving. It is stored in the RAM 42 as a simultaneous take-over permission section. Thereby, the simultaneous takeover permission section 91C on the end point 88 side of the distance suitable for the driving experience level of the driver can be extracted.

  Note that the distance LT required for simultaneous takeover is not set based on the driver's proficiency with respect to automatic driving, but the road environment (road structure, time zone, weather, traffic jam conditions, surrounding vehicle conditions, etc.) that affect driving difficulty. )) May be set. For example, the road structure may be set such that the distance LT becomes longer in the order of a road with a slope, a road with a curve, etc. than a straight road without undulations. Further, regarding the time zone, the distance LT may be set to be longer in the order of evening, evening, etc. than daytime.

  Further, regarding the weather, the distance LT may be set to be longer in the order of rain, heavy rain, snow cover, etc. than sunny. In addition, regarding the traffic situation, the distance LT may be set to be longer in the order of congestion and traffic jam than in the empty space. Further, regarding the surrounding vehicle situation, the distance LT is increased in the order in which other vehicles exist in the left and right and front and rear directions when there are other vehicles in the left and right and front and rear directions, compared to the case where no other vehicles exist in the left and right and front and rear directions. You may make it set.

  Subsequently, in S <b> 17, the CPU 41 performs a determination process for determining whether or not semi-automatic driving can be set between the own vehicle position (start point) and the simultaneous transfer permission section on the start point side on the guide route. Run. That is, the CPU 41 first extracts the individual takeover permission section existing between the vehicle position (start point) and the simultaneous takeover permission section on the start point side based on the proficiency level of the driver for automatic driving. When there is an individual takeover permission section corresponding to the driver's proficiency with respect to automatic driving between the own vehicle position (start point) and the simultaneous takeover permission section on the start point side, the CPU 41 ) And the start point side simultaneous takeover permission section, it is determined that semi-automatic operation can be set.

  For example, as shown in FIG. 8, the CPU 41 first reads from the parameter DB 27 the count value of the number of times of automatic driving by the driver's automatic driving, for example, the count value of three times, and stores the count value in the parameter DB 27. In the degree data table 85, “the number of automatic travelings by automatic driving” is set. Then, the CPU 41 uses this count value as “automatic travel count by automatic driving” in the proficiency level data table 85 stored in the parameter DB 27, and “necessary for taking over steering operation corresponding to this“ automatic travel count by automatic driving ”. "Distance", for example, 400m, and "distance necessary for handing over pedal operation", for example, 600m, "distance LS" necessary for handing over steering operation and "distance LP, necessary for handing over pedal operation" Is stored in the RAM 42.

  Then, the CPU 41 determines that the distance L2 of the individual takeover permission section 92A for the steering operation existing between the vehicle position (start point) and the simultaneous takeover permission section on the start point side is equal to or greater than the “distance LS” necessary for the hand over of the steering operation. In this case, it is determined that the semi-automatic operation of the steering operation can be set in the individual takeover permission section 92A existing between the vehicle position (start point) and the simultaneous takeover permission section on the start point side. Further, the CPU 41 determines that the distance L3 of the individual takeover permission section 93A for the pedal operation existing between the vehicle position (start point) and the simultaneous takeover permission section on the start point side is equal to or greater than the “distance LP” necessary for the handing over of the pedal operation. In this case, it is determined that the semi-automatic operation of the pedal operation can be set in the individual takeover permission section 93A existing between the vehicle position (start point) and the simultaneous takeover permission section on the start point side.

  If the CPU 41 determines that the semi-automatic operation cannot be set between the own vehicle position (start point) and the simultaneous take-over permission section on the start point side on the guide route (S17: NO), The simultaneous transfer permission section closest to the vehicle position (start point) is set as the first simultaneous transfer permission section in which the steering operation and the pedal operation are transferred from the manual operation to the automatic operation, stored in the RAM 42, and then the process proceeds to S19 described later. .

  On the other hand, if the CPU 41 determines that the semi-automatic operation can be set between the own vehicle position (start point) and the simultaneous take-over permission section on the start point side on the guide route (S17: YES), S18 Move on to processing. In S18, the CPU 41 exists between the own vehicle position (start point) and the simultaneous take-over permission section on the start point side, among the individual take-over permission sections for steering operation or pedal operation corresponding to the driver's proficiency with respect to automatic driving, The individual takeover permission section closest to the own vehicle position (start point) is set as the first individual takeover permission section to be handed over from the manual operation to the semi-automatic operation and stored in the RAM 42. When there is an individual takeover permission section of manual operation different from the manual operation of the first individual takeover permission section ahead of the first individual takeover permission section, the CPU 41 semi-automatically selects this individual takeover permission section. After setting the second individual takeover permission section to be taken over from the operation to the automatic operation and storing it in the RAM 42, the process proceeds to S19.

  For example, as shown in FIG. 8, the CPU 41 determines the individual handover permission section for the steering operation closest to the own vehicle position (start point) 87 between the own vehicle position (start point) 87 and the simultaneous handover permission section 91 on the start point side. 92A is set as the first individual takeover permission section that takes over from the manual operation to the semiautomatic operation, and is stored in the RAM. Further, the CPU 41 sets the individual takeover permission section 93A for pedal operation existing ahead of the individual takeover permission section 92A as the second individual takeover permission section to be handed over from the semi-automatic operation to the automatic operation, and stores it in the RAM 42.

