JP2016199163A - Automatic drive unit - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic drive unit which reduces changeover to a manual drive caused by an erroneous operation, and improves the operability of the changeover to the manual drive by an intentional steering operation, in a steering operation to a steering wheel which rotates during the execution of automatic drive.SOLUTION: In the case that a direction of a steering operation does not coincide with a rotation direction of a steering wheel in such a case that a driver accidentally touches with the rotating steering wheel, since a large manual drive changeover threshold is calculated by a calculation part, automatic drive is not hardly switched to manual drive, and changeover to the manual drive by the accidental drive can be reduced. On the other hand, in the case that the driver intentionally adds a steering operation in a direction which is the same as the rotation direction of the steering wheel, since a small manual drive changeover threshold is calculated by the calculation part, the automatic drive is easily switched to the manual drive, and the operability of the changeover to the manual drive by an intentional steering operation can be improved.SELECTED DRAWING: Figure 2

Description

  Various aspects of the present invention relate to an automatic driving apparatus.

  Conventionally, as described in Patent Document 1, the amount of operation of any one of the steering operation, the accelerator operation, and the brake operation by the driver of the own vehicle during the execution of the automatic driving is performed while performing the automatic driving of the own vehicle. There is known an automatic driving device that switches a running automatic driving to a manual driving when a predetermined threshold value is exceeded.

US Pat. No. 8,670,891

  By the way, in the automatic driving apparatus as described above, the host vehicle rotates the steering wheel at a rotation angle corresponding to the steering angle during execution of the automatic driving even if the driver of the host vehicle does not perform the steering operation to the steering wheel. There is a device that performs automatic operation. In such an apparatus, during automatic operation, the driver may accidentally touch the rotating steering wheel, and the automatic operation being performed may be switched to manual operation unintentionally. On the other hand, even if the driver intentionally applies a steering operation to the rotating steering wheel during execution of automatic driving, the automatic driving being executed may not be easily switched to manual driving. Therefore, improvement is desired.

  Therefore, the present invention reduces the switching to manual operation due to an erroneous operation in the steering operation to the steering wheel that rotates during execution of automatic driving, and improves the operability of switching to manual driving due to intentional steering operation. An object is to provide an automatic driving device.

  One aspect of the present invention is to perform automatic driving of the host vehicle while rotating the steering wheel at a rotation angle corresponding to the steering angle, and to perform steering operation to the steering wheel by the driver of the host vehicle during execution of the automatic driving. When the steering operation amount is equal to or greater than the manual operation switching threshold, the automatic operation device switches the automatic operation being performed to the manual operation, and a steering operation amount acquisition unit that acquires the steering operation amount during execution of the automatic operation; A rotation direction acquisition unit that acquires the rotation direction of the rotating steering wheel during execution of automatic driving, a calculation unit that calculates a manual driving switching threshold, and automatic steering and the amount of steering operation is the manual driving switching threshold In the case of the above, the control unit that switches the automatic operation being performed to the manual operation is provided, and the calculation unit is configured such that the direction of the steering operation is the steering wheel. Than if it matches the rotational direction of the Le, when the direction of the steering operation does not match the rotational direction of the steering wheel, an automatic operation device to calculate a larger manual operation switch threshold.

  According to this configuration, when the direction of the steering operation does not coincide with the rotation direction of the steering wheel, such as when the driver accidentally touches the rotating steering wheel, the calculation unit calculates a large manual driving switching threshold. Therefore, unless the driver intentionally applies a steering operation with a large steering operation amount, it is difficult to switch from automatic driving to manual driving, and switching to manual driving due to an erroneous operation can be reduced. On the other hand, when the driver intentionally adds a steering operation in the same direction as the rotating direction of the rotating steering wheel, a small manual driving switching threshold is calculated by the calculation unit. This makes it easier to improve the operability of switching to manual driving by intentional steering operation.

  According to one aspect of the present invention, in a steering operation to a steering wheel that rotates during execution of automatic driving, switching to manual driving due to erroneous operation is reduced, and switching to manual driving due to intentional steering operation is reduced. Can be improved.

