JP6723883B2 - Automatic driving support method and device - Google Patents

Description

The present invention relates to an automatic driving support method and device.

As a vehicle driving support system, based on road information that includes information about the branch points of highways and non-main lines (hereinafter referred to as “branches”), expresses information about the road ahead of the vehicle about the main lines and branches before the branch points. There is known one that acquires the vehicle-side vehicle and gives the traveling-vehicle front road information to the traveling control apparatus before the vehicle reaches the branch point (for example, refer to Patent Document 1).

JP, 2010-143504, A

In the automatic driving support system, the host vehicle enters the first branch line which is the non-guide route instead of the main line which is the guidance route, and the branch point between the main line and the first branch line (hereinafter referred to as the first branch point) It is assumed that there is a branch point between the second branch line and the third branch line (hereinafter referred to as the second branch point) at a short distance. As a method for continuing the automatic driving control in such a situation, each time the first branch point approaches, the navigation system searches for a guidance route when the vehicle enters the first branch line, and the own vehicle including the searched guidance route is searched. A method of outputting front road information from the navigation system to the travel control device can be considered. However, such a method has a problem that the communication load between the navigation system and the travel control device increases.

The problem to be solved by the present invention is that the vehicle enters the first branch line which is the non-guided route instead of the main line which is the guided route, and the second branch point is located at a short distance from the first branch point. It is an object of the present invention to provide an automatic driving support method and device capable of continuing automatic driving control while suppressing an increase in communication load in existing situations.

The present invention provides a main line set to a first guide route, a first branch line branching from the main line, a first branch point that is a branch point between the main line and the first branch line, and the first branch line. A second branch point provided on the first branch point, a second branch line and a third branch line branching from the second branch point, and there is a second branch point from the first branch point to the second branch point. The running time of the vehicle is determined by the automatic driving control device from the start of the search processing for the second guide route when the navigation system executes the search processing for the second guide route after the vehicle enters the first branch line. When it is shorter than the time required to execute the automatic driving of the own vehicle along the guide route No. 2, before the own vehicle reaches the predetermined position on the front side in the traveling direction from the first branch point, the navigation system By executing the search process of the second guide route by the vehicle and the output process of the second guide route to the automatic driving control device by the navigation system when the host vehicle reaches the predetermined position, Resolve.

According to the present invention, in a situation where the host vehicle enters the first branch line which is the non-guided route instead of the main line which is the guided route, and the second branch point exists at a short distance from the first branch point. The effect that the automatic driving control can be continued while suppressing an increase in communication load is achieved.

1 is a block diagram showing a configuration of a vehicle equipped with an automatic driving support system according to an embodiment of the present invention. 6 is a flowchart for explaining a procedure of processing of automatic driving control of the automatic driving support system in FIG. 1 when the host vehicle deviates from the guiding route and enters the non-guiding route. It is a figure for demonstrating the process of the automatic driving control of the automatic driving assistance system of FIG. 1 in the condition where the own vehicle which is performing automatic driving control enters into the 1st branch line which is a non-guide path. 1 is a first half part of a flowchart for explaining a process of automatic driving control of the automatic driving support system of FIG. 1 in a situation where a vehicle running automatic driving control enters a first branch line which is a non-guidance route. .. It is the latter half of the flowchart of FIG. 4A. 1 is a first half part of a flowchart for explaining a process of automatic driving control of the automatic driving support system of FIG. 1 in a situation where a vehicle running automatic driving control enters a first branch line which is a non-guidance route. .. It is the latter half of the flowchart of FIG. 5A. It is a figure for demonstrating the process of the automatic driving control of the automatic driving assistance system of FIG. 1 in the condition where the own vehicle which is performing automatic driving control enters into the 1st branch line which is a non-guide path.

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of a vehicle equipped with an automatic driving support system 1 according to an embodiment of the present invention. The automatic driving support system 1 according to the present embodiment executes automatic driving control of a vehicle according to a guide route to a destination generated by the navigation system 20. In the automatic driving of the vehicle of the present embodiment, the control is started in accordance with the driver's input, and the vehicle is allowed to travel along the guide route even if the driver does not operate the accelerator, the brake and the steering wheel. However, when the driver operates the accelerator, brakes, or operates the steering wheel, the automatic driving control is stopped or temporarily interrupted, and various operations by the driver are prioritized.

