JP6509623B2 - Automatic driving support system, automatic driving support method and computer program - Google Patents

Description

  The present invention relates to an automatic driving support system for performing automatic driving support in a vehicle, an automatic driving support method, and a computer program.

  In recent years, as a traveling mode of a vehicle, other than a manual traveling that travels based on a driving operation of the user, an automatic driving that assists the driving of the vehicle by the user by executing a part or all of the driving operation of the user New support system is proposed. In the automatic driving support system, for example, vehicle control such as steering, drive source, and brake is performed so as to continue traveling near the center of the same lane while maintaining a predetermined speed and a certain distance from the preceding vehicle. It is done automatically. Here, traveling by the automatic driving support system has the advantage of being able to reduce the burden of driving by the user, but automatic driving support can not be implemented at any place, and automatic driving support can not be implemented, or is implemented. In order to do this, there is a section that needs to satisfy certain conditions (hereinafter referred to as the implementation restriction section).

  For example, in a section having a curve shape, it is difficult for the automatic driving support to appropriately travel along the curve shape when the vehicle speed is high, so that the vehicle speed is equal to or less than the speed according to the curvature radius of the curve. It becomes a condition to carry out. On the other hand, in sections where lane markings have disappeared or have become too thin to be recognized by the camera, if the vehicle speed is slow, the time when the vehicle can not identify the lane to be traveled will be long, and automatic driving support Therefore, it is difficult for the vehicle to travel, so that the vehicle speed being equal to or higher than a predetermined speed is a condition for implementing the automatic driving support. In addition, in a section where a plurality of roads such as a junction and an intersection are connected, it is necessary to take appropriate vehicle behavior according to the surrounding situation, and automatic driving support can not be implemented.

  Therefore, when the implementation restriction section as described above is ahead of the traveling direction of the vehicle, the user is informed in advance of the existence of the implementation restriction section to the user, or vehicle control (for example, deceleration control) for the implementation restriction section is performed. There is a need. In particular, when there are a plurality of implementation restricted sections, what kind of guidance and vehicle control should be performed is important. For example, JP-A-2014-235054 displays a traffic division for each lane of an intersection and a plate indicating a passing direction of the vehicle at a timing when the intersection approaches within a predetermined distance ahead of the traveling direction of the vehicle. In the case where there are multiple intersections, it is proposed to arrange and display the plates in order of passage.

JP, 2014-235054, A (page 7-9, FIG. 4)

  However, in the case of guidance for intersections, problems occur even if guidance is sequentially provided from intersections that meet the guidance start conditions (being located within a predetermined distance from the vehicle in Patent Literature 1) as in Patent Document 1 above. However, if guidance for the guidance restricted section and vehicle control are performed in the order in which the guidance start conditions are satisfied as described in Patent Document 1, the following problems occur.

  Here, guidance and vehicle control for the guidance restricted section can secure time for preparing for traveling the operation restricted section (hereinafter referred to as spare operation required time) until the vehicle reaches the implementation restricted section. It is necessary to do at the timing. In addition, the preparatory movement required time is, for example, when the implementation restriction section is a section where it is necessary to satisfy the operation enable condition in order to perform the automatic driving support, the state of the vehicle is shifted to the state satisfying the operation enable condition. It will be the time needed for And this preparatory operation required time differs for every kind of execution restriction section.

  Therefore, as shown in FIG. 19, there are different types of guidance restriction zones A and guidance restriction zones B ahead of the traveling direction of the vehicle, and the guidance restriction zone B has a required preliminary operation time than guidance restriction zone A. When the length of the guide restriction zone A is long, the point b at which guidance on the guidance restricted zone B or vehicle control starts may be on the front side of the guidance a on the guidance restricted zone A or the point a at which vehicle control is started. In that case, there arises a problem that the guidance and vehicle control for the guidance restricted zone B which passes after the guidance and vehicle control for the guidance restricted zone A where the vehicle passes first are performed first.

  The present invention has been made to solve the above-mentioned problems in the prior art, and even when there are a plurality of guidance restricted zones ahead of the traveling direction of the vehicle, appropriate guidance and vehicle control for each guidance restricted zone can be made. It is an object of the present invention to provide an automatic driving support system, an automatic driving support method, and a computer program that can be performed.

In order to achieve the above object, in the automatic driving support system according to the present invention, when automatic driving support is performed in the vehicle, a plurality of implementation restricted sections in which the execution of the automatic driving support is restricted are ahead of the traveling direction of the vehicle. It is set based on the type of each execution restriction section when it is judged that a plurality of the implementation restriction sections are ahead of the traveling direction of the vehicle by the section judgment unit which judges whether or not there is a plurality and the section judgment unit A plurality of preliminary operation required time acquiring means for acquiring the preliminary operation required time for each of the plurality of execution restricted sections, a plurality of vehicle speed acquiring means for acquiring the vehicle speed of the vehicle, and a plurality of the preliminary operation required time A point identifying hand for identifying an operation start point which is a point at which the time required for the vehicle to reach the start point of the implementation restricted zone is the preliminary operation required time for each of the implementation restricted zones of And integrated determination means for determining whether or not to integrate control or guidance of the vehicle for the plurality of limited implementation sections based on the positional relationship between the operation start points specified for each of the plurality of limited implementation sections; wherein according to the determination result of the integration identifying unit and a control means for executing control or guidance of the vehicle, have a plurality of the above-described restriction section includes a first embodiment restriction section lies along the traveling direction of the vehicle And a second implementation restricted zone located on the traveling direction side of the vehicle than the first implementation restricted zone, and the point specifying means determines a time required for the vehicle to reach the start point of the first implementation restricted zone. Specifies the first operation start point which is the preliminary operation required time set in the first implementation restricted zone, and the time required for the vehicle to reach the start point of the second implementation restricted zone is the second Implementation restriction Identifying a second operation start point at which the preliminary operation required time set in the interval is between, and the integrated determination means determines that the second operation start point is opposite to the traveling direction of the vehicle than the first operation start point When it is on the side, it is determined that control or guidance of the vehicle for the first implementation restricted zone and control or guidance of the vehicle for the second implementation restricted zone are integrated .
The “automatic driving support” refers to a function of performing or assisting at least a part of the driver's vehicle operation on behalf of the driver.
In addition to the state in which part or all of automatic driving support can not be performed, “the execution of automatic driving support is limited” means that a certain condition is required to perform automatic driving support. Also includes.

The automatic driving support method according to the present invention is a method for supporting the traveling of a vehicle by the execution of the automatic driving support. Specifically, when the automatic driving support is performed in the vehicle, the section determination means determines whether or not there are a plurality of implementation restricted sections in which the execution of the automatic driving support is restricted ahead of the traveling direction of the vehicle. The step and the preparatory movement required time acquisition means are set based on the type of each execution restriction section when the section judgment means judges that the plurality of operation restriction sections are ahead of the traveling direction of the vehicle. The step of acquiring the preliminary operation required time for each of the plurality of implementation restricted sections, the step of acquiring the vehicle speed of the vehicle, and the point specifying unit are based on the vehicle speed of the vehicle and the preparatory operation required time. To identify the operation start point, which is a point at which the time required for the vehicle to reach the start point of the implementation restricted zone is the preliminary operation required time for each of the plurality of implementation restricted zones And the integrated determination means determine whether to integrate the control or guidance of the vehicle with respect to the plurality of limited implementation zones based on the positional relationship between the operation start points specified for each of the plurality of limited implementation zones. exists and step, the control execution means, wherein the step of performing the control or guidance of the vehicle according to the determination result of the integration identifying unit, have a plurality of the above-described restriction section, along the traveling direction of the vehicle Including the first implementation restricted zone and the second implementation restricted zone on the traveling direction side of the vehicle with respect to the first implementation restricted zone, and the point specifying means determines that the vehicle is the start point of the first implementation restricted zone Identifying the first operation start point where the preparatory operation required time set in the first implementation restricted zone is the time required for reaching the first operation restricted section, and until the vehicle reaches the start point of the second implementation restricted zone of The second operation start point where the required time is the preliminary operation required time set in the second execution restricted section is specified, and the integrated determination means determines that the second operation start point is higher than the first operation start point When it is on the side opposite to the traveling direction of the vehicle, it is determined that the control or guidance of the vehicle for the first implementation restricted zone and the control or guidance of the vehicle for the second implementation restricted zone are integrated .

A computer program according to the present invention is a program for supporting the traveling of a vehicle by the execution of automatic driving support. More specifically, when automatic driving support is performed on a computer, the computer determines whether or not there are a plurality of implementation restricted sections in which the execution of the automatic driving support is restricted ahead of the traveling direction of the vehicle. Means for determining a plurality of preparatory operation required times set based on the type of each execution restriction section when it is determined that the plurality of implementation restriction sections are ahead of the traveling direction of the vehicle by the section determination means Based on the preliminary operation required time acquiring means acquired for each execution restricted zone, the vehicle speed acquiring means for acquiring the vehicle speed of the vehicle, and the vehicle speed of the vehicle and the preliminary operation required time, the plurality of execution restricted zones Point specifying means for specifying an operation start point, which is a point where the time required for the vehicle to reach the start point of the implementation restricted zone is the preparatory operation required time, and a plurality of the above-mentioned each implementation restricted zone Integrated determination means for determining whether or not to integrate control or guidance of the vehicle with respect to the plurality of limited operation zones based on the positional relationship between the identified operation start points; and the vehicle according to the determination result of the integrated determination means A computer program for causing the vehicle to function as control implementation means for implementing control or guidance of the vehicle, wherein the plurality of implementation limitation sections are a first implementation limitation section existing along the traveling direction of the vehicle and the first implementation limitation section The second implementation restricted zone which is on the traveling direction side of the vehicle than the one implementation restricted zone, and the point specifying means determines the time required for the vehicle to reach the start point of the first implementation restricted zone. The first operation start point, which is the preliminary operation required time set in the first implementation restricted zone, is specified, and the time required for the vehicle to reach the start point of the second implementation restricted zone is specified. The second operation start point which is the preliminary operation required time set in the 2 operation restriction section is specified, and the integrated determination means determines that the second operation start point is the traveling direction of the vehicle with respect to the first operation start point. And determining that the control or guidance of the vehicle for the first implementation restricted zone and the control or guidance of the vehicle for the second implementation restricted zone are integrated .

