JP2015141053A - Automatic driving support system, automatic driving support method, and computer program - Google Patents

Automatic driving support system, automatic driving support method, and computer program Download PDF

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JP2015141053A
JP2015141053A JP2014012858A JP2014012858A JP2015141053A JP 2015141053 A JP2015141053 A JP 2015141053A JP 2014012858 A JP2014012858 A JP 2014012858A JP 2014012858 A JP2014012858 A JP 2014012858A JP 2015141053 A JP2015141053 A JP 2015141053A
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route
vehicle
awakening
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雅貴 西田
Masaki Nishida
雅貴 西田
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アイシン・エィ・ダブリュ株式会社
Aisin Aw Co Ltd
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PROBLEM TO BE SOLVED: To provide an automatic driving support system, an automatic driving support method, and a computer program that prevent the occurrence of a great disadvantage to a user, even when a driving under automatic driving control cannot be relayed to a driving under manual driving control.SOLUTION: An automatic driving support system comprises: obtaining an awakening timing when a user awakens, in the case that the user in a vehicle under an automatic driving control is sleeping (S6); obtaining a plurality of new route candidates from the current location of the vehicle to a destination, provided that driving continues for an automatic driving section until the awakening timing comes (S8-S10); determining an awakening forecast point, for each of the plurality of new route candidates, representing the position of the vehicle at the awakening timing when the vehicle drives on the route candidate (S9); comparing routes from the awakening forecast points to the destinations with each other regarding the determined plurality of route candidates and selecting any one route candidate (S11); and changing the route candidate, whose planned driving route has been selected, into a route to be driven (S12).

Description

本発明は、車両の自動運転制御による走行を支援する自動運転支援システム、自動運転支援方法及びコンピュータプログラムに関する。   The present invention relates to an automatic driving support system, an automatic driving support method, and a computer program that support driving by automatic driving control of a vehicle.

近年、車両の走行案内を行い、運転者が所望の目的地に容易に到着できるようにしたナビゲーション装置が車両に搭載されていることが多い。ここで、ナビゲーション装置とは、GPS受信機などにより自車の現在位置を検出し、その現在位置に対応する地図データをDVD−ROMやHDDなどの記録媒体またはネットワークを通じて取得して液晶モニタに表示することが可能な装置である。更に、かかるナビゲーション装置には、所望する目的地を入力すると、自車位置から目的地までの推奨経路を探索する経路探索機能を備えており、探索された推奨経路を案内経路として設定し、ディスプレイ画面に案内経路を表示するとともに、交差点に接近した場合等には音声による案内をすることによって、ユーザを所望の目的地まで確実に案内するようになっている。また、近年は携帯電話機、スマートフォン、タブレット型端末、パーソナルコンピュータ等においても上記ナビゲーション装置と同様の機能を有するものがある。   2. Description of the Related Art In recent years, a navigation device is often mounted on a vehicle that provides vehicle travel guidance so that a driver can easily arrive at a desired destination. Here, the navigation device detects the current position of the vehicle by a GPS receiver or the like, acquires map data corresponding to the current position through a recording medium such as a DVD-ROM or HDD or a network, and displays it on a liquid crystal monitor. It is a device that can do. Further, the navigation device has a route search function for searching for a recommended route from the vehicle position to the destination when a desired destination is input, and sets the searched recommended route as a guide route. A guide route is displayed on the screen, and when the user approaches an intersection, the user is surely guided to a desired destination by voice guidance. In recent years, some mobile phones, smartphones, tablet terminals, personal computers, and the like have functions similar to those of the navigation device.

また、近年では車両の走行形態として、ユーザの運転操作に基づいて走行する手動走行以外に、ユーザの運転操作によらず車両が予め設定された経路に沿って自動的に走行を行う自動運転制御による走行について新たに提案されている。自動運転制御では、例えば、車両の現在位置、車両が走行する車線、周辺の他車両の位置を随時検出し、予め設定された経路に沿って走行するようにステアリング、駆動源、ブレーキ等の車両制御が自動で行われる。ここで、自動運転制御による走行はユーザの運転に係る負担を軽減できるメリットがあるが、走行開始から走行終了までを全て自動運転制御により走行することは現実的には困難であり、ユーザによる手動運転を行わせる必要がある区間も存在する。従って、自動運転制御による走行から手動運転による走行への引き継ぎを適切に行うことが求められている。   Further, in recent years, automatic driving control in which the vehicle automatically travels along a preset route, regardless of the user's driving operation, other than the manual driving that travels based on the user's driving operation, as the driving mode of the vehicle. A new proposal has been made for driving by. In automatic driving control, for example, the current position of the vehicle, the lane in which the vehicle travels, the position of other vehicles in the vicinity are detected at any time, and vehicles such as a steering, a drive source, and a brake are driven so as to travel along a preset route. Control is automatic. Here, the driving by the automatic driving control has an advantage that the burden on the driving of the user can be reduced, but it is practically difficult to run from the driving start to the driving end by the automatic driving control. There are also sections that need to be operated. Therefore, it is required to appropriately take over from traveling by automatic operation control to traveling by manual operation.

例えば特開2008−290680号公報には、自動運転制御による走行から手動運転による走行への引き継ぎを行う地点である引き継ぎ地点を設定する場合に、引き継ぎ地点と自動運転制御を実行可能な終点(例えばインターチェンジ出口)との間にパーキングエリア等の退避エリアを設定し、引き継ぎ地点で自動運転制御による走行から手動運転による走行への引き継ぎができなかった場合には退避エリアへと車両を導く技術について提案されている。   For example, in Japanese Patent Application Laid-Open No. 2008-290680, when setting a takeover point, which is a point to take over from running by automatic driving control to running by manual driving, a takeover point and an end point capable of executing automatic driving control (for example, Establish a evacuation area such as a parking area with the exit of the interchange, and propose a technique to guide the vehicle to the evacuation area when it is not possible to transfer from automatic driving control to manual driving at the takeover point Has been.

特開2008−290680号公報(第4−5頁、図2)JP 2008-290680 A (page 4-5, FIG. 2)

しかしながら、上記特許文献1に記載の技術では、ユーザが睡眠中であって退避エリアにおいても自動運転制御による走行から手動運転による走行への引き継ぎができなかった場合には、自動運転制御を実行可能な終点を通過させることができず、自動運転制御による走行が継続されることとなる。その結果、目的地への到着が大幅に遅れるという問題が生じていた。   However, in the technology described in Patent Document 1, automatic driving control can be executed when the user is sleeping and cannot take over from driving by automatic driving control to driving by manual driving even in the evacuation area. Therefore, the vehicle cannot pass through the end point, and the traveling by the automatic operation control is continued. As a result, there was a problem that arrival at the destination was greatly delayed.

上記問題点について、例えば高速道路が自動運転制御を実行可能なエリアとして設定されている場合を例に挙げて説明する。図7に示すように当初予定していた車両の走行予定経路は、出発地101から走行を開始し、インターチェンジ入口102から高速道路103へと進入し、自動運転制御により高速道路103を走行し、その後にインターチェンジ出口104から高速道路103を退出して手動運転により目的地105へと走行する経路である。しかしながら、ユーザが睡眠中でインターチェンジ出口104を通過するまでに自動運転制御による走行から手動運転による走行への引き継ぎができないと判断された場合には、インターチェンジ出口104から車両を退出させることができないので、走行予定経路を変更する必要がある。その結果、高速道路103を継続して走行し、次のインターチェンジ出口106から高速道路103を退出して目的地105へと到る経路が新たに設定されることとなり、当初の走行予定経路と比べて手動運転による走行への引き継ぎが行われた後に走行しなければならない経路(即ちユーザが覚醒後に走行しなければならない経路)が非常に遠回りの経路となる。また、インターチェンジ出口106を通過する際にもユーザが継続して睡眠中で、自動運転制御による走行から手動運転による走行への引き継ぎができないと判断された場合には、更に目的地から離れたインターチェンジまで車両を走行させることとなり、上記問題がより大きくなる。   The above problem will be described by taking, for example, a case where an expressway is set as an area where automatic driving control can be performed. As shown in FIG. 7, the planned traveling route of the vehicle that was originally planned starts traveling from the departure point 101, enters the highway 103 from the interchange entrance 102, travels on the highway 103 by automatic driving control, Thereafter, the route exits the highway 103 from the interchange exit 104 and travels to the destination 105 by manual operation. However, if it is determined that the user cannot pass from the driving by the automatic driving control to the driving by the manual driving before the user passes the interchange outlet 104 during sleep, the vehicle cannot be withdrawn from the interchange outlet 104. It is necessary to change the planned travel route. As a result, a route is continuously set on the highway 103, exiting the highway 103 from the next interchange exit 106, and reaching the destination 105, which is compared with the originally planned route. Thus, a route that must be traveled after handing over to travel by manual operation (that is, a route that the user must travel after waking up) is a very detour route. Further, when it is determined that the user continues to sleep while passing through the interchange exit 106 and cannot take over from the driving by the automatic driving control to the driving by the manual driving, the interchange further away from the destination is performed. The above problem is further increased.

本発明は前記従来における問題点を解消するためになされたものであり、自動運転制御が行われている状態でユーザが睡眠することによって、自動運転制御による走行から手動運転による走行への引き継ぎができなかった場合であっても、目的地への到着が大幅に遅れる等のユーザへの不利益が生じることを防止した自動運転支援システム、自動運転支援方法及びコンピュータプログラムを提供することを目的とする。   The present invention has been made to solve the above-described conventional problems, and when the user sleeps in a state where the automatic driving control is performed, the driving from the driving by the automatic driving control to the driving by the manual driving can be taken over. An object is to provide an automatic driving support system, an automatic driving support method, and a computer program that prevent a disadvantage to the user such as a substantial delay in arrival at the destination even if the vehicle cannot be used. To do.

前記目的を達成するため本発明に係る自動運転支援システム(1)、自動運転支援方法及びコンピュータプログラムは、車両の自動運転制御を支援する自動運転支援システム、並びに該システムを用いて車両の自動運転制御を支援する自動運転支援方法、更に該システムに対して以下の各機能を実現させるコンピュータプログラムである。具体的には、車両の自動運転制御が行われる自動運転区間を含む出発地から目的地へ至る走行予定経路を設定する経路設定手段(41)と、自動運転区間内で自動運転制御が行われている前記車両に乗車するユーザが睡眠中である場合に、前記ユーザが覚醒する覚醒タイミングを取得する覚醒タイミング取得手段(41)と、前記覚醒タイミングまで自動運転区間を継続して走行することを条件とした前記車両の現在位置から前記目的地までの新たな経路候補を複数取得する経路候補取得手段(41)と、前記複数の経路候補毎に、前記車両が該経路候補を走行した場合の前記覚醒タイミングにおける前記車両の位置である覚醒予測地点を特定する覚醒地点予測手段(41)と、前記複数の経路候補について前記覚醒予測地点から目的地までの経路を比較し、いずれかの経路候補を選択する経路候補選択手段(41)と、前記走行予定経路を前記経路候補選択手段により選択された前記経路候補を走行する経路へと変更する走行予定経路変更手段(41)と、を有することを特徴とする。   To achieve the above object, an automatic driving support system (1), an automatic driving support method, and a computer program according to the present invention provide an automatic driving support system that supports automatic driving control of a vehicle, and automatic driving of a vehicle using the system. An automatic driving support method for supporting control, and further a computer program for realizing the following functions for the system. Specifically, the route setting means (41) for setting a planned travel route from the departure place to the destination including the automatic driving section where the automatic driving control of the vehicle is performed, and the automatic driving control is performed within the automatic driving section. And awakening timing acquisition means (41) for acquiring awakening timing at which the user awakens when the user who rides the vehicle is sleeping, and continuously running the automatic driving section until the awakening timing. Route candidate acquisition means (41) for acquiring a plurality of new route candidates from the current position of the vehicle to the destination as a condition, and when the vehicle travels the route candidate for each of the plurality of route candidates Awakening point prediction means (41) for identifying a predicted awakening point that is the position of the vehicle at the awakening timing, and a plurality of route candidates from the awakening prediction point to the destination Route candidate selection means (41) for comparing routes and selecting one of the route candidates, and a planned travel route for changing the planned travel route to a route that travels the route candidate selected by the route candidate selection means And changing means (41).

