JP6398877B2 - Automatic operation control device - Google Patents

Description

  The present invention relates to a technique for realizing automatic driving of a vehicle.

  Conventionally, there has been known a technique for calling attention such as “Please pause” when the behavior of a vehicle entering an intersection does not satisfy a vehicle behavior condition determined by a road structure or the like (Patent Literature) 1).

JP 2013-84088 A

  However, the conventional technology determines the necessity of alerting based on the road structure and the behavior of the host vehicle, and it is possible to alert on the assumption that other vehicles or pedestrians may exist. However, there has been a problem that it is impossible to accurately call attention according to the situation that changes from moment to moment (positional relationships with other vehicles and pedestrians, etc.).

  In particular, in automatic driving, information representing the situation around the vehicle is collected, and a driving action corresponding to the situation at that time is selected. At this time, for example, when the vehicle stops based on a temporarily stopped road sign, since the driver can visually recognize the road sign, it is possible to predict a driving action (stopped here) performed in automatic driving. However, when the vehicle stops to wait until the oncoming vehicle passes due to the presence of the oncoming vehicle on the blind curve, the driver cannot visually recognize the oncoming vehicle, so the driving action (stopped here) is performed automatically. You may not know the reason. In such a case, there is a problem in that it may not be possible to know whether the driving behavior is based on normal judgment or due to an abnormal operation of the system, which may cause anxiety to the driver.

  The present invention has been made in view of these problems, and an object of the present invention is to provide a technique for improving the driver's sense of security with respect to driving behavior performed during automatic driving.

  The automatic driving control device of the present invention includes a peripheral information acquisition unit, an action determination unit, a travel control unit, and a prior notification unit. A surrounding information acquisition part acquires the surrounding information showing the surroundings of the own vehicle and the own vehicle using the sensor mounted in the own vehicle. The behavior determining unit determines the driving behavior of the vehicle according to environmental information including a wider range of conditions than the peripheral information acquired by the peripheral information acquiring unit. The traveling control unit carries out the own vehicle driving according to the driving behavior determined by the behavior determining unit. The advance notification unit performs the extraordinary behavior when the driving behavior determined by the behavior determination unit is an extraordinary behavior deviating from the behavior within the allowable range estimated from the peripheral information acquired by the peripheral information acquisition unit. Notify in advance why.

  According to such a configuration, when the autonomous driving vehicle performs the extraordinary behavior to the driver of the autonomous driving vehicle that is the vehicle that is performing the automatic driving by the automatic driving control device, the reason is previously determined. Therefore, it is possible to improve the driver's sense of security with respect to the driving behavior performed during automatic driving.

  In addition, the code | symbol in the parenthesis described in the claim shows the correspondence with the specific means as described in embodiment mentioned later as one aspect, Comprising: The technical scope of this invention is limited is not.

It is a block diagram which shows the outline | summary of an automatic driving | operation control system. It is a block diagram which shows the structure of a vehicle-mounted system. (A) is a control center, (b) is a block diagram which shows the structure of an infrastructure. It is a flowchart of the extraordinary action prior notice process which a prior notice unit performs. It is explanatory drawing which shows the condition of the blind corner where it is difficult to pass by which extraordinary action may be implemented. It is explanatory drawing which illustrates the situation where extraordinary action is carried out, (a) can cross a pedestrian crossing in the blind spot of the vehicle in front of the pedestrian crossing when (a) changes the route by system judgment. When there is a pedestrian who has sex, (c) is a case where there is a rough road that cannot be identified visually. It is explanatory drawing which shows the condition of the straight road where passing is difficult in which extraordinary action may be implemented. It is explanatory drawing which shows the content of the extraordinary action prior notification, (a) is a case where sudden operation is not accompanied by implementation of unusual action, (b) is a case where emergency operation is accompanied by implementation of unusual action. It is a flowchart of the related action prior notification process which a prior notification unit performs. It is a specific example of prior notification, (a) (c) is an extraordinary behavior prior notification, (b) is a related behavior prior notification.

Embodiments to which the present invention is applied will be described below with reference to the drawings.
[1. Constitution]
The automatic driving control system shown in FIG. 1 includes an in-vehicle system 1, a control center 3, and an infrastructure 5.