  Subsequently, as shown in FIG. 4, in S19, the CPU 41 can set the semi-automatic operation between the simultaneous take-over permission section on the end point side and the end point at which the automatic operation ends on the guidance route. A determination process is performed to determine whether or not. That is, the CPU 41 extracts the individual takeover permission section existing between the simultaneous takeover permission section on the end point side and the end point at which the automatic driving is terminated based on the proficiency level of the driver for the automatic driving. Then, the CPU 41 individually takes over the steering operation and the pedal operation corresponding to the driver's proficiency with respect to the automatic driving between the simultaneous take-over permission section on the end point side and the end point at which the automatic driving ends, respectively. When the takeover permission section exists, it is determined that the semi-automatic operation can be set between the simultaneous takeover permission section on the end point side and the end point at which the automatic operation ends.

  For example, as shown in FIG. 9, the CPU 41 first reads from the RAM 42 the “distance LS” necessary for taking over the steering operation and the “distance LP” necessary for taking over the pedal operation. Then, the CPU 41 determines that the distance L2 of the individual takeover permission section 92B for the steering operation existing between the simultaneous takeover permission section 91 on the end point 88 side and the end point 88 at which the automatic operation is terminated is the “distance required for the handover of the steering operation. In the case of “LS” or more, it is determined that there is an individual takeover permission section 92B in which the steering operation can be handed over to the manual operation between the simultaneous takeover permission section 91 on the end point 88 side and the end point 88 at which the automatic driving ends.

  Further, the CPU 41 determines that the distance L3 between the individual takeover permission section 93B for the pedal operation existing between the simultaneous takeover permission section 91 on the end point 88 side and the end point 88 at which the automatic operation is terminated is the “distance required for taking over the pedal operation. In the case of “LP” or more, it is determined that there is an individual takeover permission section 93B in which the pedal operation can be handed over to the manual operation between the simultaneous takeover permission section 91 on the end point 88 side and the end point 88 at which the automatic operation ends. Thereby, since there are two individual takeover permission sections 92B and 93B in which the steering operation and the pedal operation are individually handed over to the manual operation, the CPU 41 ends the simultaneous takeover permission section 91 on the end point 88 side and the end point 88 to end the automatic driving. It is determined that semi-automatic operation can be set between

  When the CPU 41 determines that the semi-automatic operation cannot be set between the simultaneous handover permission section on the end point side and the end point at which the automatic operation is terminated (S19: NO), the end point at which the automatic operation is terminated. Is set as the second simultaneous transfer permission section in which the steering operation and the pedal operation are transferred from the automatic operation to the manual operation, and stored in the RAM 42. Thereafter, the CPU 41 proceeds to a process of S21 described later.

  On the other hand, if the CPU 41 determines that the semi-automatic driving can be set between the simultaneous take-over permission section on the end point side and the end point at which the automatic driving is ended on the guide route (S19: YES), S20 Move on to processing. In S20, the CPU 41 individually takes over the steering operation and the pedal operation corresponding to the driver's proficiency with respect to the automatic driving between the simultaneous take-over permission section on the end point side and the end point at which the automatic driving ends, respectively. If there is an individual takeover permission section, the individual takeover permission section closer to the end point side simultaneous takeover permission section is set as the third individual takeover permission section to be handed over from the automatic operation to the semi-automatic operation and stored in the RAM. Then, the CPU 41 sets the individual takeover permission section existing ahead of the third individual takeover permission section as the fourth individual takeover permission section to be handed over from the semi-automatic operation to the manual operation, and stores it in the RAM. Migrate to

  For example, as shown in FIG. 9, the CPU 41 determines the individual steering operation closest to the simultaneous handover permission section 91 on the end point 88 side between the simultaneous handover permission section 91 on the end point 88 side and the end point 88 that ends the automatic driving. The takeover permission section 92B is set as a third individual takeover permission section that is handed over from the automatic operation to the semi-automatic operation, and is stored in the RAM 42. Further, the CPU 41 sets an individual takeover permission section 93B for pedal operation existing ahead of the individual takeover permission section 92B as a fourth individual takeover permission section to be handed over from the semi-automatic operation to the manual operation and stores it in the RAM 42.

  Subsequently, as shown in FIG. 4, in S21, the CPU 41 executes a determination process for determining whether or not there is a specific section on the guide route where only one of the steering operation and the pedal operation can be performed semi-automatically. If it is determined that there is no specific section in the guide route that can be operated only by one of the semi-automatic operation of the steering operation or the pedal operation (S21: NO), the CPU 41 proceeds to the process of S24 described later.

  On the other hand, if it is determined that there is a specific section on the guide route that can only be operated by one of the semi-automatic operations of the steering operation or the pedal operation (S21: YES), the CPU 41 proceeds to the process of S22. In S22, the CPU 41 is the most specific section among the individual takeover permission sections or the simultaneous takeover permission sections that can be transferred from the automatic driving to the semi-automatic operation corresponding to the specific section on the front side in the traveling direction of the specific section. The closer one is extracted based on the proficiency level of the driver for automatic driving, and stored in the RAM 42 as a semi-automatic driving takeover section.

