JP6269210B2 - Route search system, route search method and computer program - Google Patents

Description

  The present invention relates to a route search system, a route search method, and a computer program for searching for a recommended route in an automatic driving section in which automatic driving control of a vehicle is permitted.

  2. Description of the Related Art In recent years, a navigation device is often mounted on a vehicle that provides vehicle travel guidance so that a driver can easily arrive at a desired destination. Here, the navigation device detects the current position of the vehicle by a GPS receiver or the like, acquires map data corresponding to the current position through a recording medium such as a DVD-ROM or HDD or a network, and displays it on a liquid crystal monitor. It is a device that can do. Further, the navigation device has a route search function for searching for a recommended route from the vehicle position to the destination when a desired destination is input, and sets the searched recommended route as a guide route. A guide route is displayed on the screen, and when the user approaches an intersection, the user is surely guided to a desired destination by voice guidance. In recent years, some mobile phones, smartphones, tablet terminals, personal computers, and the like have functions similar to those of the navigation device.

  Further, in recent years, automatic driving control in which the vehicle automatically travels along a preset route, regardless of the user's driving operation, other than the manual driving that travels based on the user's driving operation, as the driving mode of the vehicle. A new proposal has been made for driving by. In automatic driving control, for example, the current position of the vehicle, the lane in which the vehicle travels, the position of other vehicles in the vicinity are detected at any time, and vehicles such as a steering, a drive source, and a brake are driven so as to travel along a preset route. Control is automatic. Here, traveling by automatic driving control has the advantage of reducing the burden on the user's driving, but there are situations in which it is difficult to drive by automatic driving control depending on road conditions. For example, there are situations where it is necessary to change lanes or merge in a short distance section or in bad weather. And in such a situation, it is necessary to interrupt the driving | running | working by automatic driving | operation control and to perform a manual driving | operation.

  Therefore, the navigation apparatus or the like is newly required to search for a recommended route in consideration of the interruption of the automatic driving control. For example, in Japanese Patent Application Laid-Open No. 2011-118603, a road with low current position detection accuracy is recognized as an uncontrollable road that cannot be driven by automatic driving control so that the driving by automatic driving control is performed without interruption. A technique for searching for a route that avoids an unacceptable road has been proposed.

JP 2011-118603 A (page 6-7, FIG. 4)

  However, in the technique of Patent Document 1 described above, a route is searched so that a road certified as an uncontrollable road is not included. In other cases, a roundabout route is searched or a route cannot be searched in some cases. Here, in the technique of Patent Document 1, it is assumed that the roads that are recognized as roads that cannot be automatically controlled are based on the assumption that traveling by automatic driving control is not performed. However, depending on the situation, traveling by automatic driving control may be possible.

  For example, as shown in FIG. 15, when the vehicle 101 travels on a road where the lane marking 102 that divides the lane is thin, the lane (position) on which the vehicle 101 travels cannot be specified from the lane marking 102. The road is recognized as a road in which automatic control is impossible in Patent Document 1 described above. However, if the road is congested as shown in FIG. 15, the traveling speed is slow and the forward vehicle 103 always exists in front of the vehicle 101, so the vehicle 101 travels following the forward vehicle 103. By doing so, even if the lane in which the vehicle 101 travels cannot be specified, traveling by automatic driving control becomes possible. Therefore, a technique for accurately determining whether or not traveling by automatic driving control is possible in consideration of such a situation has been desired.

  The present invention has been made to solve the above-described conventional problems, and can accurately determine whether or not traveling by automatic driving control is possible in consideration of traffic information, and based on the determination result by automatic driving control. It is an object of the present invention to provide a route search system, a route search method, and a computer program that make it possible to search for a more appropriate recommended route for traveling.

In order to achieve the above object, a route search system (1) according to the present invention is a route search system that searches for a recommended route when traveling by automatic driving control in an automatic driving section in which automatic driving control of a vehicle is permitted. In addition, the recommended interrupting section specifying means (41) for specifying the recommended interrupting section in which the reason for interrupting the automatic driving control should be interrupted in the automatic driving section, and the traffic information acquisition for acquiring the traffic information around the recommended interrupting section. Based on the traffic information acquired by the means (41) and the traffic information acquisition means, automatic driving for determining whether to perform driving by automatic driving control or driving by manual driving of the driver in the recommended interruption section A determination unit (41), and a recommended route search unit (41) for searching for the recommended route based on a determination result of the automatic driving determination unit. And features.

Further, the route search method according to the present invention is a route search method for searching for a recommended route when traveling by automatic driving control in an automatic driving section in which automatic driving control of the vehicle is permitted, and is a recommended stopping section specifying unit. (41) is a step of identifying a recommended interruption section in which an automatic driving control should be interrupted in the automatic driving section, and a traffic information acquisition means (41) obtains traffic information around the recommended stopping section. And the step of acquiring and the automatic driving determination means (41), based on the traffic information acquired by the traffic information acquiring means , either driving by automatic driving control or driving by manual driving of the driver in the recommended interruption section. and determining whether to take place, the recommended route searching means (41) is, searches the recommended route based on the determination result of the automatic operation determining means step And having a, the.

Further, a computer program according to the present invention is a computer program for searching for a recommended route when traveling by automatic driving control in an automatic driving section in which automatic driving control of a vehicle is permitted. A recommended stop section specifying means (41) for specifying a recommended stop section in which an automatic driving control should be interrupted in an automatic driving section, and a traffic information acquiring means (41) for acquiring traffic information around the recommended stop section ) And automatic driving determination means for determining whether to perform driving by automatic driving control or driving by manual driving of the driver in the recommended interruption section based on the traffic information acquired by the traffic information acquiring means ( 41) and recommended route search means for searching for the recommended route based on the determination result of the automatic driving determination means ( 1), characterized in that to function with.

  According to the route search system, route search method, and computer program according to the present invention having the above-described configuration, it is possible to accurately determine whether or not traveling by automatic driving control is possible in consideration of traffic information. Then, by performing a route search based on the determination result, it is possible to prevent a circumstance route that is unnecessarily searched or a situation in which the route cannot be searched from occurring, and to select a more appropriate recommended route for the user. Is possible.

It is the block diagram which showed the structure of the navigation apparatus which concerns on 1st Embodiment. 4 is a flowchart of a route search processing program according to the first embodiment. It is the figure which showed an example of the correspondence of addition value (alpha) and the reason for which automatic driving | operation control interrupts. It is the figure which showed the route guidance screen which guided the recommended route displayed on a liquid crystal display. It is the figure which showed the route guidance screen which guided candidate routes other than the recommended route displayed on a liquid crystal display. It is the figure which showed an example of the control content of the automatic driving control set with respect to the driving planned route of a vehicle. It is a flowchart of the sub process program of the specific process of an interruption area. It is the figure which showed the correspondence between the interruption reason and the operation mode of the selected automatic operation control. It is the figure which showed an example of the interruption area set with respect to the driving planned route of a vehicle. It is a flowchart of the sub-processing program of the joining process of an interruption area. It is explanatory drawing explaining the coupling | bonding of the interruption area. It is a flowchart of the automatic driving | operation control processing program which concerns on 1st Embodiment. It is a flowchart of the sub process program of the detection process of an interruption area. It is the figure which showed an example of the correspondence of addition value (alpha) and the probability that automatic operation control will be interrupted. It is a figure explaining the problem of the prior art.

  Hereinafter, a route search system according to the present invention will be described in detail with reference to the drawings based on a first embodiment and a second embodiment embodied in a navigation device.

[First Embodiment]
First, a schematic configuration of the navigation device 1 according to the first embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a navigation device 1 according to the first embodiment.

  As shown in FIG. 1, the navigation device 1 according to the first embodiment includes a current position detection unit 11 that detects a current position of a vehicle on which the navigation device 1 is mounted, and a data recording unit 12 that records various data. The navigation ECU 13 that performs various arithmetic processes based on the input information, the operation unit 14 that receives operations from the user, and a map that is searched for by the user in a map around the vehicle and a route search process that will be described later. A liquid crystal display 15 for displaying information and the like, a speaker 16 for outputting voice guidance regarding route guidance, a DVD drive 17 for reading a DVD as a storage medium, a probe center, a VICS (registered trademark: Vehicle Information and Communication System) center, and the like And a communication module 18 for communicating with the information center. . The navigation device 1 is connected to an in-vehicle camera 19 and various sensors installed on a vehicle on which the navigation device 1 is mounted via an in-vehicle network such as CAN. Furthermore, the vehicle control ECU 20 that performs various controls on the vehicle on which the navigation device 1 is mounted is also connected so as to be capable of bidirectional communication. Further, various operation buttons 21 mounted on the vehicle such as an automatic driving switch and an automatic driving start button described later are also connected.

Below, each component which comprises the navigation apparatus 1 is demonstrated in order.
The current position detection unit 11 includes a GPS 22, a vehicle speed sensor 23, a steering sensor 24, a gyro sensor 25, and the like, and can detect the current vehicle position, direction, vehicle traveling speed, current time, and the like. . Here, in particular, the vehicle speed sensor 23 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the driving wheel of the vehicle, and outputs a pulse signal to the navigation ECU 13. And navigation ECU13 calculates the rotational speed and moving distance of a driving wheel by counting the generated pulse. Note that the navigation device 1 does not have to include all the four types of sensors, and the navigation device 1 may include only one or more types of sensors.

  The data recording unit 12 is also a hard disk (not shown) as an external storage device and a recording medium, and a driver for reading the map information DB 31 and a predetermined program recorded on the hard disk and writing predetermined data on the hard disk And a recording head (not shown). The data recording unit 12 may be configured by a memory card, an optical disk such as a CD or a DVD, instead of the hard disk. Further, the map information DB 31 may be stored in an external server, and the navigation device 1 may be configured to acquire by communication.

  Here, the map information DB 31 displays, for example, link data 33 related to roads (links), node data 34 related to node points, search data 35 used for processing related to route search and change, facility data related to facilities, and maps. Storage means for storing map display data, intersection data relating to each intersection, search data for searching for points, and the like.

  In addition, as link data 33, for each link constituting the road, the width of the road to which the link belongs, the gradient, the cant, the bank, the road surface condition, the merged section, the number of road lanes, the number of lanes that decrease The data representing the narrowed part, the level crossing, etc. is the data regarding the corner, the radius of curvature, the intersection, the T-junction, the entrance and the exit of the corner, the data indicating the downhill road, the uphill road, etc. regarding the road attribute However, regarding road types, in addition to general roads such as national roads, prefectural roads, narrow streets, and the like, data representing toll roads such as highway automobile national roads, city highways, automobile exclusive roads, general toll roads, and toll bridges are recorded.

  The node data 34 includes actual road branch points (including intersections, T-junctions, etc.) and the coordinates (positions) of node points set for each road according to the radius of curvature, etc. Node attribute indicating whether a node is a node corresponding to an intersection, etc., a connection link number list that is a list of link numbers of links connected to the node, and an adjacency that is a list of node numbers of nodes adjacent to the node via the link Data relating to the node number list, the height (altitude) of each node point, and the like are recorded.

