JP7267796B2 - Route presentation method and route presentation device - Google Patents

Description

The present invention relates to a route presentation method and a route presentation device.

In Patent Document 1, an automatic operation section and a manual operation section in a candidate travel route are determined, and the number of points (handover points) at which the automatic operation section is switched to the manual operation section is calculated as the number of handover occurrences. A vehicle control system is described that presents the number of handovers to the occupant as the frequency of occurrence of handovers.

JP 2017-197151 A

Whether or not a driving change request (that is, a TOR (Take-Over Request) or an RTI (Request To Intervene)) from automatic driving to manual driving by a passenger is issued depends on external factors surrounding the automatic driving vehicle. For this reason, a driving change request may be issued even in the middle of a section determined to be an automatic driving section.

According to the technique disclosed in Patent Document 1, even though the passenger can know the frequency and probability of occurrence of handovers on the candidate travel route, a driver change request is issued in the middle of a section determined to be an automatic driving section. Possibilities cannot be recognized in advance.
An object of the present invention is to enable a passenger to recognize the possibility that a driving change request will be issued in the middle of a section determined to be an automatic driving section.

In a route presentation method according to one aspect of the present invention, an input of a destination point by a passenger is received, a travel route for automatically driving a vehicle to travel from a departure point to a destination point is calculated, and an automatically operated section and a manually operated section on the travel route are calculated. and calculate the uncertainty of automated driving that indicates the possibility of switching to manual driving in the middle of the automated driving section due to external factors outside the automated driving vehicle, Present the sex to the crew.

According to one aspect of the present invention, it becomes possible for a passenger to recognize the possibility that a driving change request will be issued in the middle of a section determined to be an automatic driving section.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows an example of schematic structure of the vehicle which mounts the driving assistance device of embodiment. FIG. 10 is a diagram showing an example of a user interface image for selecting a category of travel route candidates to be displayed; FIG. 10 is a diagram showing a first example of a display image of travel route candidates; It is a block diagram showing an example of functional composition of a driving support device. It is a flowchart of an example of the route presentation method of the embodiment. FIG. 10 is a diagram showing a second example of a display image of travel route candidates; FIG. 11 is a diagram showing a third example of a display image of travel route candidates; FIG. 10 is a diagram showing an example of a display image of detailed information of a first candidate for a travel route; FIG. 11 is a diagram showing an example of a display image of detailed information of a second candidate for a travel route; FIG. 11 is a diagram showing an example of a display image of detailed information on a third candidate for a travel route;

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that each drawing is schematic and may differ from the actual one. Further, the embodiments of the present invention shown below are examples of apparatuses and methods for embodying the technical idea of the present invention. are not specific to the following: Various modifications can be made to the technical idea of the present invention within the technical scope defined by the claims.

(composition)
The host vehicle 1 includes a driving support device 10 that assists the drive of the host vehicle 1 . Driving support by the driving support device 10 includes automatic driving control for automatically driving the own vehicle 1 without the involvement of the driver, driving, braking and steering of the own vehicle 1 based on the driving environment around the own vehicle 1. cruise control that controls at least one of
Driving control may be, for example, automatic steering, automatic braking, preceding vehicle follow-up control, constant speed driving control, lane keeping control, merging support control, and the like.
Driving assistance may include output of information (messages) prompting the driver to perform steering operation, acceleration operation, and deceleration operation, in addition to automatic driving control and travel control.

The driving support device 10 includes an ambient environment sensor 100, a vehicle sensor 101, a positioning device 102, a map database 103, a communication device 104, a user interface device 106, a navigation system 107, a controller 108, and an actuator 109. Prepare.
In the drawings, the map database is denoted as "map DB", and the user interface device is denoted as "user I/F device".
Ambient environment sensor 100, vehicle sensor 101, positioning device 102, map database 103, communication device 104, navigation system 107, and controller 108 are each connected via a communication line such as a CAN (Controller Area Network). and can exchange signals with each other.

