JP6479631B2 - Advanced driving support system, advanced driving support method, advanced driving support program, recording medium - Google Patents

Description

  The present invention relates to an advanced driving support system, and more particularly, to an advanced driving support system capable of safely and safely driving a highly difficult section even for a beginner driving.

  Conventionally, in order to reduce the burden on the user's driving operation, traveling speed control (including constant speed traveling control), inter-vehicle distance control (including so-called automatic brake control), lane departure prevention control (LKAS), etc. The driving support system used is known.

  Further, in recent years, an advanced driving support system (ADAS) for an advanced driving support allowable road that allows advanced driving support for the purpose of automatic driving using a combination of the above-described controls is known (for example, Patent Document 1).

  In such an advanced driving support system, for example, the current position of the host vehicle, the lane in which the host vehicle travels, information on other vehicles in the vicinity, and the like are detected, and vehicle control is performed so that the vehicle travels along a preset travel route Is done. Thereby, the user can reduce a burden related to the driving operation.

JP, 2015-161518, A

  However, in Patent Document 1 described above, the driver (user) has switched from automatic driving control to manual driving in a specific section in which it is necessary to pay particular attention to the traveling state of other vehicles in the vicinity. For this reason, for example, for users who are not confident in their driving skills, there has been a problem that the burden is high including mental anxiety.

  In order to solve the above-described problems, the present invention reduces the burden on the user even when traveling in a specific section where the user needs to pay particular attention to the traveling state of other vehicles in the vicinity. Thus, an object is to provide an advanced driving support system, an advanced driving support method, an advanced driving support program, and a recording medium capable of performing advanced driving support.

  In order to achieve the above object, the navigation system according to the first aspect of the present invention provides a navigation system according to the first aspect of the present invention, in which a user is based on map information including an advanced driving support allowable road that allows advanced driving support. In a search unit that searches for a route to a specified destination, a storage unit that stores map information, an advanced driving support control unit that performs driving operation by advanced driving support, and a manual driving mode that performs manual driving operation by a user A mode determination unit for determining whether to switch from the manual operation mode to the advanced driving support mode for executing the driving operation by the advanced driving support control unit when a predetermined condition is satisfied when the driving operation is performed; The mode determination unit determines that a plurality of lane changes are necessary when traveling on an advanced driving support allowable road based on the route searched by the search unit. Expediently, as filled predetermined condition, after outputting whether the query performs a mode switching to the user, it is intended to accept a switch to Advanced Driver Assistance mode from the manual operation mode.

  According to the present invention, even when the user travels in a specific section that needs to pay particular attention to the traveling state of other vehicles in the vicinity, the driving mode (driving mode) is switched according to the driving skill of the user. Therefore, advanced driving support can be performed so as to reduce the burden on the user.

1 is a system block diagram showing an advanced driving support system according to an embodiment of the present invention. It is explanatory drawing which shows an example of the advanced driving assistance allowable road applied to the advanced driving assistance system which concerns on one embodiment of this invention. It is a flowchart of the advanced driving assistance routine in the advanced driving assistance system which concerns on one embodiment of this invention. It is explanatory drawing which shows an example of the probe information in the advanced driving assistance system which concerns on one embodiment of this invention. It is explanatory drawing which shows another example of the probe information in the advanced driving assistance system which concerns on one embodiment of this invention.

  An embodiment according to the present invention will be described with reference to the drawings. FIG. 1 is a system block diagram showing an advanced driving support system according to an embodiment of the present invention. The advanced driving support system 100 is mounted on each vehicle, and can automatically travel along the travel route searched by the vehicle in a section where the advanced driving support allowable road is set on the travel route. For example, the host vehicle can be controlled so that the vehicles follow the vehicle ahead while exchanging control information directly by wireless communication. The advanced driving support system 100 is a device that can drive a vehicle regardless of a driving operation by a driver (user). Hereinafter, vehicle control by the advanced driving support system 100 is referred to as advanced driving support control. A dedicated road on which advanced driving support control is executed is referred to as an advanced driving support allowable road.

  The advanced driving support system 100 according to the embodiment includes a navigation system 110, a mode determination unit 130, and an advanced driving support control unit 120.

  First, the navigation system 110 will be described. The navigation system 110 is a device that provides vehicle route guidance, and has map information and the like to be described later, and acquires vehicle position information. Specifically, the navigation system 110 stores the map information and the like in the storage unit 111, and the route to the destination input based on the map information stored in the storage unit 111 when the user inputs the destination. Search for guidance routes. The navigation system 110 displays the position of the vehicle on the map, and performs route guidance of the vehicle according to voice output, monitor display, or the like according to a preset target route.

  The navigation system 110 includes a storage unit 111 and a search unit 112.

  The storage unit 111 stores map information and probe traffic information related to the state of the road traffic network. Map information is information about the map. The map information includes, for example, road data including information such as road type, number of lane lines, number of lanes, road width, junction, branch point, intersection, and the location and type of facilities such as shopping centers, gas stations, and interchanges. , Including facility data including information such as names, and terrain data including information on coastlines, rivers, cliffs, and the like. The road types include highways (including advanced driving support allowable roads), toll roads, national roads, and the like. A lane marking means a white or yellow line (paint, sheet, various sensors, etc.) provided on the road surface to divide the lane from other lanes (including shoulders and sidewalks) And In a broad sense, as long as it divides a travel lane, it may include other compartments such as a median strip or a guardrail.