  Further, as the search data 35, various data used for route search processing for searching for a route from a departure place (for example, the current position of the vehicle) to a set destination as described later are recorded. Specifically, the cost of quantifying the appropriate degree as a route to an intersection (hereinafter referred to as an intersection cost), the cost of quantifying the appropriate degree as a route to a link constituting a road (hereinafter referred to as a link cost), etc. Cost calculation data used for calculating the search cost is stored. In particular, in the first embodiment, as described later, the recommended route is searched using the required time from the starting point to the destination, so that various data for calculating the required time for the route are also stored in the search data 35. ing. The search cost may be defined by the required time.

  Further, in the navigation device 1 according to the first embodiment, particularly when searching for a recommended route from the departure place to the destination including the automatic driving section where the automatic driving control of the vehicle is performed, the automatic driving control is performed in the automatic driving section. The recommended route is searched based on the interruption information for interrupting the operation. Specifically, when including an interruption section where automatic driving control is interrupted, an addition value corresponding to the number of times, time, distance, position and reason for interrupting automatic driving control is added to the required time, and the addition of the additional value is performed. The recommended route is searched by comparing the required time.

  Here, as a traveling form of the vehicle, in addition to the manual driving traveling that travels based on the user's driving operation, the vehicle automatically travels along a predetermined route regardless of the user's driving operation. Traveling by operation control is possible. In the automatic driving control, for example, the current position of the vehicle, the lane in which the vehicle travels, and the positions of other vehicles in the vicinity are detected at any time, and steering and driving are performed so as to travel along a route preset by the vehicle control ECU 20. Vehicle control such as power source and brake is performed automatically. The details of the automatic operation control are already known, and the description is omitted. In addition, although automatic driving control may be performed for all road sections, in the following description, as an automatic driving section in which automatic driving control of a vehicle is performed, a gate (manned unmanned, A description will be made assuming that the automatic driving control is basically performed only during the period when the highway is provided with a chargeable free of charge) and the vehicle travels in the automatic driving section. However, other sections may be set as the automatic operation section. For example, a highway automobile national road, a city highway, a car road, a toll road, and a general road may be set as the automatic driving section. In addition, when the vehicle travels in the automatic driving section, automatic driving control is not always performed, but automatic driving control is selected by the user, and driving is performed by automatic driving control as described later. It is performed only in the section determined to be possible. That is, the automatic driving section is a section in which automatic driving control is permitted for the vehicle in addition to manual driving.

  Traveling by the above-mentioned automatic driving control has a merit that the burden on the user's driving can be reduced, but there are situations where it is difficult to perform driving by the automatic driving control depending on road conditions. For example, there are reasons for interrupting automatic driving control such as sections where merging or changing lanes within a predetermined distance are required, or sections where the lane markings have disappeared or are thin enough to be unrecognizable by the camera. This is a case of traveling in a certain section. And in the navigation apparatus 1 which concerns on 1st Embodiment, about the area in which the reason for the interruption which should interrupt such automatic driving control has arisen among automatic driving areas, automatic driving control is considered in consideration of surrounding traffic information. To determine whether or not it is possible to run with automatic driving control, and for sections that are determined not to be able to run with automatic driving control, interrupt the vehicle's automatic driving control and stop driving manually Set to interval. The setting of the interruption section is basically performed at the time of the route search, but is also performed while the vehicle is traveling after the route search. For example, when it is newly detected that there is a section with a thin lane line in front of the traveling direction of the vehicle or a section where the weather has suddenly deteriorated, it is difficult to perform automatic driving control in that section. Since there is a reason for interruption, it is determined whether or not it is possible to drive the vehicle with automatic driving control in consideration of surrounding traffic information. Set. In addition, even when it is determined that it is possible or not possible to perform driving by automatic driving control when searching for a route, the determination result may change if the surrounding traffic situation changes thereafter. . Therefore, during the travel of the vehicle after the route search, correction of the interrupted section set during the route search is also performed. The details of the setting of the interrupted section and the route search based on the set interrupted section will be described later.

  On the other hand, the navigation ECU (Electronic Control Unit) 13 is an electronic control unit that controls the entire navigation device 1. The CPU 41 as an arithmetic device and a control device, and a working memory when the CPU 41 performs various arithmetic processes. In addition to the RAM 42 for storing route data when a route is searched, a control program, a route search processing program (see FIG. 2) described later, and an automatic operation control processing program (see FIG. 12). ) Etc. are recorded, and an internal storage device such as a flash memory 44 for storing a program read from the ROM 43 is provided. The navigation ECU 13 constitutes various means as processing algorithms. For example, the recommended stop section specifying unit specifies a recommended stop section where there is a reason for interrupting the automatic driving control in the automatic driving section. The traffic information acquisition means acquires traffic information around the recommended interruption section. Based on the traffic information acquired by the traffic information acquisition unit, the automatic driving determination unit determines whether or not traveling by the automatic driving control is possible in the recommended stop section. The recommended route search means searches for the recommended route based on the determination result of the automatic driving determination means.

  The operation unit 14 is operated when inputting a departure point as a travel start point and a destination as a travel end point, and includes a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. The operation unit 14 can also be configured by a touch panel provided on the front surface of the liquid crystal display 15. Moreover, it can also be comprised with a microphone and a speech recognition apparatus.

  The liquid crystal display 15 also includes a map image including a road, traffic information, operation guidance, operation menu, key guidance, a candidate for a recommended route from the starting point to the destination searched during route search, and a candidate for a recommended route. Various information related to, guidance information along the guidance route, news, weather forecast, time, mail, TV program, etc. are displayed. In place of the liquid crystal display 15, HUD or HMD may be used.

  The speaker 16 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 13 and traffic information guidance.

  The DVD drive 17 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Based on the read data, music and video are reproduced, the map information DB 31 is updated, and the like.

  The communication module 18 is a communication device for receiving traffic information, probe information, weather information, and the like transmitted from a traffic information center, for example, a VICS center or a probe center. . In addition, a vehicle-to-vehicle communication device that performs communication between vehicles and a road-to-vehicle communication device that performs communication with roadside devices are also included.

  The vehicle exterior camera 19 is constituted by a camera using a solid-state image sensor such as a CCD, for example, and is installed above the front bumper of the vehicle and installed with the optical axis direction downward from the horizontal by a predetermined angle. And the vehicle outside camera 19 images the front of the traveling direction of the vehicle when the vehicle travels in the automatic driving section. In addition, the vehicle control ECU 20 performs image processing on the captured image, thereby detecting a lane line drawn on the road on which the vehicle travels, other vehicles in the vicinity, and the like. Perform operation control. On the other hand, when the vehicle travels in an automatic driving section, the navigation ECU 13 is a section (for example, a section) where there is a reason for interrupting the automatic driving control based on a captured image captured by the outside camera 19 as described later. Detect a thin line section. The detected section is newly set as an interrupted section as necessary as will be described later. In addition, you may comprise the vehicle exterior camera 19 so that it may arrange | position behind or a side other than the vehicle front. Further, various sensors such as an illuminance sensor and a rain sensor may be used in place of the vehicle exterior camera 19 for detection of a section in which the reason for interruption for which automatic driving control should be interrupted occurs. In that case, for example, heavy rain or heavy fog can be detected. As a means for detecting other vehicles, a sensor such as a millimeter wave radar, vehicle-to-vehicle communication, or road-to-vehicle communication may be used instead of the camera.

  The vehicle control ECU 20 is an electronic control unit that controls the vehicle on which the navigation device 1 is mounted. Further, the vehicle control ECU 20 is connected to each drive unit of the vehicle such as a steering, a brake, and an accelerator. In the first embodiment, the vehicle is controlled by controlling each drive unit particularly when the vehicle travels in an automatic driving section. Implement automatic operation control. Moreover, navigation ECU13 transmits the instruction | indication signal regarding automatic driving | operation control with respect to vehicle control ECU20 via CAN at the time of the driving plan route (guide route) of a vehicle being determined. And vehicle control ECU20 implements the automatic driving | operation control after a driving | running | working start according to the received instruction signal. Note that the content of the instruction signal includes information for specifying a planned travel route (guidance route) and an automatic operation performed on the vehicle for sections other than the interrupted section among the automatic driving sections included in the planned travel path. This is information in which the control content of the operation control (for example, straight ahead, lane change to the right, merge, etc.) is set.

  Next, a route search processing program executed by the CPU 41 in the navigation device 1 according to the first embodiment having the above configuration will be described with reference to FIG. FIG. 2 is a flowchart of the route search processing program according to the first embodiment. Here, the route search processing program is executed when a predetermined operation for performing a route search is received in the navigation device 1 or when the route is re-searched for a reason such as the vehicle deviating from the guide route, This program searches for a recommended route from the starting point to the destination. 2, 7, 10, 12, and 13 are stored in the RAM 42 and ROM 43 provided in the navigation device 1 and executed by the CPU 41.

  First, in step (hereinafter abbreviated as S) 1 in the route search processing program, the CPU 41 determines whether or not the automatic operation switch is turned on. Here, the automatic driving switch is a switch for the user to switch whether the vehicle basically performs the automatic driving control in the automatic driving section or performs the manual driving without performing the automatic driving control. Be placed.

  And when it determines with the automatic driving | operation switch being turned ON (S1: YES), it transfers to S3. On the other hand, when it is determined that the automatic operation switch is OFF (S1: NO), the process proceeds to S2.

  That is, when it is determined that the automatic operation switch is turned on, the user desires to perform automatic operation control in the automatic operation section. Therefore, as described later, the CPU 41 performs the automatic operation section after S3. Thus, the recommended route from the starting point to the destination is searched basically assuming that the vehicle performs automatic driving control.

  On the other hand, if it is determined that the automatic operation switch is turned off, the user desires to perform manual operation without performing automatic operation control in the automatic operation section. The recommended route from the starting point to the destination is searched on the assumption that the vehicle is manually operated in the section. Note that the recommended route search process in S2 is the same as a general route search process that does not consider automatic driving control, and thus description thereof is omitted. When the route search process is performed, the recommended route searched for and other candidate routes other than the recommended route (for example, a route searched for with priority on distance, priority on general road, and priority on toll road) are guided to the liquid crystal display 15. Then, the user selects a planned travel route (guide route) of the vehicle from the guided routes. Thereafter, the navigation device 1 performs traveling guidance based on the selected planned traveling route.

  In S3, the CPU 41 acquires a departure place and a destination. Note that the departure point may be the current position of the vehicle or an arbitrary point (for example, a home) designated by the user. The destination is acquired based on a user operation (for example, a facility search or selection operation) received in the operation unit 14.