The surrounding environment sensor 100 detects various information (surrounding environment information) about the surrounding environment of the own vehicle 1 , for example, objects around the own vehicle 1 . The surrounding environment sensor 100 detects the surrounding environment of the own vehicle, such as objects existing around the own vehicle 1, the relative position between the own vehicle 1 and the object, the distance between the own vehicle 1 and the object, and the direction in which the object exists. .
Ambient environment sensor 100 may comprise a ranging device, such as a laser range finder (LRF) or radar, or a camera. The camera may be, for example, a stereo camera. The camera may be a monocular camera, or the same object may be photographed from a plurality of viewpoints by the monocular camera, and the distance to the object may be calculated. Also, the distance to the object may be calculated based on the grounding position of the object detected from the captured image.

The vehicle sensor 101 detects various information (vehicle information) obtained from the own vehicle 1 . The vehicle sensors 101 include, for example, a vehicle speed sensor that detects the running speed (vehicle speed) of the vehicle 1, a wheel speed sensor that detects the rotation speed of each tire of the vehicle 1, acceleration in three axial directions of the vehicle 1 ( 3-axis acceleration sensor (G sensor) that detects deceleration), steering angle sensor that detects steering angle (including turning angle), gyro sensor that detects angular velocity generated in own vehicle 1, yaw rate that detects yaw rate Sensors include an accelerator sensor that detects the accelerator opening of the vehicle 1 and a brake sensor that detects the amount of brake operation by the driver.

The positioning device 102 measures the current position of the own vehicle 1 . The positioning device 102 may comprise, for example, a Global Positioning System (GNSS) receiver. The GNSS receiver is, for example, a global positioning system (GPS) receiver or the like, and measures the current position of the vehicle 1 by receiving radio waves from a plurality of navigation satellites. The positioning device 102 may measure the current position of the own vehicle 1 by, for example, odometry.

The map database 103 may store high-precision map data (hereinafter simply referred to as "high-precision map") suitable as a map for automatic driving. A high-precision map is map data with higher precision than map data for navigation (hereinafter simply referred to as "navigation map"), and includes more detailed lane-by-lane information than road-by-road information.
For example, a high-definition map includes lane node information indicating a reference point on a lane reference line (for example, a central line within a lane) and lane link information indicating a section of a lane between lane nodes as information for each lane. including.

The lane node information includes the identification number of the lane node, the position coordinates, the number of connected lane links, and the identification number of the connected lane link. The lane link information includes the lane link identification number, lane type, lane width, lane boundary line type, lane shape, lane marking line shape, and lane reference line shape. The high-precision map further includes the types and positional coordinates of features such as traffic lights, stop lines, signs, buildings, utility poles, curbs, crosswalks, etc. that exist on or near the lane, and lane nodes corresponding to the positional coordinates of the features. includes feature information, such as the identification number of the lane and the identification number of the lane link.

Since the high-precision map includes node and link information for each lane, it is possible to specify the lane in which the vehicle 1 travels on the travel route. The high-precision map has coordinates that can express the position in the extension direction and width direction of the lane. A high-precision map has coordinates (for example, longitude, latitude and altitude) that can represent a position in a three-dimensional space, and lanes and the features can be described as shapes in the three-dimensional space.

The map database 103 may also store a navigation map. A navigation map contains information on a road-by-road basis. For example, a navigation map includes, as information for each road, road node information that indicates a reference point on a road reference line (for example, a line in the center of a road) and road link information that indicates a section of a road between road nodes. . The road node information includes the road node identification number, position coordinates, the number of connected road links, and the connected road link identification number.
The road link information includes the road link identification number, road standard, link length, number of lanes, road width, and speed limit.

The communication device 104 performs wireless communication with a communication device outside the own vehicle 1 . The communication method of the communication device 104 may be, for example, vehicle-to-vehicle communication, or communication via infrastructure such as road-to-vehicle communication, public communication lines, and cloud services.
For example, communication by the communication device 104 may be V2X (Vehicle-to-everything) communication.

The user interface device 106 includes an input device 111 that receives operational input from the passenger to the navigation system 107 and the controller 108, and a display device 112 that displays information presented from the navigation system 107 and the controller 108 to the passenger.
The input device 111 may be, for example, buttons, dials, sliders, or the like, or may be a touch panel provided on the display device 112 .

