JP6520066B2 - Automatic driving support device, automatic driving support method and program - Google Patents

Description

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

Heretofore, various techniques have been proposed for supporting automatic driving.
For example, in an automatic driving apparatus for a vehicle described in Patent Document 1, an automatic driving ECU (Electronic Control Unit) uses a road map information stored in a map database to travel among all routes to a destination. Set up the expressway section. Then, the autonomous driving ECU sets a parking area (final PA) immediately before the exit interchange in the expressway section as the evacuation area. Further, the autonomous driving ECU sets a point before the final PA in the freeway section as a handover point for starting handover from the autonomous driving to the manual driving. Subsequently, when the automatic driving switch is switched on, the automatic driving ECU is configured to perform control of automatic driving with the evacuation area as a destination.

  Also, for example, in the automatic driving device described in Patent Document 2, the DCU (Drive Control Unit) is "cancel automatic steering, please prepare" from the speaker when switching from automatic driving to driver driving. Issue voice information, cancel automatic steering and leave steering to the driver. When the automatic steering is canceled, the DCU next determines whether the amount of deviation (travel deviation) between the target travel locus and the actual travel locus is less than or equal to a predetermined allowable range. Then, only when it is judged that the driving deviation is less than the predetermined allowable range, voice information saying "release automatic accelerator and automatic brake, please prepare" is issued, and automatic accelerator and automatic brake are Release and leave the accelerator and brake to the driver. After that, the DCU is configured to cancel the display of "during automatic driving" on the screen of the display device.

JP, 2008-290680, A Japanese Patent Application Laid-Open No. 9-86223

  However, in the automatic driving device for a vehicle described in Patent Document 1 described above, even if it is possible to set a handover point for starting handover from automatic driving to manual driving between final PA and exit interchange, the final Set a transfer point to start handover from automatic operation to manual operation at a point before PA. As a result, there is a possibility that the section where the automatic driving can be performed becomes short.

  Further, in the automatic driving device described in Patent Document 2 described above, the DCU only cancels automatic steering and entrusts the steering to the driver, and then measures the running deviation and falls below the predetermined allowable range. , Release the auto accelerator and auto brake. Therefore, it is necessary to release the automatic steering and release the automatic accelerator and the automatic brake in the same section, and the total distance of the transfer section which 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 described above, 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 extend a section where automatic driving can be performed.

In order to achieve the above object, the automatic driving support apparatus according to the present invention changes from automatic driving which controls an actuator according to road information to manual operation of manual driving which controls a corresponding actuator according to operation of a plurality of driving operation means. Automatic driving support apparatus for setting a section related to the handover of the vehicle , wherein the plurality of driving operation means include steering operation means for controlling the running direction of the host vehicle and pedal operation means for controlling acceleration / deceleration of the host vehicle. wherein the road information acquisition means for acquiring the road information ahead in the traveling direction of the guidance route, based on the road information obtained through the road information acquisition means, the actuator corresponding to the plurality of driving operation means Simultaneous takeover permission section setting means for setting a simultaneous takeover permission section capable of taking over all control from the automatic operation to the manual operation of the manual operation; A serial co takeover said steering operation means a period exclusive permission section and one can take over control of the actuators corresponding to the manual operation to a section of the pedal unit, in the section other than the simultaneous takeover permission section Separate handover permission zone setting means for setting a zone in which control of an actuator corresponding to the other of the steering operation means and the pedal operation means can be handed over to the manual operation to each of two individual handover permission zones; An end point determination unit that determines whether or not two individual transfer permission sections exist in the forward direction before the simultaneous transfer permission section closest to the end point on the guide route; Two on the forward direction forward side of the simultaneous takeover permit section closest to the end point on the guide route via the side section determination means When it is determined that the individual takeover permission section of the above exists , the setting of the section related to the semi-automatic operation in which the control of the actuator corresponding to the steering operation means or the pedal operation means is manually operated Of the permission sections, the individual transfer permission section closer to the simultaneous transfer permission section is set as a section to be handed over from the automatic operation to the semi-automatic operation, and one of the two individual transfer permission sections is closer to the end point The individual transfer permission section is set as a section to be taken over from the semi-automatic operation to the manual operation .

Further, the automatic driving support method according to the present invention includes a control unit, and manual operation of manual driving for controlling an actuator corresponding to an operation of a plurality of driving operation means from automatic driving for controlling an actuator according to road information. An automatic driving support method executed by an automatic driving support device for setting a section related to handover to a vehicle , wherein the plurality of driving operation means are steering operation means for controlling the traveling direction of the own vehicle, and addition of the own vehicle In the road information acquisition process of acquiring the road information ahead of the traveling direction on the guide route, including the pedal operation means for controlling the deceleration, and the road information acquired in the road information acquisition process. Based on the simultaneous takeover permission that can take over all control of the actuator corresponding to the plurality of operation operation means from the automatic operation to the manual operation of the manual operation Simultaneously takeover allowed interval setting step of setting between, for the control of the actuators corresponding to one of said simultaneous takeover said steering operation means a period exclusive permission section and the pedal operation means can take over to the manual operation each section and the simultaneous takeover said steering operation means a period exclusive permission section and the other to the corresponding actuator controls two possible sections take over to the manual operation of the individual takeover permission section of the pedal actuation means And an end point to determine whether two individual transfer permission sections exist in the forward direction before the simultaneous transfer permission section closest to the end point on the guide route. A side section determination step, and the simultaneous takeover closest to the end point on the guide route through the end point side section determination step; In the traveling direction of the front side of the variable section, if it is determined that two of the individual takeover allowed interval exists, the control of the actuator corresponding to the steering operation means or said pedal means semiautomatic operation for the manual operation In the setting of the section concerned, among the two individual transfer permission sections, the individual transfer permission section closer to the simultaneous transfer permission section is set as a section to be handed over from the automatic operation to the semi-automatic operation, and the two individual transfer Among the permission sections, the individual transfer permission section closer to the end point is set as a section to be handed over from the semi-automatic operation to the manual operation .

In addition, the program according to the present invention includes road information acquisition means for acquiring road information ahead of the traveling direction on the guide route, and from automatic driving to control an actuator according to the road information to operation of a plurality of driving operation means. Is a program that causes a computer that sets a section related to the handover to manual operation of manual operation that controls the corresponding actuator according to the program , wherein the plurality of driving operation means controls the direction of travel of the vehicle. Actuators corresponding to the plurality of driving operation means, including operation means and pedal operation means for controlling acceleration / deceleration of the own vehicle , based on the road information acquired through the road information acquiring means in the computer Setting a simultaneous takeover permission section that can take over all control of the control from the automatic operation to the manual operation of the manual operation A takeover permission section setting step, a section capable of taking over the control of the actuators corresponding to one of said simultaneous takeover said steering operation means a period exclusive permission section and the pedal operation means to the manual operation, the simultaneous The section which is a section excluding the takeover permission section and which can take over control of the actuator corresponding to the other of the steering operation means and the pedal operation means to the manual operation is set to each of the two individual takeover permission sections. A permission section setting step, and an end point side section judgment step of judging whether or not two individual transfer permission sections exist in the forward direction before the simultaneous transfer permission section closest to the end point on the guide route; , And through the end point side section determination step, the simultaneous takeover permission section closest to the end point on the guide route is In the traveling direction of the front side, when it is determined that two of the individual takeover permission section exists, setting of the section according to the control of the actuator corresponding to the steering operation means or said pedal means semiautomatic operation for the manual operation In the two individual transfer permission sections, the individual transfer permission section closer to the simultaneous transfer permission section is set as a section to be handed over from the automatic operation to the semi-automatic operation, and among the two individual transfer permission sections It is a program for setting the individual transfer permission section closer to the end point as a section to be taken over from the semi-automatic operation to the manual operation .

In the automatic driving support device, the automatic driving support method, and the program according to the present invention having the above-described configuration, simultaneous takeover permission capable of taking over all control of actuators corresponding to a plurality of driving operation means from automatic driving to manual operation of manual driving Set the section. Further, the plurality of driving operation means include steering operation means and pedal operation means. And possible segment takeover to manual operation control of the actuators corresponding to one of the steering operating means and the pedal means a period exclusive simultaneous takeover authorization period, it can take over the manual operation control of the actuator corresponding to the other Section is set to each of the two individual takeover permission sections.