According to the automatic driving support system, the automatic driving support method, and the computer program according to the present invention having the above configuration, even when there are a plurality of guidance restricted zones ahead of the traveling direction of the vehicle, guidance for each guidance restricted zone It becomes possible to perform vehicle control appropriately. As a result, automatic driving support can be continued as much as possible.
In addition, when there are a first guidance restricted zone and a second guidance restricted zone ahead of the traveling direction of the vehicle, a second guidance restriction which passes later than the guidance or vehicle control for the first guidance restricted zone where the vehicle passes first. It is possible to prevent the guidance for the section and the vehicle control from being performed first. Therefore, it is possible to appropriately perform guidance and vehicle control for each guidance limited section.

It is a block diagram showing composition of a navigation device concerning this embodiment. It is the figure which showed an example of the storage area of implementation restriction | limiting area DB. It is the figure which showed an example of the implementation restriction area. It is the figure which showed an example of the implementation restriction area. It is the figure which showed an example of the implementation restriction area. It is a figure showing an example of a preliminary operation corresponding table. It is a flow chart of an automatic driving support program concerning this embodiment. It is a figure explaining the case where the hand-over guidance to manual operation is performed. It is a figure explaining guidance and vehicle control implemented in the state where control and guidance of vehicles were not integrated. It is a figure explaining guidance and vehicle control implemented in the state where control and guidance of vehicles were not integrated. It is a figure explaining guidance and vehicle control implemented in the state where control and guidance of vehicles to a plurality of guidance restriction sections were unified. It is a figure explaining guidance and vehicle control implemented in the state where control and guidance of vehicles to a plurality of guidance restriction sections were unified. It is a figure explaining guidance and vehicle control implemented in the state where control and guidance of vehicles to a plurality of guidance restriction sections were unified. It is a figure showing an example of guidance which guides a position of a start point of an implementation restriction section. It is a figure showing an example of guidance which guides that a vehicle is in an operation restriction section. It is a flowchart of the sub processing program of integrated separation processing. It is a figure shown about an example which unifies control and guidance of a vehicle to a plurality of guidance restriction sections. It is a figure showing an example which cancels integration about control and guidance of an integrated vehicle. It is a figure explaining the problem of a prior art.

  Hereinafter, an automatic driving support system according to the present invention will be described in detail based on an embodiment embodied in a navigation device with reference to the drawings. First, a schematic configuration of the navigation device 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a navigation device 1 according to the present embodiment.

  As shown in FIG. 1, the navigation device 1 according to the present embodiment includes a current position detection unit 11 for detecting the current position of a vehicle equipped with the navigation device 1, and a data recording unit 12 in which various data are recorded. Based on the input information, the navigation ECU 13 for performing various arithmetic processing, the operation unit 14 for receiving an operation from the user, and the guide route set for the user by the map or navigation device 1 around the vehicle A liquid crystal display 15 for displaying information and the like concerning the planned travel route of the vehicle, a speaker 16 for outputting voice guidance for route guidance, a DVD drive 17 for reading a DVD as a storage medium, a probe center and VICS (registered trademark: Vehicle Information) and Communication System) Communication module that communicates with an information center such as a center And 8, are constructed from. Further, the navigation device 1 is connected with an external camera 19 and various sensors installed for a vehicle equipped with the navigation device 1 via an on-vehicle network such as CAN. Furthermore, a vehicle control ECU 20 that performs various controls on the vehicle mounted with the navigation device 1 is also connected bi-directionally communicable. Further, various operation buttons 21 mounted on the vehicle such as an automatic driving start button are also connected.

Below, each component which comprises the navigation apparatus 1 is demonstrated in order.
The current position detection unit 11 includes the GPS 22, the vehicle speed sensor 23, the steering sensor 24, the gyro sensor 25 and the like, and can detect the current position, orientation, traveling speed of the vehicle, current time, etc. . Here, in particular, the vehicle speed sensor 23 is a sensor for detecting the moving distance of the vehicle and the vehicle speed, generates a pulse according to the rotation of the drive 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 pulse which generate | occur | produces. The navigation device 1 does not have to include all the four types of sensors described above, and the navigation device 1 may be configured to include only one or more of these sensors.

  Further, the data recording unit 12 reads a hard disk (not shown) as an external storage device and a recording medium, a map information DB 31 recorded in the hard disk, an execution restriction section DB 32, a preliminary operation correspondence table 33, a predetermined program, etc. And a recording head (not shown) which is a driver for writing predetermined data in the hard disk. The data recording unit 12 may be configured by a flash memory, a memory card, or an optical disk such as a CD or a DVD instead of the hard disk. Further, the map information DB 31, the operation restriction section DB 32, and the preliminary operation correspondence table 33 may be stored in an external server, and may be acquired by the navigation device 1 through communication.

  Here, the map information DB 31 is, for example, link data on roads (links), node data on node points, search data used for processing relating to route search and change, facility data on facilities, and a map for displaying a map. It is a storage means in which display data, intersection data regarding each intersection, search data for searching for points, etc. are stored.

  Also, as link data, the width of the road to which the link belongs, the gradient arrangement, the cant, the bank, the road surface condition, the merging section, the road structure, the number of lanes in the road, and the number of lanes The data representing the location where the road is narrow, the narrowing of the width, the crossing, etc. represents the radius of curvature, the intersection, the T-junction, the entrance and exit of the corner, etc. The data representing the road type are recorded as well as general roads such as national roads, prefectural roads, narrow streets, etc., and data representing toll roads such as expressway national roads, urban expressways, motorways, toll roads, toll bridges etc. Ru.

  Also, as node data, coordinates (positions) of node points set for each predetermined distance according to actual road bifurcation points (including intersections, T-junctions, etc.) and curvature radius etc. for each road, node Is a node attribute indicating whether the node corresponds to an intersection, etc., a connection link number list which is a list of link numbers of links connected to the node, an adjacent node which is a list of node numbers of nodes adjacent to the node via the link A number list, data on height (altitude) of each node point, etc. are recorded.

  In addition, the implementation limited section DB 32 is stored for implementation limited sections where implementation of automatic driving support is limited on each road in the whole country.

  Here, as the traveling mode of the vehicle, in addition to the manual driving traveling that travels based on the driving operation of the user, the vehicle automatically travels along a preset route or road regardless of the driving operation of the user It is possible to run with automatic driving support to In the case of traveling with automatic driving support, for example, the current position of the vehicle, the lane in which the vehicle travels, and the positions of other surrounding vehicles are detected at any time, and travel is made along a route or road set in advance by the vehicle control ECU 20 Thus, vehicle control such as steering, drive source and brake is automatically performed. However, in traveling by automatic driving support according to the present embodiment, no lane change or right / left turn is performed, and basically the vehicle travels in the same lane unless the user performs a lane change or a vehicle operation related to right / left turn.

In the present embodiment, in particular, the following three types of automatic driving support are performed.
(1) "Constant speed travel": travel in the same lane at a preset speed (for example, 90% of the speed limit of the road on which the vehicle is traveling).
(2) "follow-up running" ... set speed (e.g., 90% of the speed limit of the traveling road) as an upper limit, the same lane while maintaining the inter-vehicle distance to the preceding vehicle at a constant distance (e.g., 10m) Run.
(3) "Lane maintenance": the vehicle travels near the center of the lane without departing from the lane (for example, lane keeping assist).

  Moreover, although control concerning the above-mentioned (1)-(3) automatic driving support may be performed to all the road sections, a gate (an unmanned unmanned person, pay free of charge do not ask about the boundary with other roads to connect) May be performed only while traveling on the expressway provided with. When the vehicle travels a section where automatic driving can be performed (hereinafter referred to as an automatic driving section), automatic driving support is not necessarily performed, but the user selects automatic driving support by the user, And it is performed only outside the implementation restriction zone. However, automatic driving support is performed when the vehicle satisfies a condition (hereinafter referred to as a feasible condition) according to the type of the restricted travel zone during traveling even within the restricted travel zone. That is, the implementation restricted section is a section in which the automatic driving support can not be performed and a section in which a predetermined condition is required to perform the automatic driving support.

  Then, in the implementation restricted zone DB 32, for the implementation restricted zones existing on each road in the whole country, the start point where the zone starts, the end point where the zone ends, and the type of the implementation restricted zone are stored. Here, FIG. 2 is a diagram showing an example of a storage area of the execution limited section DB 32. As shown in FIG.

In the present embodiment, the following three types of sections are particularly defined as the implementation restriction section.
(A) Section having a curve shape (B) Section where a plurality of roads connect (C) Section where lane lines disappear or is thinned to an extent that can not be recognized by a camera

  Here, when the vehicle travels in “(A) a section having a curve shape”, as shown in FIG. 3, an outward centrifugal force α is generated according to the vehicle speed of the vehicle 50 and the curvature radius R of the curve. Therefore, when the section having the curve shape is appropriately traveled by the automatic driving support, it is necessary to set the speed according to the curvature radius R of the curve or less so that the centrifugal force α does not increase. The "speed according to the curvature radius of the curve" is a speed for specifically causing the centrifugal force generated in the vehicle when traveling on a curve to be equal to or less than a threshold, and the slower the curvature radius of the curve, the slower the speed. That is, "(A) Section having a curve shape" is an implementation restricted section that needs to meet the feasible conditions in which the vehicle speed of the vehicle is equal to or less than the speed according to the curvature radius of the curve in order to perform automatic driving support. .