Also, the input device 111 may be an input terminal (for example, a tablet device) separate from the navigation system 107 and the controller 108 .
Display device 112 outputs visual information from navigation system 107 and controller 108 . The display device 112 may also be a display device of a terminal (for example, a tablet device) separate from the navigation system 107 and the controller 108 .

The navigation system 107 is an electronic control unit (ECU) that provides route guidance for the vehicle 1 . Navigation system 107 includes processor 113 and peripheral components such as storage device 114 . The processor 113 may be, for example, a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit).
The storage device 114 may include a semiconductor storage device, a magnetic storage device, an optical storage device, or the like. The storage device 114 may include memories such as a register, a cache memory, a ROM (Read Only Memory) used as a main memory, and a RAM (Random Access Memory).

The functions of the navigation system 107 to be described below are implemented, for example, by the processor 113 executing a computer program stored in the storage device 114 .
Note that the navigation system 107 may be formed of dedicated hardware for executing each information processing described below.
For example, navigation system 107 may comprise functional logic circuitry implemented in a general purpose semiconductor integrated circuit. For example, the navigation system 107 may include a Programmable Logic Device (PLD), such as a Field-Programmable Gate Array (FPGA), or the like.

The navigation system 107 recognizes the current position of the vehicle 1 using the positioning device 102 and acquires map information for the current position from the map database 103 . The navigation system 107 receives input of a destination point by the passenger via the input device 111 of the user interface device 106 .
The navigation system 107 calculates a travel route along which the vehicle 1 travels from the current position, which is the departure point, to the destination point, and provides route guidance to the occupants according to this travel route.

The navigation system 107 also outputs information on the set travel route to the controller 108 . During automatic driving control, the controller 108 automatically drives the host vehicle so as to travel along the travel route set by the navigation system 107 .
The navigation system 107 is an example of the route presentation device described in the claims. Details of the functions of the navigation system 107 will be described later.

The controller 108 is an electronic control unit (ECU) that performs driving support control of the own vehicle 1 . Controller 108 includes processor 115 and peripheral components such as storage device 116 . Processor 115 may be, for example, a CPU or MPU.
The storage device 116 may include a semiconductor storage device, a magnetic storage device, an optical storage device, or the like. The storage device 116 may include memory such as registers, cache memory, and ROM and RAM used as main memory.

The functions of the controller 108 described below are realized by executing a computer program stored in the storage device 116 by the processor 115, for example.
Note that the controller 108 may be formed of dedicated hardware for executing each information processing described below.
For example, controller 108 may comprise functional logic circuitry implemented in a general purpose semiconductor integrated circuit. For example, controller 108 may comprise a programmable logic device such as a field programmable gate array, or the like.

The controller 108 estimates the current position of the vehicle 1, the estimated current position, the road map data of the map database 103, the route information output from the navigation system 107, the surrounding environment, and the running state of the vehicle 1. , the scheduled route along which the vehicle 1 should travel is determined.
For example, the controller 108 sets a target travel trajectory along which the vehicle 1 should travel as a planned route. The controller 108 performs automatic driving control and driving support control of the own vehicle 1 based on the determined planned route, and drives the actuator 109 to control the running of the own vehicle 1 .
Details of the functions of the controller 108 will be described later.

The actuator 109 operates the steering wheel, the accelerator opening, and the braking device of the own vehicle 1 according to the control signal from the controller 108 to generate the vehicle behavior of the own vehicle 1 . Actuator 109 includes a steering actuator, an accelerator opening actuator, and a brake control actuator. The steering actuator controls the steering direction and amount of steering of the vehicle 1 . The accelerator opening actuator controls the accelerator opening of the vehicle 1 . The brake control actuator controls the braking operation of the brake system of the host vehicle 1 .

(Regarding navigation system 107)
When an occupant inputs a destination point via the input device 111 of the user interface device 106, the navigation system 107 calculates a plurality of candidates for the travel route along which the vehicle 1 travels from the current position, which is the departure point, to the destination point. .
Then, the navigation system 107 uses ETA (Estimated Time of Arrival), total distance, rate of automatic operation, number of handovers, non-automatic operation as evaluation parameters for determining the priority of each of the candidates for the travel route. Calculate certainty, High driver engagement level distance.

