JP6493175B2 - Automatic operation control device and program - Google Patents

Description

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

  In recent years, a vehicle has been proposed that is equipped with a travel control unit that performs automatic driving of the host vehicle and that can automatically execute acceleration / deceleration and steering. In such vehicles, various techniques for switching between manual driving by a driver and automatic driving by a travel control unit at appropriate timings have been proposed. For example, Patent Document 1 proposes a technique of switching from automatic driving to manual driving when a driver turns off an automatic driving switch on a highway main line before entering a parking area or service area.

JP 2008-290680 A

  In Patent Document 1, the driver intentionally switches from automatic operation to manual operation by operating an automatic operation switch. However, when switching from automatic driving to manual driving while the vehicle is running, the driver may be at a loss as to what driving operation should be performed immediately after the switching. Furthermore, when a change request from automatic operation to manual operation is made from the device side in a situation where automatic operation is difficult, the driver is more likely to be wondering what kind of driving operation to perform. This is especially true when the driver is performing secondary tasks such as smartphone operations during automatic driving.

  The present invention has been made in view of these problems, and an object of the present invention is to provide a technique for assisting a driver to perform an appropriate driving operation when switching from automatic driving to manual driving. .

  The automatic driving control device of the present invention includes a peripheral information acquisition unit, a travel control unit, and a recommended operation determination unit. The peripheral information acquisition unit acquires peripheral information representing a situation around the host vehicle using a sensor mounted on the host vehicle. The travel control unit performs automatic driving on the host vehicle based on the peripheral information acquired by the peripheral information acquisition unit. The recommended operation determining unit determines a recommended driving operation when the driver of the host vehicle performs manual driving based on the peripheral information acquired by the peripheral information acquiring unit. For this reason, the driver can easily perform an appropriate driving operation even when the driving operation is switched from the automatic driving to the manual driving by referring to the driving operation determined by the recommended operation determining unit.

It is a block diagram showing the structure of a vehicle-mounted system. It is a flowchart of the recommended operation determination process by a recommended operation calculation unit. It is explanatory drawing showing an example of the judgment process in the recommended operation determination process.

Hereinafter, embodiments for carrying out the invention will be described with reference to the drawings.
[1. First Embodiment]
[1-1. Constitution]
The in-vehicle system 1 is mounted on each vehicle, and as shown in FIG. 1, an automatic operation control device 2, a communication device 11, a GNSS 12, a sensor 13, an altitude map information storage unit 14, an indoor display 15, a speaker 16, and an input device 17.

  The communicator 11 is a vehicle-to-vehicle communication (V2V: Vehicle to Vehicle) with other vehicles, a road-to-vehicle communication (V2X: Vehicle to X) with an infrastructure installed on a traveling road, and communication with a control center (for example, WiFi: Wireless Fidekity, LTE: Long Term Evolution, 3G: 3rd generation mobile communication system, etc.) are executed by wireless communication. 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 an obstacle, a pedestrian, a sign, etc. existing around the own vehicle (that is, a vehicle to be controlled by the automatic driving control device 2). Detect various targets. 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 general map information is associated with road conditions (road surface conditions, under construction), traffic management information such as traffic regulations, and detailed road management information. 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 accepts a user input operation and generates an input signal corresponding to the input operation.

  The automatic operation control device 2 is configured around a known microcomputer having a CPU and a semiconductor memory such as a RAM, a ROM, and a flash memory. Various functions of the automatic operation control device 2 are realized by the CPU executing a program stored in a non-transitional physical recording medium. In this example, the semiconductor memory corresponds to a non-transitional tangible recording medium storing a program. Further, by executing this program, a method corresponding to the program is executed. The number of microcomputers constituting the automatic operation control device 2 may be one or plural.

  As shown in FIG. 1, the automatic driving control device 2 has a peripheral information unit 21, an automatic traveling control unit 22, a driving behavior unit 23, and a recommended configuration as functions realized by the CPU executing the program. An operation calculation unit 24 and a recommended operation notification unit 25 are provided. The method of realizing these elements constituting the automatic operation control device 2 is not limited to software, and some or all of the elements may be realized using hardware that combines logic circuits, analog circuits, and the like. Good.

