JP2019156199A - Automatic driving control ecu and automatic driving control method for vehicle - Google Patents

Abstract

To provide a technique capable of realizing observance of a proper traffic manner in automatic driving.SOLUTION: The invention comprises: a notification device for performing notification to a driver of an own vehicle; a sensor 122 for detecting a movable body which is going to move to a road where the own vehicle is traveling, in a state of interfering traveling of the own vehicle; a selection unit 150 for receiving input by a driver; and an automatic driving control ECU 110 for outputting a command value to a power control device, and being mounted on a vehicle comprising a power control device for causing the own vehicle to perform automatic driving. The automatic driving control ECU comprises: an automatic driving control part 118 for outputting a signal for controlling the power control device; a recognition part 112 for receiving a recognition result of the movable body detected by the sensor; a notification part 114 for outputting a signal to the notification device 140 for notifying the driver of the vehicle of existence of the movable body. The automatic driving control part performs priority driving control for giving priority to movement of the movable body relative to the traveling of the own vehicle, by controlling the vehicle, when selecting giving priority to the movable body.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic driving control ECU and an automatic driving control method for a vehicle.

  As a vehicle driving support device, there is known a device that detects an object on which a vehicle should be stopped from image data. In the vehicle driving support device described in Patent Document 1, the vehicle is stopped when a plurality of objects to be stopped are detected.

JP 2005-170154 A

  By the way, in automatic driving, there are cases where the situation to stop is not clear. For example, if there is a vehicle parked to enter the road from the side of the road at the end of the running road, it may be temporarily stopped at the request of the driver and given up the road from the viewpoint of traffic manners There is a favorable situation. Therefore, a technology that can realize compliance with appropriate traffic manners in autonomous driving has been desired.

  The present invention has been made to solve the above-described problems, and can be realized as the following forms.

  According to one aspect of the present invention, a notification device that notifies a driver of the host vehicle, and a sensor that captures a moving body that is moving on the road on which the host vehicle is traveling in a manner that prevents the host vehicle from traveling. (122), an automatic operation control ECU mounted on a vehicle including a selection device (150) that receives an input from the driver, and a power control device that automatically drives the host vehicle, and outputs a command value to the power control device (110) is provided. The automatic operation control ECU includes: an automatic operation control unit (118) that outputs a signal for controlling the power control device; a recognition unit (112) that receives a recognition result of the moving body captured by the sensor; A notification unit (114) that outputs a signal to a notification device (140) to notify the driver of the vehicle of the presence of the vehicle. In response to the notification, the automatic driving control unit controls the vehicle to perform the moving body when the driver selects to prioritize the moving body through the selection device. Priority driving control is performed to prioritize the movement being performed over the traveling of the vehicle.

  According to the automatic operation control ECU of this aspect, the automatic operation control unit performs priority operation control that prioritizes the movement of the moving object when the driver selects to prioritize the moving object in response to the notification. , Comply with proper traffic manners.

It is explanatory drawing which shows the outline | summary of a structure of an automatic driving | operation system. It is a figure which shows an example of a notification apparatus and a priority selection apparatus. It is a flowchart showing the manner compliance process in this embodiment. It is the figure which showed an example which recognizes a moving body. It is the figure which showed an example which recognizes a moving body. It is the figure which showed an example which recognizes a moving body. It is the figure which showed an example of the notification screen of a notification apparatus. It is a flowchart showing the manner compliance process in 2nd Embodiment. It is explanatory drawing of another vehicle notification apparatus. It is a flowchart showing an example of mobile body priority operation control. It is a flowchart showing the manner compliance process in 3rd Embodiment.

A. First embodiment:
An automatic driving system 100 shown in FIG. 1 performs automatic driving of a vehicle. In this embodiment, the automatic driving system 100 includes an automatic driving control ECU (Electronic Control Unit) 110, a peripheral object sensor 122, a peripheral recognition camera 124, a host vehicle position sensor 126, a road information storage unit 130, and a notification. Device 140, priority selection device 150, other vehicle notification device 160, navigation system 200, driving force control ECU 210, braking force control ECU 220, steering control ECU 230, and communication unit 240 are provided. The automatic driving control ECU 110, the navigation system 200, the driving force control ECU 210, the braking force control ECU 220, the steering control ECU 230, and the communication unit 240 are connected via the in-vehicle network 250.