  Next, in S4, the CPU 41 creates a candidate route that is a recommended route candidate. The candidate route is created using a known Dijkstra method. Specifically, the route is searched from the departure side and the destination side, and the search cost (node) accumulated from the departure side in the overlapping portion of the search from the departure side and the search from the destination side. (Cost and link cost), the search cost accumulated from the destination side, and the charge cost corresponding to the charge required for traveling, that is, the cost addition value is calculated. Then, the CPU 41 identifies a predetermined number (for example, a maximum of five) routes as candidate routes in the order of the calculated cost addition value.

  The subsequent processing of S5 to S12 is performed for each candidate route created in S4. And after the process of S5-S12 is performed by making all the produced candidate paths into object, it transfers to S13.

  In S5, the CPU 41 determines whether or not an automatic travel section is included in the candidate route to be processed. The automatic travel section is a section that basically performs automatic driving control when the vehicle travels in the section as described above, and corresponds to, for example, an expressway.

  And when it determines with an automatic travel area being included in the candidate path | route used as a process target (S5: YES), it transfers to S6. On the other hand, when it is determined that the automatic travel section is not included in the candidate route to be processed (S5: NO), the process proceeds to S12.

  In S6, the CPU 41 determines whether or not there is an automatic driving control interruption history when the vehicle has traveled in the past for the automatic traveling section included in the candidate route to be processed. Note that the interruption history of automatic operation control includes information for specifying the position (start position or end position of interruption), time, distance, and reason for interruption of automatic operation control. Further, the automatic operation control interruption history may be stored in the data recording unit 12 or may be stored in an external server. Furthermore, when it is set as the structure memorize | stored in an external server, you may include also about the interruption history of other vehicles other than the interruption history of the same vehicle.

  If it is determined that there is an automatic driving control interruption history when the vehicle has traveled in the past for the automatic travel section included in the candidate route to be processed (S6: YES), the process proceeds to S7. And migrate. On the other hand, for the automatic travel section included in the candidate route to be processed, when it is determined that there is no automatic driving control interruption history when the vehicle traveled in the same section in the past (S6: NO), The process proceeds to S8.

  In S <b> 7, the CPU 41 acquires the automatic driving control interruption history when the vehicle has traveled in the past for the automatic traveling section included in the candidate route to be processed. Specifically, when the automatic operation control interruption history is stored in the data recording unit 12, it is read from the data recording unit 12. On the other hand, when the automatic operation control interruption history is stored in an external server, it is acquired by communicating with the external server.

Subsequently, in S <b> 8, the CPU 41 specifies a recommended interruption section in which there is a reason for suspending the automatic driving control in the automatic driving section included in the candidate route. In addition, as a reason for interruption, for example, a situation in which it is difficult to perform driving by automatic driving control such as requiring highly difficult vehicle operation, being unable to specify the lane in which the vehicle is traveling, and the behavior of the vehicle being unstable occurs. Is. Then, the CPU 41 identifies a recommended interruption section in which such a reason for interruption occurs based on the road shape, lane markings, traffic information, weather information, past automatic driving control interruption history, and the like. Then, in the recommended suspension section, it is determined whether or not traveling by automatic driving control is possible in consideration of surrounding traffic information in S9 described later, and if it is determined that traveling by automatic driving control is not possible, The automatic driving control is interrupted, and a section in which manual driving is performed is performed. For example, a section corresponding to any of the following conditions (1) to (5) is specified as the recommended interruption section.
(1) A section that requires merging or changing lanes in a short section (for example, 500 m or less).
(2) A section where the lane marking (the roadway center line, the lane boundary line, the roadway outer line, etc.) has disappeared or has become so thin that it cannot be recognized by the camera.
(3) A section in which lane regulation is caused by an accident, construction work, fallen object, road surface depression, etc., but it is not possible to determine which lane the regulated lane is.
(4) A section in which the weather is difficult to detect by a camera or a sensor when the vehicle is traveling or the weather is unstable (for example, heavy rain, heavy fog, snow accumulation, road freezing).
(5) A section other than (1) to (4) in which automatic operation control has been interrupted in the past.

  Whether or not the conditions (1) to (4) are satisfied is determined based on, for example, map information, VICS information, probe information, vehicle-to-vehicle communication, and road-to-vehicle communication. Further, whether or not the condition (5) is satisfied is determined based on the interruption history acquired in S7.

  Next, in S <b> 9, the CPU 41 executes an interruption section specifying process (FIG. 7) based on traffic information described later. In addition, the interruption section specifying process determines whether or not the recommended interruption section specified in S8 can be driven by automatic driving control in consideration of surrounding traffic information as described later, and based on the determination result. This is a process for identifying a section where the automatic driving control of the vehicle is interrupted and the vehicle is driven by manual driving (hereinafter referred to as an interrupted section). Note that the interrupted section specified in S9 is provisionally specified, and the interrupted sections are integrated and finalized in S10, which will be described later, and finally determined and set as the interrupted section. Although the setting of the interruption section is basically performed at the time of route search (S8 to S10), it is also performed periodically during the traveling of the vehicle as described later (S57 to S60 in FIG. 13).

  Next, in S <b> 10, the CPU 41 executes an interruption interval combination process (FIG. 10) described later. It should be noted that the interrupting section joining process is a process of connecting interrupting sections arranged adjacent to each other along a candidate route so as to satisfy certain conditions and setting them as one continuous interrupting section.

  Subsequently, in S11, the CPU 41 acquires interrupt information for interrupting automatic driving control for the candidate route to be processed based on the interrupt section set in S8 to S10. The interruption information includes the number of times, time, distance, position, and reason why automatic driving control is interrupted on the candidate route to be processed. The time, distance, position, and reason are acquired for each interrupted section.

  Thereafter, in S12, the CPU 41 calculates a determination value D that serves as an index for selecting a recommended route for the candidate route to be processed. Specifically, it is calculated by the following method.

  First, the required time T (minutes) required to travel on the candidate route is acquired. The required time T is calculated from map information, traffic information, and the like. Next, an addition value α corresponding to the interruption information acquired in S11 is added to the calculated required time T. Then, a total value of the required time T and the addition value α is set as a determination value D. The added value α is calculated using at least one of the number of times, the time, the distance, the position, and the reason for interrupting the automatic operation control. For example, the sum of any one or more of (A) to (C) below is set as the addition value α. (A) Number of times automatic driving control is interrupted on the candidate route × 2 minutes, (B) Total time (minutes) when automatic driving control is interrupted on the candidate route, (C) Automatic driving control is interrupted on the candidate route Total distance (km).

  Further, when the addition value α is calculated using the position where the automatic driving control is interrupted, the addition value α is calculated so as to increase as the interrupting position is closer to the destination side of the candidate route. For example, a value obtained by multiplying the ratio of “distance from departure place to stop point” to “total length of candidate route” by “required time × 0.1” is added value α. In addition, when there are a plurality of interruption sections, the addition value α may be calculated for each of the plurality of interruption sections, and the determination value D may be calculated using only the largest addition value α. The determination value D may be calculated by adding the addition value α to the required time T.

  In addition, when the addition value α is calculated using the reason why the automatic operation control is interrupted, the addition value α is calculated so that the addition value α becomes a larger value in the situation where it is difficult to perform the driving by the automatic operation control. Here, FIG. 3 is a diagram showing an example of a correspondence relationship between the added value α and the reason why the automatic operation control is interrupted. For example, a case where a section that is set as an interrupted section is included because of merging or changing lanes in a short section (for example, 500 m or less), and in particular, merging or changing lanes in a longer period than 100 m and 500 m or less is performed. When an interruption section is included, the addition value α is calculated as “1”, and when an interruption section where merging or changing lanes at 100 m or less is included, the addition value α is calculated as “2”. In addition, when the road shape of the interrupted section where merging or lane change is performed cannot be specified from the map information, the addition value α is calculated to “3”. On the other hand, when a section that is set as an interrupted section is included because of snow accumulation or road surface freezing when the vehicle travels, especially when an interrupted section where road surface freezing information exists in the VICS information is included α is calculated as “3”, and VICS information does not exist, but if the weather forecast includes an interrupted section with a high snowfall rate (for example, 80% or more), the added value α is calculated as “2” and VICS information exists. Without addition, even in the weather forecast, when the snowfall rate is low (for example, less than 80%) and includes an interrupted section, the addition value α is calculated to “1”. Similarly, for other reasons, an added value is calculated as shown in FIG. In addition, when there are a plurality of interruption sections, the addition value α may be calculated for each of the plurality of interruption sections, and the determination value D may be calculated using only the largest addition value α. The determination value D may be calculated by adding the addition value α to the required time T.

  In addition, when the automatic driving section is not included in the candidate route to be processed (S5: NO), the required time T (minute) required for traveling on the candidate route becomes the determination value D. Then, after the determination value D is calculated for all candidate routes created in S4, the process proceeds to S13.

  In S13, the CPU 41 selects a recommended route from the candidate routes created in S4. Specifically, the judgment value D for each candidate route is compared, and the candidate route having the smallest judgment value D among the plurality of candidate routes is selected as the recommended route. Note that a plurality of recommended routes may be selected. In S13, a candidate route having the smallest determination value D is selected regardless of whether or not an interrupted section is included as a recommended route. Accordingly, a candidate route including an interrupted section may be selected as a recommended route, or a candidate route not including an interrupted section may be selected as a recommended route.

  Next, in S14, the CPU 41 guides information related to the recommended route selected in S13 and other candidate routes other than the recommended route. It should be noted that only the information related to the recommended route may be guided, and the candidate routes other than the recommended route are not all routes, but only a predetermined number of routes (for example, two in order of decreasing judgment value D) are targeted for guidance. Also good. In particular, when the automatic driving section is included in the recommended route or other candidate routes, the section corresponding to the interrupted section and the section not corresponding are identified and guided. That is, the guidance for the section corresponding to the interrupted section and the guidance for the section not corresponding are performed in different guidance modes. Furthermore, when guidance of recommended routes and other candidate routes is performed, the interruption information acquired in S11 is also guided.