The vehicle of this embodiment includes an automatic driving support system 1, an engine control device (ECM: Engine Control Module) 2, a body control device (BCM: Body Control Module) 3, a steering control device 4, and a brake control device 5. And a transmission control device (TCM: Transmission Control Module) 6, a skid prevention device (VDC: Vehicle Dynamics Control) 7, and the like. The automatic driving support system 1 includes an automatic driving control device 10, a camera 11, a radar 12, and a navigation system 20. The navigation system 20 includes a navigation control device 201, a map database 202, and a locator 203.

Here, the automatic driving control device 10, the navigation control device 201, the engine control device 2, the body control device 3, the steering control device 4, the brake control device 5, the transmission control device 6, and the skid prevention device 7 Are communicatively connected via a CAN (Controller Area Network) bus 8 as an in-vehicle LAN.

The engine control device 2 is a controller that executes operation control of the engine 21. The engine control device 2 controls the engine 21 so as to realize the required driving force output from the automatic driving control device 10, the skid prevention device 7, and the like. Although a vehicle equipped with only an engine (internal combustion engine) as a driving drive source is given as an example, an electric vehicle (including a fuel cell vehicle) equipped with only an electric motor as a driving drive source, or a combination of an engine and an electric motor is used. It may be replaced with a hybrid vehicle or the like equipped with a vehicle as a drive source.

The body control device 3 includes a door lock/unlock of the door lock device 31, a keyless function such as a passive keyless and a remote control keyless, an engine starting function such as a push engine start function, a security function such as an immobilizer, a room lamp and a battery saver. Controls various functions such as safety functions such as timer function and tire pressure monitoring system.

The steering control device 4 is a controller that executes control of the electric power steering motor 41. The steering control device 4 controls the electric power steering motor 41 so as to realize the target steering angle output from the automatic driving control device 10 or the like. The electric power steering motor 41 is a steering actuator attached to a column shaft (not shown) of the steering.

The brake control device 5 is a controller that controls the brake unit 51. The brake control device 5 controls the brake unit 51 so as to realize the required braking force output from the automatic driving control device 10, the skid prevention device 7, and the like.

The transmission control device 6 is a controller that controls the automatic match transmission (AT) 61. The transmission control device 6 calculates an optimum gear from the vehicle speed, accelerator opening, shift position, etc. so as to realize the required driving force output from the automatic driving control device 10, the skid prevention device 7, etc. Shift control is executed.

The skid prevention device 7 monitors the driving operation of the driver and the movement of the vehicle by using various sensors for the purpose of preventing the skid of the vehicle, and outputs the required driving force to the engine control device 2 according to the running state of the vehicle. Then, the required braking force is output to the brake control device 5.

The camera 11 is installed in a vehicle front portion, a vehicle side portion, a vehicle rear portion, and the like, and outputs image data obtained by photographing the vehicle front, vehicle side, vehicle rear, and the like to the automatic driving control device 10. Further, the radar 12 is installed in the front part of the vehicle, the side part of the vehicle, the rear part of the vehicle, etc., and automatically detects the polar coordinates (distance and position) of the reflection points of the objects existing in the front side of the vehicle, the side of the vehicle, the rear side of the vehicle, Output to the operation control device 10.

The map database 202 stores map information. This map information includes road types such as types of highways and general roads, link types such as types of highway main line links and branch line links, positions of branch points between highway main lines and branch lines, and branch lines. Information such as the position of the branch point, the distance from the branch point between the main line and the branch line to the branch point between the branch lines, and the speed limit is included.

Locator 203 calculates the position of the host vehicle at predetermined time intervals based on signals from a vehicle speed sensor, a direction sensor, a GPS receiver, and the like. Then, locator 203 executes map matching processing for correcting the calculated position of the own vehicle using the map information stored in map database 202, and outputs the corrected position of the own vehicle to navigation control device 201. The navigation control device 201 searches for a route from the position of the vehicle output from the locator 22 to the destination input by the driver, displays the search result on the display device, and controls the automatic driving through the CAN bus 8. Output to the device 10.