Thus, the travel distance of the individual takeover permission section, because all control actuators is a distance shorter than the traveling distance of the simultaneous takeover authorization period to take over the manual operation of the manual operation from automatic operation, two separate takeover permission section It is possible to set closer to the end point of the guide route. Therefore, it is possible to set the section to be taken over from the automatic driving to the manual driving closer to the end point of the guide route, and it is possible to lengthen the section in which the automatic driving can be performed.
Further, according to the automatic driving support device and the like having the above configuration, if there are two individual transfer permission sections on the forward direction forward side of the simultaneous transfer permission section closest to the end point on the guide route, two Of the individual takeover permit sections, the individual takeover permit section closer to the simultaneous takeover permit section is set as a section to be taken over from automatic operation to semi-automatic operation, and the individual takeover permit section closer to the end is take over from semiautomatic operation to manual operation It is set to. Thereby, it becomes possible to set two sections taken over from automatic driving to semi-automatic driving and semi-automatic driving to manual driving closer to the end point of the guide route, and a section where automatic driving or semi-automatic driving on the guide route can be performed. Can be reliably made longer.

It is a block diagram showing an example of composition concerning the present invention in self-vehicles. It is a figure which shows an example of the skill level data table stored in parameter DB. It is a flow chart which shows "recommended handover section setting processing" performed in a navigation device. It is a flow chart which shows "recommended handover section setting processing" performed in a navigation device. It is explanatory drawing which shows an example of the setting of the simultaneous taking over permission area from automatic driving | operation to manual driving | operation. It is an explanatory view showing an example of a separate transfer permission section from automatic operation to manual operation. It is an explanatory view showing an example of selection of a simultaneous taking over permission section. It is an explanatory view showing an example of setting of an individual transfer permission section. It is an explanatory view showing an example of the automatic transfer permission section from manual operation to automatic operation. It is an explanatory view explaining succession of automatic operation in a specific section. It is an explanatory view explaining an example of setting of a recommendation taking over section on a guidance route. It is a figure which shows an example of a display of the automatic driving | operation area and semiautomatic driving | operation area on a guidance route.

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

[Schematic configuration of own vehicle]
The schematic configuration of the vehicle 1 according to the present embodiment will be described based on FIG. 1. As shown in FIG. 1, the vehicle 1 according to the present embodiment is basically configured of a navigation device 2 installed for the vehicle 1 and a vehicle control ECU (Electronic Control Unit) 3.

  Here, the navigation device 2 is provided on a center console or a panel surface in the room of the host vehicle 1, and a liquid crystal display (LCD) 15 for displaying a map around the vehicle and a search route to a destination, voice guidance regarding route guidance The speaker 16 etc. which output are provided. And while specifying the present position of the own vehicle 1 by GPS31 etc., when the destination is set, the search of the several path | route to the destination, and the guidance according to the set guidance path | route The process 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 vehicle 1. Further, the vehicle control ECU 3 is connected to a navigation control unit 13 described later included in the navigation device 2. Further, the vehicle control ECU 3 includes an on-vehicle display (on-vehicle LCD) 5 displaying a speedometer etc., a human interface (HMI) 6, a front imaging camera 76A, a rear imaging 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 a vehicle speed, and the like are connected.

  The vehicle control ECU 3 is connected to a steering actuator 81 for driving a steering device (not shown), an accelerator actuator 82 for driving an accelerator device (not shown), and a brake actuator 83 for driving a brake device (not shown). Then, the vehicle control ECU 3 performs driving control of the steering actuator 81, the accelerator actuator 82, the brake actuator 83, and the like to perform the automatic driving of the own vehicle 1.

  The vehicle control ECU 3 includes an internal storage device such as a CPU 71 as an arithmetic device and control device, a RAM 72 used as a working memory when the CPU 71 performs various kinds of arithmetic processing, and a ROM 73 storing control programs and the like. There is. Then, the CPU 71 creates an operation plan based on route data of the guide route received from the navigation control unit 13 of the navigation device 2, gradient information of each link on the route, link length, operation section information described later, etc. .

  The human interface 6 is provided with an automatic driving start button 61 or the like for instructing the start of the automatic driving. 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 high-speed motorway national road, an urban expressway, or a general toll road. Here, the automatic driving start button 61 is switched ON and OFF each time the user presses it. Then, when the automatic operation start button 61 is turned on, automatic operation control is started, and when it is turned off during execution of the automatic operation control, the automatic operation control is ended, and the operation is switched to manual operation by the driver's operation. .

  When an instruction to start automatic driving is input, the CPU 71 uses the current position of the vehicle as a starting point, and based on the operation plan, the attachment route (ramp way) at the exit of the toll road, the tollgate (Interchange) Set the interruption timing (end point) to switch from automatic operation to manual operation by the driver, etc. For example, the CPU 71 sets an interruption timing (end point) at a position 100 m on the near side of the exit of the toll road.

  Then, based on the operation plan, the CPU 71 drives and controls an engine device, a brake device, an electric power steering, etc. (not shown) to take over from the manual operation to the automatic operation and to near the interruption timing (end point) on the guide route. After traveling by automatic driving, control is performed so as to take over from automatic driving to manual driving on the near side in the advancing direction of the interruption timing.

  The front photographing camera 76A is attached near the rearview mirror of the host vehicle 1, is configured of a CCD camera or the like, photographs the front of the host vehicle, and outputs an image signal to the vehicle control ECU 3. The rear imaging camera 76B is attached to the rear end portion of the host vehicle 1, is configured of a CCD camera or the like, and images 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 photographing camera 76A, and recognizes an image of a white line (for example, a roadside zone or a lane boundary) indicating the boundary of the traveling lane by edge detection or the like.

  And CPU71 carries out drive control of the engine apparatus not shown, a brake device, electric power steering, etc. so that self-vehicles 1 may run along a white line. Further, the CPU 71 outputs the 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 photographing camera 76A and the rear photographing camera 76B to detect the relative position of the other vehicle present in the periphery of the own vehicle 1 with respect to the own vehicle 1 Output to device 2 Further, the CPU 71 performs image processing on the image signals input from the front photographing camera 76A and the rear photographing camera 76B, detects a space around the host vehicle 1, and outputs the space to the navigation device 2.

  The millimeter wave radar 77 is attached to the front end central position and the rear end central position of the vehicle 1, and the distance to other vehicles existing in front of the own vehicle and in the periphery behind the own vehicle The relative velocity with respect to the vehicle 1 is detected, and data of the relative distance to the other vehicle present in the detected periphery and the relative velocity of the other vehicle present in the periphery with respect to the vehicle 1 is output to the vehicle control ECU 3. The CPU 71 uses the distance from the millimeter wave radar 77 to the other vehicle in the vicinity and data on the relative speed of the other vehicle to the vehicle 1 and indicates the other vehicle existing in the vicinity of the vehicle 1 The relative position and the relative velocity 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 depression amount of the driver's accelerator pedal (hereinafter referred to as “actual accelerator opening degree”), and outputs the detected amount to the vehicle control ECU 3. The CPU 71 drives and controls the accelerator actuator 82 of the engine device (not shown) in accordance with the actual accelerator opening degree input from the accelerator sensor 78 in the state of the manual operation by the operation of the driver. It controls the output (hereinafter referred to as "the actual running output").

  The brake switch 79 is attached to a brake pedal (not shown), detects the presence or absence of depression of the brake pedal of the driver, 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 the OFF signal is input from the brake switch 79 during execution of the automatic operation control, the CPU 71 ends the automatic operation control and switches to the manual operation by the operation of the driver.

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

[Schematic Configuration of Navigation Device]
Subsequently, a schematic configuration of the navigation device 2 will be described. As shown in FIG. 1, the navigation device 2 according to the present embodiment includes a current position detection processing unit 11 that detects the current position of the vehicle, a data recording unit 12 in which various data are recorded, and input information. , A navigation control unit 13 that performs various arithmetic processing, an operation unit 14 that receives an operation from the operator, a liquid crystal display (LCD) 15 that displays information such as a map to the operator, and route guidance , And a communication device 17 for communicating with a road traffic information center (not shown), a map information distribution center (not shown), etc. via a mobile telephone network etc., a liquid crystal display 15 It comprises the touch panel 18 mounted on the surface.

In place of the touch panel 18, a remote controller, joystick, mouse, touch pad or the like may be provided.
Further, a vehicle speed sensor 51 is connected to the navigation control unit 13. In addition, the vehicle control ECU 3 is electrically connected to the navigation control unit 13 so that the relative positional relationship, relative velocity, and the like of the other vehicle present in the periphery of the own vehicle 1 can be acquired.