  In S23, the CPU 41 extracts the simultaneous takeover permission section that can be taken over again from the semi-automatic driving corresponding to the specific section to the automatic driving in the forward direction of the specific section based on the proficiency level of the driver for the automatic driving. And stored in the RAM 42 as a re-automatic operation takeover section. As a result, the CPU 41 can take over from the semi-automatic operation to the semi-automatic operation again, and then can take over from the semi-automatic operation to the automatic operation again, thereby extending the automatic operation section and reducing the driving burden on the driver. .

  For example, as shown in FIG. 10, when there is a specific section 95 on the guide route 86 where only one semi-automatic operation of pedal operation is possible and control of the steering operation by the vehicle control ECU 3 is not possible, The count value of the number of times of automatic driving by the automatic driving of the driver is read from DB27. Then, the CPU 41 reads out the “distance required for taking over the steering operation” corresponding to the “number of times of automatic driving by automatic driving” as the “number of times of automatic driving by automatic driving” of the proficiency level data table 85 as the count value. The RAM 42 stores the “distance LS” necessary for taking over the steering operation.

  Then, on the front side in the traveling direction of the specific section 95, the CPU 41 has a distance L2 of the individual handover permission section 92D for the steering operation equal to or greater than the “distance LS” necessary for the handover of the steering operation. When it is closer to the specific section 95 than the simultaneous transfer permission section 91D, this individual transfer permission section 92D is stored in the RAM 42 as a semi-automatic driving handover section that takes over the steering operation.

  If the distance L3 of the simultaneous takeover permission section 91E is equal to or greater than the “distance LS” required for the steering operation, the CPU 41 operates the simultaneous takeover permission section 91E with the pedal operation. This is stored in the RAM 42 as a re-automatic driving takeover section that takes over again from the semi-automatic driving to the automatic driving of the steering operation and the pedal operation. As a result, the driver can start running in semi-automatic driving in which only the steering operation is handed over to manual driving in the individual takeover permission section 92D, and then can start running again in automatic driving in the simultaneous takeover permission section 91E. Thus, the automatic operation section can be lengthened.

  Next, as shown in FIG. 4, in S24, the CPU 41 makes a first simultaneous take-over permission section that takes over from manual operation to automatic operation on the own vehicle position (start point) side, or a first individual that takes over from manual operation to semi-automatic operation. The coordinate position of the end point on the front side in the traveling direction of the takeover permission section is read from the navigation map information 26 and stored in the RAM 42 as the coordinate position of the start point of the automatic driving section. In addition, the CPU 41 determines the coordinate position of the end point on the front side in the traveling direction of the second simultaneous transfer permission section to be taken over from the automatic operation to the manual operation on the end point side of the automatic operation or the fourth individual takeover permission section to be taken over from the semi-automatic operation to the manual operation. Is read from the navigation map information 26 and stored in the RAM 42 as the coordinate position of the end point of the automatic driving section.

  Subsequently, the CPU 41 reads out the coordinate positions of the start point and end point of the automatic driving section from the RAM 42, and acquires the travel distance from the start point to the end point of the automatic driving section on the guidance route from the navigation map information 26. . Thereafter, the CPU 41 reads a predetermined distance threshold value from the parameter DB 27, and executes a determination process for determining whether or not the travel distance from the start point to the end point of the automatic driving section is equal to or greater than the predetermined distance threshold value. That is, a determination process is performed for determining whether the distance of the automatic driving section is long and the distance is such that the driver does not feel bothered with respect to the process of taking over from the automatic driving to the manual driving. The predetermined distance threshold value is stored in advance in the parameter DB 27.

  When it is determined that the travel distance from the start point to the end point of the automatic driving section is equal to or greater than the predetermined distance threshold (S24: YES), the CPU 41 proceeds to the process of S25. In S25, the CPU 41 performs automatic operation from semi-automatic operation to the first simultaneous take-over permission section that takes over from manual operation to automatic operation on the own vehicle position (start point) side, or the first individual take-over permission section that takes over from manual operation to semi-automatic operation. From the second individual takeover permission section to be taken over to the second and the second simultaneous takeover permission section to take over from automatic operation to manual operation at the end point of automatic operation, or from the third individual takeover permission section to take over from automatic operation to semiautomatic operation, and from semiautomatic operation The fourth individual takeover permission section, the semi-automatic operation takeover section, and the re-automatic operation takeover section to be handed over to the manual operation are read from the RAM 42, and a recommended automatic operation section on the guide route is set.

  For example, as shown in FIG. 11, the CPU 41 manually operates the individual takeover permission section 92 </ b> A that takes over the steering operation as the first individual takeover permission section from the manual operation to the semi-automatic operation and the pedal operation as the second individual takeover permission section. From the RAM 42, the individual takeover permission section 93 </ b> A to be taken over from the semiautomatic operation, that is, from the semiautomatic operation to the automatic operation is read out. Then, the CPU 41 sequentially arranges the individual takeover permission sections 92A and 93A to the front side in the traveling direction, and sets the sections as the sections to be taken over from the manual operation on the vehicle position (start point) 87 side of the recommended automatic operation section 96 to the automatic operation. And stored in the RAM 42.

  Further, the CPU 41 takes over the steering operation as the third individual takeover permission section from the automatic operation to the manual operation, that is, the individual takeover permission section 92B that takes over from the automatic operation to the semiautomatic operation, and the pedal operation as the fourth individual takeover permission section. Is transferred from the automatic operation to the manual operation, that is, the individual take-over permission section 93B from the semi-automatic operation to the manual operation is read from the RAM. Then, the CPU 41 sequentially arranges the individual takeover permission sections 92B and 93B to the front side in the traveling direction, sets the sections as the section that takes over from the automatic operation on the end point 88 side of the recommended automatic operation section 96 to the manual operation, and stores it in the RAM 42. .