  The probe traffic information is information related to the road traffic network generated using information such as the position where the vehicle has traveled and the traveling speed. Various sensors such as a vehicle speed sensor and a rain sensor (not shown) are connected to the navigation system 110. Probe traffic information includes traffic information including traffic congestion information and congestion information generated by detecting the vehicle speed with a vehicle speed sensor, weather information generated by detecting the wiper operation with a rain sensor, fuel consumption information, etc. including. The fuel can be confirmed by the remaining amount of fuel. Collects information from the traveling vehicle and generates probe traffic information.

  Traffic information, weather information, fuel consumption, and the like acquired by various sensors are stored in the storage unit 111 in association with each section of the map information (for example, a peripheral section including a junction or a branch point). The storage unit 111 stores current and past probe traffic information.

  In addition to the map information and the probe traffic information, information such as current location information and destination information is also input to the storage unit 111, and the navigation system 110 executes a process based on the map information and the probe traffic information. The storage unit 111 stores probe traffic information and destination information in association with each other. Here, the current position information refers to information indicating the current position where the vehicle is traveling, and the destination information refers to information indicating the target position.

  The search unit 112 searches for a travel route from the current location information of the host vehicle C1 to predetermined destination information based on the map information, probe traffic information, destination information, and the like stored in the storage unit 111. The search unit 112 searches the travel route from the departure point to the destination by associating the current location information and the destination information with the map information. Then, the search unit 112 outputs the search result to a display unit (not shown).

  Based on the map information stored in the storage unit 111 and the travel route output by the search unit 112, the display unit displays the travel route on a monitor (not shown) superimposed on a map around the host vehicle C1. . Thus, the driving operation is performed so that the host vehicle C1 travels along the travel route to the destination based on the image displayed on the monitor.

  The advanced driving support control unit 120 executes advanced driving support control. The advanced driving support control can automatically travel along the travel route searched for by the vehicle without the user's driving operation when the host vehicle travels on the advanced driving support allowable road. For example, the control can be performed so that the vehicles follow the vehicle while wirelessly communicating the control information.

  The advanced driving support system 100 includes a “manual driving mode” for executing a manual driving operation by a user and an “advanced driving support mode” for executing a driving operation by advanced driving support. The vehicle may automatically travel along the travel route searched by the search unit 112 in a section where an advanced drive support allowable road capable of executing a driving operation in the “advanced drive support mode” is set on the travel route. it can. For example, when a driving operation is executed in the “advanced driving support mode”, vehicle control such as steering, a drive source, and braking force (brake) is performed so as to detect the preceding vehicle and follow the vehicle at a constant interval. Can do. In this case, "communication-use radar cruise control" that follows the vehicle while wirelessly communicating with the vehicle ahead, and the road running on the optimum driving line is detected by detecting the lane markings (for example, white lines) of the road at all vehicle speeds. Automatic driving is realized by using an automatic driving technique such as “lane trace control” that supports steering.

  The mode determination unit 130 determines whether or not to switch from the manual operation mode to the advanced driving support mode when a predetermined condition is satisfied while the user is operating in the manual operation mode.

  Prior to the mode switching determination, the mode determination unit 130 continuously has a plurality of merging points or branch points while traveling on the advanced driving support allowable road based on the travel route searched by the search unit 112. Determine whether multiple lane changes are required.

  The advanced driving support mode is a section in which there is a reason for interrupting the advanced driving support control, but is set for a section that is determined to be safe for traveling following the preceding vehicle. The user needs to pay special attention to the driving conditions of other vehicles in the vicinity, such as when it is necessary to change lanes several times in the course of the driving route, or when there are multiple confluences or branching points. In a specific section, a burden on a user who is unfamiliar with driving beginners or changing driving lanes, including mental anxiety, is large. Therefore, it is preferable to automatically travel along the travel route searched by the search unit 112 on a travel route that requires such a high driving skill. Therefore, in such a case, after receiving an inquiry to the user, a process of accepting switching from the manual driving mode to the advanced driving support mode is performed in a predetermined case according to the user's instruction.

  Specifically, when a predetermined condition is satisfied, such as when the mode determination unit 130 determines that a plurality of lane changes are necessary, the user is switched from the manual operation mode to the advanced driving support mode. An inquiry about whether or not to perform is output. The inquiry is made, for example, by voice notification such as a speaker or a monitor display.

  When an inquiry is output to the user, the user outputs an instruction to the mode determination unit 130 as to whether to switch from the manual operation mode to the advanced driving support mode. The vehicle is provided with an advanced driving start switch for executing advanced driving support control. The switch is an ON / OFF switch, and an instruction to switch to the advanced driving support mode is output to the mode determination unit 130 by turning on the switch. When the switch is in the OFF state, an instruction not to switch to the advanced driving support mode may be output.