前記構成を有する本発明に係る自動運転支援システム、自動運転支援方法及びコンピュータプログラムによれば、車両の自動運転制御が行われている状態でユーザが睡眠することによって、自動運転制御による走行から手動運転による走行への引き継ぎができなかった場合であっても、ユーザが睡眠から覚醒するタイミングを予測し、覚醒後における目的地までの走行を考慮して走行予定経路を変更するので、自動運転制御を利用するユーザに対してより適切な走行を行わせることが可能となる。そして、目的地への到着が大幅に遅れる等のユーザにとって大きな不利益のある経路が走行予定経路として選択されることを防止することが可能となる。   According to the automatic driving support system, the automatic driving support method, and the computer program according to the present invention having the above-described configuration, the user sleeps in a state where the automatic driving control of the vehicle is performed, so that the manual driving from the driving by the automatic driving control is performed. Even when driving cannot be taken over by driving, the timing when the user wakes up from sleep is predicted and the scheduled driving route is changed in consideration of driving to the destination after waking up. It is possible to make the user who uses the vehicle travel more appropriately. In addition, it is possible to prevent a route having a great disadvantage for the user, such as the arrival at the destination being significantly delayed, from being selected as the scheduled travel route.

本実施形態に係るナビゲーション装置の構成を示したブロック図である。 It is the block diagram which showed the structure of the navigation apparatus which concerns on this embodiment. 本実施形態に係る経路変更処理プログラムのフローチャートである。 It is a flowchart of the route change processing program according to the present embodiment. 人間の睡眠の深さと時間との関係を説明した図である。 It is a figure explaining the relationship between the depth of human sleep and time. 走行可能経路の探索方法について説明した図である。 It is a figure explaining the search method of a driving | running | working route | root. 覚醒予測地点の特定方法について説明した図である。 It is a figure explaining the identification method of the awakening prediction point. 覚醒予測地点から目的地までの推奨経路の特定方法について説明した図である。 It is the figure explaining the identification method of the recommended path | route from a wakefulness prediction point to the destination. 従来技術の問題点について説明した図である。It is a figure explaining the problem of the prior art.

以下、本発明に係る自動運転支援システムを、ナビゲーション装置に具体化した一実施形態に基づき図面を参照しつつ詳細に説明する。先ず、本実施形態に係るナビゲーション装置1の概略構成について図1を用いて説明する。図1は本実施形態に係るナビゲーション装置1を示したブロック図である。   Hereinafter, an automatic driving support system according to the present invention will be described in detail with reference to the drawings based on an embodiment embodied in a navigation device. First, a schematic configuration of the navigation device 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a navigation device 1 according to this embodiment.

図1に示すように本実施形態に係るナビゲーション装置1は、ナビゲーション装置1が搭載された車両の現在位置を検出する現在位置検出部11と、各種のデータが記録されたデータ記録部12と、入力された情報に基づいて、各種の演算処理を行うナビゲーションECU13と、ユーザからの操作を受け付ける操作部14と、ユーザに対して車両周辺の地図や後述の経路探索処理によって探索された経路に関する情報等を表示する液晶ディスプレイ15と、経路案内に関する音声ガイダンスを出力するスピーカ16と、記憶媒体であるDVDを読み取るDVDドライブ17と、プローブセンタやVICS(登録商標:Vehicle Information and Communication System)センタ等の情報センタとの間で通信を行う通信モジュール18と、から構成されている。また、ナビゲーション装置1はCAN等の車載ネットワークを介して、ナビゲーション装置1の搭載された車両に対して設置された車外カメラ19やドライバカメラ20や各種センサが接続されている。更に、ナビゲーション装置1の搭載された車両に対する各種制御を行う車両制御ECU21とも双方向通信可能に接続されている。また、後述する自動運転開始ボタン等の車両に搭載された各種操作ボタン22についても接続されている。   As shown in FIG. 1, the navigation device 1 according to the present embodiment includes a current position detection unit 11 that detects a current position of a vehicle on which the navigation device 1 is mounted, a data recording unit 12 that records various data, Based on the input information, the navigation ECU 13 that performs various arithmetic processes, the operation unit 14 that receives operations from the user, and information on a map around the vehicle and a route searched by the route search process described later for the user Such as a liquid crystal display 15 that displays voice guidance related to route guidance, a DVD drive 17 that reads a DVD as a storage medium, a probe center, a VICS (registered trademark: Vehicle Information and Communication System) center, and the like. And a communication module 18 for communicating with the information center.The navigation device 1 is connected to an outside camera 19, a driver camera 20, and various sensors installed on a vehicle on which the navigation device 1 is mounted via an in-vehicle network such as CAN. Furthermore, the vehicle control ECU 21 that performs various controls on the vehicle on which the navigation device 1 is mounted is also connected so as to be capable of bidirectional communication. Further, various operation buttons 22 mounted on the vehicle such as an automatic driving start button described later are also connected.

以下に、ナビゲーション装置1を構成する各構成要素について順に説明する。
現在位置検出部11は、GPS23、車速センサ24、ステアリングセンサ25、ジャイロセンサ26等からなり、現在の車両の位置、方位、車両の走行速度、現在時刻等を検出することが可能となっている。 The current position detection unit 11 includes a GPS 23, a vehicle speed sensor 24, a steering sensor 25, a gyro sensor 26, and the like, and can detect the current vehicle position, direction, vehicle traveling speed, current time, and the like. .. ここで、特に車速センサ24は、車両の移動距離や車速を検出する為のセンサであり、車両の駆動輪の回転に応じてパルスを発生させ、パルス信号をナビゲーションECU13に出力する。 Here, in particular, the vehicle speed sensor 24 is a sensor for detecting the moving distance and the vehicle speed of the vehicle, generates a pulse according to the rotation of the drive wheels of the vehicle, and outputs the pulse signal to the navigation ECU 13. そして、ナビゲーションECU13は発生するパルスを計数することにより駆動輪の回転速度や移動距離を算出する。 Then, the navigation ECU 13 calculates the rotation speed and the moving distance of the drive wheels by counting the generated pulses. 尚、上記4種類のセンサをナビゲーション装置1が全て備える必要はなく、これらの内の1又は複数種類のセンサのみをナビゲーション装置1が備える構成としても良い。 It is not necessary for the navigation device 1 to include all of the above four types of sensors, and the navigation device 1 may include only one or a plurality of of these sensors. Below, each component which comprises the navigation apparatus 1 is demonstrated in order. Below, each component which the navigation apparatus 1 is demonstrated in order.
The current position detection unit 11 includes a GPS 23, a vehicle speed sensor 24, a steering sensor 25, a gyro sensor 26, and the like, and can detect the current vehicle position, direction, vehicle traveling speed, current time, and the like. . Here, in particular, the vehicle speed sensor 24 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the driving wheel of the vehicle, and outputs a pulse signal to the navigation ECU 13. And navigation ECU13 calculates the rotational speed and moving distance of a driving wheel by counting the generated pulse. Note that the navigation device 1 does not have to include all the four types of sensors, and the navigation device 1 may include only one or more types of sensors. The current position detection unit 11 includes a GPS 23, a vehicle speed sensor 24, a steering sensor 25, a gyro sensor 26, and the like, and can detect the current vehicle position, direction, vehicle traveling speed, current time, and the like .. Here, in particular, the vehicle speed sensor 24 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the driving wheel of the vehicle, and outputs a pulse signal to The navigation ECU 13. And navigation ECU13 calculates the steering speed and moving distance of a driving wheel by counting the generated pulse. Note that the navigation device 1 does not have to include all the four types of sensors, and the navigation device 1 may include. only one or more types of sensors.

また、データ記録部12は、外部記憶装置及び記録媒体としてのハードディスク(図示せず)と、ハードディスクに記録された地図情報DB31や所定のプログラム等を読み出すとともにハードディスクに所定のデータを書き込む為のドライバである記録ヘッド(図示せず)とを備えている。尚、データ記録部12をハードディスクの代わりにメモリーカードやCDやDVD等の光ディスクにより構成しても良い。また、地図情報DB31は外部のサーバに格納させ、ナビゲーション装置1が通信により取得する構成としても良い。   The data recording unit 12 is also a hard disk (not shown) as an external storage device and a recording medium, and a driver for reading the map information DB 31 and a predetermined program recorded on the hard disk and writing predetermined data on the hard disk And a recording head (not shown). The data recording unit 12 may be configured by a memory card, an optical disk such as a CD or a DVD, instead of the hard disk. Further, the map information DB 31 may be stored in an external server, and the navigation device 1 may be configured to acquire by communication.

ここで、地図情報DB31は、例えば、道路(リンク)に関するリンクデータ33、ノード点に関するノードデータ34、経路の探索や変更に係る処理に用いられる探索データ35、施設に関する施設データ、地図を表示するための地図表示データ、各交差点に関する交差点データ、地点を検索するための検索データ等が記憶された記憶手段である。   Here, the map information DB 31 displays, for example, link data 33 related to roads (links), node data 34 related to node points, search data 35 used for processing related to route search and change, facility data related to facilities, and maps. Storage means for storing map display data, intersection data relating to each intersection, search data for searching for points, and the like.

また、リンクデータ33としては、道路を構成する各リンクに関してリンクの属する道路の幅員、勾(こう)配、カント、バンク、路面の状態、合流区間、道路の車線数、車線数の減少する箇所、幅員の狭くなる箇所、踏切り等を表すデータが、コーナに関して、曲率半径、交差点、T字路、コーナの入口及び出口等を表すデータが、道路属性に関して、降坂路、登坂路等を表すデータが、道路種別に関して、国道、県道、細街路等の一般道のほか、高速自動車国道、都市高速道路、自動車専用道路、一般有料道路、有料橋等の有料道路を表すデータがそれぞれ記録される。   In addition, as link data 33, for each link constituting the road, the width of the road to which the link belongs, the gradient, the cant, the bank, the road surface condition, the merged section, the number of road lanes, the number of lanes that decrease The data representing the narrowed part, the level crossing, etc. is the data regarding the corner, the radius of curvature, the intersection, the T-junction, the entrance and the exit of the corner, the data indicating the downhill road, the uphill road, etc. regarding the road attribute However, regarding road types, in addition to general roads such as national roads, prefectural roads, narrow streets, and the like, data representing toll roads such as highway automobile national roads, city highways, automobile exclusive roads, general toll roads, and toll bridges are recorded.

また、ノードデータ34としては、実際の道路の分岐点(交差点、T字路等も含む)や各道路に曲率半径等に応じて所定の距離毎に設定されたノード点の座標(位置)、ノードが交差点に対応するノードであるか等を表すノード属性、ノードに接続するリンクのリンク番号のリストである接続リンク番号リスト、ノードにリンクを介して隣接するノードのノード番号のリストである隣接ノード番号リスト、各ノード点の高さ(高度)等に関するデータ等が記録される。   The node data 34 includes actual road branch points (including intersections, T-junctions, etc.) and the coordinates (positions) of node points set for each road according to the radius of curvature, etc. Node attribute indicating whether a node is a node corresponding to an intersection, etc., a connection link number list that is a list of link numbers of links connected to the node, and an adjacency that is a list of node numbers of nodes adjacent to the node via the link Data relating to the node number list, the height (altitude) of each node point, and the like are recorded.