The automatic driving control device 10 is an integrated circuit such as a microprocessor, and includes an A/D conversion circuit, a D/A conversion circuit, a central processing unit (CPU), a ROM (Read Only Memory), and a RAM (Read). Access Memory) and the like. The automatic driving control device 10 processes the image data output from the camera 11 and the information on the reflection points output from the radar 12 to recognize an object such as another vehicle around the own vehicle, a white line on the road, and the like. Recognize curbs and branch points. Further, the automatic driving control device 10 calculates the required driving force, the required braking force, and the target steering angle so as to travel along the route output from the navigation control device 201 while avoiding the recognized object. The automatic driving control device 10 outputs the calculated required driving force to the engine control device 2 and the transmission control device 6 via the CAN bus 8, and outputs the calculated required braking force to the brake control device 5 via the CAN bus 8 to calculate. The target steering angle is output to the steering control device 4 via the CAN bus 8.

In the automatic driving support system 1 of the present embodiment, when the host vehicle deviates from the guidance route and enters the non-guidance route during execution of the automatic driving control, except for the position of the branch point of the highway described below, The following processing is executed. FIG. 2 is a flowchart for explaining the processing.

First, in step S1, the navigation control device 201 re-searches for a guide route to a destination. Next, in step S2, the navigation control device 201 outputs the re-searched guidance route to the automatic driving control device 10 through the CAN bus 8. Next, in step S3, the automatic driving control device 10 processes the information on the guide route output from the navigation control device 201.

Next, in step S4, the automatic driving control device 10 outputs a command to the navigation control device 201 through the CAN bus 8 to output a voice guidance for notifying the driver that he/she is allowed to change the guide route. Next, in step S5, the navigation control device 201 outputs the voice guidance. Next, in step S6, the automatic driving control device 10 determines whether or not the driver has permitted the change of the guide route by voice or switch operation. If the change of the guide route is permitted, the process proceeds to step S7. If the change of the guide route is not permitted, the process proceeds to step S8.

In step S8, the automatic driving control device 10 stops the automatic driving control. On the other hand, in step S7, the automatic driving control device 10 requires the driving force required to drive along the re-search route output from the navigation control device 201 while avoiding the object recognized from the image data of the camera 11 or the like. The required braking force and the target steering angle are calculated and output to the engine control device 2, the transmission control device 6, the brake control device 5, and the steering control device 4 through the CAN bus 8.

Here, the processing time of the automatic driving control device 10 and the navigation control device 201 and the time which is the sum of the time from when the driver recognizes the voice guidance to when the driver decides whether or not to change the guidance route in step S5, that is, The required time Tp from the start of the re-search of the guide route of the navigation control device 201 to the completion of the automatic driving control according to the re-searched guide route is generally assumed to be 10 seconds or more. It

By the way, as shown in FIG. 3, there is a branch point 105 (hereinafter, referred to as a first branch point) between the main line 101 and the first branch line 102 of the expressway, and the first branch line 102 has a second branch point. There is a branch point (hereinafter referred to as a second branch point) 106 between the branch line 103 and the third branch line 104, and the vehicle V that is executing the automatic driving control is the main line 101 that is the first guidance route IC1. It is assumed that the vehicle will not be able to proceed and will enter the first branch line 102 which is a non-guided route. In such a situation, the distance D2 from the first branch point 105 to the second branch point 106 is short, and the travel time T2 of the host vehicle V from the first branch point 105 to the second branch point 106 is the above-mentioned required value. If the time is shorter than the time Tp, the processes of steps S1 to S6 described above are executed after passing through the first branch point 105. Therefore, the own vehicle V is allowed to travel on an appropriate route by automatic driving control. Will not be possible.

