JP2019200576A - Automatic driving vehicle - Google Patents

Abstract

To provide an automatic driving vehicle having dangerous area avoiding means that forcibly switches to a manual driving mode when a steering releasing time of a driver has passed a predetermined time in an automatic driving mode.SOLUTION: In an automatic driving mode, when a driver releases a steering hand, a vehicle is controlled so as to predict a position of an own vehicle in a case where a predetermined time elapses before a steering release time of a driver passes a predetermined time. When it is determined that the predicted position of the own vehicle is a high-risk area, the vehicle is controlled so as to avoid the traveling of the own vehicle in the high-risk area.SELECTED DRAWING: Figure 3

Description

The present invention relates to an automatic driving vehicle including an automatic driving control device capable of switching between a manual driving mode of a vehicle and an automatic driving mode having a plurality of automatic driving functions.

Patent Document 1 discloses an automatic driving vehicle having an automatic driving mode in which driving is performed by determining a driving situation from a sensor or the like regardless of a driver's operation, and a manual driving mode in which the vehicle is driven by a driver's operation. Has been.
According to the revision of the safety standards of the Road Traffic Law announced by the Ministry of Land, Infrastructure, Transport and Tourism on October 10, 2017, “When the driver drives the steering wheel for more than 15 seconds, the driver is warned, and then the driver is allowed to let go. If the operation continues, it is obliged to forcibly switch to the manual operation mode 50 seconds after issuing the warning.

JP-A-9-222922

  By the way, when an attempt is made to simply apply the revision of the safety standards of the Ministry of Land, Infrastructure, Transport and Tourism to an automatic driving vehicle such as Patent Document 1, the automatic operation mode is forcibly switched to the manual operation mode regardless of the driving state. Therefore, the safe traveling of the host vehicle is suppressed, and there is a risk of disturbing traffic.

  SUMMARY OF THE INVENTION The present invention has been made in view of such technical problems. In an automatic driving vehicle that forcibly switches to a manual operation mode when a driver's steering release time elapses a predetermined time in the automatic operation mode, the danger area avoiding means is provided. It aims at providing the self-driving vehicle which has.

  In the self-driving vehicle of the present invention, when the driver releases the steering in the automatic driving mode, the vehicle position when the predetermined time elapses is predicted before the driver's steering release time elapses. When the predicted position of the host vehicle is determined to be a high risk area that satisfies a predetermined condition, the vehicle is controlled to avoid traveling of the host vehicle in the high risk area. .

  Therefore, in the automatic driving vehicle of the present invention, it is possible to ensure the safety of the host vehicle and the surrounding environment even when the driver drives the steering wheel in the automatic driving mode.

It is a control system block diagram of the automatic driving vehicle of Example 1. FIG. 6 is a flowchart illustrating a flow of processing for determining a high risk area when the driver's steering release operation is performed in the automatic driving mode of the first embodiment. 7 is a flowchart showing a flow of processing of high risk area avoidance control by acceleration as a first means when the driver's steering release operation is performed in the automatic driving mode of the first embodiment. 7 is a flowchart showing a flow of processing of high-risk area avoidance control by deceleration as a first means when a driver's steering release operation is performed in the automatic driving mode of the first embodiment. 7 is a flowchart showing a flow of processing of high-risk area avoidance control by changing a traveling route as a second means when a driver's steering release operation is performed in the automatic driving mode of the first embodiment. 6 is a time chart showing an example of high risk area avoidance control by acceleration as the first means of the first embodiment. 3 is a time chart showing an example of high risk area avoidance control by deceleration as the first means of the first embodiment. 6 is a time chart showing an example of high risk area avoidance control by changing a traveling route as the second means of the first embodiment.

[Example 1]
FIG. 1 is a block diagram of a control system for an autonomous vehicle according to a first embodiment.