また、探索データ35としては、後述のように出発地(例えば車両の現在位置)から設定された目的地までの経路を探索する経路探索処理に使用される各種データについて記録されている。具体的には、交差点に対する経路として適正の程度を数値化したコスト(以下、交差点コストという)や道路を構成するリンクに対する経路として適正の程度を数値化したコスト(以下、リンクコストという)等の探索コストを算出する為に使用するコスト算出データが記憶されている。   Further, as the search data 35, various data used for route search processing for searching for a route from a departure place (for example, the current position of the vehicle) to a set destination as described later are recorded. Specifically, the cost of quantifying the appropriate degree as a route to an intersection (hereinafter referred to as an intersection cost), the cost of quantifying the appropriate degree as a route to a link constituting a road (hereinafter referred to as a link cost), etc. Cost calculation data used for calculating the search cost is stored.

一方、ナビゲーションECU(エレクトロニック・コントロール・ユニット)13は、ナビゲーション装置1の全体の制御を行う電子制御ユニットであり、演算装置及び制御装置としてのCPU41、並びにCPU41が各種の演算処理を行うにあたってワーキングメモリとして使用されるとともに、経路が探索されたときの経路データ等が記憶されるRAM42、制御用のプログラムのほか、後述の経路変更処理プログラム(図2参照)等が記録されたROM43、ROM43から読み出したプログラムを記憶するフラッシュメモリ44等の内部記憶装置を備えている。尚、ナビゲーションECU13は、処理アルゴリズムとしての各種手段を構成する。例えば、経路設定手段は、車両の自動運転制御が行われる自動運転区間を含む出発地から目的地へ至る走行予定経路を設定する。覚醒タイミング取得手段は、自動運転区間内で自動運転制御が行われている車両に乗車するユーザが睡眠中である場合に、ユーザが覚醒する覚醒タイミングを取得する。経路候補取得手段は、覚醒タイミングまで自動運転区間を継続して走行することを条件とした車両の現在位置から目的地までの新たな経路候補を複数取得する。覚醒地点予測手段は、複数の経路候補毎に、車両が該経路候補を走行した場合の覚醒タイミングにおける車両の位置である覚醒予測地点を特定する。経路候補選択手段は、複数の経路候補について覚醒予測地点から目的地までの経路を比較し、いずれかの経路候補を選択する。走行予定経路変更手段は、走行予定経路を経路候補選択手段により選択された経路候補を走行する経路へと変更する。   On the other hand, the navigation ECU (Electronic Control Unit) 13 is an electronic control unit that controls the entire navigation device 1. The CPU 41 as an arithmetic device and a control device, and a working memory when the CPU 41 performs various arithmetic processes. Read out from the ROM 43 and the ROM 43 in which a route change processing program (see FIG. 2) and the like to be described later are recorded in addition to the RAM 42 for storing route data when the route is searched and the control program. And an internal storage device such as a flash memory 44 for storing the program. The navigation ECU 13 constitutes various means as processing algorithms. For example, the route setting means sets a scheduled travel route from a departure point to a destination including an automatic driving section where automatic driving control of the vehicle is performed. The awakening timing acquisition means acquires the awakening timing at which the user is awakened when the user who is in a vehicle for which automatic driving control is performed within the automatic driving section is sleeping. The route candidate acquisition means acquires a plurality of new route candidates from the current position of the vehicle to the destination on condition that the automatic driving section is continuously driven until the awakening timing. The wake-up point predicting means specifies, for each of a plurality of route candidates, a wake-up prediction point that is the position of the vehicle at the wake-up timing when the vehicle travels along the route candidate. The route candidate selection means compares the route from the awakening prediction point to the destination for a plurality of route candidates, and selects one of the route candidates. The planned travel route changing means changes the planned travel route to a route that travels the route candidate selected by the route candidate selection means.

操作部14は、走行開始地点としての出発地及び走行終了地点としての目的地を入力する際等に操作され、各種のキー、ボタン等の複数の操作スイッチ(図示せず)から構成される。そして、ナビゲーションECU13は、各スイッチの押下等により出力されるスイッチ信号に基づき、対応する各種の動作を実行すべく制御を行う。尚、操作部14は液晶ディスプレイ15の前面に設けたタッチパネルによって構成することもできる。また、マイクと音声認識装置によって構成することもできる。   The operation unit 14 is operated when inputting a departure point as a travel start point and a destination as a travel end point, and includes a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. The operation unit 14 can also be configured by a touch panel provided on the front surface of the liquid crystal display 15. Moreover, it can also be comprised with a microphone and a speech recognition apparatus.

また、液晶ディスプレイ15には、道路を含む地図画像、交通情報、操作案内、操作メニュー、キーの案内、経路探索時において探索された出発地から目的地までの推奨経路の候補、推奨経路の候補に関する各種情報、案内経路に沿った案内情報、ニュース、天気予報、時刻、メール、テレビ番組等が表示される。尚、液晶ディスプレイ15の代わりに、HUDやHMDを用いても良い。   The liquid crystal display 15 also includes a map image including a road, traffic information, operation guidance, operation menu, key guidance, a candidate for a recommended route from the starting point to the destination searched during route search, and a candidate for a recommended route. Various information related to, guidance information along the guidance route, news, weather forecast, time, mail, TV program, etc. are displayed. In place of the liquid crystal display 15, HUD or HMD may be used.

また、スピーカ16は、ナビゲーションECU13からの指示に基づいて案内経路に沿った走行を案内する音声ガイダンスや、交通情報の案内を出力する。   The speaker 16 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 13 and traffic information guidance.

また、DVDドライブ17は、DVDやCD等の記録媒体に記録されたデータを読み取り可能なドライブである。そして、読み取ったデータに基づいて音楽や映像の再生、地図情報DB31の更新等が行われる。   The DVD drive 17 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Based on the read data, music and video are reproduced, the map information DB 31 is updated, and the like.

また、通信モジュール18は、交通情報センタ、例えば、VICSセンタやプローブセンタ等から送信された交通情報、プローブ情報、天候情報等を受信する為の通信装置であり、例えば携帯電話機やDCMが該当する。また、車車間で通信を行う車車間通信装置や路側機との間で通信を行う路車間通信装置も含む。   The communication module 18 is a communication device for receiving traffic information, probe information, weather information, and the like transmitted from a traffic information center, for example, a VICS center or a probe center. . In addition, a vehicle-to-vehicle communication device that performs communication between vehicles and a road-to-vehicle communication device that performs communication with roadside devices are also included.

また、車外カメラ19は、例えばCCD等の固体撮像素子を用いたカメラにより構成され、車両のフロントバンパの上方に取り付けられるとともに光軸方向を水平より所定角度下方に向けて設置される。そして、車外カメラ19は、車両が自動運転区間を走行する場合において、車両の進行方向前方を撮像する。また、車両制御ECU21は撮像された撮像画像に対して画像処理を行うことによって、車両が走行する道路に描かれた区画線や周辺の他車両等を検出し、検出結果に基づいて車両の自動運転制御を行う。尚、車外カメラ19は車両前方以外に後方や側方に配置するように構成しても良い。また、他車両を検出する手段としてはカメラの代わりにミリ波レーダ等のセンサや車車間通信や路車間通信を用いても良い。   The vehicle exterior camera 19 is constituted by a camera using a solid-state image sensor such as a CCD, for example, and is installed above the front bumper of the vehicle and installed with the optical axis direction downward from the horizontal by a predetermined angle. And the vehicle outside camera 19 images the front of the traveling direction of the vehicle when the vehicle travels in the automatic driving section. In addition, the vehicle control ECU 21 performs image processing on the captured image to detect a lane line drawn on the road on which the vehicle travels, other vehicles in the vicinity, and the like, and automatically detects the vehicle based on the detection result. Perform operation control. In addition, you may comprise the vehicle exterior camera 19 so that it may arrange | position behind or a side other than the vehicle front. As a means for detecting other vehicles, a sensor such as a millimeter wave radar, vehicle-to-vehicle communication, or road-to-vehicle communication may be used instead of the camera.

ここで、車両の走行形態としては、ユーザの運転操作に基づいて走行する手動運転走行に加えて、ユーザの運転操作によらず車両が予め設定された経路に沿って自動的に走行を行う自動運転制御による走行が可能である。尚、自動運転制御では、例えば、車両の現在位置、車両が走行する車線、周辺の他車両の位置を随時検出し、車両制御ECU21によって予め設定された経路に沿って走行するようにステアリング、駆動源、ブレーキ等の車両制御が自動で行われる。尚、自動運転制御の詳細については既に公知であるので説明は省略する。また、自動運転制御は全ての道路区間に対して行っても良いが、以下の説明では車両の自動運転制御が行われる自動運転区間として、接続する他の道路との境界にゲート(有人無人、有料無料は問わない)が設けられた高速道路を設定し、車両が自動運転区間を走行する間のみにおいて基本的に上記自動運転制御が行われるとして説明する。但し、自動運転区間としては他の区間を設定しても良い。例えば、高速自動車国道、都市高速道路、自動車専用道路、有料道路、一般道路を自動運転区間に設定しても良い。尚、車両が自動運転区間を走行する場合には必ず自動運転制御が行われるのではなく、ユーザにより自動運転制御を行うことが選択され、且つ自動運転制御で走行を行わせることが適切な状況でのみ行われる。即ち、自動運転区間は、車両に対して手動運転に加えて自動運転制御を行うことが許可された区間である。   Here, as a traveling form of the vehicle, in addition to the manual driving traveling that travels based on the user's driving operation, the vehicle automatically travels along a predetermined route regardless of the user's driving operation. Traveling by operation control is possible. In the automatic driving control, for example, the current position of the vehicle, the lane in which the vehicle travels, and the positions of other vehicles in the vicinity are detected at any time, and steering and driving are performed so as to travel along a route preset by the vehicle control ECU 21. Vehicle control such as power source and brake is performed automatically. The details of the automatic operation control are already known, and the description is omitted. In addition, although automatic driving control may be performed for all road sections, in the following description, as an automatic driving section in which automatic driving control of a vehicle is performed, a gate (manned unmanned, A description will be made assuming that the automatic driving control is basically performed only during the period when the highway is provided with a chargeable free of charge) and the vehicle travels in the automatic driving section. However, other sections may be set as the automatic operation section. For example, a highway automobile national road, a city highway, a car road, a toll road, and a general road may be set as the automatic driving section. In addition, when the vehicle travels in the automatic driving section, the automatic driving control is not necessarily performed, but it is appropriate that the user selects the automatic driving control and the driving is performed by the automatic driving control. Done only in That is, the automatic driving section is a section in which automatic driving control is permitted for the vehicle in addition to manual driving.

また、ドライバカメラ20は、例えばCCD等の固体撮像素子を用いたものであり、車両のダッシュボードの上面に取り付けられ、撮像方向を運転席に向けて設置される。そして、運転席に座ったユーザの顔を撮像する。そして、ナビゲーションECU13は、後述のようにドライバカメラ20により撮像した撮像画像からユーザの睡眠状態を検出する。   The driver camera 20 uses a solid-state image sensor such as a CCD, for example, is attached to the upper surface of the dashboard of the vehicle, and is installed with the imaging direction facing the driver's seat. Then, the face of the user sitting in the driver's seat is imaged. And navigation ECU13 detects a user's sleep state from the captured image imaged with the driver camera 20 as mentioned later.