It is a block diagram which shows the structure of the automatic driving apparatus which concerns on embodiment. It is a flowchart which shows operation | movement of the automatic driving device of FIG. (A) shows the rotating steering wheel on the right side, and (b) is a graph showing the driving state with respect to the steering torque in the state of (a). (A) shows the rotating steering wheel on the left side, and (b) is a graph showing the driving state with respect to the steering torque in the state of (a). It is a graph which shows the manual driving | operation switching threshold with respect to the product of the direction of steering operation, and the rotation direction of a steering wheel. It is a figure which shows the example of the manual operation switching threshold value which a display unit displays. (A) is a graph which shows the driving | running state in case steering torque is larger than a manual driving switching threshold value, (b) is a graph which shows the driving | running state in case steering torque is smaller than a manual driving switching threshold value.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. As shown in FIG. 1, the automatic driving device 100 is mounted on a host vehicle V such as a passenger car. The automatic driving apparatus 100 executes automatic driving of the host vehicle V. The automatic driving means that driving operations such as acceleration, deceleration and steering of the host vehicle V are performed without depending on the driving operation of the driver of the host vehicle V. The automatic driving apparatus 100 according to the present embodiment performs the automatic driving of the host vehicle while rotating the steering wheel at a rotation angle corresponding to the steering angle during the execution of the automatic driving, and the driving of the host vehicle during the execution of the automatic driving. When the steering operation amount of the steering operation on the steering wheel by the user is equal to or greater than the manual operation switching threshold, the automatic operation being performed is switched to manual operation. The manual driving switching threshold value is a threshold value used for determination for switching the running automatic driving to the manual driving with respect to the steering operation amount of the steering operation by the driver of the host vehicle V.

  As shown in FIG. 1, an automatic driving apparatus 100 includes an external sensor 1, a GPS (Global Positioning System) receiving unit 2, an internal sensor 3, a map database 4, a navigation system 5, an actuator 6, an HMI (Human Machine Interface) 7, A steering wheel 8, an auxiliary device U, and an ECU 10 are provided.

  The external sensor 1 is a detection device that detects an external situation that is surrounding information of the host vehicle V. The external sensor 1 includes at least one of a camera, a radar (Radar), and a rider (LIDER: Laser Imaging Detection and Ranging).

  The camera is an imaging device that captures an external situation of the host vehicle V. The camera is provided on the back side of the windshield of the host vehicle V, for example. The camera may be a monocular camera or a stereo camera. The stereo camera has, for example, two imaging units arranged so as to reproduce binocular parallax. The imaging information of the stereo camera includes information in the depth direction. The camera outputs imaging information related to the external situation of the host vehicle V to the ECU 10.

  The radar detects obstacles outside the host vehicle V using radio waves. The radio wave is, for example, a millimeter wave. The radar transmits radio waves around the host vehicle V, receives radio waves reflected by the obstacles, and detects the obstacles. For example, the radar can output the distance or direction to the obstacle as obstacle information regarding the obstacle. The radar outputs the detected obstacle information to the ECU 10. In addition, when performing sensor fusion, you may output the reception information of the reflected electromagnetic wave to ECU10.

  The rider detects an obstacle outside the host vehicle V using light. The rider transmits light around the host vehicle V, receives the light reflected by the obstacle, measures the distance to the reflection point, and detects the obstacle. For example, the rider can output the distance or direction to the obstacle as the obstacle information. The rider outputs the detected obstacle information to the ECU 10. In addition, when performing sensor fusion, you may output the reception information of the reflected light to ECU10. The cameras, riders, and radars do not necessarily have to be provided in duplicate.

  The GPS receiving unit 2 receives signals from three or more GPS satellites, and acquires position information indicating the position of the host vehicle V. The position information includes, for example, latitude and longitude. The GPS receiver 2 outputs the measured position information of the host vehicle V to the ECU 10. Instead of the GPS receiving unit 2, other means that can specify the latitude and longitude where the host vehicle V exists may be used.