As shown in FIG. 1, there is an automatic operation control unit 1 as an automatic operation control device.
In addition to the manual operation function (level 0), the automatic operation control unit 1 has automatic operation functions from level 1 to level 5.
In level 1 (driving support), any one of steering operation and acceleration / deceleration is performed in a supportive manner. For example, an adaptive cruise control in which the vehicle automatically accelerates or decelerates within a preset vehicle speed and follows the vehicle while maintaining an appropriate inter-vehicle distance from the preceding vehicle.
Level 2 (partial automatic operation) performs a plurality of operations simultaneously among steering operation and acceleration / deceleration. For example, in a traffic jam support system that corrects deviations in the driving lane during traffic jams, tracks the preceding vehicle while maintaining a certain distance between vehicles, detects the movement of the preceding vehicle after stopping, and starts again is there. In this case, the driver needs to constantly monitor and operate the driving situation.
Level 3 (conditional automatic driving) automatically performs steering operation / acceleration / deceleration only in a limited environment or in traffic conditions, and the driver responds when the automatic driving control unit 1 requests in an emergency.
Level 4 (highly automatic driving) means that the automatic driving control unit 1 controls all of the steering operation and acceleration / deceleration only under specific conditions (for example, a highway). Driving away from certain conditions requires driving by the driver.
Level 5 (fully automatic operation) is an unattended operation that does not require a driver.
In addition, the automatic driving control unit 1 includes driving road information, etc. from the own vehicle communication device 2 as a surrounding environment detection unit that performs external communication (road-to-vehicle communication, vehicle-to-vehicle communication, pedestrian communication, etc.) Vehicle information, pedestrian information, etc. are input.
Road-to-vehicle communication is to perform mutual communication between the vehicle and a roadside machine installed on the road.
Thereby, for example, the own vehicle transmits its own vehicle information to the roadside machine. The roadside machine knows the surrounding situation, sends its own vehicle information to other vehicles running around it, and can prevent collision accidents by alerting the driver of other vehicles, the road side where sensors and cameras are installed If it is a plane, the roadside plane itself can check for the presence of pedestrians in cars and pedestrian crossings and send it to nearby cars to prevent accidents. In this case, if the vehicle has a communication system, the surrounding environment can be grasped even if the surrounding vehicle or person does not have the communication system.
Inter-vehicle communication is mutual communication between the host vehicle and other vehicles in the vicinity.
As a result, at intersections with poor visibility, vehicles equipped with communication systems send and receive information such as the position and speed of each other wirelessly. Can prevent.
Inter-pedal communication is mutual communication between the vehicle and a pedestrian in the vicinity.
As a result, a pedestrian with a smartphone and a vehicle equipped with a communication system wirelessly transmits and receives information such as the position and speed of each other at an unforeseen intersection, and if there is a risk of a head-on collision, walk with the driver of the host vehicle. Can be used to warn people and prevent collisions.
In addition, the automatic driving control unit 1 includes the vehicle position information from the GPS antenna 3 as the surrounding environment detection unit, the surrounding road state information from the road state detecting device 4, the map information from the navigation device 5, and the traffic state information. , Object information around the vehicle from the object detection sensor 6, vehicle state information such as rudder angle from various sensors 7 as a vehicle state detection unit, vehicle speed information from the vehicle speed sensor 7a, battery state from the Bat monitoring system 8 Information is entered.
In addition, operation information of an automatic operation mode switch (SW) 20 as a changeover switch is input to the automatic operation control unit 1 from the driver.
As a result, the automatic operation control unit 1 pre-reads based on the input information described above while traveling in the automatic operation mode of a plurality of automatic operation functions (level 1 to level 5) corresponding to the operation of the automatic operation mode SW20 of the driver. And drive as safely as possible without driver operation.

The automatic operation control unit 1 outputs instructions such as warning alarms for issuing warnings to the driver to the in-vehicle speaker 9, information notification by voice such as acceleration / deceleration / route change, as a power source A driving force instruction to the internal combustion engine control unit 10 for controlling the internal combustion engine 11, a shift instruction to the automatic transmission control unit 12 for controlling the automatic transmission 13 as a driving force transmission device, and a motor 15 as a power source. There are a driving force instruction to the motor control control unit 14 to be controlled, a braking force instruction to the brake control control unit 16 to control the brake actuator 17, a steering angle instruction to the steering control control unit 18 to control the steering 19, etc. .
The automatic operation control unit 1 communicates with each control unit in order to monitor the operation of the internal combustion engine 11, the automatic transmission 13, the motor 15, the brake actuator 17, and the steering 19.
The steering 19 is provided with a hold sensor 21 to detect whether the driver is holding or releasing the steering, and this information is sent to the control unit 1 for automatic driving.
Furthermore, the control unit 1 for automatic driving has a dangerous area avoiding means 1a.
When the driver releases the steering wheel in the automatic driving mode, the danger area avoiding means 1a is configured to perform the following operation on the current scheduled route before the driver's steering wheel release time passes a predetermined time (for example, 65 seconds). Based on the vehicle speed of the host vehicle from the vehicle speed sensor 7a and the map information from the navigation device 5, the host vehicle position when a predetermined time of 65 sec elapses is predicted, and the predicted host vehicle position satisfies a predetermined condition. If you determine that you are in a high-risk area, you can accelerate or decelerate your vehicle or change your current scheduled route to avoid running your vehicle in a high-risk area. Control your vehicle.