  When an instruction to switch to the advanced driving support mode is output to the mode determining unit 130, the mode determining unit 130 accepts switching from the manual driving mode to the advanced driving support mode, and determines to switch. Then, this determination is output to the advanced driving support control unit 120. Specifically, the mode determination unit 130 determines to switch the mode to the advanced driving support mode after a predetermined time has elapsed since the switching operation to the advanced driving support mode was received from the user. The mode determination unit 130 may determine to switch to the advanced driving support mode after detecting that the manual driving operation by the user has been canceled after receiving the switching operation to the advanced driving support mode from the user. Good. As a result, the mode is switched after a clear switching operation instruction from the user is accepted, and therefore mode switching can be performed in consideration of the user's intention.

  FIG. 2 is an explanatory diagram showing an example of an advanced driving support allowable road applied to the advanced driving support system according to the embodiment of the present invention. In the following description, the traveling lane 1 refers to a lane that is an advanced driving support allowable road among highways and that allows the vehicle to travel by advanced driving support control.

  At the junction points A1, A2 and the branch point B1, the other vehicle C2 traveling at the junction point or the branch point is detected, and traffic information and the like of the other vehicle C2 are generated as part of the probe traffic information. This acquisition is executed by the navigation system 110 and accumulated in the storage unit 111. Note that vehicle information such as the vehicle type and travel speed V can also be generated as part of the probe traffic information.

  When the destination information is input to the navigation system 110, the travel route (thick arrow portion in FIG. 2) output by the search unit 112 is displayed on the monitor. Based on the route information, the map information, and the probe traffic information, the mode determination unit 130 determines whether or not it is necessary to change the lane where a plurality of junction points A1, A2 or branch points B1 exist continuously. . By referring to the probe traffic information and the like in this manner, more accurate traffic information and the like can be acquired, so that it is possible to switch to an appropriate mode according to the driving skill of the driver (user).

  When the mode determining unit 130 determines that a plurality of lane changes are necessary, or when it is determined that a plurality of merge points A1, A2 or branch points B1 exist continuously, the predetermined condition is satisfied. If the condition is satisfied, an inquiry as to whether or not to perform mode switching is output to the user, and then switching from the manual driving mode to the advanced driving support mode is accepted. Then, mode switching is executed in accordance with a user instruction. As a result, even when the user travels in a specific section that needs to pay particular attention to the traveling state of other vehicles in the vicinity, the driving mode (driving mode) can be switched according to the driving skill of the user. Therefore, advanced driving support can be performed so as to reduce the burden on the user.

  FIG. 3 is a flowchart of an advanced driving support routine in the advanced driving support system according to the embodiment of the present invention. The process in this flowchart is, for example, when the host vehicle C1 is traveling toward the destination information, includes an advanced driving support allowable road in the middle of the route, and is manually input by the user before entering the advanced driving support allowable road. Starts when driving operation is being performed at. When the user is driving in the manual driving mode, it is determined to switch from the manual driving mode to the advanced driving support mode when a predetermined condition is satisfied (mode determination step). The advanced driving support control to be executed is executed (advanced driving support control step). Hereinafter, the flow of processing will be described.

  First, the search unit 112 searches for a travel route to destination information designated by the user based on map information including an advanced driving support allowable road (S1; search step). The map information is stored in the storage unit 111 (storage step).

  Then, it is determined from the probe traffic information whether or not a junction or branch point has been acquired within a predetermined distance in front of the host vehicle C1 (S2; first determination step). This determination is performed by the navigation system 110. In addition, in this Embodiment, although the case where there were two merge points and one branch point was illustrated and demonstrated, this invention is not limited to this. For example, even if there is only one merge point, it is determined that the merge point has been acquired. Map information such as merging points and branching points is acquired by probe traffic information.

  When it is determined that road data such as a merge point or a branch point has been acquired (YES in S2), the mode determination unit 130 determines whether or not a plurality of lane changes are necessary (S3; second determination step). .

  When it is determined that multiple lane changes are necessary (YES in S3), an inquiry is output to the user as to whether or not switching from the manual operation mode to the advanced driving support mode is performed (S4; inquiry output step). The output method of the inquiry is not limited. It may be a notification by sound such as a speaker, or may be a monitor display. The necessity of multiple lane changes is acquired from the travel route and map information.

  Based on the inquiry, the user outputs an instruction to the mode determination unit 130 as to whether or not to switch from the manual operation mode to the advanced driving support mode (instruction output step). This instruction is performed, for example, when the user turns on / off an advanced driving start switch.

  When the mode determining unit 130 receives an instruction to switch from the manual driving mode to the advanced driving support mode (YES in S5), the mode determining unit 130 performs a process of accepting switching from the manual driving mode to the advanced driving support mode (S6; Mode switching acceptance step).

  Next, when receiving the switching to the advanced driving support mode, the mode determination unit 130 determines to switch from the manual driving mode to the advanced driving support mode (S7; mode determination step).

  Then, the result of this determination is output to the advanced driving support control unit 120, and the advanced driving support control unit 120 performs advanced driving support control for performing driving operation by advanced driving support (S8; advanced driving support control step). Above, the process in this flowchart is complete | finished.