Therefore, in the automatic driving support system 1 of the present embodiment, the first branch point 105 exists, the second branch point 106 exists on the first branch line 102, and the first branch point 105 to the second branch point 106 exist. When the traveling time T2 of the host vehicle V to the branch point 106 is shorter than the required time Tp, before the host vehicle V reaches the predetermined position 107 on the front side in the traveling direction with respect to the first branch point 105. , The navigation control device 201 searches for the second guidance route IC2, and when the vehicle V reaches the predetermined position 107, the navigation control device 201 automatically controls the second guidance route IC2 through the CAN bus 8. Output to the device 10.

Specifically, the navigation control device 201 searches for the second guidance route IC2 at a time before the host vehicle V reaches the predetermined position 107 on the front side in the traveling direction from the first branch point 105 by the distance D1. When the process is started and the predetermined position 107 is reached, the searched second guide route IC2 is output to the automatic driving control device 10 through the CAN bus 8. When the searched second guide route IC2 is input, the automatic driving control device 10 executes the processes of steps S3 to S6 described above.

但し、Ｄ２は、第１の分岐点１０５から第２の分岐点１０６までの距離であり、Ｖ２は、第１の支線１０２の第１の分岐点１０５から第２の分岐点１０６までの区間での制限速度であり、Ｖ１は、所定位置１０７から第１の分岐点１０５までの区間での制限速度である。ここで、距離Ｄ２、制限速度Ｖ１、Ｖ２は、地図データベース２０２に格納された地図情報に含まれており、ナビゲーション制御装置２０１は、地図データベース２０２に格納された地図情報から距離Ｄ２、制限速度Ｖ１、Ｖ２を読み出す。 The distance D1 described above is expressed by the following equation (1).

However, D2 is the distance from the first branch point 105 to the second branch point 106, and V2 is the section from the first branch point 105 to the second branch point 106 of the first branch line 102. V1 is a speed limit in the section from the predetermined position 107 to the first branch point 105. Here, the distance D2 and the speed limits V1 and V2 are included in the map information stored in the map database 202, and the navigation control device 201 determines that the distance D2 and the speed limit V1 from the map information stored in the map database 202. , V2 are read.

In FIGS. 4A and 4B, the first branch line 102 and the first branch point 105 are present, and the first branch line 102 has the second branch line 103, the third branch line 104, and the second branch point 106. 6 is a flowchart for explaining a procedure of automatic driving control in a situation where and exist. In the present embodiment, when the automatic driving control is executed and the vehicle V is traveling on the highway, the process is started and the process proceeds to step S101.

In step S101, the navigation control device 201 refers to the map information stored in the map database 202, and a predetermined distance (for example, 2 to 10 km, preferably 4 to 6 km) from the vehicle V along the first guide route IC1. In the present embodiment, it is determined whether or not the first branch point 105 exists in the section of 5 km). If the determination is negative, step S101 is executed, and if the determination is positive, the process proceeds to step S102. In step S102, the navigation control device 201 refers to the map information stored in the map database 202, and the second branch point 106 exists on the first branch line 102 branched from the main line 101 at the first branch point 105. It is determined whether to do. If the determination is negative, the process returns to step S101, and if the determination is positive, the process proceeds to step S103.

In step S103, the navigation control device 201 determines whether the traveling time T2 (=D2/V2) from the first branch point 105 to the second branch point 106 of the vehicle V is shorter than the required time Tp. To judge. If the determination is negative, the process returns to step S101, and if the determination is positive, the process proceeds to step S104. In step S104, the navigation control device 201 calculates the distance D1 from the equation (1).

Next, in step S105, the navigation control device 201 determines that the host vehicle V is the first one before the host vehicle V reaches the predetermined position 107 on the front side in the traveling direction by the distance D1 from the first branch point 105. At the branch point 105, the search process of the second guide route IC2 is executed when the vehicle deviates from the main line 101 set for the first guide route IC1 and enters the first branch line 102 which is a non-guide route. Next, in step S106, the navigation control device 201 determines whether the host vehicle V has reached the predetermined position 107 on the front side in the traveling direction by the distance D1 from the first branch point 105. If the determination is negative, step S106 is executed, and if the determination is positive, the process proceeds to step S107.