また、車両制御ECU21は、ナビゲーション装置1が搭載された車両の制御を行う電子制御ユニットである。また、車両制御ECU21にはステアリング、ブレーキ、アクセル等の車両の各駆動部と接続されており、本実施形態では特に車両が自動運転区間を走行する場合において各駆動部を制御することにより車両の自動運転制御を実施する。また、ナビゲーションECU13は、車両の走行予定経路(案内経路)が決定された時点で、CANを介して車両制御ECU21に対して自動運転制御に関する指示信号を送信する。そして、車両制御ECU21は受信した指示信号に応じて走行開始後の自動運転制御を実施する。尚、指示信号の内容は、走行予定経路(案内経路)を特定する情報と、走行予定経路に含まれる自動運転区間に対して、車両に対して行われる自動運転制御の制御内容(例えば、直進、右へ車線変更、合流等)を設定した情報である。   The vehicle control ECU 21 is an electronic control unit that controls the vehicle on which the navigation device 1 is mounted. In addition, the vehicle control ECU 21 is connected to each drive unit of the vehicle such as a steering, a brake, and an accelerator. In the present embodiment, the vehicle control ECU 21 controls the drive unit particularly when the vehicle travels in an automatic driving section. Implement automatic operation control. Moreover, navigation ECU13 transmits the instruction | indication signal regarding automatic driving | operation control with respect to vehicle control ECU21 via CAN at the time of the driving plan route (guidance route) of a vehicle being determined. And vehicle control ECU21 implements the automatic driving | operation control after a driving | running | working start according to the received instruction signal. The content of the instruction signal includes information for specifying a planned travel route (guide route) and control content of automatic driving control performed on the vehicle with respect to the automatic driving section included in the planned traveling route (for example, straight traveling). , Change lane to the right, merge, etc.).

続いて、上記構成を有する本実施形態に係るナビゲーション装置1においてCPU41が実行する経路変更処理プログラムについて図2に基づき説明する。図2は本実施形態に係る経路変更処理プログラムのフローチャートである。ここで、経路変更処理プログラムは、車両の走行予定経路(案内経路)が決定された後において所定間隔(例えば100ms間隔)で実行され、ユーザの睡眠状態に基づいて走行予定経路を変更するプログラムである。また、以下の図2にフローチャートで示されるプログラムは、ナビゲーション装置1が備えているRAM42やROM43に記憶されており、CPU41により実行される。   Next, a route change processing program executed by the CPU 41 in the navigation device 1 according to the present embodiment having the above configuration will be described with reference to FIG. FIG. 2 is a flowchart of the route change processing program according to the present embodiment. Here, the route change processing program is a program that is executed at a predetermined interval (for example, every 100 ms) after the planned travel route (guide route) of the vehicle is determined, and changes the planned travel route based on the sleep state of the user. is there. 2 is stored in the RAM 42 or the ROM 43 provided in the navigation device 1 and is executed by the CPU 41.

先ず、経路探索処理プログラムではステップ(以下、Sと略記する)1において、CPU41は、現時点でナビゲーション装置1に設定されている走行予定経路(案内経路)を取得する。ここで、走行予定経路は、例えば走行開始時においてユーザが目的地を設定することにより、公知のダイクストラ法を用いた経路探索処理が実行され、複数の候補の内からユーザの操作により決定される。また、走行開始後には後述のように車両が走行予定経路を外れた場合において、車両の運転者であるユーザの睡眠状態に基づいて適宜変更される(S4、S12)。尚、以下の説明では走行予定経路に自動運転区間を含んでおり、且つ自動運転区間ではユーザが意図的に自動運転制御を解除した場合や自動運転制御で走行を行わせることが難しい状況(例えば、短区間での合流や車線変更が必要となる区間、悪天候の区間、区画線の薄い区間等)を除いて基本的に車両が自動運転制御により走行を行うとして説明する。   First, in step (hereinafter abbreviated as S) 1 in the route search processing program, the CPU 41 obtains a scheduled travel route (guide route) currently set in the navigation device 1. Here, for example, when the user sets a destination at the start of traveling, a route search process using a known Dijkstra method is executed, and the planned traveling route is determined by a user operation from among a plurality of candidates. . Further, after the start of traveling, when the vehicle deviates from the planned traveling route as described later, the vehicle is appropriately changed based on the sleep state of the user who is the driver of the vehicle (S4, S12). In the following description, the planned driving route includes an automatic driving section, and in the automatic driving section, it is difficult for the user to intentionally cancel the automatic driving control or to make the driving by the automatic driving control (for example, In the following description, it is assumed that the vehicle basically travels by automatic driving control except for a short section, a section where lane change is necessary, a section with bad weather, a section with a thin lane, and the like.

次に、S2においてCPU41は、車両が自動運転区間(即ち高速道路)を走行しており、且つ退出予定のIC(インターチェンジ)を通過することによって、前記S1で取得した走行予定経路から外れたか否かを判定する。尚、車両が退出予定のICを通過する状況としては、例えば以下の場合がある。
(1)自動運転制御が解除されて手動運転により走行している状態で、誤って退出予定のICを通過してしまった場合。
(2)車両が自動運転制御により走行しており、且つ退出予定のICの通過時点で自動運転制御による走行から手動運転による走行への引き継ぎを行うことができない場合。 (2) When the vehicle is running under automatic driving control and it is not possible to take over from running under automatic driving control to running under manual driving at the time of passing the IC scheduled to leave. Next, in S <b> 2, the CPU 41 determines whether or not the vehicle is traveling on an automatic driving section (that is, an expressway) and has deviated from the planned traveling route acquired in S <b> 1 by passing through an IC (interchange) scheduled to leave. Determine whether. In addition, as a situation where the vehicle passes the IC scheduled to leave, for example, there are the following cases. Next, in S <b> 2, the CPU 41 determines whether or not the vehicle is traveling on an automatic driving section (that is, an expressway) and has deviated from the planned traveling route acquired in S <b> 1 by passing through an IC (interchange) scheduled to leave. Determine whether. In addition, as a situation where the vehicle passes the IC scheduled to leave, for example, there are the following cases.
(1) When the automatic operation control is canceled and the vehicle is traveling by manual operation, and the vehicle has accidentally passed the IC scheduled to leave. (1) When the automatic operation control is canceled and the vehicle is traveling by manual operation, and the vehicle has accidentally passed the IC scheduled to leave.
(2) The vehicle is traveling under automatic driving control, and it is not possible to take over from traveling by automatic driving control to traveling by manual driving at the time of passing an IC scheduled to leave. (2) The vehicle is traveling under automatic driving control, and it is not possible to take over from traveling by automatic driving control to traveling by manual driving at the time of passing an IC scheduled to leave.

ここで、前記したように車両が自動運転区間を走行する場合には必ず自動運転制御が行われるのではなく、ユーザが自動運転開始ボタン等を操作することによって意図的に自動運転制御を解除した場合には、手動運転による走行を行わせることも可能である。また、自動運転制御で走行を行わせることが難しい状況となった場合には、自動的に自動運転制御が解除される。従って、ユーザが自動運転制御を意図的に解除していた場合や、退出予定のIC付近が自動運転制御で走行を行わせることが難しい状況であって、自動運転が解除されていた場合には、上記(1)の退出予定のICを通過する事象が生じ得る。   Here, as described above, when the vehicle travels in the automatic driving section, the automatic driving control is not always performed, but the automatic driving control is intentionally canceled by the user operating the automatic driving start button or the like. In some cases, it is also possible to drive by manual operation. In addition, when it becomes difficult to cause the vehicle to run under automatic driving control, automatic driving control is automatically canceled. Therefore, when the user has intentionally canceled the automatic driving control, or when it is difficult to make the driving around the IC to be withdrawn by the automatic driving control, and the automatic driving has been canceled. An event that passes through the IC scheduled to leave (1) may occur.

また、本実施形態ではドライバカメラ20の撮像画像に基づいて、ユーザが睡眠状態にあるか否かの検出を所定間隔で実施している。例えば、CPU41はユーザの頭の動きや眼の開閉状態からユーザが睡眠状態にあるか否かを検出する。そして、退出予定のICの通過時点でユーザが睡眠状態にある場合には、自動運転制御による走行から手動運転による走行への引き継ぎを行うことができないので、退出予定のICを意図的に通過するように自動運転制御を行う。その結果、上記(2)の退出予定のICを通過する事象が生じ得る。尚、ユーザが睡眠状態にある以外に、例えばユーザがテレビを視聴している状態、本を読んでいる状態等についても、自動運転制御による走行から手動運転による走行への引き継ぎを行うことができない状態とみなしても良い。   Moreover, in this embodiment, based on the captured image of the driver camera 20, whether the user is in a sleep state is detected at a predetermined interval. For example, the CPU 41 detects whether or not the user is in a sleeping state from the movement of the user's head and the open / closed state of the eyes. And when the user is in a sleep state at the time of passing the IC scheduled to leave, it is impossible to take over from the driving by the automatic driving control to the driving by the manual driving. The automatic operation control is performed as follows. As a result, an event that passes through the IC scheduled to leave (2) may occur. In addition to the user's sleep state, for example, when the user is watching TV, reading a book, etc., it is not possible to take over from driving by automatic driving control to driving by manual driving. It may be regarded as a state.

そして、車両が自動運転区間(即ち高速道路)を走行しており、且つ退出予定のICを通過することによって、前記S1で取得した走行予定経路から外れたと判定された場合(S2:YES)には、S3へと移行する。一方、車両が自動運転区間(即ち高速道路)を走行していない、又は退出予定のICを通過していないと判定された場合(S2:NO)には、走行予定経路を変更することなく当該経路変更処理プログラムを終了する。   When it is determined that the vehicle is traveling on an automatic driving section (ie, an expressway) and has departed from the planned travel route acquired in S1 by passing through the IC scheduled to leave (S2: YES). Shifts to S3. On the other hand, if it is determined that the vehicle is not traveling on the automatic driving section (ie, the highway) or has not passed the IC scheduled to leave (S2: NO), the travel schedule route is not changed. The route change processing program is terminated.

S3においてCPU41は、ユーザが覚醒している(即ち、睡眠状態に無い)か否か判定する。尚、ユーザが睡眠状態にあるか否かの検出は、上記したようにドライバカメラ20の撮像画像に基づいて所定間隔で行われている。   In S3, the CPU 41 determines whether or not the user is awake (that is, not in a sleep state). Note that detection of whether or not the user is in a sleeping state is performed at predetermined intervals based on the captured image of the driver camera 20 as described above.

そして、ユーザが覚醒している、即ち、睡眠状態に無いと判定された場合(S3:YES)には、S4へと移行する。それに対して、ユーザが覚醒していない、即ち、睡眠状態にあると判定された場合(S3:NO)には、S5へと移行する。   When it is determined that the user is awake, that is, not in a sleeping state (S3: YES), the process proceeds to S4. On the other hand, if it is determined that the user is not awake, that is, is in a sleep state (S3: NO), the process proceeds to S5.