FIG. 2 is a flowchart illustrating a flow of processing for determining a high risk area when the driver's steering release operation is performed in the automatic driving mode of the first embodiment. This flowchart is repeatedly executed at a predetermined calculation cycle.

In step S1, it is determined whether or not it is in the automatic operation mode. When it is in the automatic operation mode, the process proceeds to step S2, and when it is not in the automatic operation mode, the process returns to step S1.
In step S2, it is determined whether or not the driver is releasing it. When the hand is released, the process proceeds to step S3. When the hand is not released, that is, when the steering wheel 19 is held, the process returns to step S2.

In step S <b> 3, it is determined whether or not the elapsed time from when the driver starts releasing has passed 15 sec.
When the hold sensor 21 detects that the driver has let go, the elapsed time is measured by a timer (not shown).
If the elapsed time since the driver started releasing 15 seconds has passed, the process proceeds to step S4, and if the elapsed time since the driver started releasing, 15 seconds have not elapsed, the process returns to step S3.
In step S4, a warning alarm is sounded to the driver.

In step S5, it is determined whether or not the driver has stopped letting go. When the driver does not stop releasing, the process proceeds to step S6, and when the driver stops releasing and holds the steering wheel 19, the process returns to step S2.
In step S6, when 65 seconds have elapsed since the driver started to let go, which is a predetermined time, the vehicle satisfies the predetermined condition based on the vehicle speed information from the vehicle speed sensor 7a and the map information from the navigation device 5. Predict whether or not you are in a high risk area to meet. When it is determined that the host vehicle is located in the high risk area, the process proceeds to step S7 shown in FIG. 3, and the host vehicle is not located in the high risk area (safe area = an area other than the high risk area). If it is determined that it is located, the process proceeds to step S34 shown in FIG.
The predetermined conditions for the high risk area include a sharp curve road with a predetermined curvature or more, a road with a predetermined width or less, an intersection, a pedestrian crossing, a steep slope, a school zone, and the like.
The safety area (an area other than the high risk level) is a straight road having a predetermined width or more.

FIG. 3 is a flowchart illustrating a flow of processing of high risk area avoidance control by acceleration as the first means when the driver's steering release operation is performed in the automatic driving mode of the first embodiment. This flowchart is repeatedly executed at a predetermined calculation cycle.

In step S7, a safety area (an area other than the high risk level) is identified from the map information from the navigation device 5, and the distance from the predicted own vehicle position to the safety area 65 seconds after the driver starts releasing is calculated. To do.
In step S8, acceleration (deceleration) and acceleration (deceleration) required time T are calculated from the distance to the safety area and the acceleration (deceleration) possible speed.

In step S9, based on the calculation result in step S8, it is determined whether or not the high-risk area can be avoided by acceleration. If acceleration can be avoided, the process proceeds to step S10. If acceleration and avoidance is not possible, the process proceeds to step S17 shown in FIG.
In step S10, the driver is notified by voice that “acceleration is to be performed”.
In step S11, it is determined whether or not the driver is letting go. When the hand is released, the process proceeds to step S12. When the hand is not released, that is, when the steering wheel 19 is held, the process proceeds to step S34 shown in FIG.
In step S12, acceleration of the host vehicle is started at the acceleration based on the calculation result of step S8.

