JP2019073280A - Drive support apparatus, drive support method, and program - Google Patents

Abstract

To provide a technique for accurately determining the intention of an occupant regarding an automatic driving.SOLUTION: A drive support apparatus includes: a determination part for determining (S301) a presence of an instruction to start an automatic driving from a vehicular occupant; a determination part for determining whether a destination is set; a mode selection part for selecting either a first mode to perform an automatic driving toward the destination or a second mode to perform an automatic driving along a present travel road; and a control part for controlling the vehicle so as to perform an automatic driving in a mode selected by the mode selection part; and, further, a notification part for notifying (S308, S319) of a mode presently selected in a case where an automatic driving becomes available (Yes for S302) or the automatic driving is started. In a case where a set of the destination is cancelled in the state of performing the automatic driving in the first mode (Yes for S311), the mode selection part selects the automatic driving in the second mode.SELECTED DRAWING: Figure 3A

Description

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

  A driving support device has been developed that determines the driver's intention and performs automatic driving. When the start of automatic driving is instructed in the state where the destination is set, the driving support device described in Patent Document 1 performs the automatic driving toward the destination, and the state where the destination is not set. When it is instructed that the start of the automatic driving is given, the automatic driving or the automatic stopping to travel along the current traveling path is performed.

Patent No. 5382218 gazette

  The driving support apparatus described in Patent Document 1 starts automatic driving toward a destination when start of automatic driving is instructed in a state where the destination is set. However, even if the destination is set, the passenger of the vehicle does not always desire automatic driving toward the destination. For example, the passenger temporarily sets a home as a destination in order to return from the current location without a sense of geography to the home. The passenger may not change the destination when going off to a place with geographical sense on the way. In this state, when the passenger instructs the start of the automatic driving and the automatic driving toward the destination is started, the vehicle may not travel along the route intended by the passenger. In another example, the passenger wants to go through the recently opened road to the set destination, but if this road is not registered in the map of the navigation system, this road will be used for automatic driving toward the destination. The route which does not pass will be selected. An object of the present invention is to provide a technique for accurately determining a passenger's intention for autonomous driving.

  According to some embodiments of the present invention, determining means for determining presence / absence of an instruction to start automatic driving by a passenger of a vehicle, means for determining whether a destination is set, and Mode selection means for selecting the first mode for performing the automatic driving or the second mode for performing the automatic driving for traveling along the current traveling path, and the automatic driving in the mode selected by the mode selecting means In the driving support apparatus including the control means for controlling the vehicle, the notification means for notifying the currently selected mode is further provided when automatic driving can be started or automatic driving is started. The driving support apparatus according to claim 1, wherein the mode selecting unit selects the automatic driving in the second mode when the setting of the destination is canceled in a state where the automatic driving is performed in the first mode. But It is subjected.

  According to the above means, it is possible to accurately determine the passenger's intention for automatic driving.

BRIEF DESCRIPTION OF THE DRAWINGS The block diagram of the control apparatus for vehicles which concerns on embodiment. The schematic diagram explaining the structural example of the steering wheel which concerns on embodiment. The flowchart explaining the operation example of the control device for vehicles concerning an embodiment. The flowchart explaining the operation example of the control device for vehicles concerning another embodiment. The flowchart explaining the operation example of the control device for vehicles concerning an embodiment. A figure explaining a runway concerning an embodiment. The flowchart explaining the operation example of the control device for vehicles concerning an embodiment.

  Embodiments of the invention will now be described with reference to the accompanying drawings. Like elements are given the same reference numerals throughout the various embodiments and duplicate descriptions are omitted. In addition, each embodiment can be appropriately changed and combined.

  FIG. 1 is a block diagram of a control device for a vehicle according to an embodiment of the present invention, which controls a vehicle 1. In FIG. 1, the vehicle 1 is schematically shown in a plan view and a side view. The vehicle 1 is a sedan-type four-wheeled passenger car as an example.

  The control device of FIG. 1 includes a control unit 2. The control unit 2 includes a plurality of ECUs 20 to 29 communicably connected by an in-vehicle network. Each ECU includes a processor represented by a CPU, a memory such as a semiconductor memory, an interface with an external device, and the like. The memory stores programs executed by the processor, data used by the processor for processing, and the like. Each ECU may have a plurality of processors, memories, interfaces, and the like. For example, the ECU 20 includes a processor 20a and a memory 20b. When the processor 20a executes an instruction included in a program stored in the memory 20b, a process by the ECU 20 is performed. Instead of this, the ECU 20 may be provided with a dedicated integrated circuit such as an ASIC for executing the processing by the ECU 20.

  Hereinafter, the function etc. which each ECU20-29 takes charge of is demonstrated. The number of ECUs and functions to be in charge can be appropriately designed, and can be subdivided or integrated as compared with the present embodiment.