S4においてCPU41は、現在位置から目的地までの経路を再探索する。尚、経路の再探索は例えば公知のダイクストラ法が用いられ、現在設定されている走行予定経路と同条件(例えば時間優先、距離優先、有料道優先等)により探索された最も適当な経路(即ちコスト加算値が最小の経路)が特定される。そして、走行予定経路は特定された経路へと変更される。尚、前記S4の経路の再探索の処理は、従来のナビゲーション装置において車両が走行予定経路から外れた場合に行われる処理と同様の処理であるので詳細は省略する。   In S4, the CPU 41 searches again for a route from the current position to the destination. For example, a known Dijkstra method is used for the re-search of the route, and the most appropriate route (that is, time priority, distance priority, toll road priority, etc.) searched for under the same conditions (for example, time priority, distance priority, toll road priority, etc.) currently set (ie, A route having the smallest cost addition value) is identified. Then, the planned travel route is changed to the specified route. Note that the route re-search process in S4 is the same as the process performed when the vehicle deviates from the planned travel route in the conventional navigation device, and thus the details are omitted.

一方、S5においてCPU41は、車速センサ24の検出結果に基づいて車両の現在の車速を取得する。   On the other hand, in S <b> 5, the CPU 41 acquires the current vehicle speed of the vehicle based on the detection result of the vehicle speed sensor 24.

次に、S6においてCPU41は、睡眠中であるユーザが覚醒する(眼を覚ます)タイミング(以下、覚醒タイミングという)を取得する。ここで、図3に示すように人間の睡眠の深さは、経過時間に従って一定の周期を有する。そして、睡眠状態となった人間が次に睡眠の浅くなるまでの間隔は約90分とされる。従って、本実施形態ではユーザが睡眠状態にあることを検出した時刻から90分後を、ユーザが覚醒する覚醒タイミングとする。尚、90分という値は個人差があるので、ユーザ毎に適宜変更するように構成することが望ましい。   Next, in S <b> 6, the CPU 41 obtains a timing at which the sleeping user awakens (wakes up) (hereinafter referred to as awakening timing). Here, as shown in FIG. 3, the depth of human sleep has a certain period according to the elapsed time. Then, the interval until the sleeper becomes sleepless next is about 90 minutes. Therefore, in this embodiment, 90 minutes after the time when it is detected that the user is in the sleep state is set as the awakening timing at which the user awakens. Note that since the value of 90 minutes varies among individuals, it is desirable that the value be changed appropriately for each user.

続いて、S7においてCPU41は、現時点(即ち、車両が退出予定のICを通過した時点)から上記S6で取得した覚醒タイミングまでに、車両が走行する走行距離Lを算出する。具体的には以下の式(1)により算出する。
L=車両の現在の車速×現時点から覚醒タイミングまでの時間・・・・(1)
尚、車両の現在の車速ではなく、地図情報から取得した車両が走行する道路の制限速度を用いても良い。 It should be noted that the speed limit of the road on which the vehicle travels may be used instead of the current vehicle speed of the vehicle. また、VICS情報やプローブ情報から取得した平均車速を用いても良い。 Further, the average vehicle speed acquired from the VICS information and the probe information may be used. また、渋滞情報等の交通情報についても考慮することが望ましい。 It is also desirable to consider traffic information such as traffic congestion information. Subsequently, in S7, the CPU 41 calculates a travel distance L that the vehicle travels from the current time (that is, when the vehicle passes the IC that is scheduled to leave) to the awakening timing acquired in S6. Specifically, it is calculated by the following formula (1). Thus, in S7, the CPU 41 calculates a travel distance L that the vehicle travels from the current time (that is, when the vehicle passes the IC that is scheduled to leave) to the awakening timing acquired in S6. Specifically, it is calculated by the following formula (1).
L = current vehicle speed × time from current time to awakening timing (1) L = current vehicle speed × time from current time to awakening timing (1)
In addition, you may use the speed limit of the road on which the vehicle drive | worked acquired from map information instead of the present vehicle speed of a vehicle. Moreover, you may use the average vehicle speed acquired from VICS information or probe information. It is also desirable to consider traffic information such as traffic jam information. In addition, you may use the speed limit of the road on which the vehicle drive | worked acquired from map information instead of the present vehicle speed of a vehicle. Moreover, you may use the average vehicle speed acquired from VICS information or probe information. It is also desirable to consider traffic information such as traffic jam information.

その後、S8においてCPU41は、地図情報DB31に記憶された地図情報と用いて、ユーザが覚醒する覚醒タイミングまで継続して自動運転区間(即ち高速道路)を走行する条件を満たす現在地から走行可能な経路(以下、走行可能経路という)について、考えられる限りの全てのパターンを探索する。具体的には、前記S2で車両が通過したと判定されたICから車両の進行方向に沿った高速道路の分岐状況を取得し、分岐点での分岐を考慮して全ての走行可能経路を特定する。例えば、図4に示すように車両が退出予定のインターチェンジ出口51を通過した場合であって、進行方向前方のJCT(ジャンクション)52で高速道路が分岐している場合には、走行可能経路として経路53と経路54がそれぞれ特定されることとなる。   Thereafter, in S8, the CPU 41 uses the map information stored in the map information DB 31 and continues to travel from the current location that satisfies the conditions for traveling in the automatic driving section (that is, the highway) until the user wakes up. All possible patterns are searched for (hereinafter referred to as a travelable route). Specifically, from the IC determined that the vehicle has passed in S2, the highway bifurcation status along the vehicle traveling direction is acquired, and all the possible routes are identified in consideration of the bifurcation at the bifurcation point. To do. For example, as shown in FIG. 4, when a vehicle passes through an interchange exit 51 scheduled to leave and a highway is branched at a JCT (junction) 52 ahead in the traveling direction, the route is set as a travelable route. 53 and the route 54 are specified.

次に、S9においてCPU41は、前記S8で探索された全ての走行可能経路毎に、車両が該走行可能経路を走行した場合の覚醒タイミングにおける車両の位置、即ち、ユーザが覚醒した際の車両の位置である覚醒予測地点を特定する。具体的には、車両の現在位置から走行可能経路に沿って、前記S7で算出された走行距離Lを移動した地点を覚醒予測地点とする。例えば、図5に示すように車両が退出予定のインターチェンジ出口51を通過した場合であって、走行可能経路として経路53と経路54がそれぞれ特定される場合には、走行可能経路53の覚醒予測地点として地点55が特定され、走行可能経路54の覚醒予測地点として地点56が特定される。   Next, in S9, the CPU 41 determines the position of the vehicle at the awakening timing when the vehicle travels along the travelable route for every travelable route searched in S8, that is, the vehicle when the user awakens. Specify the predicted wakefulness point. Specifically, the point where the travel distance L calculated in S7 is moved along the travelable route from the current position of the vehicle is set as the predicted awakening point. For example, as shown in FIG. 5, when the vehicle passes through the planned exit exit 51 and the route 53 and the route 54 are respectively specified as the travelable routes, the awakening prediction point of the travelable route 53 The point 55 is specified as the point, and the point 56 is specified as the awakening prediction point of the travelable route 54.

続いて、S10においてCPU41は、前記S9で特定された覚醒予測地点毎に、該覚醒予測地点を出発地とした目的地までの推奨経路を探索する。尚、推奨経路の探索は例えば公知のダイクストラ法が用いられ、現在設定されている走行予定経路と同条件(例えば時間優先、距離優先、有料道優先等)により探索された最も適当な経路(即ちコスト加算値が最小の経路)が、覚醒予測地点から目的地までの推奨経路として特定される。尚、前記S10での推奨経路の探索条件は、現在設定されている走行予定経路に関わらず固定の条件(例えば時間優先)としても良い。例えば、図6に示すように車両が退出予定のインターチェンジ出口51を通過した場合であって、覚醒予測地点として地点55と経路54がそれぞれ特定される場合には、覚醒予測地点55から目的地61までの推奨経路である経路62と、覚醒予測地点56から目的地61までの推奨経路である経路63が特定される。尚、車両の現在位置から覚醒予測地点までの走行可能経路と、覚醒予測地点から目的地までの推奨経路の組み合わせ(即ち、車両の現在位置から走行可能経路を通って覚醒予測地点を経由し、更に推奨経路を通って目的地へと到る経路)が、本発明に係る候補経路に相当する。   Subsequently, in S10, the CPU 41 searches for a recommended route from the predicted awakening point to the destination for each predicted awakening point specified in S9. The recommended route is searched using a known Dijkstra method, for example, and the most appropriate route searched for under the same conditions (for example, time priority, distance priority, toll road priority, etc.) as the currently scheduled driving route (ie, priority on toll road) The route with the smallest cost addition value) is identified as the recommended route from the predicted awakening point to the destination. Note that the recommended route search condition in S10 may be a fixed condition (for example, time priority) regardless of the currently scheduled travel route. For example, as shown in FIG. 6, when the vehicle passes through the interchange exit 51 scheduled to leave, and the point 55 and the route 54 are specified as the predicted awakening point, the destination 61 is determined from the predicted awakening point 55. A route 62 that is a recommended route to the destination and a route 63 that is a recommended route from the predicted awakening point 56 to the destination 61 are identified. In addition, a combination of a travelable route from the current position of the vehicle to the predicted awakening point and a recommended route from the predicted position of the awakening to the destination (i.e., from the current position of the vehicle through the travelable route through the predicted awakening point Further, the route that reaches the destination through the recommended route) corresponds to the candidate route according to the present invention.

その後、S11においてCPU41は、前記S11で覚醒予測地点毎に探索された複数の推奨経路を比較し、最も適当な一の推奨経路を選択する。尚、前記S11における選択基準は、現在設定されている走行予定経路の探索条件に応じた条件とするのが望ましい。例えば、走行予定経路が時間優先で探索されている場合には、複数の推奨経路の内、覚醒予測地点から目的地までの所要時間が最も短いものを選択する。また、走行予定経路が距離優先で探索されている場合には、複数の推奨経路の内、覚醒予測地点から目的地までの道なり距離が最も短いものを選択する。尚、推奨経路を走行するのに必要な走行料金や燃料消費量についても考慮して選択しても良い。   Thereafter, in S11, the CPU 41 compares a plurality of recommended routes searched for each awakening prediction point in S11, and selects the most appropriate recommended route. It should be noted that the selection criterion in S11 is preferably a condition according to the currently set search condition for the scheduled travel route. For example, when the scheduled travel route is searched with time priority, the route with the shortest required time from the predicted awakening point to the destination is selected from the plurality of recommended routes. In addition, when the planned travel route is searched with a distance priority, the route having the shortest road distance from the awakening prediction point to the destination is selected from among a plurality of recommended routes. It should be noted that the travel fee and fuel consumption necessary for traveling on the recommended route may be taken into consideration.