  Then, as shown in FIG. 4, in S26, the CPU 41 outputs the recommended automatic driving section to the vehicle control ECU 3, and notifies the driver of each start point of the semi-automatic driving and the automatic driving in the recommended automatic driving section. The coordinate position of the end point is acquired from the navigation map information 26 and stored in the RAM 42.

  For example, as shown in FIG. 11, the CPU 41 reads out the “distance LS” necessary for taking over the steering operation from the RAM 42. Then, the CPU 41 uses the navigation map information 26 to determine the coordinate position of the point that has traveled forward in the traveling direction by the “distance LS” from the end point on the near side in the traveling direction of the individual takeover permission section 92A closest to the own vehicle position (starting point) 87. Read and store in the RAM 42 as the coordinate position of the start point of the semi-automatic operation. Subsequently, the CPU 41 reads out the “distance LP” necessary for taking over the pedal operation from the RAM 42. Then, the CPU 41 reads from the navigation map information 26 the coordinate position of the point advanced forward in the traveling direction by “distance LP” from the end point on the front side in the traveling direction of the individual takeover permission section 93A, and the coordinate position of the starting point of automatic driving Is stored in the RAM.

  In addition, the coordinate position of the point that has traveled forward in the traveling direction by “distance LS” from the end point in the traveling direction of the individual handover permission section 92B that is handed over from the automatic operation on the end point 88 side to the semi-automatic operation is read from the navigation map information 26, The coordinate position of the automatic driving end point is stored in the RAM 42. Then, the CPU 41 reads the coordinate position of the point that has traveled forward in the traveling direction by “distance LP” from the end point on the traveling direction front side of the individual takeover permission section 93B closest to the end point 88 from the navigation map information 26, and performs semi-automatic driving. The coordinate position of the end point is stored in the RAM 42. Accordingly, the automatic driving section is set from the start point of the semi-automatic operation on the own vehicle position (start point) 87 side to the end point of the semi-automatic operation on the end point 88 side.

  After that, as shown in FIG. 4, in S27, the CPU 41, on the own vehicle position (starting point) side, the first simultaneous takeover permission section that takes over from manual operation to automatic operation, or the first individual takeover that takes over from manual operation to semi-automatic operation. Permissible section, second individual takeover permission section that takes over from semi-automatic operation to automatic operation, second simultaneous takeover permission section that takes over from automatic operation to manual operation at the end point of automatic operation, or third that takes over from automatic operation to semi-automatic operation Individual sections that consist of individual handover permission sections, fourth individual transfer permission sections that are handed over from semi-automatic operation to manual operation, semi-automatic operation handover sections, and re-automatic operation handover sections. Information is read from the RAM 42. Further, the coordinate positions of the start point and end point of the semi-automatic driving and the automatic driving in the recommended automatic driving section are read out.

  Then, the CPU 41 outputs each section information of the recommended automatic driving section read from the RAM 42 and the coordinate positions of the start point and the end point of the semi-automatic driving and the automatic driving to the vehicle control ECU 3. As a result, the CPU 71 of the vehicle control ECU 3 can set the driving plan based on the input section information of the recommended automatic driving section and the coordinate positions of the start and end points of the semi-automatic driving and the automatic driving. It becomes.

  In addition, the CPU 41 is arranged on the guidance route displayed on the liquid crystal display 15 based on the section information of the recommended automatic driving section read from the RAM 42 and the coordinate positions of the start point and end point of the semi-automatic driving and the automatic driving. The recommended automatic driving section is displayed. For example, as shown in FIG. 12, the CPU 41 displays a guide route 86 on the liquid crystal display 15, and includes an automatic driving section that can be driven by semi-automatic driving and automatic driving, and a start point and an end of each of semi-automatic driving and automatic driving. The point is displayed in an identifiable manner. Thereafter, the CPU 41 ends the process. Thereby, the driver can easily confirm the automatic driving section on the guide route.

  On the other hand, when it is determined in S24 that the travel distance from the start point to the end point of the automatic driving section is less than the predetermined distance threshold (S24: NO), the CPU 41 proceeds to the process of S28. In S28, after setting that the semi-automatic driving and the automatic driving are not performed on the guidance route, the CPU 41 proceeds to the process of S27.

  In S27, the CPU 41 outputs a control signal that instructs the vehicle control ECU 3 not to perform the semi-automatic driving and the automatic driving on the guide route. Further, the CPU 41 displays a guidance route on the liquid crystal display 15 and displays a message indicating that the semi-automatic operation and the automatic operation are not performed. Thereafter, the CPU 41 ends the process. As a result, the driver can easily confirm that the vehicle travels the entire distance of the guide route by manual operation.

  As described above in detail, in the own vehicle 1 according to the present embodiment, the CPU 41 is proficient in automatic driving of the driver between the own vehicle position (start point) and the simultaneous take-over permission section on the start point side on the guide route. If there is an individual takeover permission section corresponding to the degree, the individual takeover permission section closest to the own vehicle position (start point) is set as the first individual takeover permission section to be handed over from the manual operation to the semi-automatic operation and stored in the RAM 42. . When there is an individual takeover permission section of manual operation different from the manual operation of the first individual takeover permission section ahead of the first individual takeover permission section, the CPU 41 semi-automatically selects this individual takeover permission section. The second individual takeover permission section that is handed over from the operation to the automatic operation is set and stored in the RAM 42.