  The ECU 20 executes control related to automatic driving of the vehicle 1. In automatic driving, at least one of steering of the vehicle 1 and acceleration / deceleration is automatically controlled. In a control example to be described later, both steering and acceleration / deceleration are automatically controlled.

  The ECU 21 controls the electric power steering device 3. The electric power steering apparatus 3 includes a mechanism for steering the front wheels in response to a driver's driving operation (steering operation) on the steering wheel 31. Further, the electric power steering apparatus 3 includes a motor that exerts a driving force for assisting the steering operation and automatically steering the front wheels, a sensor that detects a steering angle, and the like. When the driving state of the vehicle 1 is automatic driving, the ECU 21 automatically controls the electric power steering device 3 in response to an instruction from the ECU 20 to control the traveling direction of the vehicle 1.

  The ECUs 22 and 23 perform control of detection units 41 to 43 that detect the surrounding situation of the vehicle and perform information processing of detection results. The detection unit 41 is a camera for capturing an image in front of the vehicle 1 (hereinafter, may be referred to as a camera 41), and in the case of the present embodiment, two are provided on the roof front of the vehicle 1. By analyzing the image captured by the camera 41, it is possible to extract the contour of the target and extract the lane line (white line etc.) on the road.

  The detection unit 42 is a lidar (laser radar) (hereinafter, may be referred to as a lidar 42), detects a target around the vehicle 1, and measures the distance to the target. In the case of the present embodiment, five lidars 42 are provided, one at each of the front corners of the vehicle 1, one at the center of the rear, and one at each side of the rear. The detection unit 43 is a millimeter wave radar (hereinafter, may be referred to as a radar 43), detects a target around the vehicle 1, and measures the distance to the target. In the case of this embodiment, five radars 43 are provided, one at the center of the front of the vehicle 1 and one at each of the front corners, and one at each of the rear corners.

  The ECU 22 performs control of one camera 41 and each lidar 42 and information processing of detection results. The ECU 23 controls the other camera 42 and each radar 43 and performs information processing of detection results. The reliability of the detection results can be improved by providing two sets of devices for detecting the surrounding environment of the vehicle, and by providing different types of detection units such as cameras, lidars and radars, analysis of the environment around the vehicle Can be done in many ways.

  The ECU 24 controls the gyro sensor 5, the GPS sensor 24b, and the communication device 24c, and performs information processing of a detection result or a communication result. The gyro sensor 5 detects the rotational movement of the vehicle 1. The course of the vehicle 1 can be determined based on the detection result of the gyro sensor 5, the wheel contact, and the like. The GPS sensor 24 b detects the current position of the vehicle 1. The communication device 24 c performs wireless communication with a server that provides map information and traffic information, and acquires such information. The ECU 24 can access a database 24a of map information built in a memory, and the ECU 24 performs a route search from a current location to a destination. The ECU 24, the map database 24a, and the GPS sensor 24b constitute a so-called navigation device.

  The ECU 25 includes a communication device 25a for inter-vehicle communication. The communication device 25a performs wireless communication with other vehicles in the vicinity to exchange information between the vehicles.

  The ECU 26 controls the power plant 6. The power plant 6 is a mechanism that outputs a driving force for rotating the drive wheels of the vehicle 1 and includes, for example, an engine and a transmission. The ECU 26 controls, for example, the output of the engine in response to the driver's driving operation (acceleration operation or acceleration operation) detected by the operation detection sensor 7a provided on the accelerator pedal 7A, the vehicle speed detected by the vehicle speed sensor 7c, etc. The transmission gear is switched based on the information of When the driving state of the vehicle 1 is automatic driving, the ECU 26 automatically controls the power plant 6 in response to an instruction from the ECU 20 to control acceleration / deceleration of the vehicle 1.

  The ECU 27 controls a lamp (headlight, taillight, etc.) including the direction indicator 8 (turner). In the example of FIG. 1, the turn indicator 8 is provided at the front, the door mirror and the rear of the vehicle 1.

  The ECU 28 controls the input / output device 9. The input / output device 9 outputs information to the driver and accepts input of information from the driver. The voice output device 91 reports information to the driver by voice. The display device 92 notifies the driver of the information by displaying an image. The display device 92 is disposed, for example, on the driver's seat surface and constitutes an instrument panel or the like. In addition, although an audio | voice and a display were illustrated here, you may alert | report information by a vibration or light. Further, information may be notified by combining a plurality of voice, display, vibration, or light. Furthermore, the combination may be different or the notification mode may be different according to the level of the information to be notified (for example, the degree of urgency). The input device 93 is arranged at a position where the driver can operate, and is a group of switches for giving an instruction to the vehicle 1. However, a voice input device may also be included.