In step S13, it is determined whether or not the driver has stopped letting go. When the driver does not stop releasing, the process proceeds to step S14, and when the driver stops releasing and holds the steering wheel 19, the process proceeds to step S16.
In step S14, after the required time T acceleration based on the calculation result of step S8, the original vehicle speed is restored.
In step S15, forcible switching to the manual operation mode is performed in the safety area when 65 seconds have elapsed after starting to let go.
In step S16, acceleration is stopped, the vehicle speed is returned to the original, and the automatic operation mode on the vehicle speed and travel route before the operation of the dangerous area avoiding means 1a is continued.

FIG. 4 is a flowchart showing a flow of processing of high-risk area avoidance control by deceleration as first means when the driver's steering release operation is performed in the automatic driving mode of the first embodiment. This flowchart is repeatedly executed at a predetermined calculation cycle.

In step 17, it is determined based on the calculation result in step S8 whether or not the high risk area can be avoided by decelerating. If it can be avoided by decelerating, the process proceeds to step S18, and if it cannot be avoided by decelerating, the process proceeds to step S25 shown in FIG.
In step S18, the driver is notified by voice that “decelerate”.
In step S19, it is determined whether or not the driver has stopped letting go. When the driver does not stop releasing, the process proceeds to step S20, and when the driver stops releasing and holds the steering wheel 19, the process proceeds to step S34 shown in FIG.
In step S20, the host vehicle starts decelerating at a deceleration based on the calculation result in step S8.
In step S21, it is determined whether or not the driver has stopped letting go. When the driver does not stop releasing, the process proceeds to step S22, and when the driver stops releasing and holds the steering wheel 19, the process proceeds to step S24.
In step S22, after the required time T deceleration based on the calculation result of step S8, the original vehicle speed is restored.
In step S23, forcible switching to the manual operation mode is performed in the safety area when 65 seconds have elapsed after starting to let go.
In step S24, deceleration is stopped, the vehicle speed is returned to the original, and the automatic operation mode on the vehicle speed and travel route before the operation of the dangerous area avoiding means 1a is continued.

FIG. 5 is a flowchart showing a flow of processing of high risk area avoidance control by changing the travel route as the second means when the driver's steering release operation is performed in the automatic driving mode of the first embodiment. This flowchart is repeatedly executed at a predetermined calculation cycle.

In step S25, based on the calculation result of step S8, it is determined whether or not the high risk area can be avoided by changing to another traveling route. If it can be avoided by changing to another traveling route, the process proceeds to step S26, and if it cannot be avoided by changing to another traveling route, the process proceeds to step S33.
In step S <b> 26, the driver is notified by voice that “the travel route is to be changed”.
In step S27, it is determined whether or not the driver has stopped letting go. When the driver does not stop releasing, the process proceeds to step S28, and when the driver stops releasing and holds the steering wheel 19, the process proceeds to step S34.
In step S28, the change of the traveling route is started.
In step S29, it is determined whether or not the driver has stopped letting go. When the driver does not stop releasing, the process proceeds to step S30, and when the driver stops releasing and holds the steering wheel 19, the process proceeds to step S32.
In step S30, the automatic operation mode is continued on the changed travel route.
In step S31, forcible switching to the manual operation mode is performed in the safety area when 65 seconds have elapsed after starting to let go.
In step S32, the automatic operation mode is continued on the changed travel route.
In step S33, when 65 seconds have elapsed since the start of letting go, it is impossible to avoid traveling in the high risk area, so the host vehicle is slowly and forcibly stopped in the safety area (an area other than the high risk area).
In step S34, the driver is notified by voice that "the automatic travel mode is continued".
In step S35, since the driver holds the steering wheel 19, the automatic driving mode is continued.

FIG. 6 is a time chart illustrating an example of high risk area avoidance control by acceleration as the first means of the first embodiment.
That is, the avoidance control by acceleration as the first means of step S9 to step S15 of the flowchart shown in FIG. 3 is shown.