Here, FIGS. 4 and 5 are diagrams showing a route guidance screen 51 that guides the recommended route displayed on the liquid crystal display 15 in S14 and candidate routes other than the recommended route.
As shown in FIGS. 4 and 5, the route guidance screen 51 displays an information window 52 that displays information related to recommended routes to be guided and other candidate routes in a list for each route. The route selected by the cursor 53 in the information window 52 is displayed on the map image on the left side of the screen. For example, FIG. 4 shows a route guidance screen 51 with the recommended route 54 selected, and FIG. 5 shows a route guidance screen 51 with a candidate route 55 other than the recommended route selected.
Here, information including interruption information in particular is displayed in the information window 52 as information on the recommended route and the like. Specifically, (a) the number of times automatic operation control is interrupted in the route, (b) the total distance at which automatic operation control is interrupted in the route, and (c) the required time are displayed for each route. In addition, it is good also as a structure which displays also about the sum total of the time when automatic driving | operation control is interrupted | routed on a path | route. In addition, the information window 52 is displayed in a sorted manner. Specifically, among the candidate routes, the route having a higher priority is preferentially guided. The priority is basically set higher as the judgment value D is smaller, but it may be set based on the number of times automatic operation control is interrupted, time, distance, position, and reason.
In addition, when the recommended route 54 and the candidate route 55 displayed on the map image on the left side of the screen are included in an automatic driving section, a section corresponding to the automatic driving section and a section not corresponding to the automatic driving section are identified and displayed. . For example, in the example shown in FIGS. 4 and 5, the automatic driving section is displayed with a solid line, and other than the automatic driving section is displayed with a broken line. In addition, for the section corresponding to the interrupted section among the automatic operation sections, a section specifying line segment 56 connecting the start point and the start point of the interrupted section is displayed in order to identify the section from the other sections. Further, an interrupt icon 57 indicating the reason for interrupting the automatic operation control is displayed in the vicinity of the section specifying line segment 56. For example, in the route guidance screen 51 shown in FIG. 5, there are two interrupted sections for the candidate route 55, and the interrupted section on the departure side is an interrupted section because it is a section that needs to be merged in a short section. Indicates that it is set. On the other hand, the suspending section on the destination side is set as a suspending section because the lane regulation is caused by accidents, construction, falling objects, etc., but it is a section where it is not possible to determine which lane the regulated lane is Indicates that

  Then, the user visually recognizes the route guidance screen 51 displayed on the liquid crystal display 15, so that the automatic driving control can be performed when traveling along the recommended route from the departure point to the destination and candidate routes other than the recommended route and each route. It is possible to grasp where and how it is interrupted (number of times automatic operation control is interrupted, time, distance, position, reason, etc.).

  Next, in S15, the CPU 41 determines the planned travel route (guide route) of the vehicle based on the user's operation from the recommended route guided in S14 and candidate routes other than the recommended route. In addition, it is good also as a structure which determines a recommended route as a driving planned route, without making a user select. After that, the CPU 41 controls the contents of the automatic driving control performed on the vehicle in the automatic driving sections included in the planned travel route except the interrupted section (for example, straight ahead, lane change to the right, merge, etc.) ) And operation mode.

  For example, in the example shown in FIG. 6, it is the figure which showed an example of the control content of the automatic driving | operation control set when the sections af are automatic driving | running | working areas among the driving schedule routes of a vehicle. In the example shown in FIG. 6, since the section e is an interruption section among the sections a to f, the control content of the automatic operation control is set for the sections a to d and f excluding the section e. In addition, the control content of automatic driving control is basically determined based on the planned travel route and map information. For example, “Merge” is set as the control content of automatic driving control in the section where it is necessary to merge with the main line by IC etc. Is done. Also, “change lane to right (left)” is set in the section where lane change is required to move to another highway by JCT or the like.

  The operation modes include “normal (autonomous)” and “follow-up”. In a section in which “normal” is set, the current position of the vehicle, the lane in which the vehicle travels, and the positions of other vehicles in the vicinity are detected at any time, and the vehicle control ECU 20 steers, drive source, Such vehicle control is automatically performed. On the other hand, in a section in which “follow” is set, a vehicle ahead is detected, and vehicle control such as steering, a drive source, and a brake is performed so that the vehicle travels (follows up) basically at a constant distance from the vehicle ahead. However, if the vehicle deviates from the planned travel route by following the vehicle ahead, it is switched to manual operation. The driving mode “following” is a section in which there is a reason for interrupting the automatic driving control as described later, but it is determined that automatic driving control is possible by following the vehicle ahead. Is set for the selected section (S29 in FIG. 7). And the information which specifies a driving plan route, the set control contents, and the driving mode are transmitted to vehicle control ECU20 via CAN. As a result, when the vehicle starts traveling, the vehicle control ECU 20 performs automatic driving control after the start of traveling according to the information received from the navigation device 1.

  Next, the sub-process for specifying the interrupted section based on the traffic information executed in S9 will be described with reference to FIG. FIG. 7 is a flowchart of a sub-processing program for specifying the interrupted section.

  First, in S21, the CPU 41 acquires traffic information around a candidate route to be processed. The traffic information may be statistical traffic information stored in the DB of the navigation device 1 in addition to traffic information acquired from an external center such as a VICS center or a probe center. Moreover, the traffic information at the present time may be sufficient, and the traffic information predicted when a vehicle drive | works a relevant point may be sufficient.

  Next, in S22, the CPU 41 determines whether there is information suggesting a decrease in the vehicle speed on the candidate route to be processed. In the following description, traffic jam information specifying a traffic jam section is defined as information suggesting a decrease in vehicle speed, but information other than the traffic jam information (for example, accident information, construction information, etc.) may be used. In addition, when the traffic congestion level is specified in the traffic congestion information, the traffic congestion level corresponding to “congestion” and “congestion” may be specified as information suggesting a decrease in the vehicle speed. In particular, only traffic information corresponding to “traffic” may be defined. In S22, it may be determined whether there is information that suggests a decrease in vehicle speed within a predetermined distance (for example, 1 km) from the candidate route, not on the candidate route.

  If it is determined that there is information specifying the traffic jam section on the candidate route to be processed (S22: YES), the process proceeds to S24. On the other hand, when it is determined that there is no information for identifying the traffic jam section on the candidate route to be processed (S22: NO), the process proceeds to S23.

  In S23, the CPU 41 determines that traveling by the automatic driving control is not possible for all sections of the recommended interruption section set in S8, and specifies the interrupting section in which the automatic driving control is interrupted. Thereafter, the process proceeds to S10.

  On the other hand, in S24, the CPU 41 obtains a traffic jam section on the candidate route to be processed. Specifically, information for identifying the start point and the end point of the traffic jam section is acquired. In addition, when there are a plurality of traffic congestion sections, it is acquired for each traffic congestion section.

  Next, in S25, the CPU 41 acquires the recommended interruption section specified in S8 and the interruption reason specified as the recommended interruption section. Specifically, information for specifying the start point and the end point of the recommended interruption section is acquired. In addition, it is acquired whether the reason for interruption corresponds to any of the reasons (1) to (5) described above. For example, “merge in a short section” is acquired as a reason for interruption for a section set as a recommended interruption section because it is necessary to merge in a short section (for example, 500 m or less). In addition, when there are a plurality of recommended interruption intervals, the information is acquired for each recommended interruption interval.

  The subsequent processes in S26 to S29 are performed for each traffic jam section acquired in S24 and for each recommended stop section specified in S25. First, processing is executed for the traffic jam section and the recommended interruption section that are closest to the departure place, and thereafter the processing is executed in order from the traffic jam section and the recommended interruption section that are closest to the departure place. And after performing the process of S26-S29 targeting all the traffic congestion areas acquired by said S24, and all the interruption recommendation areas specified by said S25, it transfers to S30.

  First, in S26, the CPU 41 determines whether or not the reason for interruption of the recommended interruption target section to be processed is a specific type of interruption reason. Here, the specific type of interruption reason is a type of interruption reason that can be eliminated by lowering the traveling speed of the vehicle and following the vehicle following the vehicle. Specifically, this is the reason for the interruption due to either the need for highly difficult vehicle operation, the lane on which the vehicle travels cannot be specified, or the behavior of the vehicle is not stable, as described above (1) to (1) to Among the reasons for interruption (5), the reasons for interruption (1) to (4) are particularly assumed.

  When it is determined that the reason for interruption of the recommended interruption target to be processed is a specific type of interruption reason (S26: YES), the process proceeds to S27. On the other hand, when it is determined that the reason for interruption in the recommended interruption target to be processed is other than a specific type of interruption reason (S26: NO), the interruption recommendation recommended section to be a predetermined target is changed and the processes after S26 are performed. Run again.

  Next, in S <b> 27, the CPU 41 determines whether or not the traffic congestion section to be processed and the recommended interruption section overlap.

  If it is determined that the traffic jam section to be processed and the recommended interruption section overlap (S27: YES), the process proceeds to S28. On the other hand, when it is determined that the traffic jam section to be processed and the recommended interrupt section do not overlap (S27: NO), the recommended interrupt section and the traffic jam section to be the predetermined target are changed, and the processes after S26 are performed. Try again.

  In S <b> 28, the CPU 41 determines that the automatic driving control should be interrupted for the section that overlaps the traffic congestion section (hereinafter referred to as the overlapping section) among the recommended suspension sections to be processed. It is determined that the reason for the interruption can be eliminated by the lowering and the follow-up traveling to the preceding vehicle, and the traveling by the automatic driving control is possible. And an overlap area is specified as an area which performs automatic operation control. For example, if the travel speed of a section set as a recommended stop section is reduced due to the fact that a highly difficult vehicle operation such as merging or changing lanes in a short section (for example, 500 m or less) is required, the travel speed decreases due to traffic congestion. The difficulty of the vehicle operation related to merging and lane change is reduced, that is, the reason for interruption is eliminated, so it is determined that traveling by automatic driving control is possible. In addition, it is recommended to suspend because the lane in which the vehicle travels cannot be specified, such as the lane line (the lane center line, lane boundary line, lane outside line, etc.) has disappeared or has become too thin to be recognized by the camera. In the section set as the section, the reason for the interruption is eliminated by traveling following the preceding vehicle, so it is determined that traveling by automatic driving control is possible.

  Next, in S29, the CPU 41 selects the operation mode of the automatic operation control based on the reason for the interruption specified as the recommended interruption interval for the overlapping interval specified in S28. As described above, the operation mode of the automatic operation control includes “normal (autonomous)” and “follow-up” (FIG. 6). “Normal” is a mode in which normal automatic driving control is performed for traveling along the planned travel route, while “follow” detects the preceding vehicle and basically keeps a certain distance from the preceding vehicle. In this mode, vehicle control such as steering, drive source, and brake is performed so that the vehicle travels (follows up). In the first embodiment, the operation mode is set to “follow” for the overlap section specified as the recommended stop section due to the fact that the lane in which the vehicle is traveling cannot be specified, and other automatic driving control is performed. The section to be implemented is set to “normal”.