  The ECU 29 controls the brake device 10 and a parking brake (not shown). The brake device 10 is, for example, a disc brake device, and is provided on each wheel of the vehicle 1 and decelerates or stops the vehicle 1 by adding resistance to the rotation of the wheel. The ECU 29 controls the operation of the brake device 10 in response to the driver's driving operation (brake operation) detected by the operation detection sensor 7b provided on the brake pedal 7B, for example. When the driving state of the vehicle 1 is automatic driving, the ECU 29 automatically controls the brake device 10 in response to an instruction from the ECU 20 to control the deceleration and stop of the vehicle 1. The brake device 10 and the parking brake can also be operated to maintain the vehicle 1 in the stopped state. In addition, when the transmission of the power plant 6 is provided with a parking lock mechanism, it can be operated to maintain the vehicle 1 in the stopped state.

<Steering wheel>
A specific configuration example of the steering wheel 31 will be described with reference to FIG. Fig.2 (a) shows the structure of the steering wheel 31 which concerns on one part embodiment, FIG.2 (b) shows the structure of the steering wheel 31 which concerns on another embodiment. In the respective drawings, depiction of components unnecessary for the description of the embodiment is omitted.

  A button 201 and a button 202 are mounted on a steering wheel 31 shown in FIG. 2 (a). The button 201 is a button for the driver of the vehicle 1 to instruct the vehicle 1 to start automatic driving toward the destination. Hereinafter, the automatic driving toward the destination is called the automatic driving in the destination mode. The button 202 is a button for instructing the driver of the vehicle 1 to start the automatic driving in which the vehicle 1 travels along the current traveling path. Hereinafter, the automatic driving traveling along the current traveling path will be referred to as road driving mode automatic driving. The driver of the vehicle 1 starts the automatic driving of the different modes, that is, the destination mode and the road mode by the different input methods, that is, the input method using the button 201 and the input method using the button 202. Can be instructed.

  A button 203 is mounted on the steering wheel 31 shown in FIG. 2 (b). The button 203 is a button used for both an instruction to start automatic driving in the destination mode and an instruction to start automatic driving in the road mode. The driver of the vehicle 1 can instruct the start of the automatic driving in the destination mode by the input method of pressing the button 203 for a short time, and can instruct the start of the automatic driving of the road mode by the input method of pressing the button 203 for a long time . A short press is an operation in which the duration of the button pressed state is less than the threshold time (for example, 1 second), and a long press is a duration of the button pressed state that is the threshold time (for example, 1 second) or more Is an operation. Alternatively, the driver of the vehicle 1 can instruct the start of the automatic driving in the destination mode by an input method in which the button 203 is lightly pressed or shallowly pressed, and the input method in which the button 203 is strongly pressed or deeply pressed. May instruct the start of the automatic driving in the road mode. Furthermore, the driver of the vehicle 1 can instruct the start of the automatic driving in the destination mode by the input method of pressing the button 203 silently, and the start of the automatic driving of the road mode by the input method of pushing the button 203 with voice. You may be able to indicate. Furthermore, the input method may be different by combining and pressing the button 203 and another button, or the input method may be different by pressing the button 203 with different gestures. Also in the embodiment of FIG. 2 (b), the driver of the vehicle 1 uses different input methods, ie, different input methods using the same button 203, so that different modes, ie, destination mode and road mode The start of automatic driving with can be instructed. In addition, when the driver of the vehicle 1 inputs an automatic driving mode using a terminal such as a smart key from the outside of the vehicle, the driver may specify different modes by operating the terminal by different input methods. Also, the driver of the vehicle 1 may perform different input methods at the timing of releasing the switch. For example, even if the driver of the vehicle 1 presses the two buttons and then simultaneously releases the destination mode by designating the destination mode, and then presses the two buttons and sequentially releases the hand, designating the road mode Good.

  Although the buttons 401 and 402 and the button 403 are mounted on the steering wheel 31 in the example of FIGS. 2A and 2B, the buttons 401 and 402 and the button 403 may be mounted on other places of the vehicle 1, for example, an instrument panel. In this case, a passenger other than the driver, that is, a passenger can operate the buttons 401 and 402 and the button 403. The buttons 401 to 403 may be hardware buttons or software buttons displayed on the touch screen.

  The vehicle 1 may have an input method for performing automatic driving for performing automatic stop, for example, in modes other than the destination mode and the road mode automatic driving. This input method may be an input method using a button different from the buttons 401 and 402 in the example of FIG. 2A, or in the example of FIG. 2B, the button 403 is different from the above. The input method may be used in an aspect of (for example, double click).