  On the other hand, even when it is determined that multiple lane changes are not required (NO in S3), mode determination unit 130 determines that the average value of traveling speed V of other vehicle C2 is equal to or greater than predetermined value VTH. In this case (YES in S9; third determination step), it can be determined that the predetermined condition is satisfied, and an inquiry as to whether or not to switch the mode can be output to the user (S4; inquiry output step). . By referring to the probe traffic information, the average value of the traveling speed V of the other vehicle C2 traveling along the traveling route is acquired. The average value is calculated by, for example, obtaining statistics of the traveling speed of the other vehicle C2 that has passed the traveling route on which the host vehicle C1 is scheduled to travel a predetermined time ago. This calculation is executed by a CPU (Central Processing Unit, not shown) included in the navigation system 110.

  Further, even when it is determined that the average value of the traveling speed V of the other vehicle C2 is less than the predetermined value VTH (NO in S9), the average amount of change DV of the traveling speed V per unit time of the other vehicle C2 When it is determined that the value is equal to or greater than the predetermined value DVTH (YES in S10; fourth determination step), it is determined that the predetermined condition is satisfied, and an inquiry as to whether or not to switch the mode is output to the user. (S4; inquiry output step). By referring to the probe traffic information, the average value of the amount of change DV of the traveling speed V of the other vehicle C2 traveling along the traveling route is acquired. Since the acquisition of the average value is the same as described above, the description is omitted. Thereafter, the process proceeds to steps S5 to S8, and the process in this flowchart ends. Since the processing contents of steps S5 to S8 are the same as described above, description thereof is omitted.

  As described above, there is a junction or branch point within a predetermined distance in front of the host vehicle C1, and “the lane change is necessary multiple times”, “the average value of the traveling speeds of other vehicles is a predetermined value. If any of the above conditions is satisfied, and if the average value of the amount of change in the traveling speed per unit time of other vehicles is greater than or equal to a predetermined value, the user is inquired whether or not to perform mode switching. Output. And according to the instruction | indication output by a user, the judgment whether a mode is switched is performed and advanced driving assistance control is performed. The predetermined condition may include a case where a plurality of confluence points or branch points exist continuously.

  Furthermore, in the present embodiment, the predetermined conditions have been described by exemplifying the above four cases, but the present invention is not limited to this. For example, as shown in FIG. 4, when there is an advanced driving support allowable road having a plurality of travel lanes on the travel route (thick arrow portion in FIG. 4), the travel lane that the host vehicle C1 is about to enter When it is determined that the average value of the relative speed of the rear vehicle C2R with respect to the front vehicle C2F between the two vehicles (other vehicles) that have traveled in the travel lane and that have traveled before and after is equal to or greater than a predetermined value, May be configured to output an inquiry to the user as to whether or not to switch modes. In this case, by referring to the probe traffic information, the travel speed VF of the front vehicle C2F traveling on the travel route and the travel speed VR of the rear vehicle C2R are acquired, and the average value of the relative speed is calculated by the CPU provided in the navigation system 110. Execute.

  Alternatively, as shown in FIG. 5, when there is an advanced driving support allowable road having a plurality of driving lanes on the driving route (thick arrow portion in FIG. 5), the driving lane to which the vehicle is going to enter, When it is determined that the average value of the separation distance L between two preceding and following vehicles (other vehicles) that have traveled in the travel lane is equal to or less than a predetermined value, the user is inquired whether to perform mode switching. You may comprise so that it may output. In this case, the separation distance L between the preceding vehicle C2F and the rear vehicle C2R is calculated based on the position information of the other vehicles transmitted from the plurality of other vehicles to the navigation system 110, respectively. This calculation is executed by a CPU provided in the navigation system 110.

  According to the advanced driving support system 100 according to the present embodiment, when it is difficult for a driving beginner to drive, such as when a plurality of driving lanes need to be changed or the amount of traffic is heavy and the timing of changing the lanes is difficult. The manual operation mode is not maintained. In this way, in the travel route of a specific section where the user needs to pay particular attention to the travel state of other vehicles in the vicinity, the user's intention is confirmed in advance and the presence / absence of mode switching is determined. The mode can be switched according to the driving skill. Therefore, even if it is a driving beginner, it can drive safely and safely.

  In the above description, the case where the host vehicle travels on an advanced driving support allowable road has been described as an example, but the present invention is not limited to this. For example, the present invention can also be applied to an automatic driving support system based on automatic driving control in which a vehicle automatically travels along a preset route without an operation by a user.

  The present invention is not limited to the description of the embodiments and examples of the invention described above. Various modifications may be included in the present invention as long as those skilled in the art can easily conceive without departing from the description of the scope of claims.

  Note that a part or all of the above embodiment can be described as in the following supplementary notes, but is not limited thereto.