  The peripheral information unit 21 generates position information indicating the current position of the host vehicle based on information from the GNSS 12, and also represents information on various targets existing around the host vehicle obtained from the sensor 13 and behavior of the host vehicle. Peripheral information consisting of information is generated. In addition, as information about a target, for example, when the target is a vehicle or a pedestrian, the distance, direction, moving speed, etc. to the target can be mentioned, and when the target is a sign, Examples include the contents shown on the signs. 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 and the infrastructure via the communication device 11.

  The driving behavior unit 23 determines the driving behavior of the host vehicle during automatic driving based on various information including the peripheral information generated by the peripheral information unit 21. Specifically, driving behavior includes acceleration / deceleration, stop, start, right / left turn, lane change, and the like. At the same time, the driving action unit 23 sequentially updates the stored contents and the like of the altitude map information storage unit 14 according to 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 or infrastructure of the vehicle ID of the host vehicle, the position information indicating the current position, and the purpose of the automatic driving. A start request notification indicating the ground is transmitted. Thereafter, a travel route transmitted from the control center or the infrastructure is acquired, and automatic driving to the destination along the travel route is performed. 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. .

  In addition, the automatic travel control unit 22 is when it is safer to switch from automatic operation to manual operation based on the peripheral information generated by the peripheral information unit 21 or the presence or absence of malfunction in the sensor 13 or the GNSS 12. Sends a replacement request. That is, the automatic travel control unit 22 includes, as control modes, an automatic operation mode that performs automatic operation and a manual operation mode that enables manual operation without performing automatic operation, and the control mode is changed from the automatic operation mode. A change request is sent when it is preferable to switch to the manual operation mode.

  In the present embodiment, hereinafter, the driving mode in which both the vehicle speed (including stopping and reverse) and the steering state are automatically controlled is referred to as automatic driving, and the driving mode in which both the vehicle speed and the steering state change according to the operation of the driver. Is called manual operation. However, as the automatic driving, various forms such as a form in which only the vehicle speed is automatically controlled and a form in which only the steering state is automatically controlled so as not to deviate from the lane are applicable. That is, the manual driving refers to a driving mode in which both the vehicle speed and the steering state change according to the driver's operation, and the automatic driving refers to a driving mode in which at least one of the vehicle speed and the steering state is automatically controlled. In some forms of automatic operation, manual operation and automatic operation may be switched even if the mode is not changed. For example, in an apparatus in which the steering state is automatically controlled only when the vehicle is about to deviate from the lane, the scene in which the host vehicle travels in the center of the lane and the automatic control is not executed is manual driving, and the host vehicle A scene in which the automatic control is being executed with a tendency to deviate from is automatic driving. That is, even if the vehicle speed or the steering state is monitored by the computer, the scene in which they correspond to the driver's operation is manual driving, and as a result of monitoring the vehicle speed or the steering state, the vehicle speed or the steering state is intervened. The scene made is automatic driving.

  The recommended operation calculation unit 24 is a driving operation to be recommended to the driver based on the peripheral information generated by the peripheral information unit 21 when the change request is transmitted from the automatic traveling control unit 22 (that is, the driver manually operates the driver). Recommended driving operation). Details of the processing will be described later.

  When the recommended operation calculation unit 24 determines a driving operation to be recommended to the driver (hereinafter also referred to as a recommended operation), the recommended operation notification unit 25 drives the indoor display 15 or the speaker 16 to make the driving operation a driver. Notice.

[1-2. processing]
Next, the recommended operation determination process executed as the process of the recommended operation calculation unit 24 in the automatic driving control apparatus 2 will be described using the flowchart of FIG. This process is repeatedly executed every predetermined time after the in-vehicle system 1 is activated. This process is executed by the CPU of the automatic operation control device 2 based on the program.

  In this process, first, in S1, it is determined whether THW (that is, Time Headway) with the following vehicle is equal to or greater than a threshold value. THW is also called inter-vehicle time. For example, as illustrated in FIG. 3, when the inter-vehicle distance between the host vehicle C and the following vehicle Cr is Sr and the vehicle speed of the following vehicle Cr is Vr, it is expressed by an equation THW = Sr / Vr. The host vehicle C is a vehicle on which the in-vehicle system 1 is mounted. The threshold value is set in advance to a predetermined value. If THW is equal to or greater than the threshold (S1: Yes), the process proceeds directly to S3. If THW is less than the threshold (S1: No), the process proceeds to S3 via S2.