  The in-vehicle system 1 is installed in each vehicle, and as shown in FIG. 1A, each of them performs setting of a travel route to be used for automatic driving by wireless communication with the control center 3. In addition to the wireless communication with the control center 3, the in-vehicle system 1, as shown in FIGS. 1 (b) and 1 (c), wireless communication (so-called road-to-vehicle communication) with the infrastructure 5 installed on the road The wireless communication (so-called inter-vehicle communication) with the in-vehicle system 1 mounted on the vehicle mutually provides surrounding information representing the situation of the host vehicle and the surroundings of the host vehicle. In addition, the control center 3 and the infrastructure 5 collect peripheral information and generate integrated environmental information, which is used for setting a travel route. Furthermore, the autonomous driving vehicle that is using the autonomous driving function acquires environmental information from the control center 3 and the infrastructure 5 and determines acceleration, deceleration, stopping, starting, turning right, turning left based on the environmental information. Carry out driving control according to driving behavior such as lane change. The provision of the peripheral information to the control center 3, the infrastructure 5, and other vehicles by the vehicle equipped with the in-vehicle system 1 is not limited to the autonomous driving vehicle, but is also performed by a manually operated vehicle that stops the automatic driving function.

[2. In-vehicle system]
As illustrated in FIG. 2, the in-vehicle system 1 includes a communication device 11, a GNSS 12, a sensor 13, an altitude map information storage unit 14, an indoor display 15, a speaker 16, an input device 17, and an automatic operation control device 2.

  The communicator 11 communicates with another vehicle by radio communication (V2V: Vehicle to Vehicle), road-to-vehicle communication with the infrastructure 5 (V2X: Vehicle to X), and communication with the control center 3 (for example, WiFi: Wireless Fidekity, LTE: Long Term Evolution, 3G: 3rd generation mobile communication system, etc.). The GNSS 12 receives radio waves from the quasi-zenith satellite and the GPS satellite and acquires position information of the host vehicle. The sensor 13 includes at least one of an image sensor, a millimeter wave radar, and a rider, and detects various targets such as an obstacle, a pedestrian, and a sign existing around the host vehicle. Further, the sensor 13 includes a sensor that detects an operation by the driver and a behavior of the vehicle. The altitude map information storage unit 14 stores altitude map information in which environmental information is associated with general map information. The environmental information includes, for example, the traveling state (position, traveling speed, etc.) of other vehicles within a predetermined range from the own vehicle, road conditions (road surface state, under construction), traffic management information such as traffic regulations, vehicles and walking Information on the traffic conditions of the passengers, detailed road management information, and the like. The environmental information is sequentially updated by information acquired from the control center 3, the infrastructure 5, and other vehicles via the communication device 11. The indoor display 15 is a display provided in the passenger compartment of the host vehicle and capable of displaying an image. The indoor display 15 includes a meter display, a head-up display, and the like in addition to a display for displaying a map for navigation. The speaker 16 is provided in the passenger compartment of the host vehicle and generates various voice guidances, alarms, and the like. The input device 17 receives a user input operation and generates an input signal corresponding to the input operation.

  The automatic driving control device 2 includes a peripheral information unit 21, an automatic traveling control unit 22, a driving action unit 23, and a prior notification unit 24. The automatic operation control device 2 includes a known computer having a CPU, a RAM, a ROM, and the like, and the functions of the units 21 to 24 are realized by the CPU executing a program stored in the ROM.

  The peripheral information unit 21 generates position information representing the current position of the host vehicle based on information from the GNSS 12, and represents information related to various targets existing around the host vehicle obtained from the sensor 13 and collaboration of the host vehicle. Peripheral information consisting of information is generated. For example, if the target is a vehicle or a pedestrian, the information on the target is the distance, direction, moving speed, etc. to the target, and if the target is a sign, The indicated contents are listed. In addition, the peripheral information unit 21 periodically transmits information that associates the position information and the peripheral information with a vehicle ID that identifies the host vehicle to the control center 3 and the infrastructure 5 via the communication device 11.

  The driving action unit 23 is based on various information (for example, environmental information and updated information on the travel route) transmitted from the control center 3 or the infrastructure 5 during the use of the automatic driving function. To decide. Specifically, driving behavior includes acceleration / deceleration, stop, start, right / left turn, lane change, and the like. At the same time, the stored contents and the like of the altitude map information storage unit 14 are sequentially updated with the various information transmitted.