  Hereinafter, the respective components of the navigation device 2 will be described. The current position detection processing unit 11 includes the GPS 31 and the like, and the current position of the vehicle 1 (hereinafter referred to as "vehicle position"), vehicle orientation, It is possible to detect a traveling distance, an elevation angle and the like. For example, it is possible to detect the turning speeds of the three axes by a gyro sensor, and to detect the traveling direction of the azimuth (horizontal direction) and the elevation angle.

  In addition, the communication device 17 can receive the latest traffic information and weather information distributed from a not-shown probe center, a road traffic information center, etc. at predetermined time intervals (for example, every five minutes). It is configured. The “traffic information” is, for example, detailed information on traffic information such as travel time of each link, road congestion information on traffic jams on roads, traffic restriction information on road construction, construction work and the like. The detailed information is the actual length of the traffic jam, the time when congestion cancellation is expected, etc. in the case of road traffic jam information, and in the case of traffic regulation information, the duration of road construction, construction work, etc. Types of traffic regulation such as lane regulation, time zone of traffic regulation, etc. The communication device 17 is configured to be capable of bi-directional communication with a communication device mounted on a vehicle around the host vehicle 1. Further, 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 the corresponding links.

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

  Further, in the map information DB 25, navigation map information 26 used for travel guidance and route search of the navigation device 2 is stored. Further, the parameter DB 27 stores a count value of the number of times of automatic travel by automatic driving of the driver, a later-described proficiency level data table 85 (see FIG. 2), 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 intersection data for intersections, node data for node points, link data for roads (links), search data for searching for routes, facility data for POI (Point of Interest) such as stores that are a type of facility, points It consists of search data etc.

  Further, as node data, there are actual branch points of roads (including intersections, T-junctions, etc.), coordinates (positions) of nodes set for each predetermined distance according to curvature radius, etc. for each road, node Node attribute indicating the altitude, whether the node is a node corresponding to an intersection, etc., a list of link IDs that is a list of link IDs that are identification numbers of links connected to the node, nodes of nodes adjacent to the node via the link The data etc. regarding the adjacent node number list etc. which are the list of numbers are recorded.

  Further, as link data, a link ID specifying the link with respect to each link constituting the road, a link length indicating the length of the link, coordinate positions of the start point and end point of the link (for example, latitude and longitude), Presence or absence of median separator, slope of link, width of road to which link belongs, number of lanes, legal speed, presence of lane change prohibition line, coordinate positions of both end points of lane change prohibition line (for example, latitude and longitude) Data representing level crossings, etc., for curves, data representing curvature radius, intersections, T-junctions, entrances and exits of curves, etc., for road types, other than general roads such as national roads, prefectural roads, narrow streets, etc. Data representing toll roads such as national roads, urban expressways, general toll roads, and toll bridges are recorded respectively.

  Further, with regard to the toll road, data is stored regarding the installation road (ramp way) of the entrance and the exit of the toll road, the toll booth (interchange), the toll for each traveling section, and the like. A toll road is a toll road such as an expressway national highway, an urban expressway, a motorway, and a general toll road. In addition, one- or two-digit national roads excluding toll roads, three-or-more national roads, major regional roads, prefectural roads, municipal roads, etc. are called general roads.

  In addition, as search data, data used when searching and displaying a route to a set destination is recorded, and costs when passing through nodes (hereinafter referred to as node costs) and roads are configured. From the cost data used to calculate the search cost consisting of the cost of the link (hereinafter referred to as the link cost), the route display data for displaying the guide route selected by the route search on the map of the liquid crystal display 15, etc. It is configured. The link cost is data indicating an average travel time taken to pass the link, and is, for example, "3 (min)".

In addition, as facility data, hotel of each area, amusement park, palace, hospital, gas station, parking lot, station, airport, ferry terminal, interchange (IC), junction (JCT), service area, parking area (PA) Name and address of POI, etc., phone number, coordinate position on the map (for example, latitude and longitude of center position, entrance, exit, etc.), facility icon or landmark that displays the position of the facility on the map Is stored together with the facility ID identifying the POI. In addition, registered facility IDs for specifying registered facilities such as convenience stores and gas stations registered by the user are also stored.
Further, the contents of the map information DB 25 are updated by downloading update information distributed via the communication device 17 from a map information distribution center (not shown).

  Further, as shown in FIG. 1, the navigation control unit 13 constituting the navigation device 2 works when the arithmetic device for controlling the entire navigation device 2 and the CPU 41 as a control device and the CPU 41 perform various arithmetic processing. The RAM 42 is used as a memory, and is provided with a RAM 42 for storing route data etc. when a route is searched, an internal storage device such as a ROM 43 for storing control programs etc, and a timer 45 for measuring time. There is. In addition, “recommended handover section setting processing” is set in the ROM 43 from a manual operation on a guide route to be described later to an automatic operation, and a transition permission section to be handed over from an automatic operation to the manual operation (see FIGS. 3 and 4) Etc. programs are stored.

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

  In addition, on the liquid crystal display 15, map information currently being traveled, map information around the destination, operation guidance, operation menu, key guidance, guidance route from the present location to the destination, guidance information along the guidance route, traffic Information, news, weather forecast, time, mail, TV program etc. are displayed.

  In addition, the speaker 16 outputs voice guidance and the like for guiding the traveling along the guidance route based on the instruction from the navigation control unit 13. Here, as the voice guidance to be guided, there is, for example, “200 m ahead, right at the ○ intersection”.

  The touch panel 18 is a transparent panel-like touch switch mounted on the display screen of the liquid crystal display 15, and inputs various instruction commands by pressing a button or a map displayed on the screen of the liquid crystal display 15. It is configured that it is possible to do etc. The touch panel 18 may be configured by an optical sensor liquid crystal method or the like in which the screen of the liquid crystal display 15 is directly pressed.

Next, an example of the skill level data table 85 stored in the parameter DB 27 will be described based on FIG.
As shown in FIG. 2, the proficiency level data table 85 includes a "driving experience level" representing the driving experience by the driver's automatic driving, "the number of times of automatic travel by automatic driving", and "a distance required for simultaneous handover." It consists of "the distance required to take over steering operation" and "the distance necessary to take over pedal operation".

  The number of times of automatic travel corresponding to each driving experience level of the driver is stored in “the number of times of automatic travel by automatic driving”. For example, “1 to 5 times” is stored as the number of times of automatic traveling corresponding to the “experience level” of the driving experience level. In addition, in "distance required for simultaneous handover", the distance required to take over both steering operation of the steering device and pedal operation of the accelerator and brake from manual operation to automatic operation or from automatic operation to manual operation , And is stored in association with each driving experience level of the driver. For example, "1000 m" is stored as the distance required for simultaneous handover where the operation experience level corresponds to "beginner".

  The “distance required for handover of steering operation” is the driver's required distance for taking over only steering operation of the steering device from manual operation to control by the vehicle control ECU 3 or from control by the vehicle control ECU 3 to manual operation. It is stored in association with each driving experience level of. For example, “400 m” is stored as the distance required for handover of the steering operation corresponding to the “experience level” of the driving experience level. In addition, in "the distance necessary for taking over the pedal operation", the distance necessary for taking over only the operation of the accelerator and the brake pedal from manual operation to control by the vehicle control ECU 3 or from control by the vehicle control ECU 3 to manual operation Are 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 “experience level” of the driving experience level.

[Recommended handover 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 takes over from manual operation to automatic operation on the guide route and from automatic operation to manual operation. The “recommended handover section setting process” for setting the permission section and the like will be described based on FIGS. 3 to 12.

  The program shown in the flowcharts of FIGS. 3 and 4 is a process that is executed every predetermined time, for example, every 0.1 seconds after the guidance 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 the expressway, 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 receives a pressing signal indicating that the automatic driving start button 61 is pressed from the vehicle control ECU 3 A determination process is performed to determine whether or not the automatic driving start button 61 has been turned on. When it is determined that the pressing signal indicating that the automatic operation start button 61 has been pressed is not input (S11: NO), the CPU 41 ends the process.

  On the other hand, when it is determined that the pressing signal indicating that the automatic operation start button 61 has been pressed is input (S11: YES), the CPU 41 shifts to the processing of S12. In S12, the CPU 41 reads out the route ID 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.

  Then, in S13, the CPU 41 acquires the position of the vehicle based on the detection result of the current position detection processing unit 11. Subsequently, based on the navigation map information 26, the CPU 41 road information such as the slope of each link on the guide route, the number of lanes, the radius of curvature, the road surface condition, etc. Are stored in the RAM 42. Further, the CPU 41 reads from the data recording unit 12 current traffic information and weather information corresponding to each link on the guide route from the vehicle position ahead of the traveling direction and stores the information in the RAM 42.