The horizontal axis is the elapsed time since the driver started to let go, the top is the vehicle speed, the bottom is the driving mode state of the host vehicle, the acceleration request by the automatic driving control unit 1, the warning alarm to the driver, This is a voice notification to the driver that “accelerate” and a change in the state (hold or release) of the steering wheel 19.
At time 0 sec, the driver changes the steering wheel 19 from hold to release during the automatic driving mode.
When the time of 15 seconds elapses, a warning alarm starts to sound to hold the steering wheel 19 for the driver. At this time, when the elapsed time from the time when the driver starts to let go is 65 seconds, the automatic driving control unit 1 determines that the own vehicle is based on the vehicle speed from the vehicle speed sensor 7a and the map information from the navigation device 5. By predicting whether the vehicle is located in a high risk area by predicting whether it is located in a high risk area, acceleration and acceleration from the distance to the safe area and the acceleration speed The required time T is calculated.

Next, by accelerating the host vehicle, when the elapsed time from the start of letting the driver go by 65 seconds and predicting that the high risk area can be avoided, the elapsed time after the driver starts releasing At 17 seconds, the automatic operation control unit 1 instructs the driver to make a voice notification of “acceleration”.
As a result, when the elapsed time from the start of the release by the driver is 20 seconds, the automatic operation control unit 1 indicates the request for acceleration of the own vehicle since the release state continues, and after the required acceleration time T has elapsed. When the elapsed time since the driver started releasing is 55 seconds, the acceleration request instruction is stopped, and the vehicle is decelerated and returned to the original vehicle speed.
In addition, when the release is continued, the automatic operation control unit 1 is forced from the automatic operation mode to the manual operation mode in the safety area when the elapsed time from the start of the release by the driver is 65 seconds. Switch to.
It should be noted that the acceleration state of the host vehicle is stopped by the driver holding the steering wheel 19 again before the elapsed time of 65 seconds after the driver starts releasing, before the dangerous area avoiding means 1a is activated by the original vehicle speed. Restart the automatic operation mode.

FIG. 7 is a time chart illustrating an example of high-risk area avoidance control by deceleration as the first means of the first embodiment.
That is, the avoidance control by the deceleration as the first means from step S17 to step S23 of the flowchart shown in FIG. 4 is shown.

The horizontal axis is the elapsed time since the driver started to let go, the top is the vehicle speed, the bottom is the driving mode state of the host vehicle, the deceleration request by the automatic driving control unit 1, the warning alarm to the driver, It shows a notification to the driver of “decelerate” by voice and a change in the state (hold or release) of the steering wheel 19.
At time 0 sec, the driver changes the steering wheel 19 from hold to release during the automatic driving mode.
When the time of 15 seconds elapses, a warning alarm starts to sound to hold the steering wheel 19 for the driver. At this time, when the elapsed time from the time when the driver starts to let go is 65 seconds, the automatic driving control unit 1 determines that the own vehicle is based on the vehicle speed from the vehicle speed sensor 7a and the map information from the navigation device 5. By predicting whether the vehicle is located in the high risk area by predicting whether or not it is located in the high risk area, it is possible to reduce the Calculate the deceleration required time T.

Next, if it is predicted that the high risk area can be avoided when the elapsed time after the driver starts to let go by 65 seconds elapses by decelerating the own vehicle, the elapsed time after the driver starts to let go At 17 sec, the automatic operation control unit 1 instructs the driver to make a voice notification of “decelerate”.
As a result, when the elapsed time from the start of the release by the driver is 20 seconds, the automatic operation control unit 1 indicates the request for deceleration of the own vehicle since the release state continues, and after the required deceleration time T has elapsed. When the elapsed time after the driver starts releasing is 55 seconds, the deceleration request instruction is stopped, and the vehicle is accelerated and returned to the original vehicle speed.
In addition, when the release is continued, the automatic operation control unit 1 is forced from the automatic operation mode to the manual operation mode in the safety area when the elapsed time from the start of the release by the driver is 65 seconds. Switch to.
In addition, before the elapsed time after the driver starts releasing 65 seconds before the driver holds the steering wheel 19 again, the deceleration state of the own vehicle is interrupted, and before the dangerous area avoiding means 1a is activated by the original vehicle speed. Restart the automatic operation mode.

FIG. 8 is a time chart showing an example of high risk area avoidance control by changing the traveling route as the second means of the first embodiment.
That is, the high-risk area avoidance control by changing the traveling route as the second means from step S25 to step S31 of the flowchart shown in FIG. 5 is shown.