  The automatic operation control ECU 110 includes a central processing unit (CPU), a microcomputer constituted by a RAM and a ROM, and the microcomputer executes a program installed in advance. The automatic driving control ECU 110 has functions of a recognition execution unit 111, a recognition unit 112, a notification unit 114, another vehicle notification unit 116, and an automatic driving control unit 118. Each of these units is realized by the automatic operation control ECU 110 executing a computer program. However, some or all of the functions of these units may be realized by a hardware circuit. The automatic operation control ECU 110 realizes that the vehicle automatically travels toward the destination. The automatic operation control ECU 110 is also referred to as an automatic operation control device.

  The recognition execution unit 111 recognizes objects around the vehicle from detection signals from the peripheral object sensor 122 and the peripheral recognition camera 124. In addition, the recognition execution unit 111 not only recognizes peripheral objects that affect the travel locus determined by the automatic driving control unit 118, but also stops in order to exit from the front side of the road on which the vehicle is traveling, etc. Also, the peripheral part that does not directly affect the setting of the travel locus is recognized. The recognition execution unit 111 may be provided in addition to the automatic operation control ECU 110. The recognition unit 112 receives the recognition result of the recognition execution unit 111.

  The peripheral object sensor 122 detects a situation around the vehicle for use in automatic driving control. The peripheral object sensor 122 includes various vehicles such as a preceding vehicle, an adjacent lane traveling vehicle, an oncoming vehicle, an approaching vehicle, a following vehicle, a nearby traveling vehicle, a stopped vehicle, a traveling obstacle such as a falling object, a stopped object, and a pedestrian. Detects the presence of surrounding objects and detects position, size, distance, etc. Specific examples of the peripheral object sensor 122 include a laser radar sensor, a millimeter wave sensor, and an ultrasonic sensor.

  The periphery recognition camera 124 captures the periphery of the vehicle and acquires an image. The recognition execution unit 111 detects the presence, position, size, distance, and the like of the peripheral object from the image captured by the peripheral recognition camera 124. It also detects the presence and position of the left and right lane markings in the lane in which the vehicle is traveling, the state of traffic lights, and traffic signs.

  The own vehicle position sensor 126 detects the current own vehicle position. Examples of the vehicle position sensor 126 include a global navigation satellite system (GNSS) and a gyro sensor. The recognition execution unit 111 uses the positioning signals, the lane line position detected by the peripheral recognition camera 124 processing the captured image, the road information read from the road information storage unit 130, and the lane that is running. The vehicle position including

  The road information storage unit 130 stores detailed road information related to the road on which the vehicle is scheduled to travel. The road information includes, for example, static information such as the number of lanes, lane width, center coordinates of each lane, curve curvature, stop line position, traffic signal position, etc., judgment of the automatic operation control ECU 110, control contents, a certain road section or point Storing dynamic information such as TOR (Take Over Request) that requests the driver to manually drive the vehicle and the number of times that the driver performs DOR (Drive Over Ride) that is driven manually by the driver. Yes.

  The notifying unit 114 is a moving body (hereinafter simply referred to as a “standby moving body”) that is about to move to the road on which the host vehicle to which the traveling road is to be transferred is traveling by the recognition executing unit 111 so as to prevent the host vehicle from traveling. ) Is detected, a signal is output to the notification device 140 to notify the driver of the presence of the standby moving body.

  As shown in FIG. 2, the notification device 140 is installed at a position where the driver of the host vehicle can check. The notification device 140 is a device that inquires of the driver whether or not to give a presence when a target to be transferred is detected, such as a vehicle coming out from the front side of the road on which the vehicle is traveling. . The notification device 140 can be realized using, for example, a lamp such as an LED, a display device that displays characters and pictures such as a car navigation system, and an audio device such as a speaker. Moreover, you may implement | achieve by the apparatus which vibrates a handle | steering-wheel or a sheet | seat and notifies. In the present embodiment, the notification device 140 is a car navigation display.