次に、S12においてCPU41は、車両の現在位置から走行可能経路を通って覚醒予測地点を経由し、前記S11で選択された推奨経路を通る経路へと走行予定経路を変更する。例えば、図6に示すように推奨経路62と推奨経路63が特定されている場合であって、前記S11で推奨経路62が適当な経路として選択された場合には、車両の現在位置からJCT52を経由して他の高速道路65へと進入し、更に、覚醒予測地点55を通過して次のインターチェンジ出口66から高速道路65を退出し、推奨経路62に沿って目的地61へと到る経路へと走行予定経路が変更される。その結果、ユーザの覚醒後における目的地までの走行がユーザに適した経路(例えばユーザの覚醒後において目的地までの走行に要する時間が短い経路、即ち目的地までの所要時間が短くなる経路)となるように走行予定経路を変更することが可能となる。   Next, in S <b> 12, the CPU 41 changes the planned travel route to the route passing the recommended route selected in S <b> 11 via the awakening prediction point through the travelable route from the current position of the vehicle. For example, as shown in FIG. 6, when the recommended route 62 and the recommended route 63 are specified and the recommended route 62 is selected as an appropriate route in S11, the JCT 52 is calculated from the current position of the vehicle. Route to another highway 65 via the route, pass through the awakening prediction point 55, exit the highway 65 from the next interchange exit 66, and reach the destination 61 along the recommended route 62 The planned travel route is changed. As a result, a route that is suitable for the user to travel to the destination after the user's awakening (for example, a route that requires a short time to travel to the destination after the user's awakening, that is, a route that requires a short time to reach the destination). It is possible to change the planned travel route so that

以上詳細に説明した通り、本実施形態に係るナビゲーション装置1、ナビゲーション装置1による自動運転支援方法及びナビゲーション装置1で実行されるコンピュータプログラムでは、車両の自動運転制御が行われる自動運転区間を含む車両の走行予定経路を取得する(S1)一方で、自動運転区間内で自動運転制御が行われている車両に乗車するユーザが睡眠中である場合には、ユーザが覚醒する覚醒タイミングを取得し(S6)、覚醒タイミングまで自動運転区間を継続して走行することを条件とした車両の現在位置から目的地までの新たな経路候補を複数取得し(S8〜S10)、複数の経路候補毎に、車両が該経路候補を走行した場合の覚醒タイミングにおける車両の位置である覚醒予測地点を特定し(S9)、特定された複数の経路候補について覚醒予測地点から目的地までの経路を比較し、いずれかの経路候補を選択し(S11)、走行予定経路を選択された経路候補を走行する経路へと変更する(S12)ので、車両の自動運転制御が行われている状態でユーザが睡眠することによって、自動運転制御による走行から手動運転による走行への引き継ぎができなかった場合であっても、ユーザが睡眠から覚醒するタイミングを予測し、覚醒後における目的地までの走行を考慮して走行予定経路を変更するので、自動運転制御を利用するユーザに対してより適切な走行を行わせることが可能となる。そして、目的地への到着が大幅に遅れる等のユーザにとって大きな不利益のある経路が走行予定経路として選択されることを防止することが可能となる。   As described above in detail, in the navigation device 1, the automatic driving support method using the navigation device 1, and the computer program executed by the navigation device 1, the vehicle includes an automatic driving section in which automatic driving control of the vehicle is performed. (S1) On the other hand, when a user who is in a vehicle for which automatic driving control is performed in the automatic driving section is sleeping, the user is awakened when the user is awakened ( S6), acquiring a plurality of new route candidates from the current position of the vehicle to the destination on condition that the vehicle continuously travels until the awakening timing (S8 to S10), and for each of the plurality of route candidates, The awakening prediction point that is the position of the vehicle at the awakening timing when the vehicle travels along the route candidate is identified (S9), and the plurality of identified Compare the route from the predicted awakening point to the destination for the route candidate, select one of the route candidates (S11), and change the planned route to the route that travels the selected route candidate (S12). Even when the user sleeps in a state where the automatic driving control of the vehicle is performed, the user can wake up from sleep even when the driving from the driving by the automatic driving control cannot be taken over to the driving by the manual driving. Predicting and changing the planned travel route in consideration of travel to the destination after awakening makes it possible to allow the user who uses automatic operation control to perform more appropriate travel. In addition, it is possible to prevent a route having a great disadvantage for the user, such as the arrival at the destination being significantly delayed, from being selected as the scheduled travel route.

尚、本発明は前記実施形態に限定されるものではなく、本発明の要旨を逸脱しない範囲内で種々の改良、変形が可能であることは勿論である。
例えば、本実施形態では、車両の自動運転制御が行われる自動運転区間として、接続する他の道路との境界にゲート(有人無人、有料無料は問わない)が設けられた高速道路を設定しているが、自動運転区間としては他の区間を設定しても良い。例えば、高速自動車国道、都市高速道路、自動車専用道路、有料道路、一般道路を自動運転区間に設定しても良い。
Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in this embodiment, as an automatic driving section in which automatic driving control of a vehicle is performed, a highway having a gate (whether manned or unpaid) is provided at the boundary with another road to be connected. However, other sections may be set as the automatic operation section. For example, a highway automobile national road, a city highway, a car road, a toll road, and a general road may be set as the automatic driving section. For example, in this embodiment, as an automatic driving section in which automatic driving control of a vehicle is performed, a highway having a gate (whether manned or unpaid) is provided at the boundary with another road to be connected. However, other sections For example, a highway automobile national road, a city highway, a car road, a toll road, and a general road may be set as the automatic driving section.

また、本実施形態では、ドライバカメラ20により撮像された画像に基づいてユーザの睡眠状態を検出する構成としているが、他の手段によりユーザの睡眠状態を検出する構成としても良い。例えば、シートに設置された重量センサやユーザの呼吸状態を検出するセンサ等によって検出する構成としても良い。   Moreover, in this embodiment, although it is set as the structure which detects a user's sleep state based on the image imaged with the driver camera 20, it is good also as a structure which detects a user's sleep state by another means. For example, it is good also as a structure detected by the weight sensor installed in the sheet | seat, the sensor which detects a user's respiration state, etc.

また、本実施形態では、車両の操作のうち、車両の挙動に関する操作である、アクセル操作、ブレーキ操作及びハンドル操作の全てを車両制御ECU20が制御することをユーザの運転操作によらずに自動的に走行を行う為の自動運転制御として説明してきた。しかし、自動運転制御を、車両の操作のうち、車両の挙動に関する操作である、アクセル操作、ブレーキ操作及びハンドル操作の少なくとも一の操作を車両制御ECU20が制御することとしても良い。一方、ユーザの運転操作による手動運転とは車両の操作のうち、車両の挙動に関する操作である、アクセル操作、ブレーキ操作及びハンドル操作の全てをユーザが行うこととして説明する。   In the present embodiment, the vehicle control ECU 20 automatically controls all of the accelerator operation, the brake operation, and the handle operation, which are operations related to the behavior of the vehicle, among the operations of the vehicle, without depending on the driving operation of the user. It has been described as an automatic operation control for traveling. However, in the automatic driving control, the vehicle control ECU 20 may control at least one of the accelerator operation, the brake operation, and the steering wheel operation, which is an operation related to the behavior of the vehicle among the operations of the vehicle. On the other hand, manual driving by the user's driving operation will be described as a case where the user performs all 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.

また、本実施形態では、経路変更処理プログラム(図2)をナビゲーション装置1が実行する構成としているが、車両制御ECU21が実行する構成としても良い。その場合には、車両制御ECU21は車両の現在位置や地図情報や交通情報等をナビゲーション装置1から取得する構成とする。   In the present embodiment, the navigation device 1 executes the route change processing program (FIG. 2), but the vehicle control ECU 21 may execute the program. In this case, the vehicle control ECU 21 is configured to acquire the current position of the vehicle, map information, traffic information, and the like from the navigation device 1.

また、本発明はナビゲーション装置以外に、経路探索機能を有する装置に対して適用することが可能である。例えば、携帯電話機、スマートフォン、タブレット端末、パーソナルコンピュータ等(以下、携帯端末等という)に適用することも可能である。また、サーバと携帯端末等から構成されるシステムに対しても適用することが可能となる。その場合には、上述した経路変更処理プログラムの各ステップは、サーバと携帯端末等のいずれが実施する構成としても良い。但し、本発明を携帯端末等に適用する場合には、自動運転制御が実行可能な車両と携帯端末等が通信可能に接続(有線無線は問わない)される必要がある。   In addition to the navigation device, the present invention can be applied to a device having a route search function. For example, the present invention can be applied to a mobile phone, a smartphone, a tablet terminal, a personal computer, and the like (hereinafter referred to as a mobile terminal). Further, the present invention can be applied to a system including a server and a mobile terminal. In that case, each step of the above-described route change processing program may be configured to be implemented by either the server or the mobile terminal. However, when the present invention is applied to a portable terminal or the like, it is necessary that a vehicle capable of performing automatic driving control and the portable terminal or the like be connected so as to be communicable (regardless of wired wireless).

また、本発明に係る自動運転支援システムを具体化した実施例について上記に説明したが、自動運転支援システムは以下の構成を有することも可能であり、その場合には以下の効果を奏する。 Moreover, although the embodiment which actualized the automatic driving support system according to the present invention has been described above, the automatic driving support system can also have the following configuration, and in that case, the following effects can be obtained.

例えば、第1の構成は以下のとおりである。
経路候補選択手段は、覚醒予測地点から目的地までの経路の所要時間、距離、走行料金又は燃料消費量を比較して経路候補を選択することを特徴とする。

上記構成を有する自動運転支援システムによれば、覚醒後における目的地までの走行がユーザに対してより適切な走行となるように走行予定経路を変更することが可能となる。 According to the automatic driving support system having the above configuration, it is possible to change the planned travel route so that the travel to the destination after awakening becomes more appropriate for the user. その結果、目的地への到着が大幅に遅れる、目的地へと非常に遠回りになる、走行料金が大幅に上昇する、燃料消費量が大幅に増える等のユーザにとって大きな不利益のある経路が走行予定経路として選択されることを防止することが可能となる。 As a result, routes that are significantly disadvantageous to users, such as a significant delay in arrival at the destination, a very detour to the destination, a significant increase in travel fees, and a significant increase in fuel consumption, are traveled. It is possible to prevent the route from being selected as a planned route. For example, the first configuration is as follows. For example, the first configuration is as follows.
The route candidate selection means is characterized in that the route candidate is selected by comparing the required time, distance, travel fee, or fuel consumption of the route from the predicted awakening point to the destination. The route candidate selection means is characterized in that the route candidate is selected by comparing the required time, distance, travel fee, or fuel consumption of the route from the predicted awakening point to the destination.
According to the automatic driving support system having the above-described configuration, it is possible to change the scheduled traveling route so that traveling to the destination after awakening becomes more appropriate traveling for the user. As a result, routes that have significant disadvantages for users, such as significantly delayed arrival at the destination, very detour to the destination, a significant increase in driving fees, and a significant increase in fuel consumption. It is possible to prevent the route from being selected as a planned route. According to the automatic driving support system having the above-described configuration, it is possible to change the scheduled traveling route so that traveling to the destination after awakening becomes more appropriate traveling for the user. As a result, routes that have significant disadvantages for users , such as significantly delayed arrival at the destination, very detour to the destination, a significant increase in driving fees, and a significant increase in fuel consumption. It is possible to prevent the route from being selected as a planned route.

また、第2の構成は以下のとおりである。
走行予定経路変更手段は、車両が走行予定経路に含まれる自動運転区間の終点を通過する時点でユーザが睡眠中である場合に、走行予定経路を変更することを特徴とする。

上記構成を有する自動運転支援システムによれば、車両の自動運転制御が行われている状態でユーザが睡眠することによって、自動運転制御による走行から手動運転による走行への引き継ぎができず、走行予定経路から外れてしまった場合において、ユーザに対して適切な走行予定経路へと変更することが可能となる。 According to the automatic driving support system having the above configuration, when the user sleeps while the automatic driving control of the vehicle is being performed, it is not possible to take over from the driving by the automatic driving control to the driving by the manual driving, and the driving is scheduled. When the vehicle deviates from the route, it is possible to change the route to an appropriate route for the user. The second configuration is as follows. The second configuration is as follows.
The planned travel route changing means changes the planned travel route when the user is sleeping when the vehicle passes the end point of the automatic driving section included in the planned travel route. The planned travel route changing means changes the planned travel route when the user is sleeping when the vehicle passes the end point of the automatic driving section included in the planned travel route.
According to the automatic driving support system having the above-described configuration, when the user sleeps while the automatic driving control of the vehicle is performed, the driving from the driving by the automatic driving control to the driving by the manual driving cannot be performed, and the driving schedule In the case of deviating from the route, it is possible to change the route to an appropriate travel route for the user. According to the automatic driving support system having the above-described configuration, when the user sleeps while the automatic driving control of the vehicle is performed, the driving from the driving by the automatic driving control to the driving by the manual driving cannot be performed, and the driving schedule In the case of deviating from the route, it is possible to change the route to an appropriate travel route for the user.