In step S107, the navigation control device 201 sends the second guidance route IC2 when the vehicle V deviates from the first branch line 102 which is a non-guidance route to the automatic driving control device 10 through the CAN bus 8 together with the map information. Output. That is, when the vehicle V reaches the predetermined position 107 on the front side in the traveling direction by the distance D1 from the first branch point 105, the own vehicle V passes through the first branch line 102 and the second branch line 103 and the third branch line 104 The re-search route that enters any one is output to the automatic driving control device 10 through the CAN bus 8.

Next, in step S108, the navigation control device 201 determines whether or not the position of the vehicle V output from the locator 203 has deviated from the first guide route IC1. If the determination is negative, the process returns to step S101, and if the determination is positive, the process proceeds to step S109. In step S109, the automatic driving control device 10 processes the information of the second guide route IC2 output from the navigation control device 201.

Next, in step S110, the automatic driving control device 10 outputs a voice guidance output command to the navigation control device 201 through the CAN bus 8 to notify the driver that refusal to change the guide route is selected. Next, in step S111, the navigation control device 201 outputs the voice guidance. Next, in step S112, the automatic driving control device 10 determines whether or not the driver has permitted the change of the guide route by voice or switch operation. If the change of the guide route is permitted, the process proceeds to step S113. On the other hand, if the change of the guide route is not permitted, the automatic driving control is stopped in step S115, and the processing shown in the flowcharts of FIGS. 4A and 4B ends.

On the other hand, in step S113, the automatic driving control device 10 avoids the object recognized from the image data of the camera 11 and the like, and the second branch line 103 along the second guide route IC2 output from the navigation control device 201. Alternatively, the required driving force, the required braking force, and the target steering angle are calculated so as to travel along the third branch line 104, and the engine control unit 2, the transmission control unit 6, the brake control unit 5, and the steering control unit are passed through the CAN bus 8. Output to 4.

Next, in step S114, the automatic driving control device 10 determines whether the automatic driving control is continued and the vehicle V is traveling on the highway. If an affirmative determination is made, the process returns to step S101, and if a negative determination is made, the processing shown in the flowcharts of FIGS. 4A and 4B ends.

As described above, in the automatic driving support method and system 1 according to the present embodiment, the host vehicle V moves from the first branch point 105 only when the following first condition and the following second condition are met. Even before the vehicle reaches the predetermined position 107 on the front side in the traveling direction, the navigation system 20 executes the search process for the second guidance route IC2, and when the vehicle V reaches the predetermined position 107, the navigation system 20 makes Output processing of the second guide route IC2 to the automatic driving control device 10 is executed.

Here, in the vehicle equipped with the automatic driving support system 1 according to the present embodiment, not only between the automatic driving control device 10 and the navigation control device 201 through the CAN bus 8, but also the engine control device 2 and the body control device 3 Communication is being performed between other control devices such as the above and other devices. The increase in the amount of communication between the automatic driving control device 10 and the navigation control device 201 increases the collision of communication data on the CAN bus 8 or increases the transmission delay of data. It can affect the entire system built.

Therefore, in the automatic driving support method and system 1 according to the present embodiment, the first condition is set to the first guide route IC1, the main line 101, the first branch line 102 branching from the main line 101, and the main line 101. A first branch point 105, which is a branch point between the first branch line 102, a second branch point 106 provided on the first branch line 102, and a second branch line branching from the second branch point 106. The condition is that 103 and the third branch line 104 exist. Further, the second condition is that the travel time of the host vehicle V from the first branch point 105 to the second branch point 106 is set by the navigation control device 201 after the host vehicle V enters the first branch line 102. From the start of the search process of the second guide route IC2 when the search process of the second guide route IC2 is executed to the execution of the automatic driving of the own vehicle V along the second guide route IC2 by the automatic driving control device 10. The condition is that it is shorter than the required time Tp.

As a result, the host vehicle V enters the first branch line 102, which is a non-guidance route, instead of the main line 101, which is the first guidance route IC1, and the branch point between the main line 101 and the first branch line 102 (the first branch line). In a situation where there is a branch point (second branch point 106) between the second branch line 103 and the third branch line 104 at a short distance from the point 105), while suppressing an increase in the communication load of the CAN bus 8. , It is possible to continue automatic operation.