  The priority selection device 150 is a priority selection device for instructing the automatic driving system 100 to give the driver to the automatic driving system 100 when the notification device 140 makes an inquiry as to whether or not to give way to the standby moving body. As shown in FIG. 2, in the present embodiment, the priority selection device 150 is a dedicated momentary switch (a switch that is temporarily turned on only when pressed). The priority selection device 150 may be an existing operation device, for example, an accelerator pedal, a brake pedal, a shift lever, a paddle shift, a cruise control, or the like. Moreover, the button on the display provided with the touch sensor may be sufficient.

  When the priority selection device 150 selects a command to give way to the standby mobile body, the other vehicle notification unit 116 controls the other vehicle notification device 160 to inform the standby mobile body that the road is to be given. The other vehicle notification device 160 includes, for example, an alarm 162, a blinker 164, and a headlight 166.

  The automatic operation control unit 118 controls the vehicle. When the priority selection device 150 selects a command to give way to the standby moving body, the automatic driving control unit 118 performs priority driving control that gives priority to the movement of the standby moving body over the traveling of the own vehicle. The command value is output to the power control device. In the present embodiment, the driving force control ECU 210, the braking force control ECU 220, and the steering control ECU 230 correspond to a “power control device”.

  The driving force control ECU 210 is an electronic control device that controls an actuator that generates a driving force of a vehicle such as an engine. When the driver performs driving manually, the driving force control ECU 210 controls a power source that is an engine or an electric motor in accordance with the operation amount of the accelerator pedal. On the other hand, when performing automatic driving, the driving force control ECU 210 controls the power source according to the required driving force calculated by the automatic driving control ECU 110.

  The braking force control ECU 220 is an electronic control device that controls a brake actuator that generates a braking force of the vehicle. When the driver performs driving manually, the braking force control ECU 220 controls the brake actuator according to the operation amount of the brake pedal. On the other hand, when performing automatic driving, the braking force control ECU 220 controls the brake actuator according to the required braking force calculated by the automatic driving control ECU 110.

  The steering control ECU 230 is an electronic control device that controls a motor that generates a steering torque of the vehicle. When the driver performs driving manually, the steering control ECU 230 controls the motor according to the operation of the steering handle to generate assist torque for the steering operation. As a result, the driver can operate the steering with a small amount of force, thereby realizing the steering of the vehicle. On the other hand, when performing automatic driving, the steering control ECU 230 performs steering by controlling the motor according to the required steering angle calculated by the automatic driving control ECU 110.

  The navigation system 200 generates a route from the current location to the destination by the driver setting the destination. The automatic operation control ECU 110 performs control so as to travel following the route information generated by the navigation system 200.

  The communication unit 240 wirelessly receives road information such as accidents and traffic jams, and information from other vehicles that similarly have a communication function, such as position information of other vehicles.

  The manner observance process shown in FIG. 3 is a series of processes for performing priority driving control when a standby moving body is detected, notified to the driver, and priority is given to priority. This process is a process repeatedly executed by the automatic driving control ECU 110 during the operation of the automatic driving system 100. It is assumed that the destination is set in the navigation system 200 at the start of this process.

  First, the recognition execution unit 111 detects a moving object in step S100. More specifically, the moving object (person or vehicle) is recognized by the peripheral object sensor 122 or the peripheral recognition camera 124, and for example, it is recognized from the image of the peripheral recognition camera 124 that the moving body is emitting a blinker.

  As shown in FIGS. 4 to 6, when the host vehicle VL1 is traveling straight in the lane Ln1 in the direction D1, there is a moving body that is about to travel in the form of hindering the traveling of the host vehicle VL1 ahead of the planned travel path, that is, the lane Ln1. In this case, the recognition execution unit 111 recognizes the vehicles VL2, VL3, VL4 and the pedestrian m1. In the example of FIG. 4, the vehicle VL2 stops at the back of the parked vehicle VL3 (in front of the direction D1) so as to join the lane Ln1 from the parking lot P1 in front of the direction D1. In the example of FIG. 5, the vehicle VL4 is stopped to turn right in the form of crossing the lane Ln1 ahead of the direction D1 in the oncoming lane Ln2. In the example of FIG. 6, the pedestrian m1 is stopped near the road shoulder of the lane Ln1. In the following, the process of FIG. 3 will be described using FIG. 4 as an example.