  The internal sensor 3 is a detector that detects information corresponding to the traveling state of the host vehicle V and the steering operation amount of the steering operation by the driver of the host vehicle V. The internal sensor 3 includes at least one of a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor in order to detect information according to the traveling state of the host vehicle V. The internal sensor 3 includes a steering sensor in order to detect the steering operation amount.

  The vehicle speed sensor is a detector that detects the speed of the host vehicle V. As the vehicle speed sensor, for example, a wheel speed sensor that is provided for a wheel of the host vehicle V or a drive shaft that rotates integrally with the wheel and detects the rotation speed of the wheel is used. The vehicle speed sensor outputs vehicle speed information (wheel speed information) including the speed of the host vehicle V to the ECU 10.

  The acceleration sensor is a detector that detects the acceleration of the host vehicle V. The acceleration sensor includes, for example, a longitudinal acceleration sensor that detects acceleration in the longitudinal direction of the host vehicle V and a lateral acceleration sensor that detects lateral acceleration of the host vehicle V. The acceleration sensor outputs acceleration information including the acceleration of the host vehicle V to the ECU 10.

  The yaw rate sensor is a detector that detects the yaw rate (rotational angular velocity) around the vertical axis of the center of gravity of the host vehicle V. For example, a gyro sensor is used as the yaw rate sensor. The yaw rate sensor outputs yaw rate information including the yaw rate of the host vehicle V to the ECU 10.

  The steering sensor is, for example, a detector that detects a steering operation amount of a steering operation on the steering wheel 8 by a driver of the host vehicle. The steering operation amount detected by the steering sensor is, for example, a steering torque with respect to the steering wheel 8 or a steering angle of the steering wheel 8. A steering sensor is provided with respect to the steering shaft of the own vehicle V, for example. The steering sensor outputs information including the steering torque for the steering wheel 8 or the steering angle of the steering wheel to the ECU 10. When the steering sensor detects the steering angle of the steering operation by the driver to the rotating steering wheel 8 during execution of automatic driving as the steering operation amount, for example, the target steering angle of the actuator 6 and the driver The difference from the steering angle of the steering operation can be detected as the steering operation amount. The steering sensor includes a touch sensor that detects that the driver's hand of the host vehicle V is in contact with the steering wheel in order to distinguish between the steering operation by the actuator 6 and the steering operation by the driver of the host vehicle V. It may be.

  The map database 4 is a database provided with map information. The map database 4 is formed, for example, in an HDD (Hard disk drive) mounted on the host vehicle V. The map information includes, for example, road position information, road shape information, and intersection and branch point position information. The road shape information includes, for example, a curve, a straight line type, a curve curvature, and the like. Furthermore, when the automatic driving device 100 uses position information of a shielding structure such as a building or a wall or SLAM (Simultaneous Localization and Mapping) technology, the output signal of the external sensor 1 may be included in the map information. . The map database 4 may be stored in a computer of a facility such as an information processing center that can communicate with the host vehicle V.

  The navigation system 5 is a device that guides the driver of the host vehicle V to the destination set on the map by the driver of the host vehicle V. The navigation system 5 calculates the route traveled by the host vehicle V based on the position information of the host vehicle V measured by the GPS receiver 2 and the map information in the map database 4. The route may be, for example, a route that specifies a traveling lane in which the host vehicle V travels in a section of multiple lanes. For example, the navigation system 5 calculates a target route from the position of the host vehicle V to the destination, and notifies the driver of the target route by displaying the display and outputting sound from a speaker. For example, the navigation system 5 outputs information on the target route of the host vehicle V to the ECU 10. The navigation system 5 may use information stored in a computer of a facility such as an information processing center that can communicate with the host vehicle V. Alternatively, part of the processing performed by the navigation system 5 may be performed by a facility computer.