  When the automatic driving control unit 22 confirms the intention to use the automatic driving function via the input device 17, the automatic driving control unit 22 informs the control center 3 or the infrastructure 5 of the vehicle ID of the host vehicle, position information indicating the current position, automatic driving. A start request notification indicating the destination of the is sent. Thereafter, a travel route transmitted from the control center 3 or the infrastructure 5 is acquired, and automatic driving to the destination is performed along the travel route. Specifically, since the driving behavior according to various situations encountered during traveling is determined by the driving behavior unit 23, the engine, the braking device, the steering device, and the like are controlled so as to realize the driving behavior. .

  The prior notification unit 24 sets the case where the driving action determined by the driving action unit 23 is out of the allowable range estimated from the surrounding situation as an extraordinary action, and the host vehicle performs the extraordinary action. In addition, when the own vehicle is involved in an extraordinary behavior of another vehicle, information about the extraordinary behavior is notified via the indoor display 15 or the speaker 16. Details of the processing will be described later.

[3. Control center]
The control center 3 is a center type device that monitors and controls the automatic traveling of the vehicle within a preset area. As shown in FIG. 3A, the control center 3 includes a communication device 31, a database 32, an altitude map information storage unit 33, and an arithmetic unit 4.

  The communication device 31 performs wireless communication with the in-vehicle system 1 and communication with the infrastructure 5 through a public communication network or the like. When the database 32 receives the start request notification via the communicator 31, the database 32 stores the vehicle ID, position information, and destination indicated in the start request notification in association with each other. The altitude map information storage unit 33 stores altitude map information. The content of the altitude map information is as described in the above-described altitude map information storage unit 14.

  The arithmetic unit 4 includes an environment information unit 41 and a path unit 42. The arithmetic unit 4 includes a known computer including a CPU, a RAM, a ROM, and the like, and the functions of the units 41 and 42 are realized by the CPU executing a program stored in the ROM. The processing of the environment information unit 41 and the route unit 42 will be described later.

[4. infrastructure]
The infrastructure 5 is a device that collects peripheral information provided from each vehicle by road-to-vehicle communication, and provides information such as a travel route and environmental information necessary for automatic driving to each vehicle by road-to-vehicle communication. The infrastructure 5 is installed at, for example, a communication difficulty point where communication between the in-vehicle system 1 and the control center 3 or communication between the in-vehicle systems 1 is difficult.

The infrastructure 5 includes an infrastructure body 5a and a plurality of infrastructure roadside devices 5b, 5c,... As shown in FIG.
The infrastructure roadside devices 5b, 5c,... Are installed in a place where wireless communication with a vehicle traveling on a road where communication is difficult is possible, and performs road-vehicle communication with the communication device 11 constituting the in-vehicle system 1.

  The infrastructure main body 5 a includes a communication device 51, a database 52, an altitude map information storage unit 53, and an arithmetic unit 6. The communication device 51 performs communication with the control center 3. The database 52 and the altitude map information storage unit 53 are the same as the database 32 and the altitude map information storage unit 33 of the control center 3, and the stored contents of the database 32 and the altitude map information storage unit 33 of the control center 3 are the same. Update processing is sequentially performed through the communication device 51 so as to be synchronized with the communication device.

  The arithmetic unit 6 includes an environment information unit 61 and a path unit 62. The arithmetic unit 6 includes a known computer including a CPU, a RAM, a ROM, and the like, and the functions of the units 61 and 62 are realized by the CPU executing a program stored in the ROM. The environment information unit 61 and the path unit 62 are the same as the environment information unit 41 and the path unit 42 of the control center 3.

[5. Processing at control center / infrastructure]
The environment information unit 41 of the control center 3 generates environment information by integrating the peripheral information from each vehicle acquired through the communication device 31, and stores the contents of the environment information stored in the altitude map information storage unit 33. Update sequentially. In addition, the environment information unit 41 sequentially updates the position information of the vehicle ID registered in the database 32 based on the vehicle ID and the position information indicated in the peripheral information.

  When the route unit 42 receives the start request notification via the communication device 31, the route unit 42 registers the vehicle ID, the position information, and the destination indicated in the start request notification in the database 32 and also stores them in the altitude map information storage unit 33. Using the stored information, a travel route from the current position indicated by the position information to the destination is generated, and the travel route is transmitted to the transmission source vehicle of the start request notification together with environment information related to the travel route. Thereafter, at every predetermined update timing, the travel route is recalculated for all of the registered autonomous driving vehicles, and the result is transmitted to each autonomous driving vehicle together with the environment information. The update timing may be when an update request is received from a vehicle, when environment information stored in the altitude map information storage unit 33 is updated, or the like. In addition, the environmental information includes information of other vehicles that are traveling on the road or trying to enter the road, road conditions, weather, and the like. Moreover, you may update environmental information based on the information obtained from the various sensors provided not only in the periphery information from each vehicle but on the road side.