(Appendix 1)
According to the first aspect of the invention, the advanced driving support system according to the present invention achieves the above object, and the navigation system according to the first aspect of the present invention allows an advanced driving support allowable road that allows advanced driving support. A search unit that searches for a route to a destination designated by the user based on map information including a storage unit that stores map information, an advanced driving support control unit that performs driving operation by advanced driving support, and a manual operation by a user Whether or not to switch from manual driving mode to advanced driving support mode that executes driving operation by advanced driving support control unit when a predetermined condition is satisfied when driving operation is performed in manual driving mode that executes driving operation A mode determination unit that determines whether or not the vehicle is driving a plurality of lanes when driving on an advanced driving support allowable road based on the route searched by the search unit. If it is determined that a change is necessary, it is assumed that the predetermined condition is satisfied, and after inquiring the user whether to switch the mode, the manual operation mode is changed to the advanced driving support mode. The switch is accepted. As a result, when driving in a specific section where the driver (user) needs to pay particular attention to the driving conditions of other vehicles in the vicinity, the driving mode (driving mode) is switched according to the driving skill of the user. Therefore, advanced driving support can be performed so as to reduce the burden on the user.

(Appendix 2)
According to the second aspect of the invention, the storage unit stores the probe traffic information including the traffic information of the route, and the mode determination unit determines whether or not a predetermined condition is satisfied with reference to the probe traffic information. ,be able to. By referring to the probe traffic information in this way, it is possible to acquire more accurate traffic information and the like, so that it is possible to switch to an appropriate mode according to the user's driving skill.

(Appendix 3)
According to the invention of the third aspect, when the mode determination unit refers to the probe traffic information and determines that the average value of the traveling speed of the vehicle that has traveled on the advanced driving support allowable road is a predetermined value or more, It may be determined that a predetermined condition is satisfied, and an inquiry as to whether or not to perform mode switching may be output to the user.

(Appendix 4)
According to the fourth aspect of the invention, the mode determination unit refers to the probe traffic information, and the average value of the amount of change in the traveling speed per unit time of the vehicle traveling on the advanced driving support allowable road is equal to or greater than a predetermined value. When it is determined that there is, it may be determined that a predetermined condition is satisfied, and an inquiry as to whether or not to perform mode switching may be output to the user.

(Appendix 5)
According to the invention of the fifth aspect, the mode determination unit refers to the probe traffic information, and is a travel lane on which the vehicle is about to enter on the advanced driving support allowable road, and has traveled in the travel lane. When it is determined that the average value of the relative speed of the rear vehicle with respect to the front vehicle of the two vehicles in front and back is greater than or equal to a predetermined value, it is determined that the predetermined condition is satisfied, and the mode is switched to the user. An inquiry as to whether or not to perform may be output.

(Appendix 6)
According to the sixth aspect of the invention, the mode determination unit refers to the probe traffic information and is a travel lane on which the vehicle is about to enter on the advanced driving support allowable road, and has traveled in the travel lane. When it is determined that the average value of the separation distance between two adjacent vehicles is equal to or less than a predetermined value, an inquiry as to whether or not to perform mode switching may be output to the user.

  Even when a plurality of lane changes are not required, it is assumed that it is difficult for a beginner to perform a driving operation when there is a lot of traffic on the travel route. According to the third to sixth aspects of the invention, as in the first aspect of the invention, when the user travels in a specific section that needs to pay particular attention to the traveling state of other nearby vehicles. Since it becomes possible to switch the driving mode (driving mode) according to the driving skill of the user, it is possible to perform advanced driving support so as to reduce the burden on the user.

(Appendix 7)
According to the seventh aspect of the invention, the mode determination unit may switch the mode to the advanced driving support mode after a predetermined time has elapsed after receiving a switching operation from the user to the advanced driving support mode.

(Appendix 8)
According to the invention of the eighth aspect, the mode determining unit detects that the manual driving operation by the user has been canceled after receiving the switching operation from the user to the advanced driving support mode, and then enters the mode into the advanced driving support mode. May be switched.

  According to the seventh aspect and the eighth aspect, since the mode is switched after an instruction for a clear switching operation by the user is accepted, the mode switching considering the user's intention can be performed.

(Appendix 9)
The invention of the ninth aspect is an advanced driving support method. The method includes a search step for searching for a route to a destination designated by a user based on map information including an advanced driving support allowable road that allows advanced driving support, a storage step for storing map information, and an advanced driving support. Advanced driving support control step from the manual driving mode when a predetermined condition is satisfied while driving in the advanced driving support control step for performing the driving operation by the user and the manual driving mode for executing the manual driving operation by the user A mode determining step for determining whether or not to switch to an advanced driving support mode for executing a driving operation in steps, and the mode determining step travels on an advanced driving support allowable road based on the route searched in the searching step. If it is determined that multiple lane changes are required, the In terms of the output whether or not the inquiry carried out over de switching, it is intended to accept the switch to the advanced driver assistance mode from the manual operation mode. The invention of the ninth aspect has the same effect as the invention of the first aspect.

(Appendix 10)
According to the tenth aspect of the invention, the storing step stores probe traffic information including the traffic information of the route, and the mode determining step determines whether or not a predetermined condition is satisfied with reference to the probe traffic information. You may do. The invention of the tenth aspect has the same effect as the invention of the second aspect.