  The actuator 6 is a device that executes traveling control of the host vehicle V. The actuator 6 includes at least a throttle actuator, a brake actuator, and a steering actuator. The throttle actuator controls the driving force of the host vehicle V by controlling the amount of air supplied to the engine (throttle opening) according to a control signal from the ECU 10. In the case where the host vehicle V is a hybrid vehicle or an electric vehicle, a control signal from the ECU 10 is input to a motor as a power source and the driving force is controlled without including a throttle actuator.

  The brake actuator controls the brake system according to a control signal from the ECU 10 and controls the braking force applied to the wheels of the host vehicle V. As the brake system, for example, a hydraulic brake system can be used.

  The steering actuator controls driving of an assist motor that controls steering torque in the electric power steering system in accordance with a control signal from the ECU 10. Thereby, the steering actuator controls the steering torque and the steering angle of the host vehicle V. In addition, as the steering actuator controls the steering torque and steering angle of the host vehicle V, the steering actuator rotates the steering wheel 8 at a rotation angle corresponding to the steering angle during execution of automatic driving.

  The HMI 7 is an interface for outputting and inputting information between an occupant (including a driver) of the host vehicle V and the automatic driving apparatus 100. The HMI 7 includes, for example, a display panel for displaying image information to the occupant, a speaker for audio output, an operation button for the occupant to perform an input operation, or a touch panel. As will be described later, in this embodiment, the HMI 7 has a display for displaying a manual operation switching threshold on an instrument panel or the like. The HMI 7 may output information to the occupant using a wirelessly connected portable information terminal, or may accept an input operation by the occupant using the portable information terminal.

  The auxiliary equipment U is usually an equipment that can be operated by the driver of the host vehicle V. The auxiliary device U is a generic term for devices that are not included in the actuator 6. The auxiliary equipment U here includes, for example, a direction indicator lamp, a headlamp, a wiper, and the like.

  The ECU 10 controls automatic driving of the host vehicle V. The ECU 10 is an electronic control unit having a CPU [Central Processing Unit], a ROM [Read Only Memory], a RAM [Random Access Memory], and the like. The ECU 10 includes a steering operation amount acquisition unit 11, a rotation direction acquisition unit 12, a travel plan generation unit 13, a calculation unit 14, a display unit 15, and a control unit 16. In the ECU 10, a program stored in the ROM is loaded into the RAM and executed by the CPU, thereby executing control of each unit such as the steering operation amount acquisition unit 11 described above. The ECU 10 may be composed of a plurality of electronic control units.

  The steering operation amount acquisition unit 11 acquires the steering operation amount of the steering operation by the driver of the host vehicle V during the execution of the automatic driving based on the information acquired by the internal sensor 3. The steering operation amount is, for example, a steering torque with respect to the steering wheel 8 and a steering angle of the steering wheel 8. The steering operation amount acquisition unit 11 acquires the steering operation amount of the steering operation and also acquires the direction of the steering operation.

  The rotation direction acquisition unit 12 acquires information on the rotation angle of the steering wheel 8 that is rotated by the control of the control unit 16 or the actuator 6 from the control unit 16 or the actuator 6, thereby performing rotation during the execution of the automatic operation. The rotation direction of the steering wheel 8 is acquired. If the steering operation by the actuator 6 and the steering operation by the driver of the host vehicle V can be distinguished, the rotational direction acquisition unit 12 performs automatic driving based on the information acquired by the internal sensor 3. You may acquire the rotation direction of the steering wheel 8 in rotation in execution.

  The travel plan generation unit 13 is based on the target route calculated by the navigation system 5, information about obstacles around the host vehicle V recognized by the external sensor 1, and map information acquired from the map database 4. A travel plan for V is generated. The travel plan is a trajectory along which the host vehicle V travels on the target route. The travel plan includes, for example, the speed, acceleration, deceleration, direction, steering angle, and the like of the host vehicle V at each time. The travel plan generation unit 13 generates a travel plan such that the host vehicle V travels on a target route that satisfies standards such as safety, legal compliance, and travel efficiency. Furthermore, the travel plan generation unit 13 generates a travel plan for the host vehicle V so as to avoid contact with the obstacles based on the situation of the obstacles around the host vehicle V.