  In step S110, the recognition execution unit 111 determines whether there is a standby mobile body (a mobile body that is about to travel on the road on which the host vehicle is traveling so as to prevent the host vehicle from traveling). When there is a standby moving body, the notification unit 114 proceeds to step S120 and controls the notification device 140 to notify the driver that there is a standby moving body. On the other hand, if there is no standby moving body, the process returns to step S100. Hereinafter, conditions for determining whether or not there is a standby moving body will be described with reference to FIGS.

<When the vehicle is moving from outside the driving lane ahead of the host vehicle (FIG. 4)>
In this case, for example, when the following conditions (1a) and (1b) are satisfied, it can be determined that the vehicle VL2 is a standby moving body.
(1a) The vehicle VL2 has stopped moving from the operating state facing the travel lane Ln1 of the host vehicle VL1. (1b) The vehicle VL2 has not stopped due to waiting for a signal.

  With respect to the condition (1a), the recognition execution unit 111 determines, for example, that the vehicle VL2 has stopped operating from the surrounding object sensor 122 and the surrounding recognition camera 124, and the surrounding object sensor 122 and the surrounding recognition camera. From 124, the navigation system 200, and the road information storage unit 130, it can be determined that the vehicle stops facing the traveling lane Ln1 of the host vehicle VL1. For the condition (1b), the recognition execution unit 111 acquires position information that the vehicle VL2 is in the parking lot P1 from the peripheral object sensor 122, the peripheral recognition camera 124, the navigation system 200, and the road information storage unit 130. It is determined that the vehicle VL2 is not stopped due to a signal. Thereby, the recognition execution part 111 can determine with the vehicle VL2 being a standby mobile body. In addition, about the vehicle VL3 parked in the parking lot P1, the recognition execution part 111 determines with not satisfy | filling conditions (1a), and can determine with the vehicle VL3 not being a standby mobile body.

  The conditions (1a) and (1b) are examples, and other conditions may be added, or only a part of the conditions (1a) and (1b) may be used. However, it is preferable to determine that the vehicle VL2 corresponds to the standby moving body when a predetermined condition including at least the condition (1a) is satisfied.

<When the vehicle is about to move from the opposite lane of its own vehicle (FIG. 5)>
In this case, for example, when the following conditions (2a) to (2c) are satisfied, it can be determined that the vehicle VL4 is a standby moving body.
(2a) The vehicle VL4 is in a stopped state facing the traveling lane Ln1 of the host vehicle VL1 (2b) The winker of the vehicle VL4 in the direction of the host vehicle VL1 is lit (2c) ) The stop of vehicle VL4 is not due to signal waiting

  The recognition execution unit 111 can recognize these conditions (2a) to (2c) by means similar to the above-described conditions (1a) and (1b). The above conditions (2a) to (2c) are examples, and other conditions may be added, or only a part of the above conditions (2a) to (2c) may be used. However, it is preferable to determine that the vehicle VL4 corresponds to the standby moving body when a predetermined condition including at least the condition (2a) is satisfied.

<When a pedestrian is about to move from outside the road in front of the vehicle (FIG. 6)>
In this case, when the following conditions (3a) to (3c) are satisfied, it can be determined that the pedestrian m1 is a standby moving body.
(3a) The pedestrian m1 faces the traveling lane Ln1 of the host vehicle VL1 and is waiting or traveling toward the traveling lane Ln1 of the host vehicle VL1. (3b) The line of sight of the pedestrian m1 faces the host vehicle VL1. (3c) Waiting for pedestrian m1 is not due to waiting for a signal

  The conditions (3a) to (3c) are examples, and other conditions may be added, or only a part of the conditions (3a) to (3c) may be used. However, it is preferable to determine that the pedestrian m1 is a person who corresponds to the standby moving body when a predetermined condition including at least the condition (3a) is satisfied.

  As shown in FIG. 7, in step S <b> 120, the notification device 140 notifies the driver of the own vehicle of the type of the moving body and the moving content of the moving body, and can input whether to give priority to the standby moving body. b1 and b2 are displayed. Note that the steering method may also be notified.