  In addition, when the vehicle travels "(B) a section where a plurality of roads connect", as shown in FIG. 4, the vehicle 50 responds to the lighting condition of the traffic light and the movement of other surrounding vehicles. It is difficult to drive with automatic driving support. That is, "(B) a section where a plurality of roads connect" is an implementation restricted section in which automatic driving support can not be performed regardless of the vehicle state. Although FIG. 4 shows a merging section in which a road on which the vehicle 50 travels merges with another road as an example of “(B) a section on which a plurality of roads connect”, the road on which the vehicle 50 travels has a plurality of directions. It corresponds to the branch section which branches into and the intersection etc.

  In addition, when the vehicle travels in “(C) section where lane markings disappear or are thinned to an extent that can not be recognized by the camera”, an outside camera installed in the vehicle 50 as shown in FIG. In 19 the lane markings that are road information necessary to support automatic driving can not be recognized. Then, when the vehicle speed of the vehicle 50 is slow, the time when the vehicle 50 can not identify the lane to be traveled becomes long, and the automatic driving support can not be implemented. In order to make the vehicle travel by the automatic driving support, it is necessary to set the vehicle speed satisfying the feasible condition in which the time when the lane line can not be recognized becomes equal to or less than the allowable time (for example, 3 seconds). That is, in “(C) Section where lane markings of lanes disappear or are thinned to the extent that they can not be recognized by the camera”, the time when the markings can not be recognized for performing automatic driving support is equal to or less than the allowable time (ie, It becomes an implementation restricted section which needs to satisfy the feasible condition where the vehicle speed of the vehicle is equal to or higher than a predetermined speed.

  And the information regarding the implementation restriction zone stored in implementation restriction zone DB 32 may be created based on map information, and may be acquired from external servers, such as a probe center. In particular, since “(C) Section where lane markings of lanes have disappeared or thinned to such an extent that they can not be recognized by the camera” can not be identified based on map information, they can be acquired from an external server or It is configured to create based on the detection history of the division lines of

  In addition, the preliminary operation correspondence table 33 is a table in which the preliminary operation required time is defined for each type of execution restriction section stored in the execution restriction section DB 32. Here, the preparatory movement required time is the time required to prepare for traveling the implementation restricted zone before the vehicle reaches the implementation restricted zone. FIG. 6 is a diagram showing an example of the preliminary operation correspondence table 33. As shown in FIG.

  As shown in FIG. 6, in the preparatory operation correspondence table 33, the preparatory operation required time is defined for each of the types of execution restriction sections of (A) to (C) described above. Here, when the preparatory movement required time is a section where automatic driving support can not be performed (for example, (B)) regardless of the implementation restricted section, the driving operation by the occupant of the vehicle from traveling by the automatic driving support It will be the time needed to make it take over to manual operation by. On the other hand, if the implementation restriction section is a section (for example, (A) or (C)) which needs to satisfy the implementation enablement condition to execute the automatic driving support, the state of the vehicle is set to the implementation enablement condition. It will be the time needed to make the transition. Therefore, the longer time is set as the type of the implementation restriction section where the implementation possible conditions are stricter. Specifically, "(A) Section having a curve shape" prescribes a longer preparatory operation time than "(C) Section where lane markings of lanes are disappearing or thinned to an extent that can not be recognized by a camera" Be done.

  And, when there is an implementation restricted zone ahead of the traveling direction of the vehicle as described later, the navigation ECU 13 has a preparatory movement required time defined in the implementation restricted zone as the required time to reach the start point of the implementation restricted zone. If it is determined that it is equal to or less than the preliminary operation required time, whether automatic driving support can be continued and implemented in the implementation limited section (that is, whether the state of the vehicle satisfies the feasible condition? Or not). When it is determined that the state of the vehicle does not satisfy the feasible condition, control or guidance of the vehicle is performed to shift to a state where the condition of the vehicle satisfies the practicable condition. On the other hand, when the implementation restricted zone ahead of the traveling direction of the vehicle is the section where automatic driving support can not be performed regardless of the state of the vehicle, the time required to reach the start point of the implementation restricted zone is the implementation restriction At the timing when the preliminary operation required time defined in the section falls below, guidance for taking over to the manual operation is given. Furthermore, when there are a plurality of implementation restricted zones ahead of the traveling direction of the vehicle and the specific condition is satisfied, guidance and vehicle control are performed as described later instead of performing guidance and control for each implementation restricted zone. It may be integrated.

  On the other hand, the navigation ECU (Electronic Control Unit) 13 is an electronic control unit that controls the entire navigation apparatus 1 and is a working memory when the CPU 41 as an arithmetic device and control device and the CPU 41 perform various arithmetic processing. In addition to the RAM 42 used to store route data etc. when a route is searched, and a program for control, it is read from ROM 43 and ROM 43 where the automatic driving support program (see FIG. An internal storage device such as a flash memory 44 for storing the program is provided. The navigation ECU 13 constitutes various means as a processing algorithm. For example, when the automatic driving support is performed in the vehicle, the section determining means determines whether or not there are a plurality of implementation restricted sections in which the execution of the automatic driving support is restricted in the forward direction of the traveling direction of the vehicle. The preliminary operation required time acquiring means sets a plurality of preliminary operation required times set based on the type of each practical restriction section when it is determined that the plurality of practical restriction sections are ahead in the traveling direction of the vehicle. Acquire every time. The vehicle speed acquisition means acquires the vehicle speed of the vehicle. The point specifying means operates based on the vehicle speed of the vehicle and the preliminary operation required time, and the time required for the vehicle to reach the start point of the implementation restricted section for each of the plurality of implementation restricted sections is a point where the preliminary operation required time is Identify the starting point. The integrated determination means determines whether to integrate control or guidance of the vehicle with respect to the plurality of implementation restricted sections based on the positional relationship of the operation start points specified for each of the plurality of implementation restricted sections. The control implementation means implements control or guidance of the vehicle according to the determination result of the integrated determination means.

  The operation unit 14 is operated when inputting a departure point as a travel start point and a destination as the travel end point, and includes a plurality of operation switches (not shown) such as various keys and buttons. And navigation ECU13 performs control in order to perform various corresponding operations based on the switch signal outputted by pressing etc. of each switch. 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 by a microphone and a speech recognition apparatus.

  In addition, on the liquid crystal display 15, a map image including a road, traffic information, operation guidance, operation menu, key guidance, guidance information along a guidance route (planned travel route), news, weather forecast, time, mail, television The program is displayed. In particular, when the implementation restriction section approaches in front of the vehicle, the position of the start point of the implementation restriction section is guided. Furthermore, when the vehicle is located in the implementation restricted zone, it also guides that the vehicle is located in the implementation restricted zone. Instead of the liquid crystal display 15, HUD or HMD may be used.

  Further, the speaker 16 outputs voice guidance for guiding traveling along a guidance route (planned traveling route) based on an instruction from the navigation ECU 13 and guidance for traffic information. In particular, when it is determined that the implementation restricted zone approaches the front of the vehicle and it is determined that the state of the vehicle is not in the condition of the feasible condition in the implementation restricted zone, transition to the condition satisfying the feasible condition Output voice guidance (for example, "decelerate (accelerate)."). In addition, when it is determined that the automatic driving support can not be performed, the voice guidance for prompting the handover to the manual driving is also output.

  The DVD drive 17 is a drive capable of reading data recorded on a recording medium such as a DVD or a CD. Then, based on the read data, reproduction of music and video, update of the map information DB 31, and the like are performed. In place of the DVD drive 17, a card slot for reading and writing a memory card may be provided.

  The communication module 18 is a communication device for receiving traffic information, probe information, weather information, etc. transmitted from a traffic information center, for example, a VICS center or a probe center, and corresponds to, for example, a cellular phone or DCM. . It also includes a vehicle-to-vehicle communication device that communicates between vehicles and a road-to-vehicle communication device that communicates with roadside devices.

  Further, the camera outside the vehicle 19 is constituted by a camera using a solid-state imaging device such as a CCD, for example, and is mounted above the front bumper of the vehicle and installed with the optical axis direction downward by a predetermined angle from horizontal. Then, when the vehicle travels in the automatic driving zone, the outside camera 19 captures an image in front of the traveling direction of the vehicle. In addition, the vehicle control ECU 20 performs image processing on the captured image to detect a dividing line drawn on a road on which the vehicle is traveling, other vehicles around the vehicle, and the like, and automatically detects the vehicle based on the detection result. Provide driving support. The camera 19 outside the vehicle may be arranged in the rear or side other than the front of the vehicle. Further, as means for detecting another vehicle, a sensor such as a millimeter wave radar, inter-vehicle communication or road-vehicle communication may be used instead of the camera. In addition, an illuminance sensor or a rainfall sensor may be installed as a means for detecting another surrounding environment.

  The vehicle control ECU 20 is an electronic control unit that controls a vehicle on which the navigation device 1 is mounted. In addition, the vehicle control ECU 20 is connected to each drive unit of the vehicle such as a steering wheel, a brake, and an accelerator, and in the present embodiment, the vehicle is controlled by controlling each drive unit particularly after automatic driving support is started in the vehicle. Carry out automated driving support. In addition, when overriding such as steering operation or braking operation is performed by the user during the automatic driving support, it is detected that the overriding has been performed.

  Here, the navigation ECU 13 transmits an instruction signal regarding automatic driving support to the vehicle control ECU 20 via the CAN after the start of traveling. Then, the vehicle control ECU 20 implements automatic driving support after the start of traveling according to the received instruction signal. The content of the instruction signal is control content (for example, any of the above (1) to (3)) of automatic driving support to be performed on the vehicle, and information for instructing start, stop, change, etc. of the control. Note that the vehicle control ECU 20 instead of the navigation ECU 13 may set the control content of the automatic driving support. In that case, the vehicle control ECU 20 is configured to acquire information necessary for setting control contents of automatic driving support, such as a planned travel route (guide route), a vehicle state, and map information of the surroundings from the navigation device 1.