  The calculation unit 14 determines the direction of the steering operation during execution of the automatic driving acquired by the steering operation amount acquisition unit 11 and the rotation direction of the rotating steering wheel 8 during execution of the automatic driving acquired by the rotation direction acquisition unit. Based on the above, the manual operation switching threshold value is calculated. The ECU 10 stores a function of a manual operation switching threshold value corresponding to the direction of the steering operation during execution of the automatic driving and the rotation direction of the rotating steering wheel 8 during execution of the automatic driving.

  The display unit 15 displays the manual operation switching threshold for each direction of the steering operation on the display of the HMI 7. Note that the display unit 15 and the display for displaying the manual operation switching threshold value of the HMI 7 are not essential, and may be omitted from the automatic driving apparatus 100.

  The control unit 16 automatically controls the travel of the host vehicle V based on the travel plan generated by the travel plan generation unit 13. The control unit 16 outputs a control signal corresponding to the travel plan to the actuator 6. Thereby, the control part 16 controls driving | running | working of the own vehicle V so that the automatic driving | operation of the own vehicle V is performed according to a travel plan. In addition, the control unit 16 outputs a control signal for rotating the steering wheel to the actuator 6 at a rotation angle corresponding to the steering angle during execution of automatic driving. Further, the control unit 16 outputs information related to the rotation angle of the steering wheel 8 rotated by the control unit 16 to the rotation direction acquisition unit 12. In addition, when the steering operation amount acquired by the steering operation amount acquisition unit 11 is greater than or equal to the manual operation switching threshold calculated by the calculation unit 14, the control unit 16 switches the automatic operation being performed to manual operation. .

  Next, processing executed by the automatic driving apparatus 100 will be described. As shown in FIG. 2, the control unit 16 of the ECU 10 executes automatic driving of the host vehicle V based on the travel plan generated by the travel plan generation unit 13 (S1). At the start of automatic driving, for example, when the ignition of the host vehicle V is turned ON, the control unit 16 determines whether automatic driving is possible based on obstacles around the host vehicle V recognized by the external sensor 1. . When automatic driving is possible, the control unit 16 notifies the occupant that automatic driving is possible using the HMI 7. When the occupant performs a predetermined input operation on the HMI 7, the automatic driving device 100 starts automatic driving.

  The steering operation amount acquisition unit 11 of the ECU 10 acquires the steering operation amount during execution of the automatic driving (S2). The rotation direction acquisition unit 12 of the ECU 10 acquires the rotation direction of the rotating steering wheel 8 during execution of the automatic driving (S3). The calculation unit 14 of the ECU 10 determines the direction of the steering operation during execution of the automatic operation acquired by the steering operation amount acquisition unit 11 and the rotation of the steering wheel 8 during execution of the automatic operation acquired by the rotation direction acquisition unit. Based on the rotation direction, a manual operation switching threshold is calculated (S4).

  As shown in FIG. 3A, it is assumed that the rotation direction D of the rotating steering wheel 8 during the automatic driving is the right direction. When the direction of the steering operation by the driver of the host vehicle V is the right direction that coincides with the rotation direction D of the steering wheel 8, as shown in FIG. 3B, the calculation unit 14 calculates the steering torque in the right direction. A manual operation switching threshold value Tth_R for T is calculated. The manual operation switching threshold value Tth_R in the right direction is a manual operation switching threshold value Tth_min that is the minimum value of the manual operation switching threshold value. On the other hand, when the direction of the steering operation by the driver of the host vehicle V is the left direction that does not coincide with the rotation direction D of the steering wheel 8, the calculation unit 14 sets the manual operation switching threshold Tth_L of the steering torque T in the left direction. calculate. The manual operation switching threshold value Tth_L in the left direction is a manual operation switching threshold value Tth_max that is the maximum value of the manual operation switching threshold value.