<Drive support method>
A driving support method that the vehicle 1 executes to start automatic driving will be described with reference to the flowchart in FIG. 3A. This method is executed by the ECU 20 that executes control related to the automatic driving of the vehicle 1. Therefore, the ECU 20 can also be called a driving support device. As described above, each of the following steps may be performed by the processor 20a of the ECU 20 executing an instruction included in the program stored in the memory 20b. This process is started, for example, when the vehicle 1 is started. In the following operation, the notification to the passenger by the ECU 20 is performed using the voice output device 91 and the display device 92.

  In step S301, the ECU 20 determines the presence or absence of an instruction to start automatic driving by a passenger of the vehicle 1. If it is determined that there is no start instruction ("NO" in step S301), the ECU 20 repeats step S301. If it is determined that there is a start instruction ("YES" in step S301), the ECU 20 advances the process to step S302.

  In step S302, the ECU 20 determines whether automatic driving can be started, based on the current position of the vehicle 1 and the surrounding conditions. For example, the ECU 20 determines that automatic driving can be started when the vehicle 1 is on a highway. The situation determined to be capable of starting automatic driving differs depending on the function that the vehicle 1 has. If it is determined that the automatic operation can be started ("YES" in step S302), the ECU 20 advances the process to step S306, and if it is determined that the automatic operation can not be started ("NO" in step S302), The ECU 20 advances the process to step S303.

  In step S303, the ECU 20 notifies the passenger of the vehicle 1 that the automatic driving can not be started, and continues the manual driving. In step S304, the ECU 20 determines whether automatic driving can be started based on the current position of the vehicle 1 and the surrounding conditions. If it is determined that the automatic operation can be started ("YES" in step S304), the ECU 20 advances the process to step S305, and if it is determined that the automatic operation can not be started ("NO" in step S304), The ECU 20 repeats step S304.

  In step S305, the ECU 20 notifies the passenger of the vehicle 1 that automatic driving can be started, and advances the process to step S306. As described above, after notifying in step S303 that automatic driving can not be started, stress in the passenger can be alleviated by notifying in step S305 that automatic driving can be started.

  When it is determined in step S302 or step S304 that automatic driving can be started, the ECU 20 selects the mode of automatic driving of the vehicle 1 according to the instruction in step S301 by performing the processing in step S306 and subsequent steps. Do. Specifically, in step S306, the ECU 20 determines whether or not the instruction in step S301 is an instruction to start automatic driving in the destination mode. As described above, in the embodiment of FIG. 2A, when the button 201 is pressed, the ECU 20 determines that the start of the automatic operation in the destination mode is instructed. In the embodiment of FIG. 2 (b), when the button 203 is pressed for a short time, the ECU 20 determines that the start of the automatic operation in the destination mode is instructed. If it is determined that the destination mode is instructed ("YES" in step S306), the ECU 20 advances the process to step S307, and if it is determined that the destination mode is not instructed ("NO" in step S306) Then, the ECU 20 advances the process to step S314.

  In step S307, the ECU 20 determines whether a destination is set. The user can set the destination through the input device 93 before the process of FIG. 3A is started, and the set destination is stored, for example, in the memory of the ECU 24. If it is determined that the destination is set ("YES" in step S307), the ECU 20 advances the process to step S308, and if it is determined that the destination is not set ("NO" in step S307) , The ECU 20 advances the process to step S310.

  In step S308, the ECU 20 notifies the passenger of the vehicle 1 that automatic driving in the destination mode has been selected. In step S309, the ECU 20 starts the automatic operation in the destination mode and ends the process. The ECU 20 may perform step S308 and step S309 in the reverse order. In this case, after the automatic driving is started in the destination mode, it is notified that the destination mode is selected.

  In step S310, the ECU 20 notifies the passenger of the vehicle 1 that the destination is not set. By this notification, the passenger of the vehicle 1 can know that although the start of the automatic driving in the destination mode has been instructed, such automatic driving can not be performed.

  In step S311, the ECU 20 determines the presence or absence of an instruction to start the automatic driving in the road mode by the passenger of the vehicle 1. If it is determined that there is no start instruction (“NO” in step S311), the ECU 20 advances the process to S312, and if it is determined that there is a start instruction (“YES” in step S311), the ECU 20 The process then proceeds to step S319.

  In step S312, the ECU 20 determines whether a predetermined time (for example, 5 seconds) has elapsed since the notification in step S310. If it is determined that the time has not elapsed ("NO" in step S312), the ECU 20 returns the process to S311, and if it is determined that the time has elapsed ("YES" in step S312), the ECU 20 proceeds to step S313. Advance to

  In step S313, the ECU 20 can not start the automatic driving in the destination mode and is not instructed to start the automatic driving in the road mode, so that the passenger of the vehicle 1 is notified of the continuation of the manual driving. In this case, the automatic operation is not started but the manual operation is continued.