The ETA may be the time required to reach the destination from the starting point. The total distance is the total distance from the starting point to the destination point.
The self-driving rate is the ratio of self-driving distance traveled to the total distance. The number of handovers is the number of times driving change requests are issued planned from the departure point to the destination point.
The automatic driving uncertainty is an index that indicates the possibility of switching to manual driving in the middle of a scheduled automatic driving section due to an external factor outside the own vehicle 1, which is an automatically driving vehicle.

The required involvement distance is the travel distance of a section in which the occupant of the own vehicle 1 is required to be highly involved in the driving of the own vehicle 1 in the scheduled automatic driving section. Such a section may be referred to as a "participation-required section". In the section requiring involvement, for example, watch the front of the own vehicle, pay attention to the surroundings of the own vehicle 1, and prepare to start manual driving immediately when the situation becomes necessary to stop automatic driving. The occupants are required to put their hands on the steering wheel, for example.

Further, the navigation system 107 determines the priority of recommending one of the travel route candidates to the occupant by weighting a plurality of evaluation parameters. For example, the navigation system 107 calculates the weighted sum S according to the following equation.
S = Ae x Xe + Ad x Xd + Aa x Xa + Ah x Xh + Au x Xu + Ah x Xh
Xe, Xd, Xa, Xh, Xu, and Xh are ETA, total distance, automatic operation rate, number of handovers, automatic operation uncertainty, and required involvement distance, respectively.

Ae, Ad, Aa, Ah, Au, and Ah are weighting coefficients for ETA, total distance, rate of automatic operation, number of handovers, uncertainty of automatic operation, and required involvement distance, respectively.
These weighting factors may be set, for example, such that the importance of automatic driving uncertainty and/or ETA is higher than other evaluation parameters.

Then, the navigation system 107 selects the category "ETA", "total distance", "automatic driving rate", "number of handovers", "automatic driving uncertainty", and "required involvement distance" corresponding to the evaluation parameters. Classify route candidates.
For example, the navigation system 107 determines the ranking of the travel route candidates based on the evaluation parameters, and classifies the top N candidates among all the candidates into categories (N is a predetermined natural number).

For example, the category "ETA" classifies N driving route candidates with the shortest ETA. The category “total distance” classifies N travel route candidates with the shortest total distance. N candidate driving routes with the highest automatic driving rate are classified into the category "automatic driving rate". The category "number of handovers" classifies N travel route candidates with the least number of handovers.

The category “uncertainty of automated driving” includes N driving route candidates with the lowest uncertainties of automated driving. The category “required involvement distance” classifies N travel route candidates with the shortest required involvement distances.
In addition, the navigation system 107 classifies the N travel route candidates with the highest priority for recommending the travel route candidates to the occupants into the category “recommended route”.

Furthermore, the navigation system 107 displays on the display device 112 of the user interface device 106 an HMI (Human Machine Interface) for allowing the passenger to select one of the above categories.
Please refer to FIG. The HMI 20 displayed on the display device 112 includes an ETA button 21, a total distance button 22, an automatic driving rate button 23, a handover count button 24, an automatic driving uncertainty button 25, and a required involvement distance button 21 drawn corresponding to each category. A button 26 and a recommended route button 27 are included.

The passenger selects one of the categories by touching the respective buttons 21 to 27 on the touch panel provided on the display device 112 as the input device 111 .
When a category selection input is received via the input device 111 , the navigation system 107 displays travel route candidates classified into the selected category on the display device 112 of the user interface device 106 .
Please refer to FIG. For example, the candidate driving routes may be displayed on the display device 112 in tabular form.

Table 30 shows three travel route candidates (routes A, B, and C) categorized into the category “autonomous driving uncertainty” (N=3).
The table 30 may include evaluation parameters and other parameters along with the identification information of the candidate driving routes. For example, Table 30 shows ETA, total distance, traffic conditions, manual driving rate, automated driving rate, automated driving uncertainty, number of planned driving change requests issued (TOR issued number), up to the driving change request issuing point time (TOR ETA), and involvement distance.