  Accordingly, when the rotation direction D of the rotating steering wheel 8 during the automatic driving is the right direction, if the direction of the steering operation by the driver of the host vehicle V is the right direction, the small steering torque T If the automatic operation being performed is switched to the manual operation and the direction of the steering operation by the driver of the host vehicle V is the left direction, the automatic operation being performed is switched to the manual operation with a larger steering torque T.

  Also, as shown in FIG. 4A, when the rotation direction D of the rotating steering wheel 8 during the execution of the automatic driving is the left direction, the direction of the steering operation is the left direction that matches the rotation direction D. 4B, the calculation unit 14 calculates a manual operation switching threshold value Tth_L (manual operation switching threshold value Tth_min) of the steering torque T in the left direction, and the direction of the steering operation is the rotation direction. In the case of the right direction that does not coincide with D, the calculation unit 14 calculates a manual operation switching threshold value Tth_R (manual operation switching threshold value Tth_max) of the steering torque T in the right direction.

  Therefore, when the rotation direction D of the rotating steering wheel 8 during the automatic driving is leftward, if the direction of the steering operation by the driver of the host vehicle V is leftward, the small steering torque T If the automatic operation being executed is switched to the manual operation and the direction of the steering operation by the driver of the host vehicle V is the right direction, the automatic operation being executed is switched to the manual operation with a larger steering torque T.

  In order to calculate the manual operation switching threshold as described above based on the steering operation direction and the rotation direction D, the ECU 10 corresponds to the steering operation direction and the rotation direction D as shown in FIG. A function of the manual operation switching threshold value Tth is stored. The horizontal axis x indicates the direction of the steering operation by the driver of the host vehicle V, and the horizontal axis y indicates the rotational direction D of the steering wheel 8 that is rotating during execution of automatic driving. For both x and y, for example, the right direction is positive and the left direction is negative.

  According to the function shown in FIG. 5, when the direction of the steering operation coincides with the rotation direction D of the steering wheel, x * y> 0, and the calculation unit 14 calculates the manual operation switching threshold value Tth_min that is the minimum value. To do. On the other hand, when the direction of the steering operation does not coincide with the rotation direction D of the steering wheel, x * y <0, and the calculation unit 14 calculates the manual operation switching threshold Tth_max that is the maximum value. Therefore, the calculation unit 14 sets a larger manual driving switching threshold Tth when the steering operation direction does not match the steering wheel rotation direction D than when the steering operation direction matches the steering wheel rotation direction D. calculate.

  As shown in FIG. 2, the display unit 15 of the ECU 10 displays the manual operation switching threshold value Tth for each direction of the steering operation calculated by the calculation unit 14 on the HMI 7 (S5). As shown in FIG. 6, the HMI 7 has a display 70 for displaying a manual operation switching threshold value for each direction of the steering operation on an instrument panel or the like. The display 70 includes a fan-shaped display frame 76. The fan-shaped display frame 76 includes radius lines 77 and 78 that are a pair of fan-shaped radius lines, and a circumferential line 79 that is a sector-shaped circumference. The display unit 70 includes a display frame 71 indicating a steering operation amount of the steering operation by the driver of the host vehicle V and a fan-shaped circumferential line 79 of the display frame 76 in the left and right sides. Manual operation switching threshold value displays 72 and 73 indicating the manual operation switching threshold values Tth_L and Tth_R in the respective steering directions.

  The display needle 71 includes a fixed end 74 and an instruction end 75 at both ends thereof. The fixed end 74 is fixed so as to be rotatable at the center of the fan-shaped display frame 76. The instruction end 75 rotates around the fixed end 74 along the circumferential line 79 of the display frame 76. The instruction end 75 indicates the current steering operation amount. When the current steering operation amount is 0, the pointing end 75 indicates a vertically upward direction. When the current steering operation amount is a value larger than 0 on either the left or right side, the pointing end 75 indicates an angle direction corresponding to the steering operation amount from a vertically upward direction.