  In step S314, the ECU 20 determines whether the instruction in step S301 is an instruction to start automatic driving in the road mode. As described above, in the embodiment of FIG. 2A, when the button 202 is pressed, the ECU 20 determines that the start of the automatic operation in the road mode is instructed. In the embodiment of FIG. 2 (b), when the button 203 is pressed for a long time, the ECU 20 determines that the start of the automatic operation in the road mode is instructed. If it is determined that the road mode is instructed ("YES" in step S314), the ECU 20 advances the process to step S315, and if it is determined that the road mode is not instructed ("NO" in step S314) Then, the ECU 20 advances the process to step S321.

  In step S315, the ECU 20 determines whether a destination is set. If it is determined that the destination is set ("YES" in step S315), the ECU 20 advances the process to step S316, and if it is determined that the destination is not set ("NO" in step S315) ), The ECU 20 advances the process to step S319.

  In step S316, the ECU 20 notifies the passenger of the vehicle 1 that the destination is set. By this notification, the passenger of the vehicle 1 can know that the destination has been set although the start of the automatic driving in the road mode is instructed.

  In step S317, the ECU 20 determines whether or not the passenger of the vehicle 1 has instructed the start of the automatic driving in the destination mode. If it is determined that there is no start instruction (“NO” in step S317), the ECU 20 advances the process to S318, and if it is determined that there is a start instruction (“YES” in step S317), the ECU 20 The process then proceeds to step S308.

  In step S318, the ECU 20 determines whether a predetermined time (for example, 5 seconds) has elapsed since the notification in step S316. If it is determined that the time has not elapsed ("NO" in step S318), the ECU 20 returns the process to S317, and if it is determined that the time has elapsed ("YES" in step S318), the ECU 20 proceeds to step S313. Advance to

  In step S319, the ECU 20 notifies the passenger of the vehicle 1 that automatic driving in the road mode has been selected. In step S320, the ECU 20 starts automatic operation in road mode and ends the process. The ECU 20 may perform step S319 and step S320 in the reverse order. In this case, after the automatic operation is started in the road mode, it is notified that the road mode is selected.

  In step S321, the ECU 20 selects an automatic operation in another mode (for example, an automatic stop mode), starts the automatic operation in that mode, and ends the process.

  In the above embodiment, even if it is determined that the road mode is instructed in step S314, the presence or absence of destination setting is determined in step S315. However, even if the destination is set, the ECU 20 can execute the automatic driving in the road mode, so steps S315 to S318 may be omitted. In this case, when it is determined that the road mode is instructed in step S314, the ECU 20 advances the process to step S319.

  Further, when it is determined in step S318 that the predetermined time has elapsed without an instruction of the destination mode, the ECU 20 may advance the process to step S319 instead of proceeding to step S313. Furthermore, the notification in the above method may be omitted.

  With reference to the flowchart of FIG. 3B, another example of the driving support method executed by the vehicle 1 to start the automatic driving will be described. In the following, differences from the example described using FIG. 3A will be mainly described, and redundant description will be omitted.

  The first difference is that the ECU 20 performs step S322 instead of step S310 in FIG. 3A, and thereafter advances the process to step S320. In step S322, the ECU 20 notifies the passenger of the vehicle 1 that the destination is not set and notifies that the automatic driving in the road mode is selected. Thereafter, the ECU 20 advances the process to step S320, starts the automatic operation in the road mode, and ends the process. According to this process, although the passenger instructs the start of the automatic driving in the destination mode, the road mode is automatically selected when such automatic driving can not be performed.

  The second difference is that the ECU 20 advances the process to step S319 when it is determined in step S318 that the predetermined time has elapsed (“YES” in step S318). According to this process, when the passenger instructs the start of the automatic driving in the road mode while the destination is set, the road mode is automatically selected when the change to the destination mode is not instructed. It is selected.

  A driving support method executed while the vehicle 1 is in automatic driving in the road mode will be described with reference to the flowchart in FIG. 4. This method is executed by the ECU 20 that executes control related to the automatic driving of the vehicle 1. Therefore, the ECU 20 can also be called a driving support device. As described above, each of the following steps may be performed by the processor 20a of the ECU 20 executing an instruction included in the program stored in the memory 20b. This process is performed, for example, during automatic operation in road mode. In the following operation, the notification to the passenger by the ECU 20 is performed using the voice output device 91 and the display device 92.

  In step S401, the ECU 20 determines whether the current traveling route has a plurality of traveling directions. In the example shown in FIG. 5, the current travel path 501 has a traveling direction 502 and a traveling direction 503 ahead thereof. The traveling direction may be a rough direction such as the Tohoku direction or Tokyo direction, or may be a close direction such as the exit of the nearest interchange. If it is determined that there is a plurality of traveling directions ("YES" in step S401), the ECU 20 proceeds to step S402, and if it is determined that there is not a plurality of traveling directions (only one traveling direction) ( In step S401, the ECU 20 advances the process to step S404.