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

  Then, the CPU 41 operates the steering operation and the pedal on the section of the environment with high degree of driving difficulty such as merging, exit point (lane), steep slope, sharp curve, bad road, strong wind (cross wind), etc. on the guide route 86. Both operations are extracted from the manual operation to the automatic operation or extracted as the non-transferable sections 89 which can not be taken over from the automatic operation to the manual operation and stored in the RAM 42. In addition, the CPU 41 can simultaneously take over both the steering operation and the pedal operation from manual driving to automatic driving or from automatic driving to manual driving in the section excluding the non-transferable sections 89 on the guide route 86. It is extracted as the permitted section 91 and stored in the RAM 42.

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

  More specifically, as shown in FIG. 6, the CPU 41 performs only steering operation from manual driving to semi-automatic driving when it is necessary to operate the accelerator and brake pedals such as bad roads where ups and downs are up and down more than a predetermined value. A section which can be handed over from the semiautomatic operation to the manual operation is extracted as the individual handover permission section 92 and stored in the RAM 42. In addition, the CPU 41 manually drives only the accelerator and brake pedal operations when a steering operation such as a strong wind (crosswind) or a sharp curve is required in each non-transferable section 89 forward of the host vehicle position 87 in the traveling direction A section which can be taken over from the second to the semi-automatic operation or from the semi-automatic operation to the manual operation is extracted as the individual handover permission section 93 and stored in the RAM 42.

  Then, in S16, the CPU 41 learns the driver's automatic driving simultaneous learning section closest to each of the vehicle position (starting point) and the exit of the expressway to finish the automatic driving and the end point of the interchange on the guide route. Extract based on degree. Specifically, the CPU 41 first reads from the parameter DB 27 the count value of the number of times of automatic travel by automatic driving of the driver, for example, the count value of three times. Then, the CPU 41 sets the count value as “the number of times of automatic travel by automatic driving” in the skill level data table 85 stored in the parameter DB 27, “the number of times required for simultaneous handover corresponding to the number of automatic travels by automatic driving”. For example, 1000 m is read out and stored in the RAM 42 as the “distance LT” necessary for simultaneous handover.

  Subsequently, the CPU 41 sequentially reads the distances of the respective simultaneous handover permission sections existing on the front side in the traveling direction from the vehicle position (starting point) to the front side in the traveling direction. Then, the CPU 41 extracts the simultaneous takeover permitted section closest to the own vehicle position (start point) by the distance LT or more necessary for simultaneous takeover and extracts both the steering operation of the steering device and the pedal operation of the accelerator and the brake. It stores in the RAM 42 as a simultaneous handover permission section on the starting point side which can be taken over from the manual operation to the automatic operation. As a result, it is possible to extract the simultaneous handover permission section at the start point side of the distance that matches the driving experience level of the driver.

  Further, the CPU 41 sequentially reads the distances of the simultaneous takeover permission sections existing on the near side in the traveling direction from the end point of the exit of the expressway where the automatic driving is finished and the interchange etc. to the near side in the traveling direction. Then, the CPU 41 extracts the simultaneous takeover permitted section closest to the end point by the distance LT or more necessary for simultaneous takeover, and performs both the steering operation of the steering apparatus and the pedal operation of the accelerator and the brake from automatic driving to manual driving. It stores in the RAM 42 as a simultaneous handover permission section on the end-point side which can be taken over. As a result, it is possible to extract the simultaneous takeover permission section at the end of the distance that matches the driving experience level of the driver.

  For example, as shown in FIG. 7, the CPU 41 controls the simultaneous route change permission sections 91A, 91B, 91C existing on the front side of the traveling direction from an end point 88 of an exit of an expressway or an interchange etc. The respective distances L1, L2 and L3 are sequentially read to the front side in the traveling direction. And each distance L1 and L2 of each simultaneous transfer permission section 91A, 91B is less than distance LT required for simultaneous transfer, distance L3 of the third simultaneous transfer permission section 91C on the near side from the end point 88 in the traveling direction is simultaneous transfer Or more than the necessary distance LT.

  For this reason, the CPU 41 extracts the simultaneous takeover permission section 91C, and the end point side closest to the end point 88 where it is possible to take over both steering operation of the steering apparatus and pedal operation of the accelerator and the brake from automatic driving to manual driving. It is stored in the RAM 42 as a simultaneous takeover permission section. Thus, it is possible to extract the simultaneous takeover permission section 91C on the end point 88 side of the distance that matches the driving experience level of the driver.

  It should be noted that the road environment (road structure, time zone, weather, traffic congestion status, surrounding vehicle status, etc.) that affects the degree of driving difficulty is not set based on the driver's automatic driving skill based on the distance LT required for simultaneous handover. It may be set based on.). For example, regarding the road structure, the distance LT may be set to be longer in order of a road with a slope, a road with a curve, and the like than a straight road without unevenness. Further, regarding the time zone, the distance LT may be set to be longer in the order of the evening, the night, and the like than the daytime.

  Further, regarding the weather, the distance LT may be set to be longer in the order of rain, heavy rain, snow accumulation, and the like than the sunny weather. Further, with regard to the traffic congestion situation, the distance LT may be set to be longer in the order of congestion and congestion than in the case of vacancy. With respect to the surrounding vehicle condition, the distance LT becomes longer in the order in which the other vehicle exists in the left and right front and rear, when the other vehicle exists in the left and right or front and rear, as compared to the case where the other vehicle does not exist in the left and right front It may be set.

  Subsequently, in S17, the CPU 41 determines whether or not semi-automatic driving can be set between the vehicle position (starting point) and the simultaneous handover permission section on the starting point side on the guide route. Run. That is, the CPU 41 first extracts an individual transfer permission section existing between the vehicle position (start point) and the simultaneous transfer permission section on the start point side based on the proficiency level of the driver in automatic driving. Then, if there is an individual handover permission zone corresponding to the driver's automatic driving ability between the host vehicle position (start point) and the simultaneous handover permission zone on the start point side, the CPU 41 determines the host vehicle position (start point It is determined that semi-automatic operation can be set between the) and the simultaneous takeover permission section on the start side.

  For example, as shown in FIG. 8, the CPU 41 first reads the count value of the number of times of automatic travel by automatic driving of the driver from the parameter DB 27, for example, the count value of 3 times, and this count value is stored in the parameter DB 27. It is assumed that "the number of times of automatic travel by automatic driving" in the degree data table 85. Then, the CPU 41 sets this count value as the "number of automatic travels by automatic driving" in the skill level data table 85 stored in the parameter DB 27, and is necessary for "passing over steering operation" corresponding to the "number of automatic travels by automatic driving". Distance, for example, 400 m, and "distance required for pedal operation handover", for example, 600 m, and "distance LS" necessary for steering operation handover and "distance LP required for pedal operation handover. And stored in the RAM 42 as

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

  When the CPU 41 determines that the semi-automatic operation can not be set between the vehicle position (starting point) and the simultaneous handover permission section on the starting point side on the guide route (S17: NO), The simultaneous switching permission section closest to the vehicle position (starting point) is set as the first simultaneous switching permission section to take over steering operation and pedal operation from manual driving to automatic driving, and after storing in RAM 42, proceeds to processing of S19 described later. .

  On the other hand, when the CPU 41 determines that the semi-automatic operation can be set between the vehicle position (starting point) and the simultaneous handover permission section on the starting point side on the guide route (S17: YES), S18. Transfer to processing of In S18, the CPU 41 among the individual handover permission zones of the steering operation or the pedal operation corresponding to the learning level for the driver's automatic driving, which exists between the vehicle position (start point) and the simultaneous handover permission zone on the start point side. The individual handover permission zone closest to the vehicle position (start point) is set as a first individual handover permission zone to be handed over from manual operation to semi-automatic operation and stored in the RAM 42. Then, if there is an individual takeover permission section of manual operation different from the manual operation of the first individual takeover permission section before the first individual takeover permission section in the advancing direction, the CPU 41 semi-automatically performs the individual takeover permission section After setting the second individual handover permission section to be taken over from operation to automatic operation and storing the same in the RAM 42, the process proceeds to the processing of S19.