  The manual operation switching threshold displays 72 and 73 are displayed outside the circumferential line 79 of the fan-shaped display frame 76. The manual operation switching threshold display 72 and 73 is displayed at a position corresponding to the manual operation switching threshold calculated by the calculation unit 14 outside the circumferential line 79 of the display frame 76. The positions of the manual operation switching threshold displays 72 and 73 vary with the variation of the manual operation switching threshold. In the example of FIG. 6, the radial lines 77 and 78 of the display frame 76 are displayed at positions corresponding to the positions of the manual operation switching threshold display 72 and 73, and the circumferential line 79 is at the position of the end of the radial lines 77 and 78. Fluctuate to the corresponding length. Accordingly, the shape of the fan-shaped display frame 76 also varies as the manual operation switching threshold display 72, 73 varies.

  The display on the display unit 70 makes it easier for the driver to intuitively understand the ease of switching to manual driving for left and right steering operations. The display frame 76 is not limited to the sector shape shown in FIG. 6, and may be, for example, a rectangular display frame having a pair of long sides parallel to the horizontal direction and a pair of short sides parallel to the vertical direction. Good.

  As shown in FIGS. 2 and 7A, when the steering operation amount (steering torque T) is equal to or greater than the manual operation switching threshold Tth (S6), the control unit 16 switches the automatic operation being performed to manual operation. (S7). On the other hand, as shown in FIGS. 2 and 7B, when the steering operation amount (steering torque T) is less than the manual operation switching threshold Tth (S7), the control unit 16 continues the automatic operation being executed. .

  According to the present embodiment, when the direction of the steering operation does not coincide with the rotation direction D of the steering wheel 8, as in the case where the driver accidentally touches the rotating steering wheel 8, the calculation unit 14 performs a large manual operation. Since the driving switching threshold value Tth_max is calculated, unless the driver intentionally applies a steering operation with a large steering operation amount, it is difficult to switch from automatic driving to manual driving, and switching to manual driving due to an erroneous operation can be reduced. it can. On the other hand, when the driver intentionally applies a steering operation in the same direction as the rotation direction of the steering wheel 8 that rotates, the calculation unit 14 calculates a small manual operation switching threshold Tth_min. It becomes easy to switch to driving, and the operability of switching to manual driving by intentional steering operation can be improved.

  As mentioned above, although embodiment of this invention was described, this invention is implemented in various forms, without being limited to the said embodiment.

  DESCRIPTION OF SYMBOLS 1 ... External sensor, 2 ... GPS receiving part, 3 ... Internal sensor, 4 ... Map database, 5 ... Navigation system, 6 ... Actuator, 7 ... HMI, 8 ... Steering wheel, U ... Auxiliary device, 10 ... ECU, 11 ... Steering operation amount acquisition unit, 12 ... rotational direction acquisition unit, 13 ... travel plan generation unit, 14 ... calculation unit, 15 ... display unit, 16 ... control unit, 70 ... display, 71 ... display needle, 72, 73 ... manual Driving switching threshold display, 74 ... fixed end, 75 ... indicating end, 76 ... display frame, 77, 78 ... radius line, 79 ... circumferential line, 100 ... automatic driving device, V ... own vehicle, D ... rotation direction.

Claims (1)

An automatic driving of the host vehicle is performed while rotating the steering wheel at a rotation angle corresponding to the steering angle, and a steering operation amount of the steering operation to the steering wheel by the driver of the host vehicle during the execution of the automatic driving is determined. If it is equal to or higher than the manual operation switching threshold, the automatic operation device switching the automatic operation being executed to manual operation,
A steering operation amount acquisition unit for acquiring the steering operation amount during execution of the automatic driving;
A rotation direction acquisition unit that acquires a rotation direction of the steering wheel that is rotating during execution of the automatic operation;
A calculation unit for calculating the manual operation switching threshold;
When performing the automatic driving and the steering operation amount is equal to or greater than the manual driving switching threshold, a control unit that switches the running automatic driving to manual driving;
With
The calculation unit may switch the manual operation greater when the steering operation direction does not match the rotation direction of the steering wheel than when the steering operation direction matches the rotation direction of the steering wheel. An automatic driving device that calculates the threshold.

Images