The horizontal axis is the elapsed time since the driver started to let go, the top is the vehicle speed, the bottom is the driving mode state of the host vehicle, the route change request by the control unit 1 for automatic driving, the warning to the driver It shows an alarm, a voice notification to the driver that “change the travel route”, and a change in the state (hold or release) of the steering wheel 19.
At time 0 sec, the driver changes the steering wheel 19 from hold to release during the automatic driving mode.
When the time of 15 seconds elapses, a warning alarm starts to sound to hold the steering wheel 19 for the driver. At this time, when the elapsed time from the time when the driver starts to let go is 65 seconds, the automatic driving control unit 1 determines that the own vehicle is based on the vehicle speed from the vehicle speed sensor 7a and the map information from the navigation device 5. By predicting whether or not the vehicle is located in the high risk area, if the host vehicle is predicted to be located in the high risk area, the travel route to be changed is calculated.

Next, if it is predicted that the high risk area can be avoided when the elapsed time from the start of the release by the driver is 65 seconds by changing the traveling route of the own vehicle, the driver has started releasing the release. When the elapsed time is 17 sec, the automatic operation control unit 1 instructs the driver to make a voice notification of “changing the travel route”.
As a result, when the elapsed time from the start of the release by the driver is 20 seconds, the automatic operation control unit 1 continues the release state, so the driver issues a request to change the traveling route of the host vehicle and the driver releases it. When the elapsed time from the start of 30 seconds is 30 seconds, the change of the traveling route is completed.
In addition, when the release is continued, the automatic operation control unit 1 is forced from the automatic operation mode to the manual operation mode in the safety area when the elapsed time from the start of the release by the driver is 65 seconds. Switch to.
In addition, if the driver holds the steering wheel 19 again after the change of the traveling route of the host vehicle and the elapsed time from the start of letting the driver go by 65 seconds before the driver holds the steering wheel 19, there is a danger caused by the original vehicle speed on the changed traveling route The automatic operation mode before the operation of the area avoiding means 1a is resumed.

Next, the function and effect will be described.
The automatic driving vehicle according to the first embodiment has the following effects.

(1) The risk that the host vehicle satisfies a predetermined condition based on the vehicle speed of the host vehicle from the vehicle speed sensor 7a and the map information from the navigation device 5 when 65 seconds have elapsed since the driver started to let go. If it is predicted that the vehicle is located in a high-altitude area, the risk level is set so that the vehicle travels in a safety area that does not satisfy the predetermined condition when 65 seconds have elapsed since the driver started to let go. The vehicle is controlled so as to avoid traveling of the vehicle in a high area.
Therefore, even if the driver continues to let go, the mode is switched to the manual operation mode in the safety area, so the vehicle can safely travel without disturbing the vehicles and pedestrians around the vehicle. Can be made.

(2) When the elapsed time from the start of the release by the driver is 65 seconds, which is a predetermined time, the host vehicle is placed in a high risk area based on the vehicle speed of the host vehicle from the vehicle speed sensor 7a and the map information from the navigation device 5. When it is predicted that the driver is positioned, the driver accelerates before 65 seconds have elapsed since the driver started releasing, and when the elapsed time since the driver started releasing 65 seconds, which is the predetermined time, is safe. If the area can be predicted to be able to travel, the vehicle is subjected to acceleration control as the first means during the necessary time T so as to avoid traveling of the host vehicle in the high risk area.
Therefore, even if the driver continues to let go, the mode is switched to the manual operation mode in the safety area, so the vehicle can safely travel without disturbing the vehicles and pedestrians around the vehicle. Can be made.

(3) When 65 seconds have elapsed since the driver started to let go, the vehicle speed of the host vehicle from the vehicle speed sensor 7a and the map information from the navigation device 5 indicate that the host vehicle is in a high risk area. When it is predicted that the vehicle is positioned, the driver is decelerated before 65 seconds have elapsed since the driver started releasing, and when the elapsed time since the driver started releasing 65 seconds, which is the predetermined time, is safe. If it can be predicted that the area can be traveled, the vehicle is subjected to deceleration control as the first means during the necessary time T so as to avoid travel of the host vehicle in the high risk area.
Therefore, even if the driver continues to let go, the mode is switched to the manual operation mode in the safety area, so the vehicle can safely travel without disturbing the vehicles and pedestrians around the vehicle. Can be made.