  For example, as shown in FIG. 8, the CPU 41 separates the steering operation permission transition section closest to the vehicle position (starting point) 87 between the vehicle position (starting point) 87 and the simultaneous switching permission section 91 on the starting point side. 92A is set as a first individual handover permission zone to be taken over from manual operation to semi-automatic operation and stored in the RAM 42. Further, the CPU 41 sets the individual handover permission zone 93A of the pedal operation existing ahead of the individual handover permission zone 92A in the traveling direction as the second individual handover permission zone to be handed over from the semiautomatic operation to the automatic operation and stores it in the RAM.

  Subsequently, as shown in FIG. 4, in S19, whether or not the CPU 41 can set semi-automatic operation on the guide route between the simultaneous transfer-permitted section on the end point side and the end point at which the automatic operation is ended. Execute determination processing to determine whether the That is, the CPU 41 extracts an individual transfer permission section existing between the simultaneous transfer permission section on the end point side and the end point at which the automatic operation is ended based on the proficiency level of the driver for the automatic operation. Then, the CPU 41 separates the steering operation and the pedal operation corresponding to the driver's automatic driving skill into the manual driving individually between the simultaneous transfer permission section on the end point side and the end point at which the automatic driving ends. When there is a takeover permission section, it is determined that semiautomatic operation can be set between the simultaneous takeover permission section on the end point side and the end point at which the automatic operation is finished.

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

  In addition, the CPU 41 determines that the distance L3 of the pedal operation-permitted transfer section 93B between the simultaneous transfer permission section 91 on the end point 88 side and the end point 88 for ending the automatic operation is the distance required for the transfer of the pedal operation. In the case of “LP” or more, it is determined that there is an individual transfer permission section 93B capable of taking over the pedal operation to the manual operation between the simultaneous transfer permission section 91 on the end point 88 side and the end point 88 for ending the automatic operation. As a result, the CPU 41 separately receives the steering operation and the pedal operation to the manual driving individually, and there are two individual handover permission sections 92B and 93B, so the simultaneous handover permission section 91 on the end point 88 side and the end point 88 for ending the automatic driving. And determine that the semi-automatic operation can be set between them.

  Then, when the CPU 41 determines that the semi-automatic operation can not be set between the simultaneous handover permission section on the end point side and the end point at which the automatic operation is ended (S19: NO), the end point at which the automatic operation is ended. The simultaneous takeover permitted section closest to is set as a second simultaneous takeover permitted section in which the steering operation and the pedal operation are handed over from automatic driving to manual driving, and stored in the RAM 42. Thereafter, the CPU 41 shifts to the processing of S21 described later.

  On the other hand, when the CPU 41 determines that the semi-automatic operation can be set between the simultaneous handover permission section on the end point side and the end point at which the automatic operation is ended on the guide route (S19: YES), S20. Transfer to processing of In S20, the CPU 41 separately hands over steering operation and pedal operation corresponding to the driver's level of automatic driving between manual operation and manual operation between the simultaneous change-over permission section on the end point side and the end point at which automatic operation ends. If there is an individual transfer permission section, the individual transfer permission section closer to the simultaneous transfer permission section on the end point side is set as a third individual transfer permission section to be handed over from automatic operation to semi-automatic operation and stored in the RAM. Then, the CPU 41 sets an individual handover permission zone existing ahead of the third individual handover permission zone in the advancing direction as a fourth individual handover permission zone 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 separates the steering operation that is closest to the simultaneous takeover permission section 91 on the end point 88 side between the simultaneous takeover permission section 91 on the end point 88 side and the end point 88 to finish the automatic driving. The transfer permission section 92B is set as a third individual transfer permission section to be handed over from automatic operation to semi-automatic operation and stored in the RAM 42. Further, the CPU 41 sets the individual handover permission zone 93B of the pedal operation existing ahead of the individual handover permission zone 92B in the traveling direction as the fourth individual handover permission zone to be handed over from the semiautomatic operation to the manual operation and stores it in the RAM.

  Subsequently, as shown in FIG. 4, in S21, the CPU 41 executes a determination process of determining whether or not there is a specific section in which only one semi-automatic operation of steering operation or pedal operation is possible on the guide route. Then, when it is determined that the specific section in which only one semi-automatic operation of the steering operation or the pedal operation can be performed does not exist on the guide route (S21: NO), the CPU 41 proceeds to the process of S24 described later.

  On the other hand, when it is determined that the specific section in which only one semi-automatic operation of the steering operation or the pedal operation is possible exists on the guide route (S21: YES), the CPU 41 proceeds to the processing of S22. In S22, on the near side in the traveling direction of the specific section, the CPU 41 is the most specific to the specific section among the individual handover permission sections that can be handed over from automatic driving to semi-automatic operation corresponding to the specific section. The closer one is extracted based on the driver's skill level in automatic driving and stored in the RAM 42 as a semi-automatic driving handover section.

  Then, in S23, the CPU 41 extracts, based on the proficiency level for automatic driving of the driver, a simultaneous transfer-enabled permitted section that can be handed over again from semi-automatic driving to automatic driving corresponding to the specific section forward in the traveling direction of the specific section. Then, it is stored in the RAM 42 as a re-automatic operation takeover section. As a result, after taking over from automatic operation to semi-automatic operation, the CPU 41 can take over from semi-automatic operation to automatic operation again, and can lengthen the automatic operation section and reduce the operation load of 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 the pedal operation is possible and control by the vehicle control ECU 3 of the steering operation can not be performed. The count value of the number of times of automatic travel by automatic driving of the driver is read out from the DB 27. Then, using the count value as “the number of times of automatic travel by automatic driving” in the proficiency data table 85, the CPU 41 reads “the distance required for handover of steering operation” corresponding to the “number of automatic travels by automatic driving”. And stored in the RAM 42 as the "distance LS" necessary for taking over steering operation.

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

  Further, when the distance L3 of the simultaneous takeover permission section 91E is equal to or more than the "distance LS" necessary for taking over the steering operation in front of the specific section 95 in the advancing direction, the CPU 41 pedals the simultaneous takeover permission section 91E. From the semi-automatic operation of (4) to automatic operation of steering operation and pedal operation again, it is stored in the RAM 42 as a re-automatic operation takeover section to be taken over. Thereby, the driver can start traveling by automatic driving again in the simultaneous transfer permission section 91E after starting driving of the semi-automatic operation in which only steering operation is handed over to the manual operation in the individual transfer permission section 92D. As a result, the automatic operation section can be lengthened.

  Next, as shown in FIG. 4, in S24, the CPU 41 performs a first simultaneous handover permission section that takes over from manual driving to automatic driving on the vehicle position (starting point) side, or a first individual taking over from manual driving to semi-automatic driving. The coordinate position of the end point on the near side in the traveling direction of the takeover permission section is read out from the navigation map information 26, and is stored in the RAM 42 as the coordinate position of the start point of the automatic operation section. Further, the CPU 41 is a coordinate position of an end point on the forward side of the second simultaneous takeover permission section taking over from automatic operation to manual operation on the end side of automatic operation, or a fourth individual takeover permission section taking over from semiautomatic operation to manual operation. Are 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 each coordinate position of the start point and the end point of the automatic operation section from the RAM 42, and acquires the traveling distance from the start point to the end point of the automatic operation section from the navigation map information 26 on the guide route. . Thereafter, the CPU 41 reads a predetermined distance threshold from the parameter DB 27 and executes a determination process to determine whether 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. That is, a determination process is performed to determine whether the distance of the automatic driving zone is long and the distance is greater than the distance at which the driver does not feel troublesome with respect to the process of taking over from automatic driving to manual driving. The predetermined distance threshold is stored in advance in the parameter DB 27.

  Then, when it is determined that the traveling distance from the start point to the end point of the automatic driving section is equal to or more than the predetermined distance threshold (S24: YES), the CPU 41 shifts to the process of S25. In S25, the CPU 41 performs a first simultaneous handover permission section that takes over from manual driving to automatic driving on the vehicle position (starting point) side, or a first individual handover permission section that takes over from manual driving to semiautomatic driving, and semiautomatic driving to automatic driving. From the second individual handover permission zone to take over to the second simultaneous takeover permission segment to take over from the automatic operation to the manual operation on the end side of the automatic operation, or from the third individual handover permission interval to take over from the automatic operation to the semiautomatic operation, from the semiautomatic operation The fourth individual handover permission section to be handed over to the manual operation, the semiautomatic operation handover section, and the reautomatic operation handover section are read out from the RAM 42, and a recommended automatic operation segment on the guidance route is set.