Further, in the automatic driving support method and system 1 according to the present embodiment, the above-mentioned predetermined position 107 is set as a condition described later. The condition is that the traveling time of the vehicle V from the predetermined position 107 to the second branch point 106 is from the start of the search processing of the second guide route IC2 by the navigation system 20 to the second guide by the automatic driving control device 10. The condition is that the time required to execute the automatic driving of the vehicle V along the route IC2 is Tp or more. As a result, the automatic driving control device 10 automatically drives the own vehicle V along the second guidance route IC2 before the own vehicle V that has entered the first branch line 102 reaches the second branch point 106. It becomes possible to do.

Furthermore, in the automated driving support method and system 1 according to the present embodiment, the distance D1 from the predetermined position 107 to the first branch point 105 is determined after the navigation system 20 starts the search process of the second guide route IC2. Required time Tp until execution of automatic driving of the vehicle V by the automatic driving control device 10 along the second guidance route IC2, speed limit V1 on the main line 101, speed limit V2 on the first branch line 102, first branch It is set so as to satisfy the above equation (1) in relation to the distance D2 from the point 105 to the second branch point 106. As a result, the vehicle V traveling along the first branch line 102 at a speed equal to or less than the speed limit reaches the second branch point 106 along the second guide route IC2 until the vehicle V reaches the second branch point 106. It becomes possible to automatically drive the own vehicle V.

FIG. 5 is a flowchart for explaining a procedure of automatic driving control according to another embodiment. Also in the automatic driving control according to the present embodiment, the processing is started when the automatic driving control is executed and the vehicle V is traveling on the highway, and the process proceeds to step S101.

Here, as a case where the second branch point 106 exists on the first branch line 102 branched from the main line 101 of the expressway, as shown in FIG. 3, both the second branch line 103 and the third branch line 104 are , A case in which the first branch line 102 bends with a large curvature, and as shown in FIG. 6, the second branch line 103 linearly extends from the first branch line 102, and the third branch line 104 includes the first branch line. It is assumed that the case of 102 is bent with a large curvature. In the present embodiment, in the case shown in FIG. 3, the same processing as that in the above-described embodiment is executed, whereas in the case shown in FIG. 6, processing different from that in the above-described embodiment is executed.

First, the same processing as steps S101 and S102 of the above-described embodiment is executed. Next, in step S203, the navigation system 21 refers to the map information stored in the map database 202 to calculate the inclination angle α of the second branch line 103 and the third branch line 104 with respect to the first branch line 102, It is determined whether the inclination angle α of at least one of the second branch line 103 and the third branch line 104 is less than a predetermined value (for example, 10°) α ₀ . If an affirmative decision is made, the operation proceeds to step S204. On the other hand, when a negative determination is made, the process proceeds to step S103, and steps S103 to S113 of the above-described embodiment are executed. The following description will be given assuming that the inclination angle α of the second branch line 103 with respect to the first branch line 102 is less than the predetermined value α ₀ .

In step S204, the navigation control device 201 determines the distance L1 to the destination when traveling on the second branch line 103 with the inclination angle α less than the predetermined value α _{0 and} the destination when traveling on the third branch line 104. And the distance L2 is calculated, and it is determined whether the distance L1 is shorter than the distance L2. If an affirmative decision is made, the operation proceeds to step S205. On the other hand, when a negative determination is made, the process proceeds to step S103, and steps S103 to S113 of the above-described embodiment are executed. The above-mentioned distances L1 and L2 may be replaced with the time to the destination.

In step S205, the navigation control device 201 determines whether or not the position of the vehicle V output from the locator 203 has deviated from the first guide route IC1. If the determination is negative, the process returns to step S101, and if the determination is positive, the process proceeds to step S206. In step S206, the navigation control device 201 executes a search process for the second guide route IC2 when the host vehicle V travels on the second branch line 103, and automatically searches the second guide route IC2 thus searched for. Output to 10. Next, in step S207, the automatic driving control device 10 processes the information of the second guide route IC2 output from the navigation control device 201. Then, steps S112 and S113 of the above-described embodiment are executed.