(Appendix 11)
According to the eleventh aspect of the invention, when the mode determining step refers to the probe traffic information and determines that the average value of the traveling speed of the vehicle that has traveled on the advanced driving support allowable road is a predetermined value or more, It may be determined that a predetermined condition is satisfied, and an inquiry as to whether or not to perform mode switching may be output to the user.

(Appendix 12)
According to the twelfth aspect of the invention, the mode determination step refers to the probe traffic information, and the average value of the change amount of the traveling speed per unit time of the vehicle traveling on the advanced driving support allowable road is equal to or larger than a predetermined value. When it is determined that there is, it may be determined that a predetermined condition is satisfied, and an inquiry as to whether or not to perform mode switching may be output to the user.

(Appendix 13)
According to the thirteenth aspect of the invention, the mode determining step refers to the probe traffic information, and is a travel lane on which the vehicle is about to enter on the advanced driving support allowable road, and has traveled in the travel lane. When it is determined that the average value of the relative speed of the rear vehicle with respect to the front vehicle of the two vehicles in front and back is greater than or equal to a predetermined value, it is determined that the predetermined condition is satisfied, and the mode is switched to the user. An inquiry as to whether or not to perform may be output.

(Appendix 14)
According to the invention of the fourteenth aspect, the mode determination step refers to the probe traffic information, and is a travel lane on which the vehicle is about to enter on the advanced driving support allowable road, and has traveled in the travel lane. When it is determined that the average value of the separation distance between two adjacent vehicles is equal to or less than a predetermined value, an inquiry as to whether or not to perform mode switching may be output to the user.

  The inventions of the eleventh aspect to the fourteenth aspect have the same effects as the inventions of the third to sixth aspects, respectively.

(Appendix 15)
According to the fifteenth aspect of the invention, the mode determination step may switch the mode to the advanced driving support mode after a predetermined time has elapsed since the switching operation to the advanced driving support mode was received from the user.

(Appendix 16)
According to the invention of the sixteenth aspect, the mode determination step is configured to enter the advanced driving support mode after detecting that the manual driving operation by the user has been canceled after receiving the switching operation from the user to the advanced driving support mode. May be switched.

  The fifteenth aspect of the invention and the sixteenth aspect of the invention have the same effects as the seventh aspect and the eighth aspect of the invention, respectively.

(Appendix 17)
The invention of the seventeenth aspect is an advanced driving support program. This program has a computer search function for searching for a route to a destination designated by a user based on map information including an advanced driving support allowable road that allows advanced driving support, a storage function that stores map information, Advanced driving support control function that performs driving operation by advanced driving support and manual driving mode that performs manual driving operation by the user. A mode determination function that determines whether or not to switch to an advanced driving support mode that executes a driving operation by the driving support control function, and the mode determination function is based on the route searched by the search function, and the advanced driving support allowable road When driving, if it is determined that multiple lane changes are necessary, it is assumed that the predetermined condition is satisfied and the user is In terms of the output whether or not the inquiry carry out the de-switching, it is intended to accept the switch to the advanced driver assistance mode from the manual operation mode. The invention of the seventeenth aspect has the same effect as the invention of the first aspect.

(Appendix 18)
According to the eighteenth aspect of the invention, the storage function stores the probe traffic information including the traffic information of the route, and the mode determination function refers to the probe traffic information to determine whether or not a predetermined condition is satisfied. May be. The invention of the eighteenth aspect has the same effect as the invention of the second aspect.

(Appendix 19)
According to the nineteenth aspect of the invention, the mode determination function refers to the probe traffic information, and determines that the average value of the traveling speed of the vehicle that has traveled on the advanced driving support allowable road is equal to or greater than a predetermined value. It may be determined that a predetermined condition is satisfied, and the mode may be switched for the user.

(Appendix 20)
According to the twentieth aspect of the invention, the mode determination function refers to the probe traffic information, and the average value of the travel speed change amount per unit time of the vehicle traveling on the advanced driving support allowable road is equal to or greater than a predetermined value. When it is determined that there is, it may be determined that a predetermined condition is satisfied, and an inquiry as to whether or not to perform mode switching may be output to the user.

(Appendix 21)
According to the invention of the twenty-first aspect, the mode determination function refers to the probe traffic information, is a travel lane on which the vehicle is about to enter on the advanced driving support allowable road, and has traveled in the travel lane. When it is determined that the average value of the relative speed of the rear vehicle with respect to the front vehicle of the two vehicles in front and back is greater than or equal to a predetermined value, it is determined that the predetermined condition is satisfied, and the mode is switched to the user. An inquiry as to whether or not to perform may be output.

(Appendix 22)
According to the invention of the twenty-second aspect, the mode determination function refers to the probe traffic information, is a travel lane on which the vehicle is about to enter on the advanced driving support allowable road, and has traveled in the travel lane. When it is determined that the average value of the separation distance between two adjacent vehicles is equal to or less than a predetermined value, an inquiry as to whether or not to perform mode switching may be output to the user.

  The inventions of the nineteenth aspect to the twenty-second aspect have the same effects as the inventions of the third to sixth aspects, respectively.