  Subsequently, an automatic driving support program executed by the CPU 41 in the navigation device 1 according to the present embodiment having the above configuration will be described based on FIG. FIG. 7 is a flowchart of an automatic driving support program according to the present embodiment. Here, the automatic driving support program is executed after the ACC power supply (accessory power supply) of the vehicle is turned on, and performs control or guidance for continuing the automatic driving support when there is an implementation restricted zone ahead in the traveling direction. It is a program. Further, programs shown by flowcharts in FIG. 7 and FIG. 16 below are stored in the RAM 42 and the ROM 43 provided in the navigation device 1 and executed by the CPU 41.

  First, in step (hereinafter abbreviated as S) 1 in the automatic driving support program, the CPU 41 communicates with the vehicle control ECU 20 via the CAN to acquire the control state of the automatic driving support, and the vehicle It is determined whether automatic driving support is in progress. In addition, it is determined that the automatic driving support is selected by the user to perform the automatic driving support by operating the various operation buttons 21 mounted on the vehicle, such as the automatic driving start button, and that traveling can be performed by the automatic driving support. Done in a situation where In particular, in the present embodiment, one or more controls of (1) to (3) are performed as the automatic driving support according to the condition of the vehicle and the shape of the road on which the vehicle travels.

  Then, when it is determined that the vehicle is performing automatic driving support (S1: YES), the process proceeds to S2. On the other hand, when it is determined that the vehicle is not performing automatic driving support (S1: NO), the automatic driving support program is ended.

  In S <b> 2, the CPU 41 acquires the current position of the vehicle detected by the current position detection unit 11. It is desirable that the current position of the vehicle be identified in detail using high precision location technology. Here, high-precision location technology detects white lines and road surface paint information captured from a camera installed in a vehicle by image recognition, and further collates the white lines and road surface paint information with a map information DB stored in advance. , And a technology that makes it possible to detect a traveling lane and a highly accurate vehicle position. The details of the high precision location technique are omitted because they are already known.

  Next, in S3, the CPU 41 sets a predetermined distance (for example, within 3 km) ahead of the traveling direction of the vehicle based on the information specifying the start point and the end point of the operation restriction zone stored in the operation restriction zone DB 32 (FIG. 2). It is determined whether or not there is at least one implementation restricted section within. The implementation restricted section is the section in which automatic driving support can not be performed as described above, or the section in which it is necessary to satisfy predetermined conditions (implementable conditions) in order to carry out automatic driving support. The section of (A)-(C) corresponds (refer to Drawing 3-Drawing 5).

  When it is determined that there is at least one implementation restricted section within a predetermined distance ahead of the traveling direction of the vehicle (S3: YES), the process proceeds to S4. On the other hand, when it is determined that there is no implementation restriction section within the predetermined distance ahead of the traveling direction of the vehicle (S3: NO), the automatic driving support program is ended.

With respect to the implementation restricted zone determined to be within the predetermined distance ahead of the traveling direction in S4, the CPU 41 in S4 performs the operation enabling condition set in the implementation restricted zone and the preliminary operation corresponding to the type of the implementation restricted zone Get the required time. When there are a plurality of implementation restricted sections within a predetermined distance, acquisition is performed for each of the plurality of implementation restricted sections.
Specifically, when the implementation restricted section is "(A) a section having a curve shape", "the vehicle speed of the vehicle is equal to or less than the speed according to the curvature radius of the curve" is acquired as the feasible condition Ru. Further, 20 seconds is acquired according to the preparatory operation correspondence table 33 (FIG. 6) as the preparatory operation required time.
In addition, when the implementation restricted section is "(C) Section where lane markings of lanes are disappearing or thinned to an extent that can not be recognized by the camera", "time when the marking lines can not be recognized is permitted as a feasible condition. It is acquired that “the time or less (that is, the vehicle speed of the vehicle is equal to or more than a predetermined speed)”. Further, 10 seconds is acquired according to the preparatory operation correspondence table 33 (FIG. 6) as the preparatory operation required time.
On the other hand, when the implementation restriction section is “(B) a section where a plurality of roads are connected”, no implementation enablement condition exists, and therefore, it is not acquired. Further, 15 seconds are acquired according to the preparatory operation correspondence table 33 (FIG. 6) as the preparatory operation required time.

  Next, in S5, the CPU 41 acquires the current vehicle speed of the vehicle from the detection result of the vehicle speed sensor 23.

  Subsequently, in S6, the CPU 41 determines that the vehicle is at the start point of the implementation restriction section determined to be ahead in the traveling direction of the vehicle based on the preliminary operation required time acquired in S4 and the vehicle speed acquired in S5. A point (hereinafter referred to as an operation start point) where the required time until reaching the time is the preliminary operation required time is specified. Specifically, the operation start point is specified on the assumption that the vehicle maintains the current vehicle speed and travels to the start point of the operation restriction section. The position of the start point of the implementation restriction section is acquired from the implementation restriction section DB 32. Further, instead of maintaining the current vehicle speed, it is also possible to calculate the operation start point by predicting a change in the vehicle speed due to vehicle control and guidance described later. In addition, when there are a plurality of implementation restricted sections within a predetermined distance, the operation start point is specified for each of the plurality of implementation restricted sections.

  Thereafter, in S7, the CPU 41 determines whether or not there are a plurality of implementation restricted sections within a predetermined distance ahead of the traveling direction of the vehicle.

  When it is determined that there are a plurality of implementation restricted sections within a predetermined distance ahead of the traveling direction of the vehicle (S7: YES), the process proceeds to S8. On the other hand, when it is determined that there is only one implementation restricted section within the predetermined distance ahead of the traveling direction of the vehicle (S7: NO), the process proceeds to S9.

  In S8, the CPU 41 executes a connection separation process (FIG. 16) described later. In addition, when there are a plurality of implementation restricted zones within a predetermined distance ahead of the vehicle, the coupling and separation processing of the vehicle with respect to the plurality of implementation restricted zones is performed based on the positional relationship of the operation start point specified for each implementation restricted zone. It is the process of integrating control or guidance as well as the process of releasing integration of control or guidance of the integrated vehicle.

  Next, in S9, the CPU 41 determines whether the vehicle has reached the operation start point based on the current position of the vehicle acquired in S2 and the operation start point specified in S6. When there are a plurality of implementation restricted sections within a predetermined distance ahead of the vehicle, it is determined whether or not the operation start point closest to the vehicle has been reached. As described later, there are cases where the operation start start point of the implementation limited section located at a position far from the vehicle is located closer to the vehicle than the operation start start point of the implementation restricted section located at a position closer to the vehicle.

  When it is determined that the vehicle has reached the operation start point (S9: YES), the process proceeds to S10. On the other hand, when it is determined that the vehicle has not reached the operation start point (S9: NO), the process returns to S5 and continues to specify the operation start point (S6) and the coupling / separating process (S8). To be done. That is, when there are a plurality of implementation restricted zones within a predetermined distance ahead of the vehicle, until operation start point of any of the plurality of implementation restricted zones is reached (that is, control or guidance of the vehicle in S12 or S13 described later) During the process of (1), integration and cancellation of the control and guidance of the vehicle is repeatedly performed based on the newly identified movement start position. The processes of S5 to S8 may be repeatedly executed until it is determined that the vehicle has not reached any operation start point, but has reached any of the implementation restricted sections. In that case, even while the control or guidance of the vehicle in S12 or S13 described later is being performed, the processing of integration or cancellation of the control or guidance of the vehicle is performed.

  In S10, the CPU 41 determines whether control or guidance of the vehicle in S12 or S13 to be described later has already been performed with respect to the execution restricted section corresponding to the operation start point reached. When the operation restriction zone corresponding to the reached operation start point is integrated with the control and guidance of the other operation restriction zone and the vehicle in the integration and separation process of S8, all the operation restriction zones integrated. On the other hand, it is determined whether control or guidance of the vehicle in S12 or S13 described later has already been performed.

  Then, when it is determined that control or guidance of the vehicle in S12 or S13 described later has already been performed with respect to the implementation restricted zone corresponding to the operation start point reached (S10: YES), the automatic driving End the support program. On the other hand, when it is determined that control or guidance of the vehicle in S12 or S13 described later is not performed on the execution restricted section corresponding to the operation start point reached (S10: NO), S11 And transition.

  In S11, the CPU 41 determines whether or not the control and guidance of the vehicle and the other implementation restricted sections are integrated in the integration / separation process of S8, as the implementation restricted section corresponding to the reached operation start point.

  Then, when it is determined that the control and guidance of the other operation restricted section and the vehicle are integrated in the integration / separation process of S8 (S11: YES). It shifts to S13. On the other hand, when it is determined that the operation restriction section corresponding to the reached operation start point is not integrated with the control and guidance of the other operation restriction section and the vehicle in the integration / separation processing of S8 (S11: NO) The process shifts to S12.

  In S12, the CPU 41 performs control or guidance of the vehicle with respect to the implementation restricted section corresponding to the reached operation start point. The details of the process of S12 will be described below.

  First, the CPU 41 determines whether or not the implementation restricted zone corresponding to the reached operation start point is the implementation restricted zone in which automatic driving support can not be performed regardless of the vehicle state. In the present embodiment, “(B) a section where a plurality of roads connect” is set as an implementation restricted section in which automatic driving support can not be performed regardless of the vehicle state. Then, when the implementation restricted zone corresponding to the reached operation start point is an implementation restricted zone in which automatic driving support can not be performed regardless of the vehicle state, it is determined that automatic driving support can not be continued. Perform guidance to promote the transfer from automatic driving support to manual driving. For example, the voice "Please switch to manual operation" is output. Here, in the case where the implementation restriction section is the implementation restriction section where automatic driving support can not be performed regardless of the vehicle state, the preparatory operation required time T set is to carry over from automatic driving support to manual driving. It will be the time needed to Therefore, as shown in FIG. 8, the operation start time required for the vehicle to reach the start point X1 of the operation restriction section is the time T necessary for taking over from automatic driving support to manual operation. When the vehicle reaches the point S, guidance is given to urge transfer from automatic driving support to manual driving, and the driver takes over from automatic driving support to manual driving before reaching the implementation restriction zone. It will be possible to do it properly.