Here, FIG. 8 is a diagram showing the correspondence between the reason for interruption and the operation mode of the selected automatic operation control.
For example, a section set as a recommended stop section due to the necessity of merging or changing lanes in a short section (for example, 500 m or less) can be used for vehicle operations related to merging or changing lanes if the travel speed decreases due to traffic congestion. The difficulty level is reduced. Therefore, it is possible to travel by automatic driving control without following the vehicle ahead, and “normal” is selected as the driving mode.
In addition, it is difficult to detect lane markings with cameras and sensors, and the section set as the recommended stop section due to heavy rain or heavy fog, which is the weather where the vehicle behavior is not stable, will be Is relatively stable. Furthermore, even if the lane in which the vehicle travels cannot be specified by following the vehicle ahead, it is possible to travel by automatic driving control. Accordingly, “follow” is selected as the operation mode.
In addition, it is difficult to detect lane markings with cameras and sensors, and the section set as the recommended section for suspension due to road surface freezing, which is a weather where the vehicle behavior is not stable, will be affected if traffic speed decreases due to traffic congestion. Relatively stable. Furthermore, even if the lane in which the vehicle travels cannot be specified by following the vehicle ahead, it is possible to travel by automatic driving control. Accordingly, “follow” is selected as the operation mode.
In addition, the section set as the recommended stop section due to heavy fog, which is the weather that makes it difficult to detect lane markings with cameras and sensors, will automatically be detected even if the lane in which the vehicle travels cannot be specified if following the preceding vehicle. Travel by operation control is possible. Accordingly, “follow” is selected as the operation mode.
In addition, if the lane restriction is caused by an accident, construction, or falling objects, the section set as the recommended stop section because the reason why the lane being restricted cannot be determined is to follow the preceding vehicle. Even if the lane in which the vehicle can travel cannot be specified, traveling by automatic driving control is possible. Accordingly, “follow” is selected as the operation mode.
In addition, although lane regulation is caused by road surface depression, the section set as the recommended suspension section because it is impossible to determine which lane the regulated lane is, if the traveling speed decreases due to congestion, the road surface Even if the state is bad, the behavior of the vehicle is relatively stable. Furthermore, even if the lane in which the vehicle can travel cannot be specified by following the vehicle ahead, it is possible to travel by automatic driving control. Accordingly, “follow” is selected as the operation mode.
In addition, the section set as the recommended stop section because the lane marking (the road center line, the lane boundary line, the road outer line, etc.) has disappeared or has become thin enough to be unrecognizable by the camera, Even if the lane in which the vehicle travels cannot be specified by following the above, it is possible to travel by automatic driving control. Accordingly, “follow” is selected as the operation mode.

  And after performing the process of S26-S29 targeting all the traffic congestion areas acquired by said S24, and all the interruption recommendation areas specified by said S25, it transfers to S30. In S30, the CPU 41 determines that traveling by the automatic driving control is not possible for the sections except the section specified as the section for performing the automatic driving control in the S28 among the recommended stopping sections acquired in the S25. Identifies the interruption section where automatic operation control is interrupted. Thereafter, the process proceeds to S10.

  As a result, for example, as shown in FIG. 9, when the sections a, b, and e are traffic congestion sections and the sections a, d, and e are recommended suspension sections for a specific type of suspension reason, as shown in FIG. 9. In the conventional technology that does not consider a traffic jam section, the sections a, d, and e that are recommended interrupt sections are all specified as interrupt sections that interrupt automatic driving control. On the other hand, in the present invention, the section a and the section e in which the traffic jam section and the recommended interruption section overlap are specified as the section in which the automatic driving control is performed as described above. Then, among the recommended suspension sections, only the section d excluding the sections a and e is specified as the suspension section in which the automatic operation control is suspended. Therefore, even in a section where the reason why automatic driving control should be interrupted is generated, it is possible to make the driving by automatic driving control as much as possible, and there is a disadvantage for the user due to interruption of automatic driving control. To prevent.

  Next, the sub-process of the interruption interval combination process executed in S10 will be described with reference to FIG. FIG. 10 is a flowchart of the sub-processing program for the joining process of the interrupted section.

  First, in S31, the CPU 41 determines whether or not the interrupted section specified in S8 is included in a plurality of sections for the candidate route to be processed.

  If it is determined that a plurality of interrupted sections specified in S9 are included for the candidate route to be processed (S31: YES), the process proceeds to S32. On the other hand, when it is determined that only one interruption section is included or no interruption section is included (S31: NO), the process proceeds to S11 without combining the interruption sections.

  The subsequent processes of S32 to S38 are performed for each interruption section included in the candidate route to be processed. First, processing is executed for the interruption section that is closest to the departure place, and thereafter, processing is executed in order from the interruption section that is closest to the departure place. And after the process of S32-S38 is performed for the interruption area one side before the interruption area in the most destination side, it transfers to S11.

  In S32, the CPU 41 obtains the start point X1, end point X2, and distance L1 (= | X2-X1 |) of the interrupted section to be processed.

  Next, in S33, the CPU 41 determines the start point Y1, the end point Y2, and the distance L2 (interrupt section set next to the destination side of the interrupt section to be processed) (ie, the interrupt section set adjacent to the destination side). = | Y2-Y1 |) respectively.

  Subsequently, in S34, the CPU 41 determines the distance L3 (= |) between the interrupted section to be processed (hereinafter referred to as the first interrupted section) and the interrupted section to be processed next (hereinafter referred to as the second interrupted section). X2-Y1 |) is calculated.

  Subsequently, in S35, the CPU 41 predicts the vehicle speed V of the vehicle traveling between the first interruption section and the second interruption section. The vehicle speed V may be a road speed limit (for example, 80 km / h) specified based on the map information, or may be an average vehicle speed of a corresponding section acquired from VICS information or probe information. In addition, it is desirable to predict in consideration of traffic information such as traffic jam information.

  Thereafter, in S36, the CPU 41 is necessary for the vehicle to travel from the end point of the first interruption section to the start point of the second interruption section based on the distance L3 calculated in S34 and the vehicle speed V predicted in S35. The required time Z (= L3 / V) is calculated.

  Next, in S37, the CPU 41 determines whether or not the required time Z calculated in S36 is less than or equal to a predetermined threshold value. Here, the threshold value used as the determination criterion in S37 is set based on, for example, the road type and the road shape, and is an upper limit time at which the interval between the automatic driving control and the manual driving is determined to be complicated for the user. 1 minute. Note that the user may set a threshold value. In S37, it may be configured not to determine whether the required time Z is equal to or less than a threshold value, but to determine whether the distance L3 between the first interruption interval and the second interruption interval is equal to or less than a threshold value (for example, 1 km).

  And when it determines with the required time Z calculated by said S36 being below a predetermined threshold value (S37: YES), it transfers to S38. On the other hand, when it is determined that the required time Z calculated in S36 is longer than a predetermined threshold (S37: NO), the process returns to S32, and after changing the interruption section to be processed, the process after S32 Run the process again.

  In S38, the CPU 41 connects the first interruption interval and the second interruption interval, and sets them as one continuous interruption interval. For example, a case will be described in which two interruption sections A and B are set adjacently along the candidate route as shown in FIG. In this case, if the interrupted sections in S38 are not combined, automatic driving control is performed from point X1, manual driving is performed from point X1 to point X2, and automatic driving is performed from point X2 to point Y1. Control is performed, manual operation is performed from point Y1 to point Y2, and automatic operation control is performed after point Y2. Therefore, switching between automatic operation control and manual operation is frequently performed. On the other hand, when the interrupted section A and the interrupted section B are connected in S38 and a new one interrupted section C is set starting from X1 and ending at Y2, manual operation is continued from point X1 to point Y2. Thus, frequent switching between automatic operation control and manual operation can be prevented.

  Thereafter, the process returns to S32, and after changing the interruption section to be processed, the processes after S32 are executed again. And after the process of S32-S38 is performed for the interruption area one side before the interruption area in the most destination side, it transfers to S11.

  Next, an automatic driving control processing program executed by the CPU 41 in the navigation device 1 according to the first embodiment will be described with reference to FIG. FIG. 12 is a flowchart of the automatic operation control processing program according to the first embodiment. Here, the automatic driving control processing program is executed at a predetermined interval (for example, every 100 ms) after the planned driving route (guide route) of the vehicle is determined in S14, and the automatic driving control continuation determination and the new interruption interval are determined. This is a program that performs various settings.

  First, in S41, in the automatic operation control processing program, the CPU 41 determines whether or not the automatic operation start button is turned on. Here, the automatic operation start button is arranged on an instrument panel or the like, and is switched ON and OFF every time the user presses it. Then, automatic driving control is started when the vehicle is running in an automatic driving section (excluding the section set as an interruption section), while automatic driving is started when the vehicle is turned off during execution of the automatic driving control. Even during traveling in the section, the automatic operation control ends and switches to manual operation.

  And when it determines with the automatic driving | operation start button being turned ON (S41: YES), it transfers to S44. On the other hand, if it is determined that the automatic operation start button is not turned on (S41: NO), the process proceeds to S42.

  In S42, the CPU 41 determines whether or not automatic driving control in the vehicle is being executed.

  And when it determines with automatic driving | operation control in a vehicle being performed (S42: YES), it transfers to S43. On the other hand, when it is determined that the automatic driving control in the vehicle is not being executed (S42: NO), the automatic driving control processing program is terminated.

  In S43, the CPU 41 executes an automatic operation control end process. Specifically, an instruction signal for terminating the automatic driving control is transmitted to the vehicle control ECU 20 via the CAN. As a result, the automatic driving control ends in the vehicle and switches to manual driving.

  On the other hand, in S44, the CPU 41 determines whether or not the vehicle is in the automatic driving section based on the current position of the vehicle detected by the current position detection unit 11 and the map information. Note that it is desirable to specify the current position of the vehicle in detail using a high-precision location technology. Here, the high-accuracy location technology detects the white line and road surface paint information captured from the camera behind the vehicle by image recognition, and further compares the white line and road surface paint information with a previously stored map information DB, thereby driving the vehicle. This is a technology that makes it possible to detect lanes and highly accurate vehicle positions. The details of the high-accuracy location technology are already known and will be omitted.

  And when it determines with a vehicle being in an automatic driving area (S44: YES), it transfers to S45. On the other hand, when it is determined that the vehicle is not in the automatic driving section (S44: NO), the process proceeds to S42.

  In S45, the CPU 41 executes an interruption section detection process (FIG. 13) described later. The interruption section detection process is a process for setting a new interruption section, correcting an already set interruption section, or the like using the outside camera 19 or a sensor while the vehicle is running as will be described later. .

  Next, in S46, the CPU 41 determines whether or not the automatic operation control is being interrupted. As described above, even when the vehicle is traveling in the automatic driving section, if the vehicle is located in the set interruption section, the automatic driving control of the vehicle is interrupted and traveling by manual driving is performed.

  If it is determined that the automatic operation control is being interrupted (S46: YES), the process proceeds to S49. On the other hand, if it is determined that the automatic operation control is not interrupted (S46: NO), the process proceeds to S47.

  In S47, the CPU 41 determines whether or not the vehicle has entered the interruption section. The interruption section is set in advance for the planned travel route on which the vehicle travels in the above-described route search processing program (FIGS. 2, 7, and 10). Further, it is also set in an interruption section detection process (FIG. 13) described later.

  And when it determines with the vehicle having entered into the interruption area (S47: YES), it transfers to S48. In S48, the CPU 41 executes the automatic operation control interruption process. Specifically, an instruction signal for temporarily interrupting the automatic driving control is transmitted to the vehicle control ECU 20 via the CAN. As a result, the automatic operation control is temporarily interrupted in the vehicle and switched to manual operation. On the other hand, when it is determined that the vehicle has not entered the interruption section (S47: NO), automatic driving control is continuously performed.