(4) When 65 seconds have elapsed since the driver started to let go, a predetermined time, 65 seconds, the vehicle speed of the vehicle from the vehicle speed sensor 7a and the map information from the navigation device 5, the vehicle is placed in a high risk area When it is predicted that the vehicle is located, when the elapsed time after the driver starts releasing is 65 seconds before the elapsed time is changed, the elapsed time after the driver starts releasing is 65 seconds, which is the predetermined time. If it can be predicted that the safe area can be traveled, the travel route is changed as the second means so as to avoid the travel of the vehicle in the high risk area.
Therefore, even if the driver continues to let go, the mode is switched to the manual operation mode in the safety area, so the vehicle can safely travel without disturbing the vehicles and pedestrians around the vehicle. Can be made.

(5) When 65 seconds have elapsed since the driver started to let go, a predetermined time, 65 seconds, the vehicle speed of the vehicle from the vehicle speed sensor 7a and the map information from the navigation device 5, the vehicle is placed in a high risk area When it is predicted that the driver is positioned, the elapsed time from the start of the driver's release by the acceleration / deceleration as the first means before the elapsed time of 65 seconds has elapsed since the driver started releasing the release is a predetermined time If it can be predicted that the safe area can be traveled after 65 seconds, the vehicle is controlled so as to avoid traveling of the own vehicle in the high risk area, and the driver holds the steering wheel 19 during acceleration / deceleration. To stop the acceleration / deceleration as the first means, return to the original vehicle speed, and continue the automatic operation mode before the operation of the dangerous area avoiding means 1a I made it.
Therefore, when the driver holds the steering wheel 19, the host vehicle travels in the automatic driving mode before the dangerous area avoiding means 1 a operates, so that there is no inconvenience to vehicles, pedestrians, etc. around the host vehicle. The host vehicle can be driven safely.

(6) When the elapsed time from the start of the release by the driver is 65 seconds, which is a predetermined time, the host vehicle is placed in a high risk area based on the vehicle speed of the host vehicle from the vehicle speed sensor 7a and the map information from the navigation device 5. When it is predicted that the vehicle is located, the elapsed time from the start of the driver's release by the advance route change as the second means before the elapsed time of 65 seconds from the start of the driver's release is a predetermined time. If it can be predicted that the safe area can be traveled after 65 seconds, the travel route is changed so as to avoid traveling the own vehicle in the high risk area, and the driver holds the steering wheel 19 after the travel route is changed. The automatic operation mode is continued on the changed route.
Therefore, when the driver holds the steering wheel 19, the vehicle travels in the automatic driving mode on the changed travel route, so that the vehicle, pedestrians, etc. around the vehicle are not disturbed. The vehicle can travel safely.

(7) When 65 seconds have elapsed since the driver started to let go, the vehicle speed of the host vehicle from the vehicle speed sensor 7a and the map information from the navigation device 5 indicate that the host vehicle is in a high risk area. When it is predicted that the driver is in the position, the driver starts releasing by accelerating / decelerating as the first means or changing the traveling route as the second means before the elapsed time of 65 seconds after the driver starts releasing. If it can be predicted that the safe area can be traveled when 65 seconds, which is a predetermined time, has elapsed since then, the vehicle is controlled so as to avoid traveling of the host vehicle in the high-risk area, and the first means Has priority over the second means.
Therefore, traveling in the high risk area on the current traveling route is avoided as much as possible, and traveling on the traveling route in the shortest time is possible.

(8) When 65 seconds have elapsed since the driver started to let go, a predetermined time, 65 seconds, the vehicle speed of the vehicle from the vehicle speed sensor 7a and the map information from the navigation device 5, the vehicle is placed in a high risk area When it is predicted that the driver is in the position, the driver starts releasing by accelerating / decelerating as the first means or changing the traveling route as the second means before the elapsed time of 65 seconds after the driver starts releasing. If it is predicted that traveling in a high risk area cannot be avoided after 65 seconds, which is the predetermined time, has elapsed, the vehicle is stopped in a safety area (an area other than the high risk area). I did it.
Therefore, even if it is not possible to avoid traveling in the high risk area when the elapsed time from the start of letting the driver go by 65 seconds, which is a predetermined time, the own vehicle is stopped in the safety area. The own vehicle can be safely stopped without causing trouble to surrounding vehicles, pedestrians and the like.