  Thereafter, after detecting that the user has given a predetermined intention to start the manual driving, the CPU 41 ends the execution of the automatic driving support for the vehicle control ECU 20 via the CAN, and the manual driving is performed. Send an instruction signal to switch to. As a result, the automatic driving support is finished in the vehicle, and the driving is switched to the manual driving. Here, the predetermined intention indication is an operation of an override operation or an automatic operation start button. Although the CPU 41 performs only guidance for taking over at S12, the CPU 41 may be configured to perform vehicle control for causing the taking over. For example, the vehicle may be decelerated to facilitate handover, or may be switched to manual operation automatically.

  On the other hand, when the CPU 41 determines that the execution restricted section corresponding to the reached operation start point is a section that needs to satisfy the feasible condition to implement the automatic driving support, the current state of the vehicle And whether or not the current vehicle state satisfies the feasible condition acquired in S4, that is, whether or not automatic driving support can be continued in the restricted zone even in the current vehicle state. judge.

  Then, if it is determined that the current state of the vehicle does not satisfy the feasible condition acquired in S4, that is, if the automatic driving support can not be performed in the implementation restricted section in the current state of the vehicle, the vehicle Control or guidance of the vehicle for shifting to the state of fulfilling the feasible condition acquired in S4.

Specifically, when the operation restriction section corresponding to the reached operation start point is “a section having a curve shape”, the condition that the vehicle speed of the vehicle is equal to or less than the speed according to the curvature radius of the curve In order to satisfy the condition, an instruction signal is output to the vehicle control ECU 20 to perform deceleration control of the vehicle. In addition, it may be configured to perform guidance for prompting the user to decelerate without performing the deceleration control of the vehicle. For example, the voice "Please decelerate." Is output. However, when not guiding the vehicle but guiding, it is a condition that the automatic driving support is not canceled by the user's brake operation.
Here, in the case where the implementation restricted zone corresponding to the reached operation start point is an implementation restricted zone which needs to satisfy the implementable condition to implement the automatic driving support, the required preparatory operation required time T is The time required to shift the state of the vehicle to a state satisfying the feasible condition. Therefore, as shown in FIG. 9, the time required for the vehicle to reach the start point X1 of the operation restriction section is the time T necessary for making the vehicle speed of the vehicle equal to or less than the speed according to the curvature radius of the curve. After the vehicle reaches the operation start point S, guidance for promoting deceleration control or deceleration of the vehicle is performed, and the user operates the vehicle according to the performed control or guidance of the vehicle, to the start point X1 of the implementation restricted section. It is possible to shift the state of the vehicle to a state satisfying the feasible condition before reaching the state. Then, if the vehicle satisfies the feasible condition before reaching the start point X1 of the implementation limited section, it becomes possible to continue and implement the automatic driving support. In addition, after satisfying the feasible conditions, control is performed to maintain the state of the vehicle (specifically, the vehicle speed of the vehicle) until the vehicle passes the end point of the implementation limited section.

On the other hand, if the execution restricted section corresponding to the operation start point reached is "(C) section where lane markings of lanes are disappearing or thinned to an extent that can not be recognized by the camera", marking can not be recognized. In order to satisfy the condition that the time is equal to or less than the allowable time (that is, the vehicle speed of the vehicle is equal to or more than a predetermined speed), an instruction signal is output to the vehicle control ECU 20 to perform acceleration control of the vehicle. In addition, it is good also as a structure which performs guidance which urges acceleration to a user, without performing acceleration control of a vehicle. For example, the voice "Please accelerate" is output. However, when not guiding the vehicle but guiding, it is a condition that the automatic driving support is not canceled by the user's accelerator operation.
Here, in the case where the implementation restricted zone corresponding to the reached operation start point is an implementation restricted zone which needs to satisfy the implementable condition to implement the automatic driving support, the required preparatory operation required time T is The time required to shift the state of the vehicle to a state satisfying the feasible condition. Therefore, as shown in FIG. 10, the time required for the vehicle to reach the start point X1 of the operation restriction section is set to be equal to or less than the allowable time (that is, the vehicle speed of the vehicle is equal to or higher than the predetermined speed). After the vehicle arrives at the operation start point S where the necessary time T is reached, guidance for promoting acceleration control or acceleration of the vehicle is performed, and the user operates the vehicle according to the performed control or guidance of the vehicle. It is possible to shift the state of the vehicle to the state satisfying the practicable condition before reaching the start point X1 of the implementation restricted section. Then, if the feasible condition is satisfied before reaching the start point X1 of the implementation limited section, automatic driving support can be continued and implemented. In addition, after satisfying the feasible conditions, control is performed to maintain the state of the vehicle (specifically, the vehicle speed of the vehicle) until the vehicle passes the end point of the implementation limited section.

  Incidentally, even when the vehicle is controlled or guided in S12, if the vehicle reaches the start point of the operation restriction section before satisfying the feasible condition, traveling by automatic driving support Guidance to take over from manual operation to manual operation is performed (see FIG. 8). In addition, in consideration of the time for taking over, the guidance for taking over is configured not at the timing when the vehicle reaches the start point of the implementation restriction zone but at a predetermined time before reaching the start point of the implementation restriction zone. It is good.

  On the other hand, in S13, the CPU 41 controls or guides the vehicle with respect to the implementation restricted section corresponding to the reached operation start point. In particular, in S13, control and guidance of the vehicle with respect to other implementation restricted sections (hereinafter referred to as integration target implementation restricted sections) integrated with the implementation restricted section corresponding to the reached operation start point are also performed. The details of the process of S13 will be described below. In the following description, in particular, the case where the integration target implementation restricted zone is only one, that is, the case where there are two implementation restricted zones in which the control and guidance of the vehicle are integrated will be described as an example.

  First, the CPU 41 executes an execution restricted section (hereinafter referred to as the first implementation) which is closer to the vehicle (opposite to the traveling direction of the vehicle) among the execution restricted section and the integration target execution restricted section corresponding to the operation start point reached. Specify control or guidance of the vehicle for the restriction zone. In addition, about the detail of the control of a vehicle performed with respect to an implementation restriction | limiting area, and the detail of the identification method of guidance, since it is the same as that of S12, it abbreviate | omits. Similarly, control or guidance of the vehicle to be performed for an implementation restricted zone (hereinafter referred to as a second implementation restricted zone) located on the side far from the vehicle (the traveling direction side of the vehicle) is specified.

  After that, the CPU 41 integrates the control and guidance of the vehicles specified for the first implementation restriction zone and the second implementation restriction zone, instead of individually performing control or guidance of the vehicles specified for the first implementation restriction zone and the second implementation restriction zone, and determines necessary control or guidance of the vehicle. It is configured to perform control and guidance of a vehicle determined to be necessary. For example, if both the first implementation restricted zone and the second implementation restricted zone are sections requiring the feasible condition to implement automatic driving support, the current vehicle state is acquired, Whether or not the vehicle condition of the vehicle satisfies the feasible conditions of both the first implementation restricted zone and the second implementation restricted zone, that is, even in the current vehicle condition in both the first implementation restricted zone and the second implementation restricted zone It is determined whether automatic driving support can be continued and implemented. When it is determined that the current state of the vehicle does not satisfy at least one of the feasible conditions, that is, in the current state of the vehicle, automatic driving assistance is performed in at least one of the first implementation restricted zone and the second implementation restricted zone. If the vehicle can not be implemented, control or guidance of the vehicle is performed to shift the state of the vehicle to the state satisfying the feasible conditions of both the first implementation restricted zone and the second implementation restricted zone. For example, as shown in FIG. 11, a section "(C) lane markings of lanes are disappearing or thinned to the extent that they can not be recognized by a camera" as the first implementation limit section ahead of the traveling direction of the vehicle When there is "(A) a section having a curve shape" as the section, the speed range (for example, 40 km to 50 km) of the vehicle speed of the vehicle satisfies the practicable conditions of both the first implementation limit section and the second implementation limit section. To perform acceleration control or deceleration control. If there is no speed range that satisfies both feasible conditions, as shown in FIG. 12, acceleration control is first performed to satisfy the feasible conditions of the first implementation restricted section, and then the deceleration control is performed. It is good also as composition to carry out. In addition, it is good also as a structure which performs guidance which urges acceleration or deceleration with respect to a user, without performing acceleration control or deceleration control of a vehicle. For example, the voice of "Please accelerate (decelerate)" or "Please decelerate after acceleration" is output. However, when performing guidance instead of controlling the vehicle, it is a condition that automatic driving support is not canceled by the user's brake operation or accelerator operation. Then, if the vehicle satisfies the feasible condition before reaching the start point X1 or Y1 of each implementation restricted zone, automatic driving support can be continued and implemented in each implementation restricted zone. In addition, after satisfying both the feasible conditions, control is performed to maintain the state of the vehicle (specifically, the vehicle speed of the vehicle) until the vehicle passes through the end point Y2 of the second implementation restricted zone.

  Further, in S13, as shown in FIG. 13, when at least one of the first implementation restriction section and the second implementation restriction section is the implementation restriction section where automatic driving support can not be performed regardless of the vehicle state, as shown in FIG. Even if the feasible condition of the other implementation restricted section (the second implementation restricted section in the example shown in FIG. 15) is satisfied, automatic driving support can not be continued and can not be implemented. Provide guidance to take over. For example, the voice "Please switch to manual operation" is output.