また、第3の構成は以下のとおりである。
覚醒タイミングまでの車両の走行距離を算出する走行距離算出手段を有し、経路候補取得手段は、車両の走行距離と地図情報から経路候補を取得することを特徴とする。

上記構成を有する自動運転支援システムによれば、覚醒タイミングまで自動運転区間を継続して走行することを条件とした経路候補を適切に検索することが可能となる。 According to the automatic driving support system having the above configuration, it is possible to appropriately search for a route candidate on the condition that the vehicle continues to travel in the automatic driving section until the awakening timing. The third configuration is as follows. The third configuration is as follows.
The vehicle has a travel distance calculating means for calculating the travel distance of the vehicle until the awakening timing, and the route candidate acquisition means acquires a route candidate from the travel distance of the vehicle and map information. The vehicle has a travel distance calculating means for calculating the travel distance of the vehicle until the awakening timing, and the route candidate acquisition means acquires a route candidate from the travel distance of the vehicle and map information.
According to the automatic driving support system having the above-described configuration, it is possible to appropriately search for route candidates on the condition that the automatic driving section is continuously driven until the awakening timing. According to the automatic driving support system having the above-described configuration, it is possible to appropriately search for route candidates on the condition that the automatic driving section is continuously driven until the awakening timing.

また、第4の構成は以下のとおりである。
覚醒タイミングまで自動運転区間を継続して走行する条件を満たす車両の現在位置から走行可能な全ての経路である走行可能経路を探索する走行可能経路探索手段を有し、覚醒地点予測手段は、走行可能経路探索手段によって探索された複数の走行可能経路毎に、車両が該走行可能経路を走行した場合の覚醒タイミングにおける車両の位置を、覚醒予測地点をして特定し、候補経路は、車両の現在位置から覚醒予測地点までの走行可能経路と、覚醒予測地点から目的地までの推奨経路の組み合わせからなることを特徴とする。 It has a travelable route search means that searches for a travelable route that is all routes that can be traveled from the current position of the vehicle that satisfies the condition of continuously traveling in the automatic driving section until the awakening timing. For each of the plurality of travelable routes searched by the possible route search means, the position of the vehicle at the awakening timing when the vehicle travels on the travelable route is specified by the awakening prediction point, and the candidate route is the vehicle's. It is characterized by a combination of a travelable route from the current position to the awakening prediction point and a recommended route from the awakening prediction point to the destination.
上記構成を有する自動運転支援システムによれば、走行予定経路の変更先となる経路を、車両が現在位置から走行可能な全ての経路を対象として探索することが可能となる。 According to the automatic driving support system having the above configuration, it is possible to search for a route to which the planned travel route is changed, targeting all routes that the vehicle can travel from the current position. その結果、ユーザに対してより適切な経路へと走行予定経路を変更することが可能となる。 As a result, it is possible to change the planned travel route to a more appropriate route for the user. The fourth configuration is as follows. The fourth configuration is as follows.
The vehicle has a travelable route search means for searching for a travelable route that is all the routes that can travel from the current position of the vehicle that satisfies the condition for traveling continuously in the automatic driving section until the awakening timing. For each of a plurality of travelable routes searched by the possible route search means, the position of the vehicle at the awakening timing when the vehicle travels along the travelable route is specified as a predicted awakening point. It is characterized by a combination of a travelable route from the current position to the predicted awakening point and a recommended route from the predicted awakening point to the destination. The vehicle has a travelable route search means for searching for a travelable route that is all the routes that can travel from the current position of the vehicle that satisfies the condition for traveling continuously in the automatic driving section until the awakening timing. For each of a Multiple of travelable routes searched by the possible route search means, the position of the vehicle at the awakening timing when the vehicle travels along the travelable route is specified as a predicted awakening point. It is characterized by a combination of a travelable route from the current position to the predicted awakening point and a recommended route from the predicted awakening point to the destination.
According to the automatic driving support system having the above-described configuration, it is possible to search for a route that is a change destination of the planned travel route for all routes that the vehicle can travel from the current position. As a result, the planned travel route can be changed to a more appropriate route for the user. According to the automatic driving support system having the above-described configuration, it is possible to search for a route that is a change destination of the planned travel route for all routes that the vehicle can travel from the current position. As a result, the planned travel route can be changed to a more appropriate route for the user.

また、第5の構成は以下のとおりである。
自動運転区間は、接続する他の道路との境界にゲートが設けられた高速道路であることを特徴とする。

上記構成を有する自動運転支援システムによれば、特に高速道路の出口において自動運転制御による走行から手動運転による走行への引き継ぎができなかった場合であっても、ユーザが睡眠から覚醒するタイミングを予測し、覚醒後における目的地までの走行を考慮して走行予定経路を変更するので、自動運転制御を利用するユーザに対してより適切な走行を行わせることが可能となる。 According to the automatic driving support system having the above configuration, the timing at which the user wakes up from sleep is predicted even when the driving by the automatic driving control cannot be transferred to the driving by the manual driving, especially at the exit of the highway. However, since the planned travel route is changed in consideration of traveling to the destination after awakening, it is possible to make the user who uses the automatic driving control perform more appropriate driving. The fifth configuration is as follows. The fifth configuration is as follows.
The automatic driving section is a highway provided with a gate at a boundary with another road to be connected. The automatic driving section is a highway provided with a gate at a boundary with another road to be connected.
According to the automatic driving support system having the above configuration, it is possible to predict the timing when the user wakes up from sleep even when the driving from the driving by the automatic driving control to the driving by the manual driving cannot be performed particularly at the exit of the expressway. In addition, since the planned travel route is changed in consideration of travel to the destination after awakening, it is possible to allow the user who uses the automatic operation control to perform more appropriate travel. According to the automatic driving support system having the above configuration, it is possible to predict the timing when the user wakes up from sleep even when the driving from the driving by the automatic driving control to the driving by the manual driving cannot be performed particularly at The exit of the expressway. In addition, since the planned travel route is changed in consideration of travel to the destination after awakening, it is possible to allow the user who uses the automatic operation control to perform more appropriate travel.

1 ナビゲーション装置 13 ナビゲーションECU
14 操作部 15 液晶ディスプレイ 41 CPU
42 RAM
43 ROM

53、54 走行可能経路 55、56 覚醒予測地点 62、63 推奨経路1 Navigation device 13 Navigation ECU 53, 54 Travelable route 55, 56 Awakening prediction point 62, 63 Recommended route 1 Navigation device 13 Navigation ECU
14 Operation unit 15 Liquid crystal display 41 CPU 14 Operation unit 15 Liquid crystal display 41 CPU
42 RAM 42 RAM
43 ROM 43 ROM
53, 54 Travelable route 55, 56 Awakening prediction point 62, 63 Recommended route 53, 54 Travelable route 55, 56 Awakening prediction point 62, 63 Recommended route

Claims (8)