  In step S402, the ECU 20 inquires the passenger of the vehicle 1 which traveling direction to select. In step S403, the ECU 20 determines the traveling direction of the vehicle 1 and performs automatic driving in the determined traveling direction. Although the ECU 20 selects the traveling direction selected by the passenger of the vehicle 1 using the input device 93 in response to the inquiry in step S402, when the traveling direction is not selected, the ECU 20 selects one of the traveling directions. It may be selected automatically. For example, the traveling direction of the vehicle may go straight ahead and the traveling direction may be selected, or the traveling direction on the side of the traveling road having a wide road width may be selected. In any of the examples shown in FIG. 5, the ECU 20 selects the traveling direction 502.

  In step S404, the ECU 20 determines whether a new destination has been set by the passenger of the vehicle 1. The setting of the new destination includes the case where the destination is updated and the case where the unset destination is set. The new destination may be set manually by the passenger using the input device 93 or the navigation device. If it is determined that a new destination has been set (“YES” in step S404), the ECU 20 advances the process to step S405, and if it is determined that a new destination has not been set (“NO” in step S404) And the ECU 20 returns the process to step S401.

  In step S405, the ECU 20 notifies the passenger of the vehicle 1 that automatic driving in the destination mode has been selected. In step S406, the ECU 20 starts the automatic operation of the destination mode directed to the set new destination, and ends the process.

  A driving support method executed by the vehicle 1 during automatic driving in the destination mode will be described with reference to the flowchart in FIG. This method is executed by the ECU 20 that executes control related to the automatic driving of the vehicle 1. Therefore, the ECU 20 can also be called a driving support device. As described above, each of the following steps may be performed by the processor 20a of the ECU 20 executing an instruction included in the program stored in the memory 20b. This process is performed, for example, during automatic driving in the destination mode. In the following operation, the notification to the passenger by the ECU 20 is performed using the voice output device 91 and the display device 92.

  In step S601, the ECU 20 determines whether the setting of the destination has been canceled by the passenger of the vehicle 1 using the input device 93 or the navigation device. If it is determined that the setting of the destination has been canceled ("YES" in step S601), the ECU 20 advances the process to step S602, and if it is determined that the setting of the destination has not been canceled ("NO" in step S601). And the ECU 20 returns the process to step S601.

  In step S602, the ECU 20 notifies the passenger of the vehicle 1 that the setting of the destination has been canceled and that the automatic driving in the road mode is selected. In step S603, the ECU 20 starts automatic operation in road mode and ends the process.

  In the above-described process, the ECU 20 selects the mode in which the automatic driving is performed based on the input method by which the passenger instructs start of the automatic driving. Instead of this, the ECU 20 performs the automatic driving based on the presence or absence of the setting of the destination when the rider instructs the start of the automatic driving as in the conventional example described in, for example, Japanese Patent No. 5382218. You may select the mode of.

<Summary of the embodiment>
Hereinafter, the above embodiment and effects will be summarized.
[Configuration 1]
Determining means (20, S301) for determining presence or absence of an instruction to start automatic driving by a passenger of the vehicle (1);
Mode selecting means (20, S306 to S320) for selecting a mode of automatic driving of the vehicle according to the instruction;
Control means (20, S309, S320) for controlling the vehicle to perform automatic driving in the mode selected by the mode selection means,
The mode selection means
When the start of the automatic driving is instructed by the first input, it is determined that the first mode for performing the automatic driving toward the destination is instructed (S306).
When the start of the automatic driving is instructed by the second input different from the first input, it is determined that the second mode to perform the automatic driving traveling along the current traveling path (501) is instructed (S314) A driving support device characterized in that.

  According to this configuration, since the intention of the passenger of the vehicle for the automatic driving can be accurately determined, the driving intended by the passenger becomes possible.

[Configuration 2]
The first input is an input by a first button (201),
The driving support device according to Configuration 1, wherein the second input is an input by a second button (202) different from the first button.

  According to this configuration, two buttons can be used to clearly determine the passenger's intention.

[Configuration 3]
The first input is an input for operating the button (203) in a first mode,
The driving support device according to Configuration 1, wherein the second input is an input for operating the button in a second mode different from the first mode.

  According to this configuration, a single button can be used to clearly determine the passenger's intention.

[Configuration 4]
It further comprises means for determining whether a destination is set,
And a notification means for notifying the passenger of the information,
When the start of the automatic operation is instructed by the second input while the destination is set,
The notification means notifies the passenger that the destination is set (S316).
Any one of configurations 1 to 3 wherein the mode selection means selects either the first mode according to an instruction from the passenger (S309) or the continuation of the manual operation (S313). The driving support device according to any one of the above.

  According to this configuration, it is possible to confirm to the passenger whether the intention is correct when the destination is set.