Here, it is assumed that the driver does not want to travel along the branch line searched for as the second guidance route IC2. For example, as shown in FIG. 3, both the second branch line 103 and the third branch line 104 branching from the first branch line 102 are bent with a large curvature from the first branch line 102, and the second guide path is formed. For example, there is a traffic jam on the branch line searched as IC2. In such a situation, a voice guidance output command for allowing the driver to select whether or not to continue automatic driving is output from the automatic driving control device 10 to the navigation control device 201, and the voice guidance is output from the navigation system 20. However, a series of processes is required in which the navigation control device 201 receives the driver's selection and the automatic driving control device 10 executes the process according to the driver's selection. Therefore, in such a situation, after the search process of the second guidance route IC2 by the navigation system 20 is started, the automatic driving control device 10 automatically drives the vehicle V along the second guidance route IC2. The required time Tp up to is longer than the required time Tp′ described later.

Therefore, in the present embodiment, when the first condition and the second condition are satisfied, the host vehicle V is located below the first branch point 105 except when the following third condition is satisfied. Before reaching the predetermined position 107 on the front side in the traveling direction, the navigation system 20 executes the search process of the second guidance route IC2, and when the vehicle V reaches the predetermined position 107, the second navigation system 20 performs the second search. The output process of the guide route IC2 to the automatic driving control device 10 is executed.

On the other hand, it is assumed that there is a high possibility that the driver desires to travel on the branch line searched for as the second guidance route IC2. For example, as shown in FIG. 6, one of the second branch line 103 and the third branch line 104 (the second branch line 103) branching from the first branch line 102 extends linearly from the first branch line 102. On the other hand, the other of the second branch line 103 and the third branch line 104 (the third branch line 104) is bent from the first branch line 102 with a large curvature, and the second branch line 103 is the second branch line 103. The distance (or time) to the destination when searching for the guide route IC2 and traveling on the second branch 103 is greater than the distance (or time) to the destination when traveling on the third branch 104. The situation is short. In such a situation, a voice guidance output command for allowing the driver to select whether or not to continue automatic driving is output from the automatic driving control device 10 to the navigation control device 201, and the voice guidance is output from the navigation control device 201. It becomes unnecessary to perform a series of processes of outputting, the navigation control device 201 accepting the selection by the driver, and the automatic driving control device 10 executing the process according to the selection by the driver. Therefore, in such a situation, after the navigation control device 201 starts the search process for the second guidance route IC2, the automatic driving control device 10 automatically drives the vehicle V along the second guidance route IC2. The required time Tp' until it becomes shorter than the required time Tp described above.

Therefore, in the present embodiment, even when the first condition and the second condition are satisfied, the host vehicle V is connected to the first branch line 102 when the following third condition is satisfied. After proceeding, the navigation system 20 executes the search process for the second guide route IC2, and the navigation system 20 executes the output process for the second guide route IC2 to the automatic driving control device 10. Here, the third condition is that the straightness of one of the second branch line 103 and the third branch line 104 to the first branch line 102 is high, and the distance to the destination when the one branch line is advanced. (Or time) is shorter than the distance (or time) to the destination when traveling on the other branch line.

As a result, the host vehicle V enters the first branch line 102, which is a non-guidance route, instead of the main line 101, which is the first guidance route IC1, and the branch point between the main line 101 and the first branch line 102 (the first branch line). In a situation where there is a branch point (second branch point 106) between the second branch line 103 and the third branch line 103 at a short distance from the point 105), the increase of the communication load of the CAN bus 8 is further effective. It is possible to continue the automatic operation while suppressing it.

The embodiments described above are described to facilitate understanding of the present invention, and are not described to limit the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents within the technical scope of the present invention.

For example, in the above-described embodiment, the situation in which the vehicle V is traveling on the highway has been described as an example, but the present invention may be applied to other roads in which the main line and the branch lines are distinguished. Further, in the above-described embodiment, when the host vehicle V reaches the predetermined position 107 behind the first branch point 105 by the distance D1, the navigation control device 201 sets the second guide route IC2 to the automatic driving control device 10. However, the output process of the second guidance route IC2 by the navigation control device 201 is executed when the host vehicle V is traveling a distance D1 or more behind the first branch point 105. You may.