  The environment information unit 61 and the path unit 62 of the infrastructure 5 perform the same processing as the environment information unit 41 and the path unit 42 described above. However, in the infrastructure 5, communication with the in-vehicle system 1 is performed via the infrastructure roadside devices 5b, 5c,. In other words, the control center 3 communicates via the infrastructure 5 for the area handled by the infrastructure 5, not directly with the in-vehicle system 1. In addition, the contents stored in the database 52 and the altitude map information storage unit 53 of the infrastructure 5 are information related to the area handled by the roadside device 5b of the infrastructure 5 among the contents stored in the database 32 and the altitude map information storage unit 33 of the control center 3. Will be copied.

[6. Advance Notification Unit Processing]
The prior notification unit 24 of the in-vehicle system 1 executes an extraordinary behavior prior notification process and a related behavior prior notification process. These processes are repeatedly executed until a command to use the automatic driving function is input via the input device 17 and the command is canceled after the start request notification is transmitted by the automatic traveling control unit 22. The

First, the extraordinary behavior prior notification process will be described with reference to the flowchart of FIG.
When this process is activated, the CPU functioning as the prior notification unit 24 acquires the driving behavior determined by the driving behavior unit 23 and the peripheral information generated by the peripheral information unit 21 in S110.

  In subsequent S120, it is determined whether or not the acquired driving action is an extraordinary action. If the driving action is not an extraordinary action, the process proceeds to S250, an instruction is issued to the automatic travel control unit 22 to execute the driving action, and the process returns to 110. On the other hand, if the driving action is an extraordinary action, the process proceeds to S130.

  The extraordinary behavior refers to driving behavior that deviates from an allowable range defined for each situation grasped from surrounding information. In other words, it is difficult to understand from the driving behavior determined from the environmental information that is information about a wider range than the surrounding information, that is, the situation that is grasped from the surrounding information, that is, the situation that is almost visible to the driver. The presumed thing is regarded as an extraordinary action. Specifically, the following are mentioned as driving behavior considered as extraordinary behavior, for example. (A) On a blind curve in a narrow path such as an alley, the driver cannot visually recognize the oncoming vehicle, and cannot stop the oncoming vehicle from the surrounding information. (B) Steering when the travel route is changed based on system judgment, for example, when a traffic jam is detected in the control center 3, and that is notified to the target vehicle before the intersection (see FIG. 6A) . (C) Deceleration or temporary stop before the pedestrian crossing due to the presence of a pedestrian at a blind spot from the vehicle (driver) (see FIG. 6B). (D) Although it cannot be grasped visually, the environment information generated from information from the actually traveled vehicle decelerates at a point indicated as a bad road or travels at a low speed (see FIG. 6C). .

  In S <b> 130, the driving action implementation section determined to be an extraordinary action and the prior notification section are calculated. As shown in FIG. 7, the implementation section is a section from the start of the target driving behavior to the end, and the prior notification section starts earlier than the start point of the implementation section and reaches the end point of the implementation section. Is set to end.

  In subsequent S140, the position information generated by the peripheral information unit 21 is acquired, and in subsequent S150, it is determined whether or not the host vehicle has entered the prior notification section obtained in the previous S130. If it has not entered the prior notification section, the process returns to S140, and if it has entered the prior notification section, the process proceeds to S160.

  In S160, it is determined whether or not a sudden operation such as a sudden brake or a sudden handle is necessary to complete the extraordinary action within the implementation section. Whether the operation is sudden or not is determined, for example, based on whether or not the acceleration or deceleration in the vehicle traveling direction or the vehicle width direction is equal to or greater than a preset threshold value due to the implementation of the extraordinary behavior.

  If an emergency operation is not required, the process proceeds to S170, and an instruction is given to cause the indoor display 15 and the speaker 16 to perform an extraordinary action advance notification, and the process proceeds to S190. On the other hand, if a sudden operation is necessary, the process proceeds to S180, where an instruction is given to cause the indoor display 15 or the speaker 16 to perform a sudden operation & advance notice of extraordinary behavior, and the process proceeds to S190.