[Configuration 5]
Means for determining whether a destination is set;
And a notification means for notifying the passenger of the information,
When the start of the automatic operation is instructed by the second input while the destination is set,
The notification means notifies the passenger that the destination is set (S316).
Any one of configurations 1 to 3 wherein the mode selection means selects either the first mode (S309) or the second mode (S320) in accordance with an instruction from the passenger. The driving support device according to any one of the above.

  According to this configuration, when the road mode is selected by the mode selection unit, automatic driving as intended by the passenger is started to notify that the opposite destination is set and prompt the mode selection again. And the stress on the passengers is reduced.

[Configuration 6]
Means for determining whether a destination is set;
And a notification means for notifying the passenger of the information,
When the start of the automatic operation is instructed by the first input while the destination is not set,
The notification means notifies the passenger that the destination is not set (S310).
Any one of configurations 1 to 3 wherein the mode selection means selects either the second mode (S320) or the continuation of the manual operation (S313) in accordance with an instruction from the passenger. The driving support device according to any one of the above.

  According to this configuration, when the destination is not set, it is possible to confirm to the passenger whether the intention is correct.

[Configuration 7]
Means for determining whether a destination is set;
And a notification means for notifying the passenger of the information,
When the start of the automatic operation is instructed by the first input while the destination is not set,
The notification means notifies the passenger that the destination is not set (S322).
The mode selection unit selects the second mode (S320), and
When a destination is set in a state in which the automatic operation is performed in the second mode, the mode selection unit selects the automatic operation in the first mode directed to the destination (S406). The driving assistance device according to any one of Configurations 1 to 3.

  According to this configuration, when the destination is not set, it is possible to confirm to the passenger whether the intention is correct. When the destination mode is not set even though the destination mode is selected by the mode selection means, it is notified that the destination is not set, and once it is in the road mode, while in the road mode automatic operation Since the destination mode is selected when the destination is set to, even if the destination is not set against the passenger's intention, automatic driving is not canceled and the destination is set during automatic driving. Because it can be used, it is easy to use and stress is reduced. That is, from the viewpoint of driver distraction (distraction caused by an action other than driving), the destination can not be set during the manual driving, and therefore it is necessary to stop once to set the destination. However, since the driving mode is switched to automatic driving in the road mode, an intended destination can be set during automatic driving, which is easy to use and reduces stress.

[Configuration 8]
Configuration 1 to 7 further comprising means (20, S305) for notifying the passenger that automatic driving is possible or automatic driving is started when the vehicle can start automatic driving. The driving assistance device according to any one of the above.

  According to this configuration, the passenger can know that the automatic driving can be performed or the automatic driving is started, and the stress of the passenger can be alleviated.

[Configuration 9]
It further comprises means (20, S402) for inquiring of the passenger which traveling direction is to be selected when there are a plurality of traveling directions on the traveling path in a state where automatic driving is performed in the second mode. The driving assistance device according to any one of Configurations 1 to 8 characterized by the above.

  According to this configuration, it is possible to correctly grasp the passenger's intention during automatic driving in the road mode.

[Configuration 10]
When a new destination is set in a state where automatic driving is performed in the second mode, the mode selection unit selects automatic driving in the first mode directed to the new destination (S406). The driving assistance apparatus according to any one of Configurations 1 to 9, characterized in that:

  According to this configuration, when a new destination is set, it is possible to correctly grasp the passenger's intention.

[Configuration 11]
A determination step (S301) of determining presence / absence of an instruction to start automatic driving by a passenger of the vehicle (1);
A mode selection step (S306 to S320) of selecting a mode of automatic driving of the vehicle according to the instruction;
Control steps (S309, S320) for controlling the vehicle to perform automatic driving in the mode selected in the mode selection step;
In the mode selection process,
When the start of the automatic driving is instructed by the first input, it is determined that the first mode for performing the automatic driving toward the destination is instructed (S306).
When the start of the automatic driving is instructed by the second input different from the first input, it is determined that the second mode to perform the automatic driving traveling along the current traveling path (501) is instructed (S314) A driving assistance method characterized by including.

  According to this configuration, since the intention of the passenger of the vehicle for the automatic driving can be accurately determined, the driving intended by the passenger becomes possible.

[Configuration 12]
In the processor (20a)
A determination step (S301) of determining presence / absence of an instruction to start automatic driving by a passenger of the vehicle (1);
A mode selection step (S306 to S320) of selecting a mode of automatic driving of the vehicle according to the instruction;
A control step (S309, S320) for controlling the vehicle to perform automatic driving in the mode selected in the mode selection step;
In the mode selection process,
When the start of the automatic driving is instructed by the first input, it is determined that the first mode for performing the automatic driving toward the destination is instructed (S306).
When the start of the automatic driving is instructed by the second input different from the first input, it is determined that the second mode to perform the automatic driving traveling along the current traveling path (501) is instructed (S314) A program characterized by including.