  As a result, the CPU 41 can set the first individual takeover permission section to be handed over from the manual operation to the semiautomatic operation at a position closer to the vehicle position (start point) than the simultaneous takeover permission section. It is possible to set the travel distance of the automatic driving section to be longer. That is, it becomes possible to lengthen the section in which the semi-automatic driving or the automatic driving can be performed, and the driving burden on the driver can be reduced.

  In addition, on the guide route, the steering operation and the pedal operation corresponding to the driver's proficiency with respect to the automatic driving are individually performed for the manual driving between the simultaneous take-over permission section on the end point side and the end point at which the automatic driving ends. If there are two individual takeover permission sections to be taken over, the individual takeover permission section closer to the simultaneous takeover permission section on the end point side is set as the third individual takeover permission section to be taken over from automatic operation to semi-automatic operation. Remember. Then, the CPU 41 sets the individual takeover permission section existing ahead of the third individual takeover permission section as the fourth individual takeover permission section to be handed over from the semi-automatic operation to the manual operation and stores it in the RAM.

  As a result, the CPU 41 can set the third individual takeover permission section to be taken over from the automatic operation to the semiautomatic operation at a point closer to the end point of the automatic operation than the simultaneous takeover permission section. Furthermore, the CPU 41 can set the fourth individual takeover permission section to be handed over from the semi-automatic operation to the manual operation at a point closer to the end point side than the third individual takeover permission section. As a result, the CPU 41 can set the travel distance of the automatic operation section that travels by semi-automatic operation or automatic operation to be longer. That is, it is possible to further increase the section in which the semi-automatic driving or the automatic driving can be performed, and the driving burden on the driver can be reduced.

  In addition, this invention is not limited to the said Example, Of course, various improvement and deformation | transformation are possible within the range which does not deviate from the summary of this invention. In the embodiment of the present invention, the vehicle control ECU 3 does not depend on the driver's operation to control all the operations of the accelerator operation, the brake operation, and the steering wheel operation, which are the operations related to the behavior of the vehicle among the operations of the vehicle. It has been described as automatic operation. In addition, the automatic driving that does not depend on the driver's operation is a semi-automatic driving that the vehicle control ECU 3 controls at least one of the accelerator operation, the brake operation, and the steering wheel operation, which is an operation related to the behavior of the vehicle among the vehicle operations. As explained. On the other hand, manual driving depending on the driver's operation has been described as a driver performing an accelerator operation, a brake operation, and a steering wheel operation, which are operations related to the behavior of the vehicle, among the operations of the vehicle.

  Also, for example, when only the first individual takeover permission section corresponding to the driver's proficiency with respect to automatic driving exists between the own vehicle position (start point) and the simultaneous takeover permission section on the start point side on the guide route. The CPU 41 may be set to take over from the manual operation to the semiautomatic operation in the first individual takeover permission section and then to take over from the semiautomatic operation to the automatic operation in the simultaneous takeover permission section on the start point side. Thereby, it becomes possible to set the traveling distance of the automatic driving | running | working area which drive | works by a semiautomatic driving | running | working or an automatic driving | operation longer. That is, it becomes possible to lengthen the section in which the semi-automatic driving or the automatic driving can be performed, and the driving burden on the driver can be reduced.

  Also, for example, when there is only a third individual takeover permission section corresponding to the driver's proficiency with respect to automatic driving between the simultaneous takeover permission section on the end point side and the end point at which automatic driving ends on the guide route. The CPU 41 takes over the manual operation different from the manual operation of the third individual takeover permission section in the simultaneous takeover permission section on the end point side, and takes over from the automatic operation to the semiautomatic operation. Thereafter, the CPU 41 may be set to take over from the semi-automatic operation to the manual operation in the third individual takeover permission section. Thereby, it becomes possible to set the traveling distance of the automatic driving | running | working area which drive | works by a semiautomatic driving | running | working or an automatic driving | operation longer. That is, it becomes possible to lengthen the section in which the semi-automatic driving or the automatic driving can be performed, and the driving burden on the driver can be reduced.

  Moreover, although the embodiment which actualized the automatic driving assistance device according to the present invention has been described above, the automatic driving assistance device can also have the following configuration, and in that case, the following effects can be obtained.

For example, the first configuration is as follows.
The recommended takeover section setting means takes over all control of the actuators corresponding to the plurality of driving operation means to the manual operation on the front side in the traveling direction from the takeover permission section closest to the end point on the guide route. End point side section determining means for determining whether or not there are a plurality of individual takeover permission sections that can be used, and the takeover closest to the end point on the guide route is made via the end point side section determining means. When it is determined that there are a plurality of individual takeover permission sections that allow the control of the actuators corresponding to the plurality of driving operation means to be handed over to the manual operation on the front side in the traveling direction from the permission section. Sets the plurality of individual takeover permission sections as the recommended takeover sections, and is further forward in the traveling direction than the takeover permission section closest to the end point on the guide route. When it is determined that there are not a plurality of individual takeover permission sections in which it is possible to take over all the control of the actuators corresponding to the plurality of driving operation means to the manual operation, the closest to the end point The takeover permission section is set as the recommended takeover section.
According to the automatic driving support device having the above configuration, all control of the actuators corresponding to the plurality of driving operation means is handed over to the manual operation on the front side in the traveling direction from the takeover permission section closest to the end point on the guide route. When there are a plurality of individual takeover permission sections that enable the above, the plurality of individual takeover permission sections are set as recommended takeover sections that are handed over from automatic operation to manual operation. This makes it possible to set the recommended takeover section to be handed over from automatic operation to manual operation closer to the end point of the guide route, and to reliably lengthen the section on which the automatic operation or semi-automatic operation can be performed on the guide route. Is possible.