  On the other hand, in S49, the CPU 41 determines whether or not the vehicle has left the suspended section.

  And when it determines with the vehicle having left the interruption area (S49: YES), it transfers to S50. In S50, the CPU 41 executes the automatic operation control restart process. Specifically, an instruction signal for resuming the automatic driving control that has been interrupted is transmitted to the vehicle control ECU 20 via the CAN. As a result, the automatic operation control that has been interrupted in the vehicle is resumed, and the manual operation is switched to the automatic operation control. On the other hand, when it is determined that the vehicle has not left the interruption section (S49: NO), the automatic operation control is continued to be interrupted.

  Next, the sub-process of the interruption section detection process executed in S45 will be described with reference to FIG. FIG. 13 is a flowchart of the sub-processing program for detecting the interruption interval.

  First, in S51, the CPU 41 acquires the current position of the vehicle based on the detection result of the current position detection unit 11. Note that it is desirable to specify the current position of the vehicle in detail using a high-precision location technology.

  Next, in S52, the CPU 41 acquires route information ahead of the vehicle in the traveling direction. For example, route information within 1 km is acquired along the planned travel route from the current position of the vehicle.

  Subsequently, in S53, the CPU 41 determines whether or not it is connected to a traffic information server such as an external server or a VICS center in which the interruption history of the automatic driving control of other vehicles is stored.

  If it is determined that the vehicle is connected to a traffic information server such as an external server or a VICS center in which the interruption history of the automatic driving control of other vehicles is stored (S53: YES), the route is transmitted from the server in S52. The latest automatic driving control interruption history and the latest traffic information in the forward section (hereinafter referred to as the detection target section) of the vehicle in which the information has been acquired are acquired (S54). On the other hand, if it is determined that the vehicle is not connected to a traffic information server such as an external server or a VICS center in which the suspension history of automatic driving control of other vehicles is stored (S53: NO), the process proceeds to S55.

  In S55, the CPU 41 determines whether a camera, a sensor, or the like for detecting the external environment of the vehicle is connected. Examples of the sensor include a millimeter wave radar for detecting an obstacle, a rain sensor for detecting rain and snow, an illuminance sensor, and the like.

  If it is determined that a camera or sensor for detecting the external environment of the vehicle is connected (S55: YES), the external environment around the vehicle is detected using the connected camera or sensor. (S56). On the other hand, if it is determined that a camera or sensor for detecting the external environment of the vehicle is not connected (S55: NO), the process proceeds to S57.

Subsequently, in S57, the CPU 41 automatically selects one of the sections ahead of the traveling direction of the vehicle that acquired the route information in S52 based on the interruption history and traffic information acquired in S54 and the external environment detected in S56. Identify the recommended interruption section where the reason for interruption that should interrupt operation control occurs. Note that the recommended break interval specified in S57 basically matches the recommended break interval specified in S8, but does not necessarily match if the situation has changed since the route search. For example, a section corresponding to any of the following conditions (6) to (9) is newly specified as a recommended stop section in S57.
(6) A section in which no interruption history exists at the time of the route search, but a new interruption history is generated when another vehicle interrupts the automatic driving control until the vehicle arrives at the site.
(7) A section in which a lane restriction is newly generated due to an accident, a construction work, a fallen object, or the like after the route search, and it is impossible to determine which lane is the restricted lane.
(8) By imaging the road surface with the camera, it was newly detected that the lane markings (the lane center line, the lane boundary line, the lane outside line, etc.) have disappeared or have become so thin that they cannot be recognized by the camera. section.
(9) A section that cannot be predicted at the time of route search, but is difficult to detect by a camera or sensor, or weather in which vehicle control is difficult (for example, heavy rain, heavy fog, snow cover, road surface freezing).

  Next, in S <b> 58, the CPU 41 executes re-specification processing for the interrupted section based on the traffic information. Note that the interrupting section re-specification process is basically the same process as the interrupting section specifying process based on the traffic information shown in FIG. However, the traffic information is acquired in S21 within the section ahead of the vehicle in which the route information was acquired in S52 (hereinafter referred to as the forward target section), and in S22, the traffic congestion section is specified in the forward target section. It is determined whether there is information. And the process of S26-S29 is performed for every congestion area and interruption recommendation area acquired within the front object area. As a result, based on the latest traffic information and weather conditions, it is possible to determine again whether or not traveling by automatic driving control is possible in the forward target section, and when setting a new interrupted section or when searching for a route It becomes possible to correct the set interruption interval.

  Next, in S59, the CPU 41 determines whether or not the interrupted section has been added or modified in S58.

  And when it determines with the interruption area having been added or corrected (S59: YES), it transfers to S60. On the other hand, when it is determined that the interrupted section has not been added or modified (S59: NO), the process proceeds to S46.

  In S <b> 60, the CPU 41 executes the above-described interruption section combining process (FIG. 10). As described above, the joining process of the interrupting sections is a process of connecting the interrupting sections continuously arranged along the candidate route while satisfying a certain condition and setting the interrupting sections as one continuous interrupting section. That is, since the interrupted section is newly added and corrected in S58, the interrupted section is determined to be combined with respect to the corrected interrupted section. If necessary, the interrupted sections are combined. In S35, when the vehicle speed V of the vehicle traveling between the first interruption section and the second interruption section is predicted, the vehicle speed sensor 23 is used to indicate the vehicle speed of the current vehicle (that is, when the interruption section is corrected). It is preferable that the acquired vehicle speed is estimated as the vehicle speed V of the vehicle traveling between the first interruption section and the second interruption section.

  Next, in S61, the CPU 41 changes the control content and the operation mode of the automatic operation control set in S15 according to the interrupted section newly corrected and combined. Specifically, the control content is changed so that automatic operation control is not performed in a section newly set as an interruption section, and automatic operation control is performed in a section excluded from the interruption section. Along with this, when it is necessary to change the control content of the automatic operation control in other sections, the change is made. Then, the changed control content and operation mode are transmitted to the vehicle control ECU 20 via the CAN. As a result, it is possible to perform automatic operation control that reflects the newly corrected and combined interrupted section.

  As described above in detail, in the navigation device 1 according to the first embodiment, the route search method by the navigation device 1 and the computer program executed by the navigation device 1, vehicles such as candidate routes and guidance routes that are candidates for recommended routes. The recommended stop section is identified in the automatic driving section included in the acquired planned driving path for which the reason for the suspension should be interrupted (S8, S57), and around the recommended suspension section Traffic information (S21), and based on the acquired traffic information, it is determined whether or not traveling by automatic driving control is possible in the recommended stop section (S26, S27), and automatic driving control is interrupted based on the determination result The interruption section to be specified is specified (S28 to S30). And since a recommended route is searched based on the specified interruption section (S11 to S13), it is possible to accurately determine whether or not traveling by automatic driving control is possible in consideration of traffic information. . Then, by performing a route search based on the determination result, it is possible to prevent a circumstance route that is unnecessarily searched or a situation in which the route cannot be searched from occurring, and to select a more appropriate recommended route for the user. Is possible.

[Second Embodiment]
Next, a navigation device according to a second embodiment will be described with reference to FIG. In the following description, the same reference numerals as those of the navigation device 1 according to the first embodiment in FIGS. 1 to 13 denote the same or corresponding parts as those of the navigation device 1 according to the first embodiment. It is.

  The schematic configuration of the navigation device according to the second embodiment is substantially the same as that of the navigation device 1 according to the first embodiment. Various control processes are also substantially the same as those in the navigation apparatus 1 according to the first embodiment. However, the navigation apparatus 1 according to the first embodiment determines an interruption section in which the automatic driving control is interrupted in the navigation apparatus 1 during the route search, and the vehicle control ECU 20 determines the vehicle according to the interruption section determined by the navigation apparatus 1 during the route search. On the other hand, in the navigation device according to the second embodiment, the navigation device 1 only specifies a section (hereinafter referred to as an interruption prediction section) that may interrupt the automatic driving control when the route is searched, The specified predicted interruption interval does not affect whether automatic driving is actually interrupted (that is, whether or not automatic driving control is interrupted is determined by the navigation device or the vehicle control ECU 20 during traveling in the automatic driving interval). Is determined).

  Note that the route search processing program executed by the CPU 41 in the navigation device according to the second embodiment is different from the route search processing program (FIG. 2) according to the first embodiment except that the interrupted section is replaced with the predicted interrupt section. The process is basically the same. Further, the automatic operation control processing program is basically the same processing as the automatic operation control processing program (FIG. 12) according to the first embodiment. However, since the route search processing program according to the second embodiment only predicts a section in which the automatic driving control may be interrupted, the interrupt prediction section specified in S9 and S10 and the actual automatic driving are actually detected. The section where control is interrupted may be different. Therefore, the control content and the operation mode (see FIG. 6) of the automatic operation control determined in S15 are changed as needed while the vehicle is traveling.

  Also, the process of combining the interrupted sections in S10 is performed for the predicted interrupted section. As a result, if the recommended route and other candidate routes include an interrupt predicted section where automatic driving control may be interrupted, one interrupt predicted section connected by connecting adjacent interrupt predicted sections Can be set. Therefore, it is possible to accurately correspond the interruption prediction section to the section where the automatic operation control is actually interrupted. Moreover, it becomes possible to correct to the shape which can be easily grasped by the user without complicating the shape of the interruption prediction section.

  In the navigation device according to the second embodiment, in S11, the CPU 41 is predicted to interrupt the automatic driving control for the candidate route to be processed, based on the predicted interruption interval set in S9 and S10. Get prediction information. In addition, the interruption prediction information indicates the probability that automatic driving control is actually interrupted in the predicted interruption period in addition to the number of times, time, distance, position, and reason that automatic driving control is predicted to be interrupted in the candidate route to be processed. including.

  In S12, the CPU 41 calculates the probability that the automatic driving control is interrupted in addition to the number of times, the time, the distance, the position, and the reason that the automatic driving control is predicted to be interrupted when calculating the judgment value D of the candidate route. The added value α may be calculated by using this.