  Note that in the extraordinary behavior prior notification, for example, the content shown in FIG. 8A is displayed on the indoor display 15. Further, in the emergency operation & extraordinary action prior notice, for example, the contents shown in FIG. 8B are displayed. The figure shows a case where the extraordinary behavior is “stop”, and “(reason for extraordinary behavior)” includes, for example, “waiting for the vehicle ahead” or “waiting for pedestrian crossing”. Is shown.

  In S190, the position information is acquired in the same manner as in the previous S140, and in the subsequent S200, it is determined whether or not the host vehicle has entered the execution section obtained in the previous S130. If it has not entered the implementation section, the process returns to S190, and if it has entered the implementation section, the process proceeds to S210.

In S210, the automatic travel control unit is instructed to perform the extraordinary behavior.
In subsequent S220, the state of the vehicle is acquired, and in subsequent S230, it is determined whether or not the extraordinary behavior is completed. If the extraordinary action is not completed, the process returns to S220, and if the extraordinary action is completed, the process proceeds to S240.

In S240, an instruction to end the advance notification in S170 or S180 is issued to the indoor display 15 and the speaker 16, and the process is temporarily ended.
Next, the related action prior notification process will be described along the flowchart of FIG.

  When this process is started, the CPU functioning as a prior notification unit detects an unusual behavior of the other vehicle related to the host vehicle from the environmental information acquired via the communication device 11 or the surrounding information of the other vehicle in S310. Determine whether or not. When the unusual behavior of the other vehicle related to the host vehicle is not detected, the present process is temporarily terminated. If an unusual action of another vehicle related to the host vehicle is detected, in S320, a command is issued to cause the indoor display 15 and the speaker 16 to make a related action advance notification corresponding to the unusual action, and the process proceeds to S330.

  In S330, position information generated by the peripheral information unit 21 is acquired, and in subsequent S340, it is determined whether or not a notification end condition is satisfied. If the notification end condition is not satisfied, the process returns to S330, and if the notification end condition is satisfied, the process proceeds to S350.

In S350, an instruction to end the advance notification in S320 is given to the indoor display 15 and the speaker 16, and the process is temporarily ended.
[7. Example of operation]
Here, an operation example will be described.

  FIG. 5 shows a scene in which the vehicle A is about to enter the blind corner in a situation where the vehicle B is traveling on a blind corner having a road width that is difficult to pass. In this case, the infrastructure 5 acquires the peripheral information indicating the position and behavior of the vehicle from each of the vehicles A and B, and notifies each of the vehicles A and B of the environmental information reflecting the acquired peripheral information. Based on the notified environmental information, each of the vehicles A and B determines a driving action.

  In the vehicle B, since there is no vehicle traveling in the blind corner other than the own vehicle, a driving action for maintaining the traveling state is determined. On the other hand, in the vehicle A approaching the blind corner, the driving action of stopping at the point in front of the blind corner having a road width with which the vehicle can pass is determined by the presence of the vehicle B traveling in the blind corner. The At this time, the driver of the vehicle A cannot visually recognize the vehicle B, but, as shown in FIG. An advance action notification is performed, the driver is notified of the reason for stopping (unusual action), and the extraordinary action is executed.

  On the other hand, when the vehicle B detects the extraordinary behavior (stopped here) of the vehicle A related to the host vehicle B from the environmental information acquired from the infrastructure 5, the vehicle B passes through the indoor display 15 and the speaker 16 to detect FIG. As shown in FIG. 4, the related action advance notification that “the vehicle ahead is passing because it is stopped” is performed until an end notification condition (for example, passing the side of the vehicle A) is satisfied.

  FIG. 7 shows a scene where the vehicles A and B are traveling in a direction in which the vehicles A and B approach each other on a straight road having a road width that is difficult to pass. In this case, the vehicles A and B exchange the peripheral information indicating the position and behavior of each vehicle by inter-vehicle communication. Note that the mutual information may be acquired by acquiring environmental information via a control center 3 (not shown). In this case, the driving behavior for stopping on the road shoulder is determined for one vehicle A and the driving behavior for maintaining or decelerating the traveling state is determined for the other vehicle B based on a predetermined common criterion. Is done. In this case, in the vehicle A, the non-daily action advance notification shown in FIG. Further, in the case of the vehicle B, when the traveling state is maintained, the related behavior advance notification shown in FIG. 10B is performed as in the above description, and when the vehicle is decelerated, it is an extraordinary behavior. As shown in FIG. 10 (c), an advance notice of extraordinary behavior is given that “the vehicle ahead is parked on the shoulder, so it will decelerate and pass”.