  Subsequently, in step S130, the automatic driving control unit 118 determines whether or not the driver has operated the priority selection device 150 and made an input giving priority to the standby moving body. When there is an input giving priority to the standby mobile body, the automatic operation control unit 118 performs mobile body priority operation control in step S140. The moving body priority operation control is, for example, deceleration or stop. On the other hand, if the input giving priority to the standby mobile body has not been made, the process returns to step S100.

  In the moving body priority operation control, the automatic operation control unit 118 determines the stop position of the host vehicle VL1 (the host vehicle indicated by a broken line in FIGS. 4 to 6) based on the stop request acquired from the priority selection device 150 and the position information of the stop target. The stop position is determined at the position of VL1a), and the target vehicle motion such as the travel route, the movement locus, and the speed plan toward the stop position is determined, and the automatic driving system 100 stops the vehicle at the position of the own vehicle VL1a. The vehicle movement is controlled, and the process proceeds to step S150.

  In step S150, the recognition execution unit 111 determines whether the movement of the standby moving body is completed. More specifically, the recognition execution unit 111 detects the position of the standby moving body VL2 and the driving situation such as stopping or running based on signals from the peripheral object sensor 122, the peripheral recognition camera 124, etc. A position where the moving body VL2 leaves the lane Ln1 and does not hinder the traveling of the host vehicle VL1, for example, the standby moving body VL2 travels in the same direction D1 as the host vehicle VL1 and moves to a position of a predetermined inter-vehicle distance from the host vehicle VL1. Determine whether or not. When the movement of the standby moving body is completed, the process proceeds to step S160, and the automatic operation control unit 118 returns to normal automatic operation control. For example, when the host vehicle VL1 is stopped, the vehicle starts, accelerates, and travels at a constant speed at the speed limit. Further, when the host vehicle VL1 is not stopped and travels while decelerating, the vehicle accelerates and travels at a constant speed at the speed limit. On the other hand, when the movement of the standby moving body is not completed, the process returns to step S140. That is, the automatic operation control unit 118 continues the moving body priority operation control until the movement of the standby moving body is completed. Regardless of these determinations, the automatic driving control unit 118 may end the mobile body priority driving control, for example, in accordance with the end instruction of the driver of the host vehicle VL1. An instruction to end the moving body priority operation control by the driver can be given by the priority selection device 150, for example.

  According to the automatic operation control ECU of the present embodiment described above, when the recognition execution unit 111 detects the standby moving body from the detection signals from the peripheral object sensor 122 and the peripheral recognition camera 124, the notification unit 114 sets the standby moving body. A signal is output to the notification device 140 in order to notify the presence of. Further, when the driver selects to give priority to the standby mobile body in response to the notification, the automatic operation control unit 118 performs priority operation control to give priority to the movement of the standby mobile body. Therefore, it is possible to realize proper traffic manners in autonomous driving.

B. Second embodiment:
The manner compliance process of the second embodiment shown in FIG. 8 is different from the first embodiment in that the waiting mobile body is notified of the movement that the standby mobile body is going to perform. The same as in the first embodiment. Since the configuration of the automatic driving system of the second embodiment is the same as the configuration of the automatic driving system of the first embodiment, the description of the configuration of the automatic driving system is omitted.

  In the first embodiment described above, the automatic operation control ECU 110 stops the host vehicle VL1 as the moving body priority operation control by the automatic operation control unit 118 in step S140. In the second embodiment, the automatic operation control ECU 110 notifies the vehicle VL2 of the other vehicle notification unit 116 in addition to the operation control of the host vehicle VL1 by the automatic operation control unit 118 in the moving body priority operation control performed in step S140. Do.

  As shown in FIG. 9, the other vehicle notification device 160 in the second embodiment is a chain lighting type winker 164. The other vehicle notification unit 116 sequentially turns on the winker 164 in the moving direction of the standby moving body VL2 to prompt the movement. Such lighting of the blinker 164 along one direction is referred to as “sequential lighting”.

  As shown in FIG. 10, also in the second embodiment, deceleration and stop of the host vehicle VL1 are employed as the moving body priority operation control. First, the automatic driving control unit 118 starts stop control of the host vehicle VL1 in step S200. More specifically, the driving force control ECU 210 is controlled to decelerate the host vehicle VL1 that stops at the position of the host vehicle VL1a (FIG. 4).