  For example, as shown in FIG. 11, the CPU 41 manually drives the steering operation as the first individual handover permission segment from the manual operation to the semi-automatic operation, the individual handover permission segment 92A, and the pedal operation as the second individual handover permission segment. To the semi-automatic operation, that is, from the RAM 42, an individual handover permission section 93A to be handed over from the semi-automatic operation to the automatic operation is read out. Then, the CPU 41 sequentially arranges the individual handover permission sections 92A and 93A forward in the traveling direction, and sets them as a section to be taken over from the manual operation on the self vehicle position (start point) 87 side of the recommended automatic operation section 96 to the automatic operation. Are stored in the RAM 42.

  Further, the CPU 41 takes over the steering operation as the third individual handover permission section from automatic driving to manual operation, that is, the individual handover permission section 92B taking over automatic driving to semi-automatic operation, and pedal operation as the fourth individual handover permission section Is transferred from the automatic operation to the manual operation, that is, the individual transfer permission section 93 B which is transferred from the semi-automatic operation to the manual operation is read out from the RAM 42. Then, the CPU 41 sequentially arranges the individual handover permission sections 92B and 93B forward in the traveling direction, and sets them as a section to be handed over from the automatic operation on the end point 88 side of the recommended automatic operation section 96 to the manual operation and stores them in the RAM 42 .

  Then, as shown in FIG. 4, in S26, the CPU 41 outputs the recommended automatic driving zone to the vehicle control ECU 3 and also notifies the driver of the start points of the semi-automatic driving of the recommended automatic driving zone and the starting point of the automatic driving. 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 from the RAM 42 the “distance LS” necessary for taking over the steering operation. Then, the CPU 41 uses the navigation map information 26 for the coordinate position of the point ahead in the forward direction by "distance LS" from the end point in the forward direction of the individual transition permission section 92A closest to the host vehicle position (start point) 87 It is read out and stored in the RAM 42 as the coordinate position of the start point of the semi-automatic operation. Subsequently, the CPU 41 reads out from the RAM 42 the “distance LP” necessary for taking over the pedal operation. Then, the CPU 41 reads, from the navigation map information 26, the coordinate position of the point where the distance in the forward direction from the end point on the near side in the forward direction of the individual transfer permission section 93A goes from the navigation map information 26, Are stored in the RAM 42 as

  Also, from the navigation map information 26, read the coordinate position of the point advanced by the distance LS from the end point in the forward direction of the individual succession permission section 92B which will be handed over from the automatic driving on the end point 88 to the semiautomatic driving. It stores in the RAM 42 as the coordinate position of the end point of the automatic driving. Then, the CPU 41 reads from the navigation map information 26 the coordinate position of a point that has advanced in the forward direction by "distance LP" from the end point in the forward direction of the individual handover permission section 93B closest to the end point 88 from the navigation map information 26 It is stored in the RAM 42 as the coordinate position of the end point. Therefore, the area from the start point of the semi-automatic operation on the side of the vehicle position (start point) 87 to the end point of the semi-automatic operation on the end point 88 side is set as the automatic operation section.

  After that, as shown in FIG. 4, in S27, the CPU 41 performs a first simultaneous handover permission section that takes over from manual driving to automatic driving on the vehicle position (starting point) side, or a first individual handover that takes over from manual driving to semiautomatic driving. A permission section, a second individual handover permission section that takes over from semi-automatic operation to automatic operation, a second simultaneous takeover permission section that takes over from automatic operation to manual operation on the end side of automatic operation, or a third that takes over from automatic operation to semi-automatic operation Each section consisting of coordinate positions etc. of the traveling direction both ends of each section between the individual handover permission zone, the fourth individual handover permission zone to be handed over from the semi-automatic operation to the manual operation, the semi-automatic operation handover region, and the re-automatic operation handover region The information is read from the RAM 42. Also, the coordinate positions of the start point and the end point of the semi-automatic operation and the automatic operation of the recommended automatic operation section are read out.

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

  The CPU 41 also displays on the guide 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 the end point of each of the semi-automatic operation and the automatic operation. , Display the recommended automatic operation section. For example, as shown in FIG. 12, the CPU 41 displays the guide route 86 on the liquid crystal display 15, and also allows an automatic operation section capable of traveling by semi-automatic operation and automatic operation, and start point and end of each of semi-automatic operation and automatic operation. Display points in an identifiable manner. Thereafter, the CPU 41 ends the process. Thereby, the driver can easily confirm the automatic driving zone on the guide route.

  On the other hand, when it is determined in S24 that the traveling 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 shifts to the process of S28. In S28, after setting that the semi-automatic operation and the automatic operation are not performed on the guide route, the CPU 41 shifts to the processing of S27.

  In S27, the CPU 41 outputs a control signal instructing 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 guide route on the liquid crystal display 15 and displays a message indicating that semiautomatic operation and automatic operation are not to be performed. Thereafter, the CPU 41 ends the process. As a result, the driver can easily confirm that the entire distance of the guide route is to travel by manual driving.

  As described above in detail, in the host vehicle 1 according to the present embodiment, the CPU 41 learns the driver's automatic driving skill on the guide route between the host vehicle position (start point) and the simultaneous handover permission section on the start point side. If there is an individual handover permission zone corresponding to the degree, the individual handover permission zone closest to the vehicle position (starting point) is set as the first individual handover permission zone to be handed over from manual driving to semi-automatic driving and stored in RAM 42 . Then, if there is an individual takeover permission section of manual operation different from the manual operation of the first individual takeover permission section before the first individual takeover permission section in the advancing direction, the CPU 41 semi-automatically performs the individual takeover permission section It sets to the 2nd individual taking over permission section taken over from operation to automatic operation, and stores it in RAM42.

  As a result, the CPU 41 can set the first individual handover permission zone to be handed over from manual operation to semi-automatic operation at a point closer to the vehicle position (starting point) than the simultaneous handover permission zone, and travel by semiautomatic operation or automatic operation. It is possible to set the traveling distance of the automatic driving section to be longer. That is, it is possible to lengthen the section in which the semi-automatic operation or the automatic operation can be performed, and it is possible to reduce the driving load of the driver.

  Further, the CPU 41 separates the steering operation and the pedal operation corresponding to the driver's level of automatic driving into manual operation between the simultaneous transfer-permitted section on the end point side and the end point at which automatic driving is ended on the guide route. If there are two individual takeover permission sections to be handed over to the individual end, 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 semiautomatic operation. Remember. Then, the CPU 41 sets an individual handover permission zone existing ahead of the third individual handover permission zone in the advancing direction as a fourth individual handover permission zone to be handed over from the semi-automatic operation to the manual operation and stores the same in the RAM.

  As a result, the CPU 41 can set the third individual handover permission section to be handed over from automatic operation to semi-automatic operation at a point closer to the end point side of automatic operation than the simultaneous handover permission section. Furthermore, the CPU 41 can set the fourth individual handover permission zone 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 handover permission zone. As a result, the CPU 41 can set the traveling distance of the automatic driving section traveling in the semi-automatic driving or the automatic driving to be longer. That is, it is possible to further lengthen the section in which the semi-automatic operation or the automatic operation can be performed, and it is possible to reduce the driving load of the driver.

  The present invention is not limited to the above-described embodiment, and it goes without saying that various improvements and modifications can be made without departing from the scope of the present invention. In the embodiment of the present invention, it is not dependent on the driver's operation that the vehicle control ECU 3 controls all the operations of the accelerator operation, the brake operation and the steering wheel operation which are operations related to the behavior of the vehicle among the operations of the vehicle. It has been described as automatic driving. In addition, the automatic driving that does not depend on the driver's operation is an operation related to the behavior of the vehicle among the operations of the vehicle, and the semiautomatic operation that the vehicle control ECU 3 controls at least one operation of an accelerator operation, a brake operation and a steering wheel operation It has been described as. On the other hand, the manual operation by the operation of the driver has been described as the operation related to the behavior of the vehicle among the operations of the vehicle, that the driver performs the accelerator operation, the brake operation and the steering wheel operation.

  Also, for example, in the case where only the first individual handover permission zone corresponding to the driver's automatic driving skill level exists between the vehicle position (starting point) and the simultaneous handover permission zone on the starting point side on the guide route. Alternatively, the CPU 41 may switch from manual operation to semi-automatic operation in the first individual handover permission section, and thereafter to inherit from semi-automatic operation to automatic operation in the simultaneous handover permission section on the start point side. As a result, it is possible to set the traveling distance of the automatic driving section traveling in the semi-automatic driving or the automatic driving to be longer. That is, it is possible to lengthen the section in which the semi-automatic operation or the automatic operation can be performed, and it is possible to reduce the driving load of the driver.