  In addition, it is desirable that the position of the start point of the implementation restricted zone be guided to the user after it is determined that the implementation restricted zone exists in the traveling direction of the vehicle until the vehicle reaches the implementation restricted zone. For example, as shown in FIG. 14, a HUD (head-up display) is used to generate a virtual image 55 of the arrow at a position overlapping with the position of the start point of the implementation restriction section. In addition, in the case where there are a plurality of implementation restricted sections in the traveling direction of the vehicle, in particular, the virtual image 55 is generated at each start point of the plurality of implementation restricted sections. As a result, when the user visually recognizes the front environment, it is possible to easily grasp the point at which the implementation restriction zone in front is started. In addition, you may guide the position of the start point of an implementation restriction | limiting area using liquid crystal display 15 or the speaker 16 instead of HUD.

  Furthermore, after the vehicle continues traveling to enter the implementation restriction zone, it may be configured to guide the vehicle to be positioned in the implementation restriction zone while the vehicle is positioned in the implementation restriction zone. desirable. For example, as shown in FIG. 15, a HUD (head-up display) is used to generate a virtual image 56 of a mark that warns that it is located within the implementation restricted section. As a result, when the user visually recognizes the front environment, it is possible to easily grasp that the vehicle is currently traveling within the restricted implementation zone. It should be noted that the liquid crystal display 15 or the speaker 16 may be used instead of the HUD to guide the vehicle being positioned within the implementation restricted section.

  Next, the sub-processes of the integration / separation process executed in S8 will be described based on FIG. FIG. 16 is a flowchart of the sub-processing program of the integration and separation processing.

  First, in S21, the CPU 41 determines whether vehicle control and guidance for an implementation restricted section determined to be within a predetermined distance ahead of the traveling direction have already been integrated. In the following description, in particular, the case where there are two implementation restricted sections determined to be within the predetermined distance ahead of the traveling direction in S3 will be described as an example. Then, an implementation restriction section closer to the vehicle (opposite side of the traveling direction of the vehicle) is a first implementation restriction section, and an implementation restriction section farther from the vehicle (the traveling direction of the vehicle) is a second implementation restriction section It is called and explained.

  Then, when it is determined that the vehicle control and the guidance for the first implementation restricted zone and the second implementation restricted zone have already been integrated (S21: YES), the process proceeds to S24. On the other hand, when it is determined that the vehicle control and the guidance for the first implementation restricted zone and the second implementation restricted zone are not integrated (S21: NO), the process proceeds to S22.

  In S22, the CPU 41 sets the operation start point of the first execution restricted zone specified in S6 (hereinafter referred to as the first operation start point) and the operation start point of the second execution restricted zone similarly specified in S6 (hereinafter referred to as The second operation start point is compared with the second operation start point to determine whether the second operation start point is on the vehicle side (the opposite direction to the traveling direction of the vehicle) than the first operation start point. Here, as described above, the preparatory operation required time differs depending on the type of execution restriction section (FIG. 6). Therefore, as shown in FIG. 17, there are different types of first guidance restricted sections and second guidance restricted sections ahead of the traveling direction of the vehicle, and the second guidance restricted sections are better than the first guidance restricted sections. When the preliminary operation required time is long, the second operation start point S2 may be closer to the vehicle than the first operation start point S1. For example, when the vehicle speed of the vehicle increases, the distance L1 from the first operation start point S1 to the start point X1 of the first implementation restriction zone and the distance L2 from the second operation start point S2 to the start point Y1 of the second implementation restriction zone However, if the second guidance restricted section has a longer preparatory operation time than the first guidance restricted section, the increase amount of L2 is larger, the first speed may be increased depending on the vehicle speed. The second operation start point S2 is closer to the vehicle than the operation start point S1.

  When it is determined that the second operation start point is on the vehicle side (the direction opposite to the traveling direction of the vehicle) than the first operation start point (S22: YES), the process proceeds to S23. On the other hand, when it is determined that the first operation start point is on the vehicle side (the direction opposite to the traveling direction of the vehicle) than the second operation start point (S22: NO), It transfers to S9, without performing control of vehicles of a 2nd operation restriction section, and unification of guidance.

  In S23, the CPU 41 integrates the control and guidance of the vehicle on the first execution restricted zone and the second execution restricted zone. When the operation start point is reached in a state where the control and guidance of the vehicle in the first implementation restricted zone and the second implementation restricted zone are integrated, the first implementation restricted zone and the second implementation in S13 as described above. The integrated vehicle control or guidance is performed without individually controlling or guiding the vehicle for the restricted section (FIGS. 11 to 13). However, even if the control and guidance of the vehicles in the first implementation restricted zone and the second implementation restricted zone are integrated, the integration may be canceled as described later if a certain condition is satisfied thereafter. (S26).

On the other hand, in S24, the CPU 41 acquires hysteresis (predetermined distance) H which is a parameter used for determination of integration release in S25 described later. The hysteresis H may be a fixed value (for example, 100 m) or may be a calculated value calculated based on the current situation. In addition, when using it as a calculated value, it calculates, for example with the following formula (1).
H = (| T1-T2 |) × V- (| T1-T2 |) × Δt × G−D (1)
T1 is the preparatory operation required time in the first implementation restricted section, T2 is the preparatory operation required time in the second implementation restricted section, V is the current vehicle speed of the vehicle acquired in S5, and Δt is switching of integration and cancellation of integration The minimum time required, G is the optimum acceleration / deceleration (fixed value) for the vehicle, and D is the distance from the start point of the first implementation limit section to the start point of the second implementation limit section.

  Subsequently, in S25, the CPU 41 starts the operation start point of the first execution restricted zone specified in S6 (hereinafter referred to as the first operation start point) and the operation start of the second execution restricted zone similarly specified in S6. A point (hereinafter referred to as the second operation start point) is compared to determine whether the second operation start point is on the traveling direction side of the vehicle by the hysteresis H (predetermined distance) or more than the first operation start point. . Here, as described above, the positions of the first operation start point S1 and the second operation start point S2 change as the vehicle speed of the vehicle changes. Therefore, as shown in FIG. 18, after the second operation start point S2 is once more on the vehicle side than the first operation start point S1, the second operation start point S2 is performed for reasons such as the vehicle speed of the vehicle becoming slower. May be on the traveling direction side of the vehicle than the first operation start point S1. Then, at S25, it is determined whether the difference W between the second operation start point S2 and the first operation start point S1 in that case is equal to or greater than the hysteresis H.

  Then, if it is determined that the second operation start point is on the side of the traveling direction of the vehicle than the first operation start point by the hysteresis H (predetermined distance) or more (S25: YES), the second integrated in S23. Integration is canceled about control and guidance of vehicles of 1 execution restriction section and the 2nd execution restriction section (S26). When the operation start point is reached without integrating the control and guidance of the vehicle in the first implementation restricted zone and the second implementation restricted zone, as described above, the first implementation restricted zone and the second implementation restricted in S12. The control or guidance of the vehicle to the section will be performed individually (FIGS. 8 to 10).

  On the other hand, when it is determined that the second operation start point is not on the side of the traveling direction of the vehicle from the first operation start point by the hysteresis H (predetermined distance) or more (S25: NO), the integration in S23 is performed. Maintain. Thereafter, the process shifts to S9.

  As described above in detail, in the navigation device 1 according to the present embodiment, the automatic driving support method by the navigation device 1, and the computer program executed by the navigation device 1, the automatic driving support is performed in the vehicle. It is determined whether or not there are a plurality of implementation restricted zones in which the implementation of driving support is restricted in the forward direction of travel of the vehicle (S7), and when it is determined that there are a plurality of implementation restricted zones, Identify the operation start point, which is the point where the time required for the vehicle to reach the start point of the implementation restricted zone is the preparatory operation required time (S6), and the position of the operation initiation site identified for each of the plurality of implementation restricted zones Based on the relationship, it is determined whether to integrate control or guidance of the vehicle for a plurality of implementation restricted sections (S8), and control or guidance of the vehicle according to the determination result Since implementation to (S12, S13), even when the direction of travel of the vehicle there are a plurality of guide limit interval, it is possible to properly perform the guidance and the vehicle control for each guide limit interval. As a result, automatic driving support can be continued as much as possible.

The present invention is not limited to the above embodiment, and it is needless to say that various improvements and modifications can be made without departing from the scope of the present invention.
For example, in the present embodiment, the sections (A) to (C) are mentioned as the implementation restricted sections where implementation of automatic driving support is restricted, but sections other than (A) to (C) As well. For example, a section where road information necessary to support automatic transportation other than lane markings can not be acquired, a section where the gradient is more than a predetermined angle, a merging section where merging with other lanes is performed, and congestion occurs. A section or the like may be set as the implementation restricted section. Furthermore, in the present embodiment, the feasible condition is the condition related to the vehicle speed of the vehicle, but may be another condition. For example, it may be a condition regarding an inter-vehicle distance with the vehicle ahead, an acceleration, an angular velocity, and the like.

  Further, in the present embodiment, although the implementation limited section is a section that limits the execution of all the functions of the automatic driving support, it may be a section that limits only a part of the automatic driving support. For example, although "constant speed driving" and "following driving" are limited, "lane maintenance" may be configured to be able to be continued even though the conditions for enabling are not satisfied.

  Moreover, in this embodiment, although it is set as the structure which unifies vehicle control and guidance with respect to two implementation restriction sections (S23), and unintegrates (S26), integration is made into three or more implementation restriction sections. Also good.

  In the present embodiment, when the second operation start point is on the vehicle side (the direction opposite to the traveling direction of the vehicle) than the first operation start point, the first operation restricted section and the second operation restricted section Although the control and guidance of the vehicle are integrated (S23), the integration may be performed when the second operation start point and the first operation start point fall within a predetermined distance (for example, hysteresis H).