  Next, the automatic driving control unit 118 determines the state of the host vehicle VL1 in step S210. If the host vehicle VL1 is decelerating, that is, if it is not yet stopped, the process proceeds to step S220, and the other vehicle notification unit 116 controls the headlight 166 to perform passing. When the host vehicle VL1 has just stopped, the process proceeds to step S225, and the other vehicle notification unit 116 controls the blinker 164 to sequentially light in the moving direction of the standby moving body VL2. When the host vehicle VL1 is stopped, that is, when a predetermined time has passed immediately after the stop, the automatic operation control unit 118 ends the moving body priority operation control and proceeds to step S150 (FIG. 8). Transition.

  In the first embodiment described above, when the automatic operation control unit 118 determines in step S150 (FIG. 3) that the movement of the standby moving body VL2 is not completed, the process returns to the process of step S140. On the other hand, in the second embodiment, when it is determined in step S150 (FIG. 8) that the movement of the standby moving body VL2 is not completed, the process returns to the process of step S210 in the flowchart of the moving body priority operation control (FIG. 10). . More specifically, the automatic driving control unit 118 determines the situation of the host vehicle VL1 in step S210.

  According to the automatic driving control ECU of the present embodiment described above, since the other vehicle notification unit 116 outputs a signal to the other vehicle notification device 160 in order to notify the mobile body that the road is to be given off, You can move smoothly.

C. Third embodiment:
As shown in FIG. 11, the manner compliance processing of the third embodiment is performed by the standby moving body for the driver when there is a standby moving body and a predetermined transfer condition is established. Unlike the first embodiment, the other steps are the same as in the first embodiment in that a notification that prompts the user to move is performed. Since the configuration of the automatic driving system of the third embodiment is the same as the configuration of the automatic driving system of the first embodiment, description of the configuration of the automatic driving system is omitted. As the transfer condition, for example, any one or more of the following conditions can be adopted.
<Transfer conditions 1>
There is a following vehicle within a predetermined distance behind the host vehicle <Transfer condition 2>
There is no following vehicle within a predetermined distance behind the host vehicle <Transfer condition 3>
There is a place where the vehicle can stop safely

  When the above transfer condition 1 is established, for example, if the traffic volume is large and the traffic is congested, it is preferable in terms of traffic manners to give priority to the movement of the standby moving body. The distance from the following vehicle can be experimentally determined in advance. When this condition 1 is used, the communication unit 240 may perform vehicle-to-vehicle communication and acquire a distance from two or more vehicles behind the host vehicle.

  When the above transfer condition 2 is satisfied, even if the host vehicle is stopped, there is a low possibility that the vehicle will be collided with the succeeding vehicle, and priority can be given to the movement of the standby moving body safely. The distance from the following vehicle can be experimentally determined in advance. When both the transfer condition 1 and the transfer condition 2 are adopted, the distance from the subsequent vehicle in the transfer condition 2 is set longer than the distance from the subsequent vehicle in the transfer condition 1.

  When the above transfer condition 3 is established, for example, in moving body priority operation control, it is not safe for the host vehicle to stop on a pedestrian crossing, so it is possible to avoid stopping on the pedestrian crossing. When this transfer condition 3 is used, the automatic operation control unit 118 first derives the stop position and determines whether the stop position is safe.

  Moreover, the above transfer conditions 1 to 3 and other conditions can be appropriately combined to form transfer conditions. In the present embodiment, the transfer condition 1 described above is used.

  In the first embodiment described above, the automatic operation control unit 118 determines whether or not there is a standby moving body in step S110. If there is a standby moving body, the process proceeds to step S120 and notifies the driver. On the other hand, in the third embodiment, when there is a standby mobile body in step S110, the process proceeds to step S115, and the recognition execution unit 111 determines whether the transfer condition is satisfied. If the transfer condition is satisfied, in this embodiment, if there is a succeeding vehicle within a predetermined distance behind the host vehicle VL1, the process proceeds to step S120 to notify the driver. On the other hand, if the transfer condition is not satisfied, in the present embodiment, if there is no subsequent vehicle within a predetermined distance behind the host vehicle VL1, the process returns to step S100. That is, the automatic operation control unit 118 continues normal automatic operation control.