  For example, when the addition value α is calculated using the probability that the automatic driving control is interrupted, the addition value α is calculated such that the higher the probability of interruption, the larger the addition value α. Here, FIG. 14 is a diagram illustrating an example of a correspondence relationship between the added value α and the probability that the automatic driving control is interrupted. For example, it is a case including a section set as an interruption prediction section for the reason of performing a merging or lane change in a short section (for example, 500 m or less), and particularly a merging or lane change in a longer period than 100 m and 500 m or less In the case of including the predicted interruption section to be performed, since it is possible to perform merging and lane change relatively easily even in the automatic driving control, the probability that the automatic driving control is interrupted is low, and the addition value α is set to “ 1 ". In addition, in the case of including an interruption prediction section in which merging or lane change is performed at 100 m or less, it is difficult to perform merging or lane change by automatic driving control, so there is a high probability that automatic driving control is interrupted, and the added value α Is calculated as “2”. In addition, when the road shape of the interruption prediction section where the merging or lane change is performed cannot be specified from the map information, since the automatic driving control cannot be basically performed, the addition value α is calculated as “3”. On the other hand, when it includes a section that is set as a predicted suspension section due to snow or road surface freezing when the vehicle travels, especially when it includes a predicted suspension section where road surface freeze information exists in the VICS information , It is determined that there is a very high probability that the automatic driving control will be interrupted due to weather that is difficult to detect with a camera or sensor when the vehicle is traveling in the section, or weather that is difficult to control the vehicle, and the added value α is calculated to “3”. . In addition, when there is a VICS information that does not exist, but includes a forecasted section with a high snowfall rate (for example, 80% or more) in the weather forecast, it is difficult for the weather or vehicle control to be detected by a camera or sensor when the vehicle is traveling in the section. It is determined that there is a high probability that the automatic driving control will be interrupted due to the weather, and the addition value α is calculated to be “2”. Further, when there is a VICS information and there is an interruption prediction section where the snowfall rate is low (for example, less than 80%) even in the weather forecast, it is difficult for the weather or vehicle control to be detected by a camera or a sensor when the vehicle is traveling in the section. It is determined that the probability that the automatic driving control is interrupted due to the weather is low, and the addition value α is calculated to be “1”. Similarly, for other reasons, as shown in FIG. 14, the added value is calculated based on the probability that the automatic driving control is interrupted. In addition, when there are a plurality of interruption prediction sections, the addition value α may be calculated for each of the plurality of interruption prediction sections, and the determination value D may be calculated using only the largest addition value α. A configuration may be adopted in which the judgment value D is calculated by adding all the addition values α to the required time T. As a result, it is possible to calculate a judgment value D of a candidate route including an interruption prediction section where there is a high probability that the automatic driving control is actually interrupted (that is, making it difficult to be selected as a recommended route), so a more appropriate recommended route is selected. It becomes possible to do.

  Note that the configuration for calculating the judgment value D of the candidate route based on the number of times, time, distance, position, and reason for which the automatic driving control is predicted to be interrupted is the same as that in the first embodiment, and thus the description thereof is omitted. .

  Further, in the navigation device according to the second embodiment, when guiding information related to the candidate route other than the recommended route or the recommended route in S14, the guidance may be performed in a manner corresponding to the probability that the automatic driving control is interrupted. good. Specifically, the display color and display pattern of the predicted interruption section included in the recommended route and the like are changed according to the probability of interruption. For example, in the route guidance screen 51 shown in FIG. 5, an interruption prediction section predicted to have a high probability of interruption (80% or higher) is displayed in red, and the probability of interruption is moderate (less than 80% and 50% or higher). The predicted interruption prediction section can be displayed in green, and the interruption prediction section predicted to have a low probability of interruption (less than 50%) can be displayed in blue. As a result, by visually recognizing the route guidance screen 51, it becomes possible for the user to easily grasp in what section the automatic driving control is interrupted with what probability.

  As described above in detail, in the navigation device according to the second embodiment, the route search method using the navigation device, and the computer program executed by the navigation device, the vehicle is scheduled to travel such as a candidate route or a guidance route that is a candidate for a recommended route. Obtain the route, identify the recommended suspension section where the reason for suspension should occur in the automated driving section included in the acquired planned driving route, and obtain and obtain traffic information around the recommended suspension section It is determined whether or not traveling by automatic driving control is possible in the recommended interruption section based on the traffic information, and a predicted interruption section that may interrupt automatic driving control is specified based on the determination result. And since a recommended route is searched based on the specified interruption prediction section, it is possible to accurately determine whether or not traveling by automatic driving control is possible in consideration of traffic information. Then, by performing a route search based on the determination result, it is possible to prevent a circumstance route that is unnecessarily searched or a situation in which the route cannot be searched from occurring, and to select a more appropriate recommended route for the user. Is possible.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in 1st Embodiment and 2nd Embodiment, it is set as the structure which identifies the area | region which automatic operation control interrupts or may interrupt in an automatic operation area (S9, S58), but interrupts manual operation. It is good also as a structure which identifies the area which interrupts manual driving | operation or the area which may perform automatic driving | operation control by interrupting manual driving | operation. In that case, sections that do not correspond to the recommended stop section, and sections that are determined to be able to run under automatic driving control based on traffic information, even if the recommended stop section, stop manual driving and perform automatic driving. This is a section in which control is performed or a section in which manual operation is interrupted and automatic operation control may be performed. And it becomes possible to similarly perform the joining process of the interruption area shown in FIG. 10 with respect to the identified area. Furthermore, the judgment value D is calculated based on the information that the manual operation is interrupted or predicted to be interrupted, and the recommended route is selected. In addition, in the calculation of the determination value D in S12, contrary to the first embodiment and the second embodiment, the added value α is smaller as the number, time, or distance at which manual operation is interrupted or predicted to be interrupted is larger. Set to a value. Further, the closer the position where the manual operation is interrupted or predicted to be interrupted is closer to the destination side of the candidate route, the smaller the added value α is set.

  In the first embodiment and the second embodiment, the navigation device 1 is configured to set the control content of the automatic driving control performed on the vehicle (for example, straight ahead, lane change to the right, merge, etc.) The control content of the automatic driving may be set by the vehicle control ECU 20. Further, the control content of the automatic driving control is not necessarily set at the time of the route search, and may be set before reaching the automatic driving section.

  Further, in the first embodiment and the second embodiment, the recommended stop section caused by the stop reason that does not correspond to any of the reasons shown in FIG. However, it may be determined that traveling by automatic driving control is possible. In this case, “normal” may be set as the operation mode, or “follow” may be set. Further, in FIG. 8, the reason for the interruption caused by the fact that the lane in which the vehicle is traveling cannot be specified (for example, merging in a short section) is configured to set the operation mode of the overlapping section to “normal”. However, “follow” may be set.

  Further, in the first embodiment and the second embodiment, when there is traffic information (for example, traffic jam information) that suggests a decrease in the vehicle speed around the candidate route or the planned travel route, for example, a section (for example, a decrease in the vehicle speed) Although it is determined that traveling by automatic driving control is possible in the overlapping section of the congestion section) and the recommended interruption section, traffic information other than information suggesting a decrease in vehicle speed may be targeted. Moreover, traffic information that suggests a decrease in vehicle speed may be traffic information other than traffic jam information. For example, it may be construction information or accident information.

  Moreover, in 1st Embodiment and 2nd Embodiment, after performing the specific process (S9, S58) of the interruption area which considered traffic information, the process (S10, S60) which combines the specified interruption area is performed. However, the order may be reversed. That is, firstly, processing (S10, S60) is performed in which the recommended interrupted sections are regarded as interrupted sections, and then the interrupted sections are congested as a specific reason for the interrupting among the interrupted sections combined in consideration of traffic information. A section that overlaps with a section may be determined to be capable of traveling by automatic driving control and excluded from the interrupted section.

  Moreover, in 1st Embodiment, it is good also as a structure which does not perform about the detection process (S45) of an interruption area among automatic driving | operation control programs (FIG. 12). In that case, traveling by automatic driving control is performed based on the interrupted section set during the route search.

  In the first embodiment and the second embodiment, the user's driving operation that the vehicle control ECU 20 controls all of the accelerator operation, the brake operation, and the steering wheel operation, which are operations related to the behavior of the vehicle, among the operations of the vehicle. It has been described as an automatic operation control for automatically running without depending on. However, in the automatic driving control, the vehicle control ECU 20 may control at least one of the accelerator operation, the brake operation, and the steering wheel operation, which is an operation related to the behavior of the vehicle among the operations of the vehicle. On the other hand, manual driving by the user's driving operation will be described as a case where the user performs all of the accelerator operation, the brake operation, and the steering wheel operation, which are operations related to the behavior of the vehicle, among the operations of the vehicle.

  In the first embodiment and the second embodiment, the navigation device 1 executes the route change processing program (FIG. 2) and the automatic driving control program (FIG. 12), but the vehicle control ECU 20 executes the configuration. Also good. In this case, the vehicle control ECU 20 is configured to acquire the current position of the vehicle, map information, traffic information, and the like from the navigation device 1.

  In addition to the navigation device, the present invention can be applied to a device having a route search function. For example, the present invention can be applied to a mobile phone, a smartphone, a tablet terminal, a personal computer, and the like (hereinafter referred to as a mobile terminal). Further, the present invention can be applied to a system including a server and a mobile terminal. In that case, each step of the above-described route change processing program (FIG. 2) and automatic operation control program (FIG. 12) may be configured to be implemented by either a server or a portable terminal. However, when the present invention is applied to a portable terminal or the like, it is necessary that a vehicle capable of performing automatic driving control and the portable terminal or the like be connected so as to be communicable (regardless of wired wireless).

  Moreover, although the embodiment which actualized the route search system according to the present invention has been described above, the route search system can also have the following configuration, and in that case, the following effects can be obtained.

For example, the first configuration is as follows.
A route search system for searching for a recommended route when traveling by automatic driving control in an automatic driving section in which automatic driving control of the vehicle is permitted, and there is a reason for interrupting the automatic driving control in the automatic driving section Based on the traffic information acquired by the recommended traffic information acquisition means, the traffic information acquisition means for acquiring traffic information around the recommended interrupt section, and the traffic information acquired by the traffic information acquisition means Automatic driving determination means for determining whether to run in the section according to automatic driving control or driving by the driver's manual driving, and a recommended route search for searching for the recommended route based on the determination result of the automatic driving determination means And means.
According to the route search system having the above configuration, it is possible to accurately determine whether or not traveling by automatic driving control is possible in consideration of traffic information. Then, by performing a route search based on the determination result, it is possible to prevent a circumstance route that is unnecessarily searched or a situation in which the route cannot be searched from occurring, and to select a more appropriate recommended route for the user. Is possible.

The second configuration is as follows.
The automatic driving determination means determines whether to perform driving by automatic driving control or driving by manual driving of the driver in the recommended interruption section based on the type of traffic information acquired around the recommended interruption section. It is characterized by doing.
According to the route search system having the above configuration, when the traffic condition around the section specified as the recommended stop section is considered, the reason for the stop of the recommended stop section is resolved by the traffic condition Can be accurately determined.

The third configuration is as follows.
The automatic operation determining means, when obtaining the information suggesting a reduction in the vehicle speed as the traffic information, and judging the cause the running by the automatic driving control at the interrupt recommended section.
According to the route search system having the above-described configuration, it is possible to travel in the recommended suspension section in which the reason for the suspension is eliminated when the vehicle speed such as merging in a short section or changing lanes is reduced, by the automatic driving control in the section. It becomes possible to specify appropriately as a section.