  Also, for example, when only the third individual handover permission segment corresponding to the proficiency level for automatic driving of the driver is present between the simultaneous handover permission segment on the end point side and the end point for ending the automatic operation 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 at the end point side, and takes over from the automatic operation to the semiautomatic operation. Thereafter, the CPU 41 may set to take over from the semi-automatic operation to the manual operation in the third individual handover permission section. As a result, it is possible to set the traveling distance of the automatic driving section traveling in the semi-automatic driving or the automatic driving to be longer. That is, it is possible to lengthen the section in which the semi-automatic operation or the automatic operation can be performed, and it is possible to reduce the driving load of the driver.

  Moreover, although the Example which materialized the automatic driving | operation assistance apparatus which concerns on this invention was described above, it is also possible for an automatic driving | operation assistance apparatus to have the following structures, In that case, the following effects are produced.

For example, the first configuration is as follows.
Based on the road information acquired via the road information acquisition means, a second simultaneous handover that can take over all control of the actuators corresponding to the plurality of driving operation means from the manual operation of the manual operation to the automatic operation It is possible to take over control of at least one of the actuators corresponding to the plurality of driving operation means among the sections excluding the second simultaneous takeover permitted section setting means for setting the permitted section and the second simultaneous takeover permitted section to the automatic operation And a second individual handover permission zone setting means for setting the zone as a second individual handover permission zone.
According to the automatic driving support device having the above configuration, the second simultaneous takeover permission section capable of taking over all control of the actuators corresponding to the plurality of driving operation means from manual operation of manual operation to automatic operation is set. Further, a section which can take over control of at least one of the actuators corresponding to a plurality of driving operation means among the sections excluding the second simultaneous takeover permission section is set as a second individual takeover permission section.
As a result, the travel distance of the second individual handover permission section is shorter than the travel distance of the second simultaneous relay permission section taking over all control of the actuator from manual operation of manual operation to automatic operation. It is possible to set the takeover permission section closer to the start point of the guide route. Therefore, it is possible to set the section to be taken over from the manual operation to the semi-automatic operation closer to the start point of the guide route, and it is possible to lengthen the section in which the automatic operation can be performed.

The second configuration is as follows.
In the traveling direction front side than the front Symbol guidance route on the nearest second simultaneous takeover permission section to the starting point of having a starting point side zone determination means for determining whether said second individual takeover permission interval is present, When it is determined that the second individual takeover permission section exists on the near side in the traveling direction with respect to the second simultaneous takeover permission section closest to the start point on the guide route through the start point side section determination means , based on the second individual takeover allowed interval, set the interval to take over from the manual operation to the semi-automatic operation.
According to the automatic driving support apparatus with the above configuration, when the second individual takeover allowed interval present in the traveling direction of the front side than the nearest second simultaneous takeover permission section to the starting point on the guidance route, the second individual A section to be handed over from manual operation to semi-automatic operation is set based on the transfer permission section. Thus, it is possible to set closer relative start of manual operation guided between take over tool Ward to automatic operation from the path, to ensure long section capable of performing automatic operation or semiautomatic operation on the guidance route It becomes possible.

The third configuration is as follows.
The individual handover permission section setting unit is provided with a skill acquisition unit for acquiring the proficiency for the automatic driving of the driver performing the manual operation, and the individual handover permission section setting unit is configured to perform the individual processing based on the proficiency acquired via the profi It is characterized in that a takeover permission section is set .
According to the automatic driving support device having the above configuration, it is possible to reliably take over from the semi- automatic driving to the manual driving because the individual handover permission section is set based on the proficiency level of the driver for the automatic driving.

The fourth configuration is as follows.
Based on the road information, whether or not there is a specific section required to take over at least one control of actuators corresponding to the plurality of driving operation means from the automatic driving to the manual operation on the guide route When it is determined that the specific section exists on the guide route through the specific section determination unit to be determined and the specific section determination unit, the specific section is on the near side in the traveling direction of the specific section, and corresponds to the specific section Means for setting the first specific takeover permission section setting means for setting the individual takeover permission section or the simultaneous takeover permission section capable of taking over control of the actuator to the manual operation to the first specific takeover permission section; a side, the said control actuator corresponding to a particular section can be take over the automatic operation second co takeover allowed interval second specific takeover Huh A second specific takeover allowed interval setting means for setting the interval, and further comprising a.
According to the automatic driving support device having the above configuration, the first specification is made even in the case where there is a specific section in which it is necessary to take over control of at least one of the actuators corresponding to a plurality of driving operation means from manual driving to manual operation. After taking over from automatic operation to semi-automatic operation in the takeover permission section, it is possible to take over from semi-automatic operation to automatic operation again in the second specific takeover permission section which is the second simultaneous takeover permission section . This makes it possible to reliably lengthen the section on which the automatic driving or the semi-automatic driving can be performed on the guide route.

The fifth configuration is as follows.
A travel distance obtaining means for obtaining a travel distance from the take over tool automatic operation starting point from manual operation to the automatic operation on the guidance route to take over instrument automatic operation end point in manual operation from the automatic operation, the travel distance When it is determined that the travel distance is greater than or equal to the predetermined distance threshold value, the distance determination means determining whether the travel distance acquired via the acquisition means is greater than or equal to the predetermined distance threshold, and the distance determination means , said controlled to set a recommended takeover section showing the automatic operation interval corresponding to the automatic operation start point and the automatic operation end point, the travel distance through the distance determination means is less than a predetermined distance threshold If it is determined that there is characterized in that and a setting control unit which controls not to set the recommended handover interval.
According to the automatic driving support apparatus with the above configuration, it takes over tool travel distance is less than the predetermined distance threshold value from the automatic operation start point to take over instrument automatic operation end point in manual operation from the automatic operation to the automatic operation from the manual operation In this case, since the section of automatic operation or semi-automatic operation is not set, it is possible to prevent switching to manual operation again in a short time after switching from manual operation to automatic operation or semi-automatic operation. It is possible to reduce the

The sixth configuration is as follows.
The plurality of driving operation means include a steering device that controls the traveling direction of the vehicle and an acceleration / deceleration device that controls the acceleration / deceleration of the 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 braking device can be changed from manual operation to automatic operation or semi-automatic operation or automatic operation Alternatively, it is possible to take over gradually from the semi-automatic operation to the manual operation. Therefore, the traveling distance traveled by the automatic driving or the semi-automatic driving on the guide route can be set longer, and the section where the automatic driving or the semi-automatic driving can be performed can be made longer.

The seventh configuration is as follows.
The guide route includes the simultaneous takeover permission section capable of taking over all control of actuators corresponding to a plurality of operation operation means in one section from the automatic operation to the manual operation of the manual operation, and of the manual operation It is characterized by including a second simultaneous takeover permission section which can be handed over from manual operation to the automatic operation.
According to the automatic driving support device having the above configuration, the guidance route can simultaneously take over all control of actuators corresponding to a plurality of driving operation means in one section from automatic driving to manual operation of manual driving. A permission section and a second simultaneous takeover permission section capable of being handed over from the manual operation of the manual operation to the automatic operation are included. Thus, by setting the simultaneous takeover permission section and the second simultaneous takeover permission section as the operation sections, it is possible to ensure from automatic operation to manual operation of manual operation and from manual operation of manual operation to automatic operation in one section. It is possible to take over to

The eighth configuration is as follows.
The vehicle control apparatus further comprises: information output means for outputting driving zone information including two individual takeover permitted sections and a recommended takeover section in which the simultaneous takeover permitted sections are set, to a vehicle control device that controls the own vehicle. Do.
Thereby, the vehicle control device sets an operation plan to be handed over from manual operation of manual operation to automatic operation and further from automatic operation to manual operation on the guide route according to the operation section information including the input recommended transition section. It becomes possible to reduce the processing load of the vehicle control device.