1 Automatic Driving Support System 10 Automatic Driving Control Device 20 Navigation System 101 Main Line 102 First Branch Line 103 Second Branch Line 104 Third Branch Line 105 First Branch Point 106 Second Branch Point 107 Predetermined Position IC1 First Guidance Route IC2 Second guidance route

Claims (4)

And a navigation system, an automatic driving support method executed by the automatic driving control device for performing automatic driving of the vehicle along the guide route outputted from the navigation system,
Provided on the main line set to the first guide path, a first branch line branching from the main line, a first branch point that is a branch point between the main line and the first branch line, and the first branch line A second branch point, a second branch line and a third branch line branching from the second branch point, and the first branch point to the second branch point. From the start of the search process of the second guide route in the case where the travel time of the own vehicle has executed the search process of the second guide route by the navigation system after the own vehicle has entered the first branch line, When it is shorter than the time required to execute the automatic driving of the own vehicle along the second guide route by the automatic driving control device,
Before the vehicle reaches a predetermined position on the front side in the traveling direction with respect to the first branch point, the navigation system executes a search process for the second guide route,
When the vehicle reaches the predetermined position, the navigation system executes an output process of the second guide route to the automatic driving control device ,
When the inclination angle of one of the second branch line and the third branch line with respect to the first branch line is less than a predetermined value, and when the one of the second branch line and the third branch line is advanced, The distance to the destination is shorter than the distance to the destination when traveling on the other of the second branch line and the third branch line, or the one of the second branch line and the third branch line When the time to the destination when traveling on is shorter than the time to the destination when traveling on the other of the second branch line and the third branch line,
After the vehicle has traveled to the first branch line, the navigation system executes a search process for the second guide route, and the navigation system outputs the second guide route to the automatic driving control device. An automated driving support method that executes processing . In the predetermined position, the travel time of the host vehicle from the predetermined position to the second branch point is determined by the automatic driving control device from the start of the search process of the second guidance route by the navigation system. The automatic driving support method according to claim 1, wherein the automatic driving support method is set so as to be equal to or longer than a time required to execute automatic driving of the vehicle along the guide route. The automatic driving support method according to claim 1 or 2, wherein a distance D1 from the predetermined position to the first branch point satisfies the following expression (1).

However, Tp is the time required from the start of the search process of the second guidance route by the navigation system to the execution of the automatic driving of the own vehicle according to the second guidance route by the automatic driving control device. , V1 is the speed limit on the main line, V2 is the speed limit on the first branch line, and D2 is the distance from the first branch point to the second branch point. An automatic driving support device comprising a navigation system and an automatic driving control device for executing automatic driving of a vehicle along a guide route output from the navigation system,
The navigation system is
Provided on the main line set to the first guide path, a first branch line branching from the main line, a first branch point that is a branch point between the main line and the first branch line, and the first branch line A second branch point, a second branch line and a third branch line branching from the second branch point, and the first branch point to the second branch point. From the start of the search process of the second guide route in the case where the travel time of the own vehicle has executed the search process of the second guide route by the navigation system after the own vehicle has entered the first branch line, When it is shorter than the time required to execute the automatic driving of the own vehicle along the second guide route by the automatic driving control device,
Before the host vehicle reaches a predetermined position on the front side in the traveling direction with respect to the first branch point, a search process for the second guide route is executed,
When the host vehicle reaches the predetermined position, output processing of the second guide route to the automatic driving control device is executed ,
In the case where the inclination angle of one of the second branch line and the third branch line with respect to the first branch line is less than a predetermined value and the one of the second branch line and the third branch line is advanced. The distance to the destination is shorter than the distance to the destination when traveling on the other of the second branch line and the third branch line, or the one of the second branch line and the third branch line When the time to the destination when traveling on is shorter than the time to the destination when traveling on the other of the second branch line and the third branch line,
After the vehicle has traveled to the first branch line, the navigation system executes a search process for the second guide route, and the navigation system outputs the second guide route to the automatic driving control device. An automatic driving support device that executes processing .

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