  Further, in the present embodiment, the lane change is manually performed by the user even during the execution of the automatic driving support, but the lane changing may be automatically performed by the automatic driving support. In addition, turn around, stop, start and the like may be implemented by the automatic driving support.

  Further, in the present embodiment, among the operations of the vehicle, automatically controlling 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, is automatically performed without using the driving operation of the user. It has been described as automatic driving support for driving. However, the automatic driving support may be performed by the vehicle control ECU 20 to control at least one operation of an accelerator operation, a brake operation, and a steering wheel operation that is an operation related to the behavior of the vehicle among the operations of the vehicle. On the other hand, manual operation according to the driving operation of the user is described as the operation related to the behavior of the vehicle among the operations of the vehicle, that the user performs all of the accelerator operation, the brake operation and the steering wheel operation.

  Moreover, although it is set as the structure which the navigation apparatus 1 runs an automatic driving assistance program (FIG. 7) in this embodiment, it is good also as a structure which vehicle control ECU20 performs. In that 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.

  Further, the present invention can be applied to an apparatus having a travel guidance function in addition to the navigation apparatus. 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 and the like). In addition, the present invention can be applied to a system configured of a server, a portable terminal, and the like. In that case, each step of the above-described automatic driving support program (FIG. 7) may be configured to be implemented by either the server or the portable terminal or the like. However, in the case where the present invention is applied to a portable terminal or the like, it is necessary for the vehicle capable of executing the automatic driving support and the portable terminal or the like to be communicably connected (whether wired or wireless).

  Moreover, although the Example which materialized the automatic driving | operation assistance system which concerns on this invention was described above, it is also possible for an automatic driving | operation assistance system to have the following structures, In that case, the following effects are produced.

For example, the first configuration is as follows.
A zone judging means for judging whether there is a plurality of implementation restricted zones in which the implementation of the automatic driving assistance is restricted in the forward direction of the vehicle when the automatic driving assistance is implemented in the vehicle, and the zone judging means When it is determined that a plurality of the implementation restriction zones are ahead of the traveling direction of the vehicle, a spare operation required time set based on the type of each implementation restriction zone is acquired for each of the plurality of implementation restriction zones Based on the required operation time acquiring means, the vehicle speed acquiring means for acquiring the vehicle speed of the vehicle, and the vehicle speed of the vehicle and the preparatory operation required time, the vehicle is the start point of the restricted zone for each of the plurality of restricted zones Point specifying means for specifying an operation start point which is a point at which the required time until reaching the preliminary operation required time is the preliminary operation required time, and the operation start point specified for each of the plurality of execution restriction sections Integrated determination means for determining whether to integrate control or guidance of the vehicle with respect to a plurality of the implementation restricted sections based on the positional relationship, and control for performing control or guidance of the vehicle according to the determination result of the integrated determination means Implementing means.
According to the automatic driving support system having the above configuration, it is possible to appropriately perform guidance and vehicle control for each guidance restricted section even when there are a plurality of guidance restricted sections ahead of the traveling direction of the vehicle. As a result, automatic driving support can be continued as much as possible.

The second configuration is as follows.
The plurality of implementation restriction zones include a first implementation restriction zone existing along the traveling direction of the vehicle and a second implementation restriction zone closer to the traveling direction of the vehicle than the first implementation restriction zone, The point specifying means specifies a first operation start point where the required time for the vehicle to reach the start point of the first implementation restricted zone is the spare operation required time set in the first implementation restricted zone. Identifying a second operation start point at which the preparatory operation required time set in the second implementation restricted zone is the time required for the vehicle to reach the start point of the second implementation restricted zone, and the integrated determination And means for controlling or guiding the vehicle with respect to the first implementation restricted zone when the second operation start point is on the side opposite to the traveling direction of the vehicle with respect to the first operation start point. Before the implementation restriction section It determines to integrate the control or guidance of the vehicle.
According to the automatic driving support system having the above configuration, when there is the first guidance restricted zone and the second guidance restricted zone ahead of the traveling direction of the vehicle, guidance or control of the first guidance restricted zone through which the vehicle passes first In addition, it is possible to prevent the guidance and the vehicle control for the second guidance restricted section which passes later from being performed first. Therefore, it is possible to appropriately perform guidance and vehicle control for each guidance limited section.

The third configuration is as follows.
The point specification means repeatedly executes the specification of the operation start point based on the newly acquired vehicle speed of the vehicle until it is determined that the vehicle has reached any of the implementation restriction sections, and the integrated determination The means controls the vehicle with respect to a plurality of the execution restricted sections based on the positional relationship of the operation start point identified most recently until it is determined that the vehicle has reached any of the execution restricted sections. Determine whether to integrate guidance.
According to the automatic driving support system having the above configuration, even if the position of the operation start point is displaced due to a change in the vehicle speed or the like of the vehicle while the vehicle is traveling, the vehicle is operated based on the position of the operation start point after displacement. It becomes possible to determine whether to integrate control or guidance. Therefore, it is possible to make a more accurate determination of integration according to the current situation.

The fourth configuration is as follows.
The integrated determination means determines whether to integrate control or guidance of the vehicle with respect to a plurality of the execution restricted zones until control or guidance of the vehicle with respect to any of the plurality of implementation restricted zones is started.
According to the automatic driving support system having the above configuration, the integrated determination is not performed after the control or guidance of the vehicle is started, so that the control or guidance of the vehicle may be interrupted, or the control or guidance may be interrupted. It is possible to prevent the content from changing after the start.

The fifth configuration is as follows.
After it is determined by the integrated determination means that control or guidance of the vehicle for the plurality of limited implementation zones is integrated, it is determined that it is determined that the vehicle has reached any of the limited implementation zones, There is a release determination unit that determines whether or not to release the integration based on the positional relationship between the identified operation start points, and the control execution unit controls the vehicle according to the determination result of the release determination unit or Conduct guidance.
According to the automatic driving support system having the above configuration, it is possible to cancel the integration when the vehicle control and guidance once integrated become a situation that should not be integrated due to a subsequent change in the situation. As a result, it is possible to appropriately perform guidance and vehicle control according to the current situation.

The sixth configuration is as follows.
The release determination means determines whether or not to release the integration until control or guidance of the vehicle with respect to any of the plurality of implementation restricted sections is started.
According to the automatic driving support system having the above configuration, since the determination of integration cancellation is not performed after the control or guidance of the vehicle is started, the control or guidance of the vehicle may be interrupted, or the control or guidance may be interrupted. Can be prevented from changing after the start.

The seventh configuration is as follows.
The plurality of implementation restriction zones include a first implementation restriction zone existing along the traveling direction of the vehicle and a second implementation restriction zone closer to the traveling direction of the vehicle than the first implementation restriction zone, The point specifying means specifies a first operation start point where the required time for the vehicle to reach the start point of the first implementation restricted zone is the spare operation required time set in the first implementation restricted zone. Identifying a second operation start point at which the preparatory operation required time set in the second implementation restricted zone is the time required for the vehicle to reach the start point of the second implementation restricted zone, and the integrated determination And means for controlling or guiding the vehicle with respect to the first implementation restricted zone when the second operation start point is on the side opposite to the traveling direction of the vehicle with respect to the first operation start point. Before the implementation restriction section When it is determined that the control or guidance of the vehicle is integrated, and the release determination unit determines that the second operation start point is on the traveling direction side of the vehicle by a predetermined distance or more than the first operation start point, the integration is performed It is determined to release.
According to the automatic driving support system having the above configuration, when there are the first guidance restricted zone and the second guidance restricted zone ahead of the traveling direction of the vehicle, the vehicle passes first by integrating the guidance and the vehicle control. It is possible to prevent an event in which the guidance and the vehicle control for the second guidance restricted zone passing later are performed earlier than the guidance for the first guidance restricted zone and the vehicle control. On the other hand, even if there is no risk of the occurrence of the event once integrated, by providing a certain delay to release the integration, it is possible to prevent the connection and the disconnection from being performed frequently.

The eighth configuration is as follows.
The implementation restriction section is an section where automatic driving support can be performed when the state of the vehicle satisfies a predetermined condition, and the predetermined condition is different for each type of the implementation restriction section, and the preparatory operation required time The longer the time, the longer the time is set as the type of the implementation restricted section where the predetermined condition is severe.
According to the automatic driving support system having the above configuration, the required preliminary operation time to be set is transitioned to the state satisfying the predetermined condition for the execution restricted section in which the predetermined condition needs to be satisfied in order to perform the automatic driving support. It becomes possible to set appropriately the time required to make it happen. As a result, by performing control or guidance of the vehicle, it is possible to shift the automatic driving support to an executable state before the vehicle reaches the implementation restricted zone.

The ninth configuration is as follows.
Vehicle state acquisition means for acquiring the state of the vehicle, and after the vehicle reaches the operation start point, whether the state of the vehicle satisfies the predetermined condition of the execution restricted section corresponding to the operation start point And the control execution means sets the state of the vehicle to the state satisfying the predetermined condition when it is determined that the state of the vehicle does not satisfy the predetermined condition. Control or guide the vehicle for transition.
According to the automatic driving support system having the above configuration, even if there is an implementation restricted zone in which the implementation of the automatic driving assistance is restricted in the forward direction of travel of the vehicle, a sufficient time necessary to reach the implementation restricted zone is secured Since it controls and guides the vehicle when it is determined that automatic driving support can not be performed continuously in the current vehicle state at the possible timing, the automatic driving of the vehicle state is performed until the vehicle reaches the implementation restricted section. It is possible to shift the support to a feasible state.