  According to this configuration, since the intention of the passenger of the vehicle for the automatic driving can be accurately determined, the driving intended by the passenger becomes possible.

[Configuration 13]
Determining means (20, S301) for determining presence or absence of an instruction to start automatic driving by a passenger of the vehicle (1);
A unit (20, S 307, S 315) for determining whether a destination is set;
Mode selection means (20, S306 to S320) for selecting whether to be in a first mode of performing automatic driving toward a destination or in a second mode of performing automatic driving traveling along a current traveling path;
A driving support apparatus comprising control means (20, S309, S320) for controlling the vehicle to perform automatic driving in the mode selected by the mode selecting means;
And a means (20, S308, S319) for notifying of the currently selected mode when the automatic operation can be started or when the automatic operation is started,
The mode selection means
When a destination is set in a state where automatic driving is performed in the second mode, automatic driving in the first mode is selected (S404 to S406).

  According to this configuration, the automatic driving can be started, or when it is started, the currently-selected automatic driving mode is notified, so that the passenger can know which mode the automatic driving is to be executed. Rest assured that you can check. As a result, stress is reduced. Furthermore, when the destination is set during the automatic driving in the road mode, the mode is switched to the destination mode, so that the automatic driving as intended by the passenger is performed, which is highly convenient.

[Configuration 14]
Determining means (20, S301) for determining presence or absence of an instruction to start automatic driving by a passenger of the vehicle (1);
A unit (20, S 307, S 315) for determining whether a destination is set;
Mode selection means (20, S306 to S320) for selecting whether to be in a first mode of performing automatic driving toward a destination or in a second mode of performing automatic driving traveling along a current traveling path;
A driving support apparatus comprising control means (20, S309, S320) for controlling the vehicle to perform automatic driving in the mode selected by the mode selecting means;
And a means (20, S308, S319) for notifying of the currently selected mode when the automatic operation can be started or when the automatic operation is started,
The mode selection means
When the setting of the destination is canceled in a state in which the automatic driving is performed in the first mode, the automatic driving in the second mode is selected (S601, S603).

  According to this configuration, the automatic driving can be started, or when it is started, the currently-selected automatic driving mode is notified, so that the passenger can know which mode the automatic driving is to be executed. Rest assured that you can check. As a result, stress is reduced. Furthermore, when the destination set during the destination mode automatic operation is canceled, the mode is switched to the road mode, so that the automatic operation as intended by the passenger is performed, which is highly convenient. In other words, even if the destination is changed due to some cause during automatic operation in the destination mode, automatic operation is not canceled and automatic operation can be continued during automatic operation. Since the destination can be set, it is easy to use and stress is reduced. That is, from the viewpoint of driver distraction, the destination can not be set during the manual operation, and therefore it is necessary to stop once to cancel the destination and reset the destination. However, since the driving mode is switched to automatic driving in the road mode, an intended destination can be set during automatic driving, which is easy to use and reduces stress.

Claims (6)

Determining means for determining presence or absence of an instruction to start automatic driving by a passenger of the vehicle;
Means for determining whether a destination is set;
Mode selection means for selecting whether to be in a first mode in which automatic driving toward a destination is performed or in a second mode in which automatic driving traveling along a current traveling path is to be performed;
A driving support apparatus comprising: control means for controlling the vehicle to perform automatic driving in a mode selected by the mode selection means;
The system further comprises notification means for notifying the currently selected mode when automatic driving can be started or automatic driving is started,
The mode selection means
The driving support apparatus according to claim 1, wherein when the setting of the destination is canceled in a state in which the automatic driving is performed in the first mode, the automatic driving in the second mode is selected. When setting of the destination is canceled in a state where automatic driving is performed in the first mode,
The notification means notifies cancellation of the automatic driving in the first mode and notifies that the automatic driving in the second mode is selected.
The driving support apparatus according to claim 1, wherein the control unit starts the automatic driving in the second mode after the notification by the notification unit.   The vehicle control apparatus further comprises means for inquiring of the passenger which traveling direction is to be selected when there are a plurality of traveling directions on the traveling road in a state where automatic driving is performed in the second mode. The driving support device according to 1 or 2. The mode selection means
When the start of the automatic driving is instructed by the first input, it is determined that the first mode is instructed,
The method according to any one of claims 1 to 3, wherein it is determined that the second mode is instructed when the start of the automatic driving is instructed by a second input different from the first input. Driving support device. The first input is an input by a first button,
The driving support apparatus according to claim 4, wherein the second input is an input by a second button different from the first button. The first input is an input for operating the button in a first mode,
5. The driving support device according to claim 4, wherein the second input is an input for operating the button in a second mode different from the first mode.