  1. 車両の自動運転制御が行われる自動運転区間を含む出発地から目的地へ至る走行予定経路を設定する経路設定手段と、
    自動運転区間内で自動運転制御が行われている前記車両に乗車するユーザが睡眠中である場合に、前記ユーザが覚醒する覚醒タイミングを取得する覚醒タイミング取得手段と、
    前記覚醒タイミングまで自動運転区間を継続して走行することを条件とした前記車両の現在位置から前記目的地までの新たな経路候補を複数取得する経路候補取得手段と、
    前記複数の経路候補毎に、前記車両が該経路候補を走行した場合の前記覚醒タイミングにおける前記車両の位置である覚醒予測地点を特定する覚醒地点予測手段と、
    前記複数の経路候補について前記覚醒予測地点から目的地までの経路を比較し、いずれかの経路候補を選択する経路候補選択手段と、 A route candidate selection means that compares the routes from the awakening prediction point to the destination for the plurality of route candidates and selects one of the route candidates.
    前記走行予定経路を前記経路候補選択手段により選択された前記経路候補を走行する経路へと変更する走行予定経路変更手段と、を有することを特徴とする自動運転支援システム。 An automatic driving support system comprising: a planned travel route changing means for changing the planned travel route to a route for traveling on the route candidate selected by the route candidate selection means. Route setting means for setting a planned travel route from the departure point to the destination including an automatic driving section in which automatic driving control of the vehicle is performed; Route setting means for setting a planned travel route from the departure point to the destination including an automatic driving section in which automatic driving control of the vehicle is performed;
    An awakening timing acquisition means for acquiring an awakening timing at which the user awakens when a user who rides on the vehicle in which an automatic driving control is performed in an automatic driving section is sleeping; An awakening timing acquisition means for acquiring an awakening timing at which the user awakens when a user who rides on the vehicle in which an automatic driving control is performed in an automatic driving section is sleeping;
    Route candidate acquisition means for acquiring a plurality of new route candidates from the current position of the vehicle to the destination on condition that the vehicle continuously travels in an automatic driving section until the awakening timing; Route candidate acquisition means for acquiring a plurality of new route candidates from the current position of the vehicle to the destination on condition that the vehicle continuously travels in an automatic driving section until the awakening timing;
    For each of the plurality of route candidates, an awakening point prediction means for specifying an awakening prediction point that is a position of the vehicle at the awakening timing when the vehicle travels along the route candidate; For each of the plurality of route candidates, an awakening point prediction means for specifying an awakening prediction point that is a position of the vehicle at the awakening timing when the vehicle travels along the route candidate;
    A route candidate selecting means for comparing the route from the predicted awakening point to the destination for the plurality of route candidates and selecting any one of the route candidates; A route candidate selecting means for comparing the route from the predicted awakening point to the destination for the plurality of route candidates and selecting any one of the route candidates;
    An automatic driving support system comprising: a scheduled traveling route changing unit that changes the planned traveling route to a route that travels the route candidate selected by the route candidate selecting unit. An automatic driving support system comprising: a scheduled traveling route changing unit that changes the planned traveling route to a route that travels the route candidate selected by the route candidate selecting unit.
  2. 前記経路候補選択手段は、前記覚醒予測地点から目的地までの経路の所要時間、距離、走行料金又は燃料消費量を比較して前記経路候補を選択することを特徴とする請求項1に記載の自動運転支援システム。   The route candidate selection means selects the route candidate by comparing the required time, distance, travel fee, or fuel consumption of the route from the predicted awakening point to the destination. Automated driving support system.
  3. 前記走行予定経路変更手段は、前記車両が前記走行予定経路に含まれる前記自動運転区間の終点を通過する時点で前記ユーザが睡眠中である場合に、前記走行予定経路を変更することを特徴とする請求項1又は請求項2に記載の自動運転支援システム。 The planned travel route changing means changes the planned travel route when the user is sleeping when the vehicle passes the end point of the automatic driving section included in the planned travel route. The automatic driving support system according to claim 1 or 2.
  4. 前記覚醒タイミングまでの前記車両の走行距離を算出する走行距離算出手段を有し、
    前記経路候補取得手段は、前記車両の走行距離と地図情報から前記経路候補を取得することを特徴とする請求項1乃至請求項3のいずれかに記載の自動運転支援システム。 The automatic driving support system according to any one of claims 1 to 3, wherein the route candidate acquisition means acquires the route candidate from the mileage of the vehicle and map information. Mileage calculating means for calculating the mileage of the vehicle until the awakening timing; Mileage calculating means for calculating the mileage of the vehicle until the awakening timing;
    4. The automatic driving support system according to claim 1, wherein the route candidate acquisition unit acquires the route candidate from a travel distance of the vehicle and map information. 5. 4. The automatic driving support system according to claim 1, wherein the route candidate acquisition unit acquires the route candidate from a travel distance of the vehicle and map information.
  5. 前記覚醒タイミングまで自動運転区間を継続して走行する条件を満たす前記車両の現在位置から走行可能な全ての経路である走行可能経路を探索する走行可能経路探索手段を有し、
    前記覚醒地点予測手段は、前記走行可能経路探索手段によって探索された複数の前記走行可能経路毎に、前記車両が該走行可能経路を走行した場合の前記覚醒タイミングにおける前記車両の位置を、前記覚醒予測地点をして特定し、 The awakening point predicting means awakens the position of the vehicle at the awakening timing when the vehicle travels on the travelable route for each of the plurality of travelable routes searched by the travelable route search means. Predict and identify
    前記候補経路は、前記車両の現在位置から前記覚醒予測地点までの前記走行可能経路と、前記覚醒予測地点から目的地までの推奨経路の組み合わせからなることを特徴とする請求項1乃至請求項4のいずれかに記載の自動運転支援システム。 Claims 1 to 4 are characterized in that the candidate route comprises a combination of the travelable route from the current position of the vehicle to the awakening prediction point and a recommended route from the awakening prediction point to the destination. The automatic driving support system described in any of. It has a travelable route search means for searching for a travelable route that is all the routes that can travel from the current position of the vehicle that satisfies the condition of traveling continuously in the automatic driving section until the awakening timing, It has a travelable route search means for searching for a travelable route that is all the routes that can travel from the current position of the vehicle that satisfies the condition of traveling continuously in the automatic driving section until the awakening timing,
    The awakening point predicting means determines the position of the vehicle at the awakening timing when the vehicle travels along the travelable route for each of the plurality of travelable routes searched by the travelable route search means. Identify the predicted point, The awakening point predicting means determines the position of the vehicle at the awakening timing when the vehicle travels along the travelable route for each of the plurality of travelable routes searched by the travelable route search means. Identify the predicted point,
    5. The candidate route comprises a combination of the travelable route from the current position of the vehicle to the predicted awakening point and a recommended route from the predicted awakening point to the destination. The automatic driving assistance system according to any one of the above. 5. The candidate route a combination of the travelable route from the current position of the vehicle to the predicted awakening point and a recommended route from the predicted awakening point to the destination. The automatic driving assistance system according to any one of the above.
  6. 前記自動運転区間は、接続する他の道路との境界にゲートが設けられた高速道路であることを特徴とする請求項1乃至請求項5のいずれかに記載の自動運転支援システム。 The automatic driving support system according to any one of claims 1 to 5, wherein the automatic driving section is an expressway provided with a gate at a boundary with another road to be connected.
  7. 経路設定手段が、車両の自動運転制御が行われる自動運転区間を含む出発地から目的地へ至る走行予定経路を設定するステップと、
    覚醒タイミング取得手段が、自動運転区間内で自動運転制御が行われている前記車両に乗車するユーザが睡眠中である場合に、前記ユーザが覚醒する覚醒タイミングを取得するステップと、 The awakening timing acquisition means acquires the awakening timing at which the user awakens when the user riding in the vehicle whose automatic driving control is performed within the automatic driving section is sleeping.
    経路候補取得手段が、前記覚醒タイミングまで自動運転区間を継続して走行することを条件とした前記車両の現在位置から前記目的地までの新たな経路候補を複数取得するステップと、 A step of acquiring a plurality of new route candidates from the current position of the vehicle to the destination on condition that the route candidate acquisition means continuously travels in the automatic driving section until the awakening timing.
    覚醒地点予測手段が、前記複数の経路候補毎に、前記車両が該経路候補を走行した場合の前記覚醒タイミングにおける前記車両の位置である覚醒予測地点を特定するステップと、 A step for the awakening point prediction means to specify an awakening prediction point which is a position of the vehicle at the awakening timing when the vehicle travels on the route candidate for each of the plurality of route candidates.
    経路候補選択手段が、前記複数の経路候補について前記覚醒予測地点から目的地までの経路を比較し、いずれかの経路候補を選択するステップと、 A step in which the route candidate selection means compares the routes from the awakening prediction point to the destination for the plurality of route candidates and selects one of the route candidates.
    走行予定経路変更手段は、前記走行予定経路を前記経路候補選択手段により選択された前記経路候補を走行する経路へと変更するステップと、を有することを特徴とする自動運転支援方法。 The planned travel route changing means is an automatic driving support method including a step of changing the planned travel route to a route on which the route candidate selected by the route candidate selection means is traveled. A route setting means for setting a scheduled travel route from a departure point to a destination including an automatic driving section in which automatic driving control of the vehicle is performed; A route setting means for setting a scheduled travel route from a departure point to a destination including an automatic driving section in which automatic driving control of the vehicle is performed;
    Awakening timing acquisition means acquires the awakening timing at which the user is awakened when the user who rides the vehicle in which the automatic driving control is performed within the automatic driving section is sleeping; Awakening timing acquisition means acquires the awakening timing at which the user is awakened when the user who rides the vehicle in which the automatic driving control is performed within the automatic driving section is sleeping;
    A step of acquiring a plurality of new route candidates from the current position of the vehicle to the destination on the condition that the route candidate acquisition means travels continuously in the automatic driving section until the awakening timing; A step of acquiring a plurality of new route candidates from the current position of the vehicle to the destination on the condition that the route candidate acquisition means travels continuously in the automatic driving section until the awakening timing;
    Awakening point prediction means for each of the plurality of route candidates, identifying a predicted awakening point that is the position of the vehicle at the awakening timing when the vehicle travels the route candidate; Awakening point prediction means for each of the plurality of route candidates, identifying a predicted awakening point that is the position of the vehicle at the awakening timing when the vehicle travels the route candidate;
    A route candidate selecting means comparing the route from the predicted awakening point to the destination for the plurality of route candidates, and selecting any one of the route candidates; A route candidate selecting means comparing the route from the predicted awakening point to the destination for the plurality of route candidates, and selecting any one of the route candidates;
    The planned travel route changing means includes a step of changing the planned travel route to a route that travels the route candidate selected by the route candidate selection means. The planned travel route changing means includes a step of changing the planned travel route to a route that travels the route candidate selected by the route candidate selection means.
  8. コンピュータを、
    車両の自動運転制御が行われる自動運転区間を含む出発地から目的地へ至る走行予定経路を設定する経路設定手段と、

    自動運転区間内で自動運転制御が行われている前記車両に乗車するユーザが睡眠中である場合に、前記ユーザが覚醒する覚醒タイミングを取得する覚醒タイミング取得手段と、 Awakening timing acquisition means for acquiring an awakening timing for the user to awaken when the user riding in the vehicle for which automatic driving control is performed in the automatic driving section is sleeping.
    前記覚醒タイミングまで自動運転区間を継続して走行することを条件とした前記車両の現在位置から前記目的地までの新たな経路候補を複数取得する経路候補取得手段と、 A route candidate acquisition means for acquiring a plurality of new route candidates from the current position of the vehicle to the destination on condition that the vehicle continues to travel in the automatic driving section until the awakening timing.
    前記複数の経路候補毎に、前記車両が該経路候補を走行した場合の前記覚醒タイミングにおける前記車両の位置である覚醒予測地点を特定する覚醒地点予測手段と、 For each of the plurality of route candidates, an awakening point prediction means for specifying an awakening prediction point which is a position of the vehicle at the awakening timing when the vehicle travels on the route candidate, and
    前記複数の経路候補について前記覚醒予測地点から目的地までの経路を比較し、いずれかの経路候補を選択する経路候補選択手段と、 A route candidate selection means that compares the routes from the awakening prediction point to the destination for the plurality of route candidates and selects one of the route candidates.
    前記走行予定経路を前記経路候補選択手段により選択された前記経路候補を走行する経路へと変更する走行予定経路変更手段と、 The planned travel route changing means for changing the planned travel route to the route for traveling on the route candidate selected by the route candidate selection means, and
    して機能させる為のコンピュータプログラム。 A computer program to make it work. Computer Computer
    Route setting means for setting a planned travel route from the departure point to the destination including an automatic driving section in which automatic driving control of the vehicle is performed; Route setting means for setting a planned travel route from the departure point to the destination including an automatic driving section in which automatic driving control of the vehicle is performed;
    An awakening timing acquisition means for acquiring an awakening timing at which the user awakens when a user who rides on the vehicle in which an automatic driving control is performed in an automatic driving section is sleeping; An awakening timing acquisition means for acquiring an awakening timing at which the user awakens when a user who rides on the vehicle in which an automatic driving control is performed in an automatic driving section is sleeping;
    Route candidate acquisition means for acquiring a plurality of new route candidates from the current position of the vehicle to the destination on condition that the vehicle continuously travels in an automatic driving section until the awakening timing; Route candidate acquisition means for acquiring a plurality of new route candidates from the current position of the vehicle to the destination on condition that the vehicle continuously travels in an automatic driving section until the awakening timing;
    For each of the plurality of route candidates, an awakening point prediction means for specifying an awakening prediction point that is a position of the vehicle at the awakening timing when the vehicle travels along the route candidate; For each of the plurality of route candidates, an awakening point prediction means for specifying an awakening prediction point that is a position of the vehicle at the awakening timing when the vehicle travels along the route candidate;
    A route candidate selecting means for comparing the route from the predicted awakening point to the destination for the plurality of route candidates and selecting any one of the route candidates; A route candidate selecting means for comparing the route from the predicted awakening point to the destination for the plurality of route candidates and selecting any one of the route candidates;
    A planned travel route changing unit that changes the planned travel route to a route that travels the route candidate selected by the route candidate selection unit; A planned travel route changing unit that changes the planned travel route to a route that travels the route candidate selected by the route candidate selection unit;
    Computer program to make it function. Computer program to make it function.
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JP2017106863A (en) * 2015-12-11 2017-06-15 株式会社トヨタマップマスター Navigation system, route search method, route search program, and recording medium
JP2017198505A (en) * 2016-04-26 2017-11-02 本田技研工業株式会社 Vehicle control system, vehicle control method, and vehicle control program
WO2018109516A1 (en) * 2016-12-13 2018-06-21 日産自動車株式会社 Automatic driving assistance method and device
WO2018163491A1 (en) * 2017-03-07 2018-09-13 オムロン株式会社 Automatic driving vehicle monitoring device, method and program
WO2018163458A1 (en) * 2017-03-08 2018-09-13 オムロン株式会社 Boarding assistance device, method and program

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2017106863A (en) * 2015-12-11 2017-06-15 株式会社トヨタマップマスター Navigation system, route search method, route search program, and recording medium
JP2017198505A (en) * 2016-04-26 2017-11-02 本田技研工業株式会社 Vehicle control system, vehicle control method, and vehicle control program
WO2018109516A1 (en) * 2016-12-13 2018-06-21 日産自動車株式会社 Automatic driving assistance method and device
WO2018163491A1 (en) * 2017-03-07 2018-09-13 オムロン株式会社 Automatic driving vehicle monitoring device, method and program
WO2018163458A1 (en) * 2017-03-08 2018-09-13 オムロン株式会社 Boarding assistance device, method and program
JP2018147354A (en) * 2017-03-08 2018-09-20 オムロン株式会社 Passenger assist apparatus, method and program

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