(Appendix 23)
According to the twenty-third aspect of the invention, the mode determination function may switch the mode to the advanced driving support mode after elapse of a predetermined time after receiving a switching operation from the user to the advanced driving support mode.

(Appendix 24)
According to the invention of the twenty-fourth aspect, the mode determination function is set to the advanced driving support mode after detecting that the manual driving operation by the user is released after receiving the switching operation from the user to the advanced driving support mode. May be switched.

  The invention of the 23rd aspect and the invention of the 24th aspect have the same effects as the invention of the seventh aspect and the eighth aspect, respectively.

(Appendix 25)
A computer-readable recording medium that records the program defined in any of the sixteenth to twenty-third aspects is defined as the invention of the twenty-fifth aspect.

  It should be noted that any combination of the above-described constituent elements and the expression of the present invention converted between a method, an apparatus, a system, a computer program, a data structure, a recording medium, and the like are also effective as an aspect of the present invention.

  1 lane, 100 advanced driving support system, 110 navigation system, 111 storage unit, 112 search unit, 120 advanced driving support control unit, 130 mode determination unit, C1, C2 vehicle

Claims (25)

A search unit that searches for a route to a destination designated by the user based on map information including an advanced driving support allowable road that allows advanced driving support;
A storage unit for storing the map information;
An advanced driving support control unit for performing a driving operation by the advanced driving support;
Advanced driving for executing the driving operation by the advanced driving support control unit from the manual driving mode when a predetermined condition is satisfied when the driving operation is performed in the manual driving mode for executing the manual driving operation by the user A mode determination unit for determining whether to switch to the support mode;
With
The mode determination unit
When running the Advanced Driver Assistance acceptable road based on the route searched by the search unit, when it is determined that it is necessary to multiple lane change, it is determined that the predetermined condition is satisfied And after receiving an inquiry as to whether or not to perform mode switching for the user, accepting switching from the manual driving mode to the advanced driving support mode,
Advanced driving support system. The storage unit stores probe traffic information including traffic information of the route,
The mode determination unit determines whether or not the predetermined condition is satisfied with reference to the probe traffic information.
The advanced driving support system according to claim 1, wherein: The mode determination unit refers to the probe traffic information, and determines that the predetermined condition is satisfied when the average value of the traveling speed of the vehicle that has traveled on the advanced driving support allowable road is determined to be greater than or equal to a predetermined value. An inquiry as to whether or not to perform mode switching is output to the user.
The advanced driving support system according to claim 2, wherein: When the mode determining unit refers to the probe traffic information and determines that the average value of the change in travel speed per unit time of the vehicle that has traveled on the advanced driving support allowable road is greater than or equal to a predetermined value, Determining that the predetermined condition is satisfied and outputting an inquiry as to whether or not to perform mode switching for the user;
The advanced driving support system according to claim 2 or claim 3, wherein The mode determination unit refers to the probe traffic information, and is a travel lane on which the vehicle is about to enter on the advanced driving support allowable road, and between two vehicles that have traveled in the travel lane and have traveled before and after If it is determined that the average value of the relative speed of the rear vehicle with respect to the preceding vehicle is greater than or equal to a predetermined value, it is determined that the predetermined condition is satisfied, and whether or not to perform mode switching for the user. Output a query for
The advanced driving support system according to any one of claims 3 and 4, characterized in that: The mode determination unit refers to the probe traffic information, and is a travel lane on which the vehicle is about to enter on the advanced driving support allowable road, and between two vehicles that have traveled in the travel lane and have traveled before and after When it is determined that the average value of the separation distance is equal to or less than a predetermined value, an inquiry as to whether or not to perform mode switching is output to the user as a determination that the predetermined condition is satisfied .
The advanced driving support system according to any one of claims 3 to 5, wherein: The mode determination unit
The advanced driving support system according to claim 1, wherein the mode is switched to the advanced driving support mode after a predetermined time has elapsed since the switching operation to the advanced driving support mode has been received from the user. The mode determination unit
The mode is switched to the advanced driving support mode after detecting that the manual driving operation by the user is canceled after receiving the switching operation to the advanced driving support mode from the user. The advanced driving support system described. A search step for searching for a route to a destination designated by the user based on map information including an advanced driving support allowable road that allows advanced driving support;
A storage step for storing the map information;
Advanced driving support control step for performing driving operation by the advanced driving support;
Advanced driving for executing the driving operation by the advanced driving support control step from the manual driving mode when a predetermined condition is satisfied when the driving operation is performed in the manual driving mode for executing the manual driving operation by the user A mode determination step for determining whether to switch to the support mode;
Including
The mode determination step includes
When running the Advanced Driver Assistance acceptable road based on the route searched by said searching step, when it is determined that it is necessary to multiple lane change, it is determined that the predetermined condition is satisfied And after receiving an inquiry as to whether or not to perform mode switching for the user, accepting switching from the manual driving mode to the advanced driving support mode,
Advanced driving support method. The storing step stores probe traffic information including traffic information of the route,
The mode determination step determines whether or not the predetermined condition is satisfied with reference to the probe traffic information.