The tenth configuration is as follows.
When it is determined by the integration determination means that the integration determination means integrates control or guidance of the vehicle with respect to a plurality of the implementation restricted sections, the vehicle is most opposite to the traveling direction of the vehicle. After reaching the operation start point, it is determined whether or not the state of the vehicle satisfies the predetermined condition of all the implementation restricted sections to be integrated, and the control execution means determines whether the state of the vehicle is any When it is determined that the predetermined condition is not satisfied, the control or guidance of the vehicle for shifting the state of the vehicle to the state satisfying the predetermined condition of all the implementation restricted sections to be integrated is Do.
According to the automatic driving support system having the above configuration, it is possible for the vehicle to reach the implementation restricted zone even if there are a plurality of implementation restricted zones in which the implementation of the automatic driving assistance is limited particularly in front of the traveling direction of the vehicle. It is possible to shift the state to a state in which automatic driving support can be performed for any of the plurality of operation restriction sections.

The eleventh configuration is as follows.
The implementation restricted section is either a section having a curve shape, a section to which a plurality of roads are connected, or a section in which lane markings have disappeared or become thin to such an extent that they can not be recognized by a camera.
According to the automatic driving support system having the above configuration, it is possible to set a section in which automatic driving support can not be performed or a section in which a predetermined condition needs to be satisfied in order to perform automatic driving support. .

1 Navigation Device 13 Navigation ECU
32 Implementation Restriction Section DB
33 Preliminary operation support table 41 CPU
42 RAM
43 ROM
50 vehicles 55, 56 virtual images

Claims (12)

A section determination unit that determines whether or not there are a plurality of implementation restricted sections in which the implementation of the automatic driving support is restricted when the automatic driving support is implemented in the vehicle;
When it is determined that the plurality of implementation restricted zones are ahead of the traveling direction of the vehicle by the section determining means, a plurality of the execution restricted zones are set based on the type of each implementation restricted zone. Preliminary operation required time acquiring means acquired each time;
Vehicle speed acquisition means for acquiring the vehicle speed of the vehicle;
An operation that is a point at which the required time for the vehicle to reach the start point of the execution restricted section for each of the plurality of implementation restricted sections is the preliminary operation required time based on the vehicle speed of the vehicle and the preliminary operation required time Point identification means for identifying the start point;
Integrated determination means for determining whether or not to integrate control or guidance of the vehicle with respect to the plurality of limited implementation zones based on the positional relationship between the operation start points specified for each of the plurality of limited implementation zones;
Have a, and a control means for executing control or guidance of the vehicle according to the determination result of the integration identifying unit,
The plurality of implementation restriction zones include a first implementation restriction zone existing along the traveling direction of the vehicle and a second implementation restriction zone closer to the traveling direction of the vehicle than the first implementation restriction zone,
The point specifying means is
Identifying a first operation start point where the required time until the vehicle reaches the start point of the first execution restricted zone is the preliminary operation required time set in the first execution restricted zone;
Identifying a second operation start point where the required time until the vehicle reaches the start point of the second implementation restricted zone is the spare operation required time set in the second implementation restricted zone;
The integrated determination means controls or guides the vehicle with respect to the first implementation restricted section when the second operation start point is on the opposite side of the traveling direction of the vehicle than the first operation start point; An automatic driving support system that determines to integrate the control or guidance of the vehicle for the second implementation restricted zone . The point specifying means repeatedly executes the specifying of the operation start point based on the newly acquired vehicle speed of the vehicle until it is determined that the vehicle has reached any of the implementation restriction zones,
The integrated determination means determines the plurality of vehicles with respect to the plurality of execution restricted zones based on the positional relationship of the operation start point identified most recently until it is determined that the vehicle has reached any of the implementation restricted zones. The automatic driving support system according to claim 1 , wherein it is determined whether to integrate control or guidance of the vehicle. The integrated determination means determines whether or not to integrate the control or guidance of the vehicle for the plurality of implementation restricted zones until the control or guidance of the vehicle for any of the plurality of implementation restricted zones is started. An automatic driving support system according to Item 2 . After it is determined by the integrated determination means that control or guidance of the vehicle for the plurality of limited implementation zones is integrated, it is determined that it is determined that the vehicle has reached any of the limited implementation zones, It has release determination means for determining whether or not to release the integration based on the positional relationship between the identified operation start points,
The automatic driving support system according to claim 2 or 3 , wherein the control implementation means implements control or guidance of the vehicle according to the determination result of the release determination means. The automatic driving support system according to claim 4 , wherein the release determination means determines whether or not to release the integration until control or guidance of the vehicle with respect to any of the plurality of operation restriction sections is started. And control or guidance of the vehicle with respect to the first embodiment limited period by the integration identifying unit, after it is determined to integrate the control or guidance of the vehicle with respect to the second embodiment limits zone, before Symbol cancel determining means, The automatic driving support according to claim 4 or 5 , wherein it is determined that the integration is to be canceled when the second operation start point is on the traveling direction side of the vehicle by a predetermined distance or more than the first operation start point. system. The implementation restriction section is an section where automatic driving support can be performed when the state of the vehicle satisfies a predetermined condition, and the predetermined condition is different for each type of the implementation restriction section.
The automatic driving support system according to any one of claims 1 to 6 , wherein the preliminary operation required time is set to a longer time as the type of the implementation restricted section where the predetermined condition is severe. Vehicle state acquisition means for acquiring the state of the vehicle;
Execution determination means for determining whether or not the state of the vehicle satisfies the predetermined condition of the implementation restricted zone corresponding to the operation start point after the vehicle reaches the operation start point;
When it is determined that the state of the vehicle does not satisfy the predetermined condition, the control execution means performs control or guidance of the vehicle to shift the state of the vehicle to a state that satisfies the predetermined condition. The automatic driving assistance system according to claim 7 which performs. When it is determined by the integration determination means that the integration determination means integrates control or guidance of the vehicle with respect to a plurality of the implementation restricted sections, the vehicle is most opposite to the traveling direction of the vehicle. After reaching the operation start point, it is determined whether or not the state of the vehicle satisfies the predetermined condition of all the implementation restricted sections to be integrated.
The control implementation means satisfies the predetermined conditions of all the implementation restricted sections for which the state of the vehicle is integrated when it is determined that the state of the vehicle does not satisfy any of the predetermined conditions. The automatic driving assistance system according to claim 8 , which performs control or guidance of the vehicle to shift to the state. The implementation restriction section is any of a section having a curve shape, a section to which a plurality of roads are connected, and a section where lane markings have disappeared or become thin to such an extent that they can not be recognized by a camera. The automatic driving support system according to any one of claims 9 to 10 . The section determining means determines whether or not there are a plurality of implementation restricted sections in which the implementation of the automatic driving support is restricted in the forward traveling direction of the vehicle when the automatic driving support is implemented in the vehicle;
The preparatory movement required is set based on the type of each execution restriction section when the preparatory movement required time acquisition means determines that the plurality of execution restriction sections are ahead of the traveling direction of the vehicle by the section judgment means. Acquiring a time for each of the plurality of implementation restriction sections;
The vehicle speed acquisition means acquires the vehicle speed of the vehicle;
The point specifying means determines, based on the vehicle speed of the vehicle and the preliminary operation required time, the time required for the vehicle to reach the start point of the practical restricted zone for each of the plurality of restricted zones, with the preliminary operation required time Identifying an operation start point which is
And a step of determining whether or not to integrate control or guidance of the vehicle with respect to the plurality of implementation restricted sections based on the positional relationship between the operation start points specified for each of the plurality of implementation restriction sections, the integration determination means ,
Control execution means, have a, and performing a control or guiding of the vehicle according to the determination result of the integration identifying unit,
The plurality of implementation restriction zones include a first implementation restriction zone existing along the traveling direction of the vehicle and a second implementation restriction zone closer to the traveling direction of the vehicle than the first implementation restriction zone,
The point specifying means is
Identifying a first operation start point where the required time until the vehicle reaches the start point of the first execution restricted zone is the preliminary operation required time set in the first execution restricted zone;
Identifying a second operation start point where the required time until the vehicle reaches the start point of the second implementation restricted zone is the spare operation required time set in the second implementation restricted zone;
The integrated determination means controls or guides the vehicle with respect to the first implementation restricted section when the second operation start point is on the opposite side of the traveling direction of the vehicle than the first operation start point; An automatic driving support method that determines to integrate control or guidance of the vehicle for the second implementation restricted zone . Computer,
A section determination unit that determines whether or not there are a plurality of implementation restricted sections in which the implementation of the automatic driving support is restricted when the automatic driving support is implemented in the vehicle;
When it is determined that the plurality of implementation restricted zones are ahead of the traveling direction of the vehicle by the section determining means, a plurality of the execution restricted zones are set based on the type of each implementation restricted zone. Preliminary operation required time acquiring means acquired each time;
Vehicle speed acquisition means for acquiring the vehicle speed of the vehicle;
An operation that is a point at which the required time for the vehicle to reach the start point of the execution restricted section for each of the plurality of implementation restricted sections is the preliminary operation required time based on the vehicle speed of the vehicle and the preliminary operation required time Point identification means for identifying the start point;
Integrated determination means for determining whether or not to integrate control or guidance of the vehicle with respect to the plurality of limited implementation zones based on the positional relationship between the operation start points specified for each of the plurality of limited implementation zones;
A computer program for functioning as control execution means for performing control or guidance of the vehicle according to the determination result of the integrated determination means ,
The plurality of implementation restriction zones include a first implementation restriction zone existing along the traveling direction of the vehicle and a second implementation restriction zone closer to the traveling direction of the vehicle than the first implementation restriction zone,
The point specifying means is
Identifying a first operation start point where the required time until the vehicle reaches the start point of the first execution restricted zone is the preliminary operation required time set in the first execution restricted zone;
Identifying a second operation start point where the required time until the vehicle reaches the start point of the second implementation restricted zone is the spare operation required time set in the second implementation restricted zone;
The integrated determination means controls or guides the vehicle with respect to the first implementation restricted section when the second operation start point is on the opposite side of the traveling direction of the vehicle than the first operation start point; A computer program that determines to integrate control or guidance of the vehicle for the second implementation restricted zone .

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