The fourth configuration is as follows.
The automatic operation determining means, when obtaining the information suggesting a decrease in the vehicle speed at a particular period as the traffic information, among the interruption recommended section, running by the automatic driving control is in the interval of overlap with the specific section It is determined that the vehicle is to be performed, and it is determined that the vehicle is driven by manual driving in a section that does not overlap with the specific section.
According to the route search system having the above configuration, when a part of the recommended suspension section overlaps with the specific section, among the recommended suspension sections, the suspension reason of the recommended suspension section is resolved by the decrease in the vehicle speed. It is possible to appropriately identify the section as a section capable of traveling by automatic driving control.

The fifth configuration is as follows.
The recommended interrupting section specifying means specifies the recommended interrupting section using any one of a road shape, a lane marking, traffic information, and weather information.
According to the route search system having the above-described configuration, it is possible to appropriately specify the section where the reason for the interruption for which the automatic driving control should be interrupted is generated as the recommended interruption section.

The sixth configuration is as follows.
The recommended interrupting section specifying means is a section where merging or changing lanes within a predetermined distance is required, a section line is disappearing or is thinned to such an extent that it cannot be recognized by a camera, accident, construction, fallen object or road surface A section in which depressions occur, a section in which weather is difficult to detect with a camera or a sensor when the vehicle is running, or weather in which vehicle control is difficult is specified as the recommended stop section.
According to the route search system having the above configuration, the automatic driving control should be interrupted such as a section where a highly difficult vehicle operation is required, a section where the lane in which the vehicle is traveling cannot be specified, a section where the behavior of the vehicle is not stable, etc. It is possible to appropriately specify the section in which the reason is generated as the recommended interruption section.

The seventh configuration is as follows.
When it is determined by the automatic driving determination unit that the candidate driving route is a plurality of candidate routes that are candidates for the recommended route, and the automatic driving determination unit determines that the driving by the manual driving of the driver is performed , In the automatic operation section included in the candidate route, for each of the plurality of candidate routes, based on the interrupted section specifying means for specifying the interrupted section for interrupting control and the interrupted section specified by the interrupted section specifying means Interruption information acquisition means for acquiring interruption information for interrupting automatic operation control, and the recommended route search means is configured to select one of the plurality of candidate routes based on the interruption information acquired by the interruption information acquisition means. The recommended route is selected from the following.
According to the route search system having the above-described configuration, when searching for a route to the destination, it is possible to select a recommended route in consideration of an interruption section where automatic operation control is interrupted. In addition, by using interruption information related to automatic operation control interruption, it is possible to prevent a circumstance route being searched more than necessary or a situation where the route cannot be searched, and to select a more appropriate recommended route for the user. It becomes possible.

The eighth configuration is as follows.
When it is determined by the automatic driving determination unit that the candidate driving route is a plurality of candidate routes that are candidates for the recommended route, and the automatic driving determination unit determines that the driving by the manual driving of the driver is performed , Based on the interrupt prediction section specified by the interrupt prediction section specifying means for specifying the interrupt prediction section that may interrupt the control, the candidate route for each of the plurality of candidate paths based on the interrupt prediction section specified by the interrupt prediction section specifying means. Interruption prediction information acquisition means for acquiring interruption prediction information predicted to interrupt automatic driving control in the automatic driving section included in the automatic driving section, wherein the recommended route search means is acquired by the interruption prediction information acquisition means The recommended route is selected from the plurality of candidate routes based on the interruption prediction information.
According to the route search system having the above-described configuration, when searching for a route to the destination, it is possible to select a recommended route in consideration of an interruption prediction section that may interrupt automatic driving control. In addition, by using the interruption prediction information related to the automatic operation control interruption prediction, it is possible to prevent a circumstance route that is unnecessarily searched or a situation in which the route cannot be searched from occurring, and to provide a more appropriate recommended route for the user. It becomes possible to select.

The ninth configuration is as follows.
The recommended route search means acquires a required time required to travel the candidate route for each of the plurality of candidate routes, and the interruption information or the interruption prediction for the required time for each of the plurality of candidate routes. A determination value obtained by adding an addition value according to information is calculated, and the recommended route is selected by comparing the determination values for each of the plurality of candidate routes.
According to the route search system having the above configuration, a recommended route suitable for the user can be easily obtained even when there are a large number of candidate routes by using a judgment value consisting of a specific numerical value as an index for selecting the recommended route. It becomes possible to select. In addition, since the evaluation index is digitized, it is possible to simplify the processing related to the selection of the recommended route and reduce the processing load.

The tenth configuration is as follows.
The recommended route searching means selects a candidate route having the smallest judgment value among the plurality of candidate routes as the recommended route.
According to the route search system having the above configuration, the judgment value for each recommended route is compared, and the candidate route having the smallest judgment value is selected as the recommended route. Therefore, even if there are many candidate routes, it is appropriate for the user. It is possible to select the recommended route accurately and quickly.

The eleventh configuration is as follows.
Among the automatic driving sections included in the recommended route searched by the recommended route searching means, the automatic driving control performed on the vehicle with respect to the sections excluding the interrupted section or the predicted stop section. Control content setting means for setting the control content is provided.
According to the route search system having the above configuration, it is possible to set the control content of the automatic driving control performed by the vehicle when traveling on the recommended route in consideration of the section where the automatic driving control is interrupted in advance. . Therefore, it is not necessary to set the control details of the automatic driving control during traveling, and it is not necessary to correct the set control details every time the automatic driving control is interrupted, thereby reducing the processing load related to the automatic driving control. It becomes possible.

1 Navigation device 13 Navigation ECU
15 Liquid crystal display 41 CPU
42 RAM
43 ROM
51 Route Guidance Screen 52 Information Window 54 Recommended Route 55 Candidate Route 56 Section Specific Line Segment 57 Interruption Icon

Claims (13)

A route search system for searching for a recommended route when traveling by automatic driving control in an automatic driving section in which automatic driving control of a vehicle is permitted,
The recommended interruption section identifying means for identifying the recommended interruption section in which the reason for interruption that should interrupt automatic driving control occurs in the automatic driving section,
Traffic information acquisition means for acquiring traffic information around the recommended suspension section;
Based on the traffic information acquired by the traffic information acquisition means, automatic driving determination means for determining whether to perform driving by automatic driving control or driving by manual driving of the driver in the recommended interruption section;
A route search system comprising: recommended route search means for searching for the recommended route based on a determination result of the automatic driving determination means. The automatic driving determination means determines whether to perform driving by automatic driving control or driving by manual driving of the driver in the recommended interruption section based on the type of traffic information acquired around the recommended interruption section. The route search system according to claim 1, wherein: The automatic operation determining means, when obtaining the information suggesting a reduction in the vehicle speed as the traffic information, determining that causes the running by the automatic driving control to claim 2, wherein in the interruption recommended section The described route search system. The automatic operation determining means, when obtaining the information suggesting a decrease in the vehicle speed at a particular period as the traffic information, among the interruption recommended section, running by the automatic driving control is in the interval of overlap with the specific section 3. The route search system according to claim 2 , wherein it is determined that the vehicle travels by manual driving of a driver in a section that does not overlap with the specific section.   The said interruption recommendation area specific | specification means specifies the said interruption recommendation area using any one of a road shape, a lane marking, traffic information, and weather information, The Claim 1 thru | or 4 characterized by the above-mentioned. Route search system.   The recommended interrupting section specifying means is a section where merging or changing lanes within a predetermined distance is required, a section line is disappearing or is thinned to such an extent that it cannot be recognized by a camera, accident, construction, fallen object or road surface 6. The route search according to claim 5, wherein a section in which depression has occurred, a section that is difficult to detect by a camera or a sensor when the vehicle is running, or a section in which the vehicle is difficult to control are specified as the recommended section to be interrupted. system. Route candidate acquisition means for acquiring a plurality of candidate routes that are candidates for the recommended route;
When it is determined by the automatic driving determination means that the driving by the driver's manual driving is performed , the interruption recommended section that specifies the interruption recommended section as the interruption section for interrupting the automatic driving control,
Interruption information acquisition means for acquiring interruption information for interrupting automatic driving control in the automatic driving section included in the candidate path for each of the plurality of candidate paths based on the interruption section specified by the interruption section specifying means. And having
The said recommended route search means selects the said recommended route from among the plurality of candidate routes based on the interruption information acquired by the interruption information acquisition means. The route search system according to Crab. Route candidate acquisition means for acquiring a plurality of candidate routes that are candidates for the recommended route;
When it is determined by the automatic driving determination means that the driving by the driver is performed manually , the interruption prediction section specifying means for specifying the interruption recommendation section as an interruption prediction section that may interrupt the automatic driving control. When,
On the basis of the interruption prediction section specified by the interruption prediction section specifying means, for each of the plurality of candidate routes, interruption prediction information predicted to interrupt automatic driving control in the automatic driving section included in the candidate route An interruption prediction information acquisition means to acquire,
The recommended route search means selects the recommended route from the plurality of candidate routes based on the interruption prediction information acquired by the interruption prediction information acquisition means. A route search system according to any one of the above. The recommended route searching means is:
Obtaining a time required to travel the candidate route for each of the plurality of candidate routes;
For each of the plurality of candidate routes, a determination value obtained by adding an addition value corresponding to the interruption information or the interruption prediction information to the required time is calculated.
9. The route search system according to claim 7, wherein the recommended route is selected by comparing the judgment values for the plurality of candidate routes. The recommended route searching means is:
The route search system according to claim 9, wherein a candidate route having the smallest determination value is selected as the recommended route among the plurality of candidate routes.   Among the automatic driving sections included in the recommended route searched by the recommended route searching means, the automatic driving control performed on the vehicle with respect to the sections excluding the interrupted section or the predicted stop section. The route search system according to any one of claims 7 to 10, further comprising control content setting means for setting control content. A route search method for searching a recommended route when traveling by automatic driving control in an automatic driving section in which automatic driving control of a vehicle is permitted,
A step for identifying a recommended interruption section in which the reason for the interruption in which the automatic driving control should be interrupted is generated in the automatic driving section;
A traffic information acquisition means for acquiring traffic information around the recommended interruption section;
Automatic driving determination means, based on the traffic information acquired by the traffic information acquisition means , determining whether to perform driving by automatic driving control or driving by a driver's manual driving in the recommended stop section; ,
A route search method, wherein the recommended route search means includes a step of searching for the recommended route based on a determination result of the automatic driving determination means. A computer program for searching for a recommended route when traveling by automatic driving control in an automatic driving section in which automatic driving control of a vehicle is permitted,
Computer
The recommended interruption section identifying means for identifying the recommended interruption section in which the reason for interruption that should interrupt automatic driving control occurs in the automatic driving section,
Traffic information acquisition means for acquiring traffic information around the recommended suspension section;
Based on the traffic information acquired by the traffic information acquisition means, automatic driving determination means for determining whether to perform driving by automatic driving control or driving by manual driving of the driver in the recommended interruption section;
Recommended route search means for searching for the recommended route based on the determination result of the automatic driving determination means;
Computer program to make it function.

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