  In S <b> 2, the change preparation is notified via the indoor display 15 and the speaker 16. That is, when the following vehicle Cr closes the inter-vehicle distance Sr so that THW is less than the threshold value, the automatic travel control unit 22 may transmit the above-described replacement request. Therefore, through the process of S2, the automatic driving control device 2 notifies the driver that preparations for driving replacement should be prepared via the indoor display 15 and the speaker 16.

  In S3, it is determined whether or not the automatic travel control unit 22 has transmitted a replacement request. When the replacement request is not transmitted (S3: No), the process proceeds to S4. In S4, the automatic operation by another routine is continued and the process is temporarily ended. On the other hand, when the change request is transmitted (S3: Yes), the process proceeds to S7.

  In S7, the presence / absence of a preceding vehicle is determined based on the surrounding information. If there is no preceding vehicle (S7: No), the process proceeds to S8. In S8, a lane keeping operation for maintaining the lane during travel is notified to the driver as a recommended operation, and the process is temporarily ended. This notification is executed by the recommended operation notification unit 25 via the indoor display 15 and the speaker 16. In addition, this notification may be a notification of a recommended operation by presenting information that can be said to be a recommended vehicle behavior, strictly speaking, such as “Please keep the lane.” Please operate the steering wheel so that the vehicle does not deviate from the lane in the middle. " This also applies to lane change operations and brake operations described below. That is, the recommended driving operation may be an operation expressed in relation to the vehicle behavior, or may be an operation itself performed by the driver.

  On the other hand, if it is determined in S7 that there is a preceding vehicle (Yes), the process proceeds to S9. In S9, it is determined whether or not the speed difference (relative speed) with the preceding vehicle is greater than or equal to a threshold value. For example, it is determined whether or not the speed difference obtained by subtracting the vehicle speed V of the host vehicle C from the vehicle speed Vf of the preceding vehicle Cf shown in FIG. This threshold value is preset to a positive predetermined value.

  When the speed difference is equal to or greater than the threshold (S9: Yes), the process proceeds to S8 described above, and when the speed difference is less than the threshold (S9: No), the process proceeds to S11. In S11, it is determined whether or not a right lane change (that is, a lane change to the right lane) in manual operation is possible based on the peripheral information. For example, as shown in FIG. 3, it is assumed that the preceding vehicle Cfr exists in the right lane Lr of the lane L on which the host vehicle C travels, and the following vehicle Crr exists. In that case, based on the inter-vehicle distance Sfr between the vehicle Cfr and the own vehicle C, the inter-vehicle distance Srr between the vehicle Crr and the own vehicle C, the vehicle speed Vfr of the vehicle Cfr, the vehicle speed Vrr of the vehicle Crr, and the vehicle speed V of the own vehicle C, It is determined whether or not the space for the host vehicle C to change lanes is in the right lane Lr.

  If the right lane change is possible in manual operation (S11: Yes), the process proceeds to S12. In S12, the right lane change operation (that is, the lane change operation to the right lane) is notified to the driver as a recommended operation, and the process is temporarily ended. This notification is executed by the recommended operation notification unit 25 via the indoor display 15 and the speaker 16.

  On the other hand, when the right lane change is impossible (S11: No), the process proceeds to S13. In S13, it is determined whether left lane change (that is, lane change to the left lane) in manual operation is possible. In the example of FIG. 3, the left lane change is impossible because the host vehicle C is traveling in the leftmost lane L. However, when the host vehicle C is traveling in the right lane Lr, or when the host vehicle C is traveling in the center lane of the three-lane road on one side, it may be determined that this is possible in S13. .

  If the left lane change is possible in manual operation (S13: Yes), the process proceeds to S14. In S14, the left lane change operation (that is, the lane change operation to the left lane) is notified to the driver as a recommended operation, and the process is temporarily ended. On the other hand, when the left lane change is impossible (S13: No), the process proceeds to S15. In S15, the driver is notified of an operation for stopping (may be decelerating) with a brake (that is, a decelerating operation: hereinafter also referred to as a brake operation) as a recommended operation, and the process is temporarily ended. The notifications by S14 and S15 are also executed by the recommended operation notification unit 25 via the indoor display 15 and the speaker 16. Moreover, when the notification by the process of S15 is made, the notification may be made to perform the brake operation while paying attention to the rear.