The advanced driving support method according to claim 9. In the mode determination step, the predetermined condition is satisfied when it is determined by referring to the probe traffic information that the average value of the traveling speed of the vehicle that has traveled on the advanced driving support allowable road is a predetermined value or more. An inquiry as to whether or not to perform mode switching is output to the user.
The advanced driving support method according to claim 10, wherein: In the mode determination step, referring to the probe traffic information, when it is determined that the average value of the change amount of the traveling speed per unit time of the vehicle that has traveled on the advanced driving support allowable road is a predetermined value or more, Determining that the predetermined condition is satisfied and outputting an inquiry as to whether or not to perform mode switching for the user;
The advanced driving support method according to claim 10 or 11, characterized in that: The mode determination step refers to the probe traffic information, and is a travel lane on which the vehicle is about to enter on the advanced driving support allowable road, and between two vehicles that have traveled in the travel lane. If it is determined that the average value of the relative speed of the rear vehicle with respect to the preceding vehicle is greater than or equal to a predetermined value, it is determined that the predetermined condition is satisfied, and whether or not to perform mode switching for the user. Output a query for
The advanced driving support method according to any one of claims 11 and 12, wherein: The mode determination step refers to the probe traffic information, and is a travel lane on which the vehicle is about to enter on the advanced driving support allowable road, and between two vehicles that have traveled in the travel lane. When it is determined that the average value of the separation distance is equal to or less than a predetermined value, an inquiry as to whether or not to perform mode switching is output to the user as a determination that the predetermined condition is satisfied .
The advanced driving support method according to any one of claims 11 to 13, characterized in that: The mode determination step includes
The advanced driving support method according to claim 9, wherein the mode is switched to the advanced driving support mode after a predetermined time has elapsed since the switching operation to the advanced driving support mode has been received from the user. The mode determination step includes
The mode is switched to the advanced driving support mode after detecting that the manual driving operation by the user is canceled after receiving the switching operation to the advanced driving support mode from the user. The advanced driving support method described. On the computer,
A search function for searching for a route to a destination designated by the user based on map information including an advanced driving support allowable road that allows advanced driving support;
A storage function for storing the map information;
An advanced driving support control function for performing driving operation by the advanced driving support;
Advanced driving for executing the driving operation by the advanced driving support control function from the manual driving mode when a predetermined condition is satisfied when the driving operation is performed in the manual driving mode for executing the manual driving operation by the user. A mode determination function for determining whether to switch to the support mode;
Realized,
The mode determination function is
When running the Advanced Driver Assistance acceptable road based on the route searched by the searching function, if it is determined that it is necessary to multiple lane change, it is determined that the predetermined condition is satisfied And after receiving an inquiry as to whether or not to perform mode switching for the user, accepting switching from the manual driving mode to the advanced driving support mode,
Advanced driving support program. The storage function stores probe traffic information including traffic information of the route,
The mode determination function determines whether or not the predetermined condition is satisfied with reference to the probe traffic information.
The advanced driving support program according to claim 17, wherein: The mode determination function refers to the probe traffic information, and determines that the predetermined condition is satisfied when it is determined that the average value of the traveling speed of the vehicle that has traveled on the advanced driving support allowable road is a predetermined value or more. An inquiry as to whether or not to perform mode switching is output to the user.
The advanced driving support program according to claim 18, wherein: The mode determination function refers to the probe traffic information, and when it is determined that the average value of the travel speed change per unit time of the vehicle that has traveled on the advanced driving support allowable road is a predetermined value or more, Determining that the predetermined condition is satisfied and outputting an inquiry as to whether or not to perform mode switching for the user;
The advanced driving support program according to claim 18 or 19, characterized in that The mode determination function refers to the probe traffic information, and is a travel lane in which the vehicle is about to enter on the advanced driving support allowable road, and between two vehicles that have traveled in the travel lane. If it is determined that the average value of the relative speed of the rear vehicle with respect to the preceding vehicle is greater than or equal to a predetermined value, it is determined that the predetermined condition is satisfied, and whether or not to perform mode switching for the user. Output a query for
The advanced driving support program according to any one of claims 19 and 20, characterized in that: The mode determination function refers to the probe traffic information, and is a travel lane in which the vehicle is about to enter on the advanced driving support allowable road, and between two vehicles that have traveled in the travel lane. When it is determined that the average value of the separation distance is equal to or less than a predetermined value, an inquiry as to whether or not to perform mode switching is output to the user as a determination that the predetermined condition is satisfied .
The advanced driving support program according to any one of claims 19 to 21, characterized in that: The mode determination function is
The advanced driving support program according to claim 17, wherein the mode is switched to the advanced driving support mode after a lapse of a predetermined time since the switching operation to the advanced driving support mode is received from the user. The mode determination function is
The mode is switched to the advanced driving support mode after detecting that the manual driving operation by the user is canceled after receiving the switching operation to the advanced driving support mode from the user. The advanced driving assistance program described. The recording medium which recorded the advanced driving assistance program as described in any one of Claims 17 thru | or 24.

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