  According to the automatic operation control ECU of the present embodiment described above, since the proposal to give the road to the waiting mobile body is made to the driver of the own vehicle when the transfer condition is satisfied, the appropriate traffic is more effectively applied. Manner compliance can be realized.

D. Other embodiments:
In each of the above-described embodiments, even when the notification unit 114 does not notify the standby moving body, the driver automatically operates the priority selection device 150 so that the automatic driving control unit 118 performs the mobile body priority driving control. You may go. For example, even when the driver notices the standby mobile body before the recognition execution unit 111 detects the standby mobile body, proper traffic manners can be observed.

  The present invention is not limited to the above-described embodiment, and can be realized with various configurations without departing from the spirit of the present invention. For example, the technical features in the embodiments corresponding to the technical features in each embodiment described in the summary section of the invention are for solving the above-described problems or achieving some or all of the above-described effects. In addition, replacement and combination can be performed as appropriate. Further, if the technical feature is not described as essential in the present specification, it can be deleted as appropriate.

100 automatic driving system, 110 automatic driving control ECU, 111 recognition execution unit, 112 recognition unit, 114 notification unit, 116 other vehicle notification unit, 118 automatic driving control unit, 122 peripheral object sensor, 124 peripheral recognition camera, 126 own vehicle position Sensor 130 road information storage unit 140 notification device 150 priority selection device 160 other vehicle notification device 162 alarm device 164 blinker 166 headlight 200 navigation system 210 driving force control ECU 220 braking force control ECU 230 steering control ECU, 240 communication unit, 250 vehicle-mounted network

Claims (8)

A notification device for notifying the driver of the host vehicle, a sensor (122) that captures a moving body that is moving on the road on which the host vehicle is traveling in a manner that prevents the host vehicle from traveling, and the driver An automatic operation control ECU (110) that is mounted on a vehicle including a selection device (150) that receives an input and a power control device that automatically drives the host vehicle, and that outputs a command value to the power control device,
An automatic operation control unit (118) for outputting a signal for controlling the power control device;
A recognition unit (112) for receiving a recognition result of the moving body captured by the sensor;
A notification unit (114) that outputs a signal to a notification device (140) to notify the driver of the vehicle of the presence of the moving body,
In response to the notification, the automatic driving control unit controls the vehicle to perform the moving body when the driver selects to prioritize the moving body through the selection device. An automatic operation control ECU that performs priority operation control that prioritizes movement of a vehicle over traveling of the vehicle. The automatic operation control ECU according to claim 1, further comprising:
The other vehicle notification unit that outputs a signal for performing notification to the mobile body that prompts the mobile body to move using the other vehicle notification device (160) included in the host vehicle. 116), an automatic operation control ECU. An automatic operation control ECU according to claim 1 or 2, wherein
The priority operation control is an automatic operation control ECU including stopping the vehicle. An automatic operation control ECU according to any one of claims 1 to 3,
The notifying unit does not output a signal for notifying the driver of the presence of the moving body when there is a following vehicle within a predetermined distance behind the vehicle. . An automatic operation control ECU according to any one of claims 1 to 3,
The notifying unit does not output a signal for notifying the driver of the presence of the moving body to the driver when there is no following vehicle within a predetermined distance behind the vehicle. . An automatic operation control ECU according to any one of claims 1 to 5,
The notification unit is an automatic operation control ECU that further causes the notification device to notify the type of the moving body. An automatic operation control ECU according to any one of claims 1 to 6,
The automatic operation control unit is an automatic operation control ECU that ends the priority operation control when receiving an end instruction from the driver. A notification device for notifying the driver of the host vehicle, a sensor for capturing a moving body that is moving on the road on which the host vehicle is traveling in a manner that hinders the driving of the host vehicle, and a selection for receiving input from the driver An automatic driving control method for a vehicle comprising a device and a power control device for automatically driving the host vehicle,
Receiving the recognition result of the moving body captured by the sensor,
Outputting a signal to a notification device to notify the driver of the vehicle of the presence of the moving object,
In response to the notification, when the driver chooses to give priority to the moving body via the selection device, the vehicle is controlled so that the movement that the moving body is about to perform is controlled by the vehicle. An automatic operation control method that performs priority operation control that gives priority to the operation.

Images