The navigation system 107 may determine the display order of the travel route candidates based on the evaluation parameters corresponding to the category. For example, in the example of Table 30, travel route candidates are displayed in descending order of uncertainty of automatic driving. Displaying in descending order of automatic driving uncertainty implicitly means displaying in descending order of required involvement distance.
Similarly, driving route candidates of the category “ETA” are displayed in ascending order of ETA.

Candidates for the travel route of the category “total distance” are displayed in ascending order of total distance. Candidates for the travel route of the category "automatic driving rate" are displayed in descending order of the automatic driving rate. Candidates for the travel route of the category "number of handovers" are displayed in descending order of the number of handovers. Candidates for the travel route of the category "required involvement distance" are displayed in ascending order of the required involvement distance. The travel route candidates in the category “recommended route” are displayed in descending order of priority for recommending the travel route candidates to the occupants.

Further, the table 30 may include an icon near the identifier of each travel route candidate indicating the degree of recommendation of each route. The check icon indicates that route A is highly recommended (route A is recommended), the x icon indicates that route C is highly recommended (route C is not recommended), and the exclamation point icon , indicates that the degree of recommendation of route B is medium (neutral).
The degree of recommendation may be determined according to the weighted sum S calculated when determining the priority order for recommending candidates.

As described above, since the uncertainty of automatic driving is displayed on the user interface device 106 along with the candidates for the driving route, the passenger can be aware of the possibility that a driver change request will be issued in the middle of the section where automatic driving is scheduled to be performed. recognizable. As a result, it becomes possible to select a travel route depending on whether or not there is a possibility that a driving change request will be issued in the middle of an automatic driving section.

Next, the details of the functions of the navigation system 107 and the controller 108 will be described. Please refer to FIG.
The controller 108 includes an object recognition section 120 , a map generation section 121 , a driving action determination section 122 , a travel trajectory generation section 123 and a travel control section 124 .
The object recognition unit 120 predicts the behavior of mobile objects around the vehicle 1 based on the surrounding environment information input from the surrounding environment sensor 100 and the high-precision map stored in the map database 103 .

Based on the surrounding environment information, the high-precision map, and the prediction result by the object recognition unit 120, the map generation unit 121 generates a route space map expressing the route around the vehicle 1 and the presence or absence of objects, and the danger of the driving area. Generate a quantified risk map.
The driving action determination unit 122 generates a driving action plan for automatically driving the vehicle 1 on the driving route based on the driving route set by the navigation system 107, the route space map, and the risk map.

A driving behavior plan is a plan of driving behavior at the lane level (lane level) in a range of medium and long distances, which defines lanes in which the vehicle is to be driven and driving behaviors required for driving in these lanes. is.
The driving behavior determined by the driving behavior determination unit 122 may be, for example, a right turn, a left turn, or a straight run at an intersection on the driving route, or a lane change when traveling on multiple lanes.

The driving action plan may be, for example, a plan that defines driving actions such as how many meters before the intersection the lane should be changed to the right turn lane in a scene where the vehicle is to turn right at an intersection located ahead.
Furthermore, the driving action determination unit 122 recognizes driving scenes in which automatic driving is difficult, such as situations where the positional relationship of the vehicles is complicated and changes greatly, such as junctions and merging points. to the occupants, it decides to issue a driving change request.

Further, the driving action determining unit 122 may determine to issue a driving change request when a decrease in reliability of the own vehicle 1 is detected. The deterioration of the reliability of the own vehicle 1 is caused, for example, by the deterioration of reliability due to failure or malfunction of the system of the own vehicle 1 (for example, the driving assistance device 10), the deterioration of the automatic driving function by the driving assistance device 10, and the deterioration of the driving environment. It may be caused by adverse conditions (weather, road conditions, traffic accidents, construction work, time), failure or malfunction of the ambient environment sensor 100 or vehicle sensor.