1 own vehicle 2 navigation device 3 vehicle control ECU
11 location detection processing unit 15 liquid crystal display 25 map information DB
26 Navi Map Information 27 Parameter DB
41, 71 CPU
42, 72 RAM
43, 73 ROM
81 steering actuator 82 accelerator actuator 83 brake actuator 85 skill level data table 91 simultaneous takeover permission section 92, 93 individual takeover permission section 95 specific section 96 recommended automatic operation section

Claims (10)

An automatic driving support device for setting a section related to handover to manual operation of manual driving for controlling actuators corresponding to operations of a plurality of driving operation means from automatic driving for controlling actuators according to road information,
The plurality of driving operation means are
A steering operation unit that controls the traveling direction of the host vehicle, and a pedal operation unit that controls acceleration and deceleration of the host vehicle;
Road information acquisition means for acquiring the road information ahead of the traveling direction on the guidance route;
Based on the road information acquired through the road information acquisition means, a simultaneous handover permission section capable of taking over all control of the actuators corresponding to the plurality of driving operation means from the automatic driving to the manual operation of the manual driving Simultaneous takeover permission section setting means for setting
Said simultaneous takeover said steering operation means a period exclusive permission section and one can take over control of the actuators corresponding to the manual operation to a section of the pedal unit, in the section other than the simultaneous takeover permission section Individual takeover permission section setting means for setting a section in which control of the actuator corresponding to the other of the steering operation means and the pedal operation means can be handed over to the manual operation to each of two individual takeover permission sections;
An endpoint side segment judging unit that judges whether or not two individual handover permission segments exist on the forward direction forward side of the simultaneous handover permission segment closest to the end point on the guide route;
Have
Through the end point interval determining means, in the direction of travel side from the closest the simultaneous takeover permission section to the end point on the guidance route, if it is determined that two of the individual takeover permission section exists, the In the setting of the section related to the semi-automatic operation in which the control of the actuator corresponding to the steering operation means or the pedal operation means is manually operated, the one of the two individual transfer permission sections which is closer to the simultaneous transfer permission section The permission section is set as a section to be handed over from the automatic operation to the semi-automatic operation, and of the two individual takeover permission sections, the individual hand-over permission section closer to the end point is to be handed over from the semi-automatic operation to the manual operation. An automatic driving support device characterized by setting. Based on the road information acquired via the road information acquisition means, a second simultaneous handover that can take over all control of the actuators corresponding to the plurality of driving operation means from the manual operation of the manual operation to the automatic operation Second simultaneous takeover permitted section setting means for setting a permitted section;
The second individual handover permission section sets a section capable of taking over at least one control of the actuators corresponding to the plurality of driving operation means among the sections excluding the second simultaneous transfer permission section into the second individual transfer permission section Permission section setting means,
The automatic driving support device according to claim 1, comprising: A proficiency acquisition means for acquiring proficiency of the driver performing the manual operation for the automatic driving;
The automatic driving according to claim 1 or 2 , wherein the individual handover permission zone setting means sets the individual handover permission zone based on the learning level acquired through the learning level acquiring means. Support device. Based on the road information, whether or not there is a specific section required to take over at least one control of actuators corresponding to the plurality of driving operation means from the automatic driving to the manual operation on the guide route The specific section judging means to judge,
When it is determined that the specific section exists on the guide route via the specific section determination means, the manual operation is performed on the side of the specific section before the traveling direction, and the control of the actuator corresponding to the specific section. First specific takeover permission section setting means for setting the individual takeover permission section or the simultaneous takeover permission section that can be taken over to the first specific takeover permission section;
A second specified transfer permission permission that sets the second specified simultaneous transfer permission section, which is forward in the traveling direction of the specified section, and can take over control of an actuator corresponding to the specified section to the automatic operation as a second specified transfer permission section. Section setting means,
The automatic driving support device according to claim 2, comprising: The guide route includes the simultaneous takeover permission section capable of taking over all control of actuators corresponding to a plurality of operation operation means in one section from the automatic operation to the manual operation of the manual operation, and of the manual operation The automatic driving support device according to any one of claims 1 to 4 , further comprising a second simultaneous takeover permission section capable of being handed over from a manual operation to the automatic driving. The vehicle control apparatus further comprises: information output means for outputting driving zone information including two individual takeover permitted sections and a recommended takeover section in which the simultaneous takeover permitted sections are set, to a vehicle control device that controls the own vehicle. The automatic driving assistance device according to any one of claims 1 to 5 . Automatic driving support including a control unit and setting a section related to handover to manual operation of manual driving which controls actuators corresponding to operations of a plurality of driving operation means from automatic driving which controls actuators according to road information An automatic driving support method executed by the device,
The plurality of driving operation means are
A steering operation unit that controls the traveling direction of the host vehicle, and a pedal operation unit that controls acceleration and deceleration of the host vehicle;
Executed by the control unit,
A road information acquisition step of acquiring the road information ahead of the traveling direction on the guidance route;
Based on the road information acquired in the road information acquisition step, a simultaneous takeover permission section capable of taking over all control of actuators corresponding to the plurality of driving operation means from the automatic driving to the manual operation of the manual driving is set Simultaneous takeover permission section setting step;
Said simultaneous takeover said steering operation means a period exclusive permission section and one can take over control of the actuators corresponding to the manual operation to a section of the pedal unit, in the section other than the simultaneous takeover permission section An individual handover permission zone setting step of setting an interval in which control of an actuator corresponding to the other of the steering operation means and the pedal operation means can be handed over to the manual operation to each of two individual handover permission zones;
An endpoint side segment judging step of judging whether two individual handover permission segments exist on the forward direction front side of the simultaneous handover permission segment closest to the end point on the guide route;
Have
Through the end point interval determination step, in the traveling direction front side than the closest the simultaneous takeover permission section to the end point on the guidance route, if it is determined that two of the individual takeover permission section exists, the In the setting of the section related to the semi-automatic operation in which the control of the actuator corresponding to the steering operation means or the pedal operation means is manually operated, the one of the two individual transfer permission sections which is closer to the simultaneous transfer permission section The permission section is set as a section to be handed over from the automatic operation to the semi-automatic operation, and of the two individual takeover permission sections, the individual hand-over permission section closer to the end point is to be handed over from the semi-automatic operation to the manual operation. An automatic driving support method characterized by setting. Based on the road information acquired through the road information acquisition step, a second simultaneous handover that can take over all control of actuators corresponding to the plurality of driving operation means from the manual operation of the manual operation to the automatic operation A second simultaneous takeover permitted section setting step of setting a permitted section;
The second individual handover permission section sets a section capable of taking over at least one control of the actuators corresponding to the plurality of driving operation means among the sections excluding the second simultaneous transfer permission section into the second individual transfer permission section Permission section setting process,
The automatic driving support method according to claim 7 , comprising: Manual information control means comprising road information acquisition means for acquiring road information ahead of a traveling direction on a guide route, and controlling corresponding actuators according to operations of a plurality of driving operation means from automatic driving controlling actuators according to the road information A program that causes a computer that sets a section related to handover of operation to manual operation to execute processing .
The plurality of driving operation means are
A steering operation unit that controls the traveling direction of the host vehicle, and a pedal operation unit that controls acceleration and deceleration of the host vehicle;
On the computer
Based on the road information acquired through the road information acquisition means, a simultaneous handover permission section capable of taking over all control of the actuators corresponding to the plurality of driving operation means from the automatic driving to the manual operation of the manual driving Simultaneous takeover permission section setting step of setting
Said simultaneous takeover said steering operation means a period exclusive permission section and one can take over control of the actuators corresponding to the manual operation to a section of the pedal unit, in the section other than the simultaneous takeover permission section An individual handover permission zone setting step of setting an interval in which control of an actuator corresponding to the other of the steering operation means and the pedal operation means can be handed over to the manual operation to each of two individual handover permission zones;
An endpoint side segment judging step of judging whether two individual handover permission segments exist on the forward direction front side of the simultaneous handover permission segment closest to the end point on the guide route;
To run
Through the end point interval determination step, in the traveling direction front side than the closest the simultaneous takeover permission section to the end point on the guidance route, if it is determined that two of the individual takeover permission section exists, the In the setting of the section related to the semi-automatic operation in which the control of the actuator corresponding to the steering operation means or the pedal operation means is manually operated, the one of the two individual transfer permission sections which is closer to the simultaneous transfer permission section The permission section is set as a section to be taken over from the automatic operation to the semi-automatic operation, and of the two individual transfer permission sections, the individual takeover permission section closer to the end point is taken over from the semiautomatic operation to the manual operation. Program for setting. Based on the road information acquired via the road information acquisition means, a second simultaneous handover that can take over all control of the actuators corresponding to the plurality of driving operation means from the manual operation of the manual operation to the automatic operation A second simultaneous takeover permitted section setting step of setting a permitted section;
The second individual handover permission section sets a section capable of taking over at least one control of the actuators corresponding to the plurality of driving operation means among the sections excluding the second simultaneous transfer permission section into the second individual transfer permission section Permission section setting process,
The program according to claim 9, for performing.

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