The second configuration is as follows.
The recommended takeover section setting means has a start point side section determining means for determining whether or not the automatic takeover permission section exists on the front side in the traveling direction with respect to the takeover permission section closest to the start point on the guide route. And when it is determined that the automatic takeover permission section exists on the front side in the traveling direction from the takeover permission section closest to the start point on the guide route via the start point section determination means, When it is determined that the automatic takeover permission section does not exist on the front side in the traveling direction with respect to the takeover permission section closest to the start point on the guide route, setting the takeover permission section as the start section of the recommended takeover section Is characterized in that the takeover permission section is set as the recommended takeover section.
According to the automatic driving support apparatus having the above-described configuration, when there is an automatic takeover permission section on the front side in the traveling direction with respect to the takeover permission section closest to the starting point on the guide route, the automatic takeover permission section is referred to as the recommended takeover section. Set to the start interval. This makes it possible to set the recommended takeover section to be handed over from manual operation to automatic operation closer to the starting point of the guide route, and to reliably lengthen the section on which the automatic operation or semi-automatic operation can be performed on the guide route. Is possible.

The third configuration is as follows.
A skill level acquisition means for acquiring a skill level of the driver who performs the manual operation with respect to the automatic driving, wherein the handover permission section extraction means is based on the skill level acquired via the skill level acquisition means; It is characterized by extracting a section.
According to the automatic driving support device having the above-described configuration, since the takeover permission section is extracted based on the proficiency level of the driver for automatic driving, it is possible to reliably take over from manual driving to automatic driving or from automatic driving to manual driving. It becomes possible.

The fourth configuration is as follows.
Based on the road information, it is determined whether or not there is a specific section on the guide route that is required to take over at least one control of the actuator corresponding to the plurality of driving operation means from the automatic driving to the manual operation. When it is determined that the specific section exists on the guidance route via the specific section determining means and the specific section determining means, the takeover permission section located on the front side in the traveling direction of the specific section Among these, a first specific takeover permission section setting means for setting the takeover permission section that can take over the control of the actuator corresponding to the specific section to the manual operation as a first specific takeover permission section; Among the takeover permission sections located on the side, the takeover permission section that can take over the control of the actuator corresponding to the specific section to the automatic operation A second specific takeover allowed interval setting means for setting the second specific takeover authorization period, and further comprising a.
According to the automatic driving support device having the above-described configuration, even when there is a specific section in which at least one control of the actuator corresponding to the plurality of driving operation means needs to be handed over to manual operation from the automatic driving, the first specifying After taking over from automatic operation to semi-automatic operation in the takeover permission section, it is possible to transfer from semiautomatic operation to automatic operation again in the second specific takeover permission section. Thereby, it becomes possible to lengthen the area which can implement the automatic driving | operation or semi-automatic driving | operation on a guidance route | route reliably.

The fifth configuration is as follows.
Travel distance acquisition means for acquiring a travel distance from an automatic driving start point taken over from the manual driving on the guide route to the automatic driving to an automatic driving end point taken over from the automatic driving to the manual driving; and the travel distance A distance determination unit that determines whether or not the travel distance acquired via the acquisition unit is equal to or greater than a predetermined distance threshold; and a determination that the travel distance is equal to or greater than the predetermined distance threshold via the distance determination unit Is controlled to set the recommended takeover section through the recommended takeover section setting means, and when the travel distance is determined to be less than a predetermined distance threshold through the distance determination means, Setting control means for controlling not to set the recommended takeover section via the recommended takeover section setting means.
According to the automatic driving support device having the above configuration, the travel distance from the automatic driving start point inherited from the manual driving to the automatic driving to the automatic driving end point transferred from the automatic driving to the manual driving is less than a predetermined distance threshold. In this case, since the automatic operation or semi-automatic operation section is not set, switching from manual operation to automatic operation or semi-automatic operation and then switching to manual operation again in a short time can be suppressed, and the burden of driving operation of the driver can be reduced. It becomes possible to reduce.

The sixth configuration is as follows.
The plurality of driving operation means include a steering device that controls a traveling direction of the host vehicle and an acceleration / deceleration device that controls acceleration / deceleration of the host vehicle.
According to the automatic driving support device having the above configuration, the operation of the steering device such as the steering device and the operation of the acceleration / deceleration device such as the accelerator device and the brake device is changed from manual driving to automatic driving or semi-automatic driving, or automatic driving. Or it becomes possible to take over from semiautomatic operation to manual operation in steps. Therefore, it is possible to set a longer traveling distance for the automatic driving or the semi-automatic driving on the guide route, and it is possible to make the section in which the automatic driving or the semi-automatic driving can be performed longer.