The traveling trajectory generating unit 123 generates candidates for a traveling trajectory and a speed profile along which the own vehicle 1 travels based on the driving action plan generated by the driving action determining unit 122, the motion characteristics of the own vehicle 1, and the route space map. The travel trajectory generation unit 123 evaluates the future risk of each candidate based on the risk map, selects the optimum travel trajectory and speed profile, and sets them as the target travel trajectory and target speed profile that the vehicle 1 is caused to travel.
The travel control unit 124 drives the actuator 109 so that the vehicle 1 travels on the target travel trajectory at a speed according to the target speed profile generated by the travel trajectory generation unit 123 .

Navigation system 107 includes HMI control unit 126 , operation reception unit 127 , route candidate calculation unit 128 , section determination unit 129 , parameter calculation unit 130 , route presentation unit 131 , and route setting unit 132 .
The HMI control unit 126 controls screen display of the display device 112 of the user interface device 106 used for operating the navigation system 107 . For example, the HMI control unit 126 displays the HMI 20 shown in FIG. 2 on the display device 112. FIG.

The operation reception unit 127 receives an operation input by the passenger via the input device 111 of the user interface device 106 . For example, an input of a destination point by a passenger is accepted.
The operation reception unit 127 also receives a category selection operation in the HMI 20 .
Further, an operation for selecting a route candidate displayed on display device 112 is accepted. The passenger may select one of the route candidates by touching the display position of the route candidates on the touch panel provided on the display device 112 as the input device 111 . For example, a route candidate may be selected by touching the display position of the route candidate identifier in table 30 of FIG.

The route candidate calculation unit 128 calculates a plurality of candidates for the travel route along which the vehicle 1 travels from the departure point to the destination point using the Dijkstra method or the like.
The section determination unit 129 determines an automatic operation section in which the vehicle 1 is automatically driven and a manual operation section in which the vehicle 1 is manually driven for each of the travel route candidates calculated by the route candidate calculation unit 128 .
The section determination unit 129 determines, for example, branching points and merging points on the travel route, the weather in the region corresponding to the travel route, and the state of the road division lines (roadway outer lines, lanes, and white lines such as the center line) on the road along the travel route. The automatic operation section and the manual operation section may be determined based on (clarity), the reception environment of radio waves for positioning on the travel route, the relationship between the direction of travel of the vehicle on the travel route and the azimuth of the sun, and the like. The section determination unit 129 acquires these pieces of information from the map database 103 and the communication device 104 .

For example, in a situation where the positional relationship of vehicles is complicated and changes greatly, such as at a branch point or a merging point, manual driving is safer. Therefore, the section determination unit 129 determines that such a section is a manual operation section.
The section determination unit 129 determines the point at which the automatic operation section is switched to the manual operation section as the point at which the planned driving change request is issued. The controller 108 stores the planned drive change request issuing point, and issues the drive change request when the own vehicle 1 reaches the stored issue point.

The parameter calculation unit 130 calculates the ETA, the total distance, the rate of automatic operation, the number of handovers, the uncertainty of automatic operation, and the required involvement distance, which are evaluation parameters for each of the travel route candidates.
For example, the parameter calculation unit 130 calculates the automatic driving rate based on the length of the automatic driving section determined by the section determination unit 129 .

The parameter calculation unit 130 calculates the number of handovers based on the number of drive change request issuing points determined by the section determination unit 129 .
The parameter calculation unit 130 calculates the uncertainty of automatic driving based on variable parameters such as the weather on the travel route, the road conditions, the presence or absence of traffic accidents, and the presence or absence of construction sites. Parameter calculator 130 acquires these variable parameters from an external device via communication device 104 . Moreover, the parameter calculation unit 130 calculates the automatic driving uncertainty based on the time.

For example, during heavy rain, dense fog, and snowfall, the surrounding environment sensor 100 is affected by these, making it difficult to detect obstacles and lane markers on the road, so the surrounding environment sensor 100 calculates a higher autonomous driving uncertainty. .
The surrounding environment sensor 100 accumulates, for example, information such as the weather on the travel route, road conditions, the presence or absence of traffic accidents, the presence or absence of construction sites, and whether or not a request for driver change has actually been issued. The automatic driving uncertainty may be calculated based on the possibility (probability) of issuing a replacement request.