[Other embodiments]
As mentioned above, although the form for implementing this invention was demonstrated based on the Example, the concrete structure of this invention is not limited to the structure shown in the Example, and is the range which does not deviate from the summary of invention. Any design changes are included in the present invention.

1 Control unit for automatic operation (automatic operation control device)
1a Hazardous Area Avoidance Means 2 Own Vehicle Communication Device (Ambient Environment Detection Unit)
3 GPS antenna (Ambient environment detector)
4 Road condition detection part (Ambient environment detection part)
5 Navigation device (Ambient environment detector)
6 Object detection sensor (Ambient environment detector)
7 Various sensors (vehicle state detector)
7a Vehicle speed sensor (vehicle state detector)
8 Bat monitoring system (vehicle state detection unit)
11 Internal combustion engine (power source)
13 Automatic transmission (drive force transmission mechanism)
15 Motor (Power source)
20 Automatic operation mode switch (changeover switch)
21 Hold sensor

Claims (8)

Power source,
A driving force transmission mechanism for transmitting the driving force of the power source to the driving wheels;
A vehicle state detector for detecting the state of the vehicle;
A surrounding environment detection unit for detecting a surrounding environment of the vehicle;
A changeover switch for issuing a request to switch between a manual operation mode and an automatic operation mode operated by the driver;
The vehicle can automatically switch between a manual driving mode of the vehicle and an automatic driving mode having a plurality of automatic driving functions according to the request of the changeover switch, and the vehicle is automatically driven based on the detected state of the vehicle and the surrounding environment. And an automatic operation control device that forcibly switches to the manual operation mode when the driver's steering release time elapses a predetermined time in the automatic operation mode,
An autonomous driving vehicle comprising:
When the driver releases the steering wheel in the automatic driving mode, the automatic driving control device determines the position of the host vehicle when the predetermined time has elapsed before the driver's steering releasing time has passed the predetermined time. When it is determined that the predicted vehicle position is a high-risk area that satisfies a predetermined condition, the vehicle avoids traveling of the high-risk area when the predetermined time elapses. Having dangerous area avoiding means for controlling
An autonomous driving vehicle characterized by that. The autonomous driving vehicle according to claim 1,
The dangerous area avoiding means performs acceleration or deceleration on the current scheduled route.
An autonomous driving vehicle characterized by that. The autonomous driving vehicle according to claim 1,
The danger area avoiding means changes from the current scheduled travel route to another travel route.
An autonomous driving vehicle characterized by that. The autonomous driving vehicle according to claim 1,
The dangerous area avoiding means accelerates or decelerates on the current scheduled travel route, changes the current planned travel route to another travel route, and first means for avoiding the dangerous area. Second means for avoiding, and giving priority to the first means for avoiding the danger area,
An autonomous driving vehicle characterized by that. The autonomous driving vehicle according to any one of claims 2 to 4,
The dangerous area avoiding means determines that the predicted high risk area cannot be avoided by acceleration or deceleration on the current scheduled route and a change from the current scheduled route to another traveling route. Stops in a safe area that does not satisfy the predetermined condition,
An autonomous driving vehicle characterized by that. In the autonomous driving vehicle according to claim 2,
The dangerous area avoiding means stops the avoidance of the high risk area when the driver grasps the steering wheel within the predetermined time, and uses the vehicle speed and the scheduled travel route before the dangerous area avoiding means is activated. Traveling,
An autonomous driving vehicle characterized by that. In the automatic driving vehicle according to claim 3,
The dangerous area avoiding means, when the driver has gripped the steering wheel within the predetermined time, and when the change has already been made from the planned travel route to another travel route, automatic driving is performed on the travel route after the change. Continue driving in mode,
An autonomous driving vehicle characterized by that. The autonomous driving vehicle according to claim 1,
The predetermined condition of the high risk area is an intersection, a pedestrian crossing, a sharp curve, a narrow road,
An autonomous driving vehicle characterized by that.

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