The seventh configuration is as follows.
In the handover permission section, all control of actuators corresponding to a plurality of driving operation means in one section is changed from the automatic driving to the manual driving manual operation, and from the manual driving manual operation to the automatic driving. It includes a simultaneous takeover permission section that can be taken over.
According to the automatic driving support apparatus having the above-described configuration, in the takeover permission section, all control of the actuator corresponding to the plurality of driving operation means in one section is changed from automatic driving to manual operation of manual driving. A simultaneous takeover permission section that can be taken over from manual operation to automatic operation is included. As a result, by setting the simultaneous takeover permission section as the recommended takeover section, it is possible to reliably take over from automatic operation to manual operation of manual operation and from manual operation of manual operation to automatic operation within one section. Become.

The eighth configuration is as follows.
Information output means is provided for outputting driving section information including the recommended handover section set via the recommended handover section setting means to a vehicle control device that controls the host vehicle.
As a result, the vehicle control device sets an operation plan to be taken over from the manual operation of the manual operation to the automatic operation and further from the automatic operation to the manual operation on the guide route according to the input operation section information including the recommended takeover section. Therefore, it is possible to reduce the processing load of the vehicle control device.

DESCRIPTION OF SYMBOLS 1 Own vehicle 2 Navigation apparatus 3 Vehicle control ECU
11 Current location detection processing unit 15 Liquid crystal display 25 Map information DB
26 Navigation map information 27 Parameter DB
41, 71 CPU
42, 72 RAM
43, 73 ROM
81 Steering actuator 82 Accelerator actuator 83 Brake actuator 85 Proficiency level data table 91 Simultaneous transfer permission section 92, 93 Individual transfer permission section 95 Specific section 96 Recommended automatic operation section

Claims (14)