[1-3. effect]
According to the first embodiment described in detail above, the following effects can be obtained.
(1A) In the in-vehicle system 1, when a change request from the automatic operation mode to the manual operation mode is transmitted (S3: Yes), the recommended operation is notified to the driver by the processing of S8, S12, S14, or S15. . Therefore, the driver can easily perform an appropriate driving operation even when the control mode is switched from the automatic driving mode to the manual driving mode by referring to the recommended operation.

  (1B) In the in-vehicle system 1, the recommended operation is performed based on the THW with the following vehicle Cr, the presence / absence of the preceding vehicle Cf, the vehicle speed difference with the preceding vehicle Cf, and the presence / absence of a space for changing lanes. Classified into types. Therefore, the driver can perform a very appropriate driving operation by referring to the recommended operation.

  As an example of a recommended driving operation, for example, when there is no preceding vehicle Cf (S7: No) and there is sufficient THW with the following vehicle Cr (S1: Yes), a lane keeping operation is a recommended operation. Notification is made (S8). Further, when the preceding vehicle Cf does not exist (S7: No) and the THW with the following vehicle Cr is short (S1: No), the lane keeping operation is notified as the recommended operation (S8). Even if the preceding vehicle Cf exists (S7: Yes), if the vehicle speed of the preceding vehicle Cf is sufficiently high (S9: Yes), the lane keeping operation is notified as a recommended operation (S8). In this case, even if there is no subsequent vehicle Cr, even if there is sufficient THW with the subsequent vehicle Cr, even if there is not enough THW with the subsequent vehicle Cr, the same notification is given. However, if there is not enough THW with the following vehicle Cr, the preparation for replacement is notified prior to the notification of the recommended operation (S2).

  When the preceding vehicle Cf exists (S7: Yes), the preceding vehicle Cf is stopped or traveling at a very low speed (S9: No), and a lane change is possible (S11: Yes or S13: Yes). The lane change operation is notified as a recommended operation (S12 or S14). In this case as well, even if there is no subsequent vehicle Cr, even if there is sufficient THW with the subsequent vehicle Cr, and even if there is not enough THW with the subsequent vehicle Cr, the same notification is given.

  If the preceding vehicle Cf is present (S7: Yes), the preceding vehicle Cf is stopped or traveling at a very low speed (S9: No), and a lane change is impossible (S13: No), the brake is applied. An operation to stop is notified as a recommended operation (S15).

[1-4. Correspondence with Claimed Elements]
In the embodiment, the peripheral information unit 21 is the peripheral information acquisition unit, the automatic travel control unit 22 and the driving action unit 23 are the travel control unit, the recommended operation calculation unit 24 is the recommended operation determination unit, the indoor display 15 and The speaker 16 and the recommended operation notification unit 25 correspond to the notification unit, respectively.

[2. Other Embodiments]
As mentioned above, although the form for implementing this invention was demonstrated, this invention is not limited to the above-mentioned embodiment, It can implement in various deformation | transformation.

  (2A) In the above-described embodiment, all of the processes related to the determination of the recommended driving operation are executed by the in-vehicle system 1 as the in-vehicle apparatus, but the present invention is not limited to this. For example, some or all of these processes may be executed in a cloud such as a control center. That is, the peripheral information acquisition unit, the travel control unit, and the recommended operation determination unit do not necessarily have to be mounted on the vehicle, and may be provided on the cloud.

  (2B) In the above-described embodiment, four types of recommended driving operations, ie, a lane keeping operation, a right lane change operation, a left lane change operation, and a brake operation can be determined, but are not limited thereto. For example, as described above, even when the preceding vehicle Cf does not exist (S7: No) and the lane keeping operation is notified as the recommended driving operation, the brake operation is performed according to the state of the subsequent vehicle Cr. Such attention may be additionally notified. Specifically, if there is no subsequent vehicle Cr, it is notified that sudden braking is possible, and if there is sufficient THW with the subsequent vehicle Cr, it is notified that sudden braking is not possible. When the THW is short, the brake operation may be notified so as to be within an allowable range. In order to enable such notification, the recommended driving operation may be determined in consideration of the state of the following vehicle Cr. Further, TTC may be used instead of THW. TTC is an abbreviation for Time to Collison, and is a value obtained by dividing the inter-vehicle distance between the front and rear vehicles by the relative speed with the direction in which the inter-vehicle jam is positive.