[8. effect]
As described above, in the in-vehicle system 1, when an autonomous driving vehicle performs an extraordinary behavior with respect to a driver of an autonomous driving vehicle that is a vehicle that is using an automatic driving function, the extraordinary behavior, that is, automatic The reason why the driving behavior that is difficult to predict from the situation in which the driving vehicle is placed is notified in advance, so that the driver's sense of security with respect to the extraordinary behavior performed during the automatic driving can be improved. In addition, when a sudden operation is accompanied by an extraordinary action, the fact is also notified in advance, so that the driver can be further provided with a sense of security.

[9. Other Embodiments]
As mentioned above, although embodiment of this invention was described, this invention can take a various form, without being limited to the said embodiment.

  (1) In the above embodiment, the in-vehicle system 1 is configured to acquire environmental information from the control center 3 and the infrastructure 5 and determine the driving behavior in each vehicle. The driving behavior may be determined at, and the determined result may be notified to each vehicle.

  (2) In the above embodiment, the automatic operation control device 2 and the arithmetic units 4 and 6 are configured by a computer, and the functions of the units 21 to 24, 41, 42, 61, and 62 are realized by software. However, all or part of these functions may be realized by hardware such as a logic circuit.

  (3) In the above embodiment, the control center 3 and the infrastructure 5 are provided separately from the in-vehicle system 1, but the functions of the control center 3 and the infrastructure 5 are installed in the in-vehicle system 1 and vehicle-to-vehicle communication is used. Further, it may be configured to realize the same operation and effect as the above embodiment.

  (4) The functions of one component in the above embodiment may be distributed to a plurality of components, or the functions of a plurality of components may be integrated into one component. Further, at least a part of the configuration of the above embodiment may be replaced with a known configuration having the same function. Moreover, you may abbreviate | omit a part of structure of the said embodiment. Further, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment. In addition, all the aspects included in the technical idea specified only by the wording described in the claim are embodiment of this invention.

  (5) The present invention can also be realized in various forms such as a program for causing a computer to function as the automatic operation control device 2, a medium storing the program, an automatic operation control method, and the like.

  DESCRIPTION OF SYMBOLS 1 ... In-vehicle system, 2 ... Automatic operation control apparatus, 3 ... Control center, 4, 6 ... Arithmetic unit, 5 ... Infrastructure, 5a ... Infrastructure main body, 5b ... Infrastructure roadside unit, 11, 31, 51 ... Communication device, 13 ... Sensor, 14, 33, 53 ... altitude map information storage unit, 15 ... indoor display, 16 ... speaker, 17 ... input device, 21 ... peripheral information unit, 22 ... automatic travel control unit, 23 ... driving action unit, 24 ... advance Notification unit, 32, 52 ... database, 41, 61 ... environmental information unit, 42, 62 ... route unit.

Claims (4)

A peripheral information acquisition unit (21) that acquires peripheral information representing the situation of the host vehicle and the surroundings of the host vehicle using a sensor mounted on the host vehicle;
An action determining unit (23) for determining driving behavior of the vehicle according to environmental information including a wider range of conditions than the peripheral information acquired by the peripheral information acquiring unit;
A travel control unit (22) for carrying out own-vehicle driving according to the driving behavior determined by the behavior determining unit;
The reason why the extraordinary behavior is performed when the driving behavior determined by the behavior determining unit is an extraordinary behavior deviating from the behavior within the allowable range estimated from the peripheral information acquired by the peripheral information acquiring unit. A prior notification unit (24) for notifying in advance,
Equipped with a,
The non-daily behavior includes a temporary stop due to waiting for another vehicle to pass in a situation where the driver cannot visually recognize the oncoming vehicle and cannot grasp the oncoming vehicle from the surrounding information on a blind curve. Operation control device.   The automatic driving according to claim 1, wherein the extraordinary behavior includes deceleration or stopping at an unnecessary point as judged from information within a range visible to the driver included in the peripheral information. Control device.   The said action determination part acquires the said environment information by the radio | wireless communication with the external apparatus or other vehicle which is installed in the exterior of a vehicle, collects the said surrounding information, and produces | generates the said environment information. The automatic operation control device according to claim 2. The travel control unit and the prior notification unit are provided in an in-vehicle system (1) mounted on a vehicle, and the action determination unit is provided in an external device (3, 5) installed outside the vehicle. ,
The automatic driving control device according to claim 1, wherein the in-vehicle system acquires the driving behavior determined by the behavior determining unit through wireless communication with the external device.

Images