Road information acquisition means for acquiring road information ahead of the direction of travel on the guide route;
Based on the road information acquired via the road information acquisition means, manual driving manually controlling the corresponding actuator according to the operation of a plurality of driving operation means from automatic driving controlling the actuator according to the road information A takeover permission section extracting means for extracting a takeover permission section that can be handed over to the operation;
Recommended takeover section setting means for setting a plurality of takeover permission sections extracted via the takeover permission section extraction means as recommended takeover sections that can be handed over from the automatic operation to the manual operation,
Individual takeover permission capable of taking over a plurality of takeover permission sections among the recommended takeover sections set via the recommended takeover section setting means to at least one control of an actuator corresponding to the plurality of driving operation means to the manual operation. Individual takeover permission section setting means to be set in the section,
An automatic driving support device characterized by comprising: The recommended takeover section setting means is:
A plurality of the individual operations that enable all control of the actuators corresponding to the plurality of driving operation means to be handed over to the manual operation on the front side in the traveling direction from the takeover permission section closest to the end point on the guide route. Having end point side section determination means for determining whether or not a takeover permission section exists,
Via the end point section determining means, all the control of the actuators corresponding to the plurality of driving operation means is performed to the manual operation on the front side in the traveling direction from the takeover permission section closest to the end point on the guide route. If it is determined that there are a plurality of individual takeover permission sections that can be taken over, the plurality of individual takeover permission sections are set as the recommended takeover sections, and the takeover closest to the end point on the guide route is set. When it is determined that there are not a plurality of individual takeover permission sections that allow the control of the actuators corresponding to the plurality of driving operation means to be handed over to the manual operation on the front side in the traveling direction from the permission section. The automatic driving support device according to claim 1, wherein the takeover permission section closest to the end point is set as the recommended takeover section. Road information acquisition means for acquiring road information ahead of the direction of travel on the guide route;
Based on the road information acquired via the road information acquisition means, automatic control of the actuator from manual operation of manual driving that controls the corresponding actuator according to the operation of a plurality of driving operation means according to the road information Takeover permission section extracting means for extracting a takeover permission section that can be handed over to operation;
Recommended takeover section setting means for setting a plurality of takeover permission sections extracted through the takeover permission section extraction means as recommended takeover sections that can be handed over from manual operation to the automatic operation;
Automatic takeover permission capable of taking over a plurality of takeover permission sections among the recommended takeover sections set via the recommended takeover section setting means to at least one control of an actuator corresponding to the plurality of driving operation means to the automatic operation. Automatic takeover permission section setting means to set in the section;
An automatic driving support device characterized by comprising: The recommended takeover section setting means is:
Starting point side section determining means for determining whether or not the automatic takeover permission section exists on the front side in the traveling direction from the takeover permission section closest to the start point on the guide route;
If it is determined via the start point section determination means that the automatic takeover permission section exists on the front side in the traveling direction from the takeover permission section closest to the start point on the guide route, the automatic takeover permission When the section is set as the start section of the recommended handover section, and when it is determined that the automatic handover permission section does not exist on the front side in the traveling direction than the handover permission section closest to the starting point on the guide route, The automatic driving support apparatus according to claim 3, wherein the takeover permission section is set as the recommended takeover section. Proficiency level acquisition means for acquiring a proficiency level for the automatic operation of the driver performing the manual operation,
5. The automatic transfer section according to claim 1, wherein the transfer permission section extraction unit extracts the transfer permission section based on the proficiency level acquired through the proficiency level acquisition unit. Driving assistance device. Based on the road information, it is determined whether or not there is a specific section on the guide route that is required to take over at least one control of the actuator corresponding to the plurality of driving operation means from the automatic driving to the manual operation. Specific section determining means for determining;
When it is determined that the specific section exists on the guide route through the specific section determination means, the specific section corresponds to the specific section among the takeover permission sections located on the front side in the traveling direction of the specific section. First specific takeover permission section setting means for setting the takeover permission section in which the control of the actuator can be handed over to the manual operation as a first specific takeover permission section;
Among the takeover permission sections located on the front side in the traveling direction of the specific section, the takeover permission section in which the control of the actuator corresponding to the specific section can be handed over to the automatic operation is set as a second specific takeover permission section. 2 specific takeover permission section setting means;
An automatic driving support device according to any one of claims 1 to 5, further comprising: A travel distance acquisition means for acquiring a travel distance from an automatic driving start point taken over from the manual driving on the guide route to the automatic driving to an automatic driving end point taken over from the automatic driving to the manual driving;
Distance determination means for determining whether the travel distance acquired via the travel distance acquisition means is equal to or greater than a predetermined distance threshold;
When it is determined that the travel distance is equal to or greater than a predetermined distance threshold value via the distance determination unit, the distance determination unit performs control so as to set the recommended transfer interval via the recommended transfer interval setting unit. A setting control means for controlling not to set the recommended takeover section via the recommended takeover section setting means when it is determined that the travel distance is less than a predetermined distance threshold via the means;
The automatic driving assistance device according to any one of claims 1 to 6, further comprising:   The plurality of driving operation means includes a steering device for controlling a traveling direction of the host vehicle and an acceleration / deceleration device for controlling acceleration / deceleration of the host vehicle. The automatic driving assistance device described.   In the handover permission section, all control of actuators corresponding to a plurality of driving operation means in one section is changed from the automatic driving to the manual driving manual operation, and from the manual driving manual operation to the automatic driving. The automatic driving support device according to any one of claims 1 to 8, further comprising a simultaneous takeover permission section that can be taken over.   The information output means which outputs the driving area information containing the said recommended taking over section set via the said recommended taking over section setting means with respect to the vehicle control apparatus which controls the own vehicle is characterized by the above-mentioned. The automatic driving assistance device according to claim 9. An automatic driving support method executed by an automatic driving support device including a control unit,
Executed by the control unit;
A road information acquisition step for acquiring road information ahead of the direction of travel on the guide route;
Based on the road information acquired in the road information acquisition step, from automatic driving that controls the actuator according to the road information to manual operation of manual driving that controls the corresponding actuator according to the operation of a plurality of driving operation means A takeover permission section extraction step for extracting a takeover permission section that can be taken over; and
A recommended takeover section setting step for setting a plurality of takeover permission sections extracted in the takeover permission section extraction step as recommended takeover sections that can be handed over from the automatic operation to the manual operation;
Among the recommended takeover sections set in the recommended takeover section setting step, a plurality of takeover permission sections are set as individual takeover permission sections that can take over at least one control of an actuator corresponding to the plurality of driving operation means to the manual operation. Individual takeover permission section setting process to be set,
An automatic driving support method characterized by comprising: An automatic driving support method executed by an automatic driving support device including a control unit,
Executed by the control unit;
A road information acquisition step for acquiring road information ahead of the direction of travel on the guide route;
Based on the road information acquired in the road information acquisition step, from manual operation of manual operation for controlling the corresponding actuator according to the operation of a plurality of driving operation means according to the road information to automatic operation for controlling the actuator A takeover permission section extraction step for extracting a takeover permission section that can be taken over; and
A recommended takeover section setting step for setting a plurality of takeover permission sections extracted in the takeover permission section extraction step as recommended takeover sections that can be handed over from manual operation to the automatic operation;
Among the recommended takeover sections set in the recommended takeover section setting step, a plurality of takeover permission sections are set as an automatic takeover permission section that can take over at least one control of an actuator corresponding to the plurality of driving operation means to the automatic operation. An automatic takeover permission section setting process to be set;
An automatic driving support method characterized by comprising: In a computer equipped with road information acquisition means for acquiring road information ahead in the direction of travel on the guide route,
Based on the road information acquired via the road information acquisition means, manual driving manually controlling the corresponding actuator according to the operation of a plurality of driving operation means from automatic driving controlling the actuator according to the road information A takeover permission section extraction step for extracting a takeover permission section that can be taken over to the operation;
A recommended takeover section setting step for setting a plurality of takeover permission sections extracted in the takeover permission section extraction step as recommended takeover sections that can be handed over from the automatic operation to the manual operation;
Among the recommended takeover sections set in the recommended takeover section setting step, a plurality of takeover permission sections are set as individual takeover permission sections that can take over at least one control of an actuator corresponding to the plurality of driving operation means to the manual operation. Individual takeover permission section setting process to be set,
A program for running In a computer equipped with road information acquisition means for acquiring road information ahead in the direction of travel on the guide route,
Based on the road information acquired via the road information acquisition means, automatic control of the actuator from manual operation of manual driving that controls the corresponding actuator according to the operation of a plurality of driving operation means according to the road information A takeover permission section extraction step for extracting a takeover permission section that can be taken over for operation;
A recommended takeover section setting step for setting a plurality of takeover permission sections extracted in the takeover permission section extraction step as recommended takeover sections that can be handed over from manual operation to the automatic operation;
Among the recommended takeover sections set in the recommended takeover section setting step, a plurality of takeover permission sections are set as an automatic takeover permission section that can take over at least one control of an actuator corresponding to the plurality of driving operation means to the automatic operation. An automatic takeover permission section setting process to be set;
A program for running

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