  (2C) Further, if a process for determining a recommended driving operation in consideration of the state of the preceding vehicle Cfr in the adjacent lane is adopted, the preceding vehicle Cf exists (S7: Yes), and the preceding vehicle Cf stops. Even when the vehicle is traveling at a medium or extremely low speed (S9: No) and a lane change operation is possible (S11: Yes or S13: Yes), the following case classification is possible. For example, when the vehicle Cfr preceding the adjacent lane does not exist or is traveling at a high speed, the lane change operation is notified as the recommended operation as described above (S12 or S14), and the vehicle Cfr preceding the adjacent lane stops. When the vehicle is traveling at a medium or extremely low speed, an operation of stopping by a brake after a lane change can be notified as a recommended operation.

  (2D) On the contrary, a mode in which the recommended driving operation type is reduced as compared with the above-described embodiment, for example, one of the lane keeping operation and the braking operation is also conceivable. In that case, the surrounding information acquisition unit may acquire only the behavior of the preceding vehicle and the following vehicle.

  (2E) When the peripheral information acquisition unit fails, the peripheral information may be estimated based on the driving operation determined by the recommended operation determination unit, or the latest peripheral information acquired immediately before the failure is recommended. May be displayed instead of the driving operation.

  (2F) Further, as the travel control unit, for example, a mode in which the host vehicle travels at an appropriate speed along a lane such as an expressway without referring to even map data is conceivable. In that case, as a recommended driving operation, for example, a notification such as “If there is a space for changing lanes, change the lane by manual driving” may be given. In other words, it may be left to the driver to determine whether or not to change lanes.

  (2G) In the above-described embodiment, when the automatic travel control unit 22 issues a change request (S3: Yes), an appropriate driving operation is notified, but the present invention is not limited to this. The recommended driving operation may be notified periodically and intermittently even when the automatic driving can be continued. The recommended driving operation may be always notified by display or the like even when the automatic driving can be continued.

  (2H) Moreover, the driving operation determined by the recommended operation determining unit may be notified through the device selected by the driver. For example, the recommended driving operation may be set to be notified via a portable terminal such as a smartphone carried by the driver.

  (2I) Moreover, various forms can be considered for the content of information notified by the notification unit. For example, when the driver is notified of the recommended driving operation as described above, the peripheral information that causes the recommended driving operation (for example, that the preceding vehicle Cf is stopped) is also included. May be notified.

  (2J) The functions of one component in the embodiment may be distributed as a plurality of components, or the functions of a plurality of components may be integrated into one component. Moreover, you may abbreviate | omit a part of structure of the said embodiment. In addition, at least a part of the configuration of the 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.

  (2K) In addition to the above-described automatic operation control device, a system including the automatic operation control device as a constituent element, a program for causing a computer to function as the automatic operation control device, and a non-transitive semiconductor memory or the like in which the program is recorded The present invention can also be realized in various forms such as an actual recording medium and an automatic operation control method.

DESCRIPTION OF SYMBOLS 1 ... In-vehicle system 2 ... Automatic driving control device 13 ... Sensor 15 ... Indoor display 16 ... Speaker 21 ... Peripheral information unit 22 ... Automatic travel control unit 23 ... Driving action unit 24 ... Recommended operation calculation unit 25 ... Recommended operation notification unit C ... Own vehicle Cf ... preceding vehicle Cr ... following vehicle

Claims (9)