The parameter calculation unit 130 calculates the required involvement distance based on the weather, road conditions, presence/absence of traffic accidents, and presence/absence of construction sites on the travel route.
For example, the parameter calculation unit 130 detects sections of bad weather, sections where traffic accidents have occurred, sections under construction, and sections where roads are not sufficiently maintained. Decide on an interval. Intervention-required sections have a higher possibility of issuing a driver change request, that is, the uncertainty of automated driving is higher than that of other sections of automated driving. The parameter calculation unit 130 sets the sum of the distances of the required involvement sections as the required involvement distance.

The route presentation unit 131 classifies the travel route candidates calculated by the route candidate calculation unit 128 into categories based on the evaluation parameters calculated by the parameter calculation unit 130 .
When the operation reception unit 127 receives the selection of the category by the passenger, the route presentation unit 131 displays the travel route candidates of the selected category on the display device 112 of the user interface device 106 as shown in Table 30 in FIG. do.

When the occupant selects one of the travel route candidates displayed on the display device 112, the operation accepting unit 127 accepts the selection operation. The route setting unit 132 sets the travel route candidate selected by the occupant as the travel route of the own vehicle 1 .
The route setting unit 132 outputs the set travel route to the driving behavior determination unit 122 of the controller 108 . The driving action determination unit 122 generates a driving action plan for automatically causing the own vehicle 1 to travel on the travel route output from the route setting unit 132 .

(motion)
An example of the route presentation method of the embodiment will be described with reference to FIG.
In step S1, the operation reception unit 127 receives input of a destination point by the passenger.
In step S2, the route candidate calculation unit 128 calculates a plurality of candidates for the travel route along which the vehicle 1 travels from the departure point to the destination point.

In step S<b>3 , the section determination unit 129 determines whether each of the plurality of travel route candidates is an automatically-operated section or a manually-operated section.
In step S4, the section determination unit 129 determines the point at which the planned drive change request is issued.
In step S5, the parameter calculation unit 130 calculates evaluation parameters (ETA, total distance, automatic operation rate, number of handovers, automatic operation uncertainty, required involvement distance) for each of the travel route candidates.

In step S6, the route presentation unit 131 classifies the plurality of travel route candidates into categories based on the calculated evaluation parameters. The operation accepting unit 127 accepts a category selection operation. The route presenting unit 131 displays the travel route candidates of the selected category on the display device 112 together with their evaluation parameters and other parameters. Then the display processing ends.

(Other Display Modes of Driving Routes)
FIG. 6 shows a second example of a display image of candidates for the travel route displayed on the display device 112 by the route presentation unit 131 . The display image 40 of the travel route candidates has boxes 41a, 41b, and 41c for each of the travel route candidates (routes A, B, and C).
Icons 42a, 42b and 42c are displayed in each box 41a-41c, along with a direct display of some of the evaluation parameters (total distance, ETA) and other parameters (traffic conditions). Evaluation parameters other than total distance and ETA may be displayed directly.

The icons 42a-42c may be, for example, icons representing evaluation parameters other than the evaluation parameters directly displayed in the boxes 41a-41c (total distance, ETA in this example). For example, icons 42a-42c may indicate autonomous uncertainty and handover times.

For example, the icons 42a-42c may indicate autonomous driving uncertainty through facial expressions of emoticons. For example, the icon 42a with a happy expression indicates that the autonomous driving uncertainty of Route A is relatively low. Moreover, the icon 42c with a sad expression indicates that the automatic driving uncertainty of the route C is relatively high. In addition, the icon 42b with a neutral expression indicates that the automatic driving uncertainty of Route B is moderate.

Further, for example, the finger portions 44a, 44b, and 44c of the icons indicate the number of handovers by the number of raised fingers.
Further, the icons 42a to 42c may include indications indicating the degree of recommendation of each travel route candidate. The check icon 43a on the nose of the icon 42a indicates that the recommendation level of the route A is high (route A is recommended), and the X icon 43c on the nose of the icon 42c indicates that the recommendation level of the route C is low (route C is not recommended), and the exclamation point icon 43b on the nose of the icon 42b indicates that the degree of recommendation of the route B is medium (neutral).

FIG. 7