A peripheral information acquisition unit that acquires peripheral information that represents a situation around the host vehicle using a sensor mounted on the host vehicle;
Based on the peripheral information acquired by the peripheral information acquisition unit, a travel control unit that performs automatic driving for the host vehicle,
Based on the peripheral information acquired by the peripheral information acquisition unit, a recommended operation determination unit that determines a recommended driving operation when the driver of the host vehicle manually drives,
Equipped with a,
The automatic driving includes automatic steering control for performing steering control of the host vehicle,
The surrounding information acquisition unit indicates the presence or absence of a preceding vehicle or a following vehicle in a lane in which the host vehicle is traveling, a distance between the preceding vehicle or the following vehicle, or a relative speed with the preceding vehicle or the following vehicle. Get as
The recommended operation determining unit determines the driving operation using the peripheral information,
The surrounding information acquisition unit acquires the presence or absence of the preceding vehicle and a relative speed obtained by subtracting the vehicle speed of the host vehicle from the vehicle speed of the preceding vehicle as the surrounding information,
When it is determined that there is no preceding vehicle based on the surrounding information, or when it is determined that the relative speed is greater than or equal to a predetermined value based on the surrounding information, the recommended operation determining unit controls the automatic steering control for the lane to travel The driving operation is determined as an operation to maintain the lane during travel by
Automatic operation control device. When it is determined that the relative speed obtained by subtracting the vehicle speed of the host vehicle from the vehicle speed of the preceding vehicle is less than the predetermined value based on the peripheral information, the recommended operation determination unit determines the driving operation to be a lane change operation. The automatic operation control device according to claim 1 , wherein: The surrounding information acquisition unit also acquires, as the surrounding information, information related to whether or not a space for changing lanes is in an adjacent lane,
When it is determined that the relative speed obtained by subtracting the vehicle speed of the host vehicle from the vehicle speed of the preceding vehicle is less than the predetermined value based on the peripheral information, the recommended operation determination unit determines that the driving operation is performed when the space exists. It was determined lane change operation, when there is no the space automatic operation control apparatus according to claim 1, characterized in that determining the decelerating operation of the driving operation. A notification unit for notifying the driver of the driving operation determined by the recommended operation determination unit;
The automatic operation control device according to any one of claims 1 to 3, further comprising: The travel control unit includes, as control modes, an automatic operation mode in which the automatic operation is performed, and a manual operation mode in which the automatic operation is not performed.
The automatic operation control device according to claim 4 , wherein the notification unit notifies the driving operation when the control mode is switched from the automatic operation mode to the manual operation mode. The notification unit is configured with the recommended driving operation, automatic operation control apparatus according to claim 4 or 5, characterized in that notifies the peripheral information is also driver. As driving operation the recommended operation determination unit determines the operation to keep the lane during driving, lane change operation or the deceleration operation, claim 1-6, characterized in that it comprises at least any one The automatic operation control apparatus according to item 1. The recommended operation determination unit can determine the driving operation as a lane change operation, and when the driving operation is determined as a lane change operation, whether the lane change operation is a lane change operation to the right lane or to the left lane The automatic operation control device according to claim 7 , wherein the lane change operation is also determined. A peripheral information acquisition unit that acquires peripheral information that represents a situation around the host vehicle using a sensor mounted on the host vehicle;
Based on the peripheral information acquired by the peripheral information acquisition unit, a travel control unit that performs automatic driving for the host vehicle,
Based on the peripheral information acquired by the peripheral information acquisition unit, a recommended operation determination unit that determines a recommended driving operation when the driver of the host vehicle manually drives,
Equipped with a,
Wherein the automatic operation, for the computer according to a vehicle including an automatic steering control for steering control of the vehicle,
In the peripheral information acquisition unit, the presence or absence of a preceding vehicle or a succeeding vehicle in a lane in which the host vehicle is traveling, an inter-vehicle distance from the preceding vehicle or the following vehicle, or a relative speed with respect to the preceding vehicle or the following vehicle is determined as the peripheral information. Let's get as
Let the recommended operation determination unit determine the driving operation using the peripheral information,
The peripheral information acquisition unit, the presence or absence of the preceding vehicle, and the relative speed obtained by subtracting the vehicle speed of the host vehicle from the vehicle speed of the preceding vehicle is acquired as the peripheral information,
When it is determined that there is no preceding vehicle based on the surrounding information, or when the relative speed is determined to be greater than or equal to a predetermined value based on the surrounding information, the automatic operation control is performed on the lane to travel to the recommended operation determining unit. A program for causing the operation to be maintained in the traveling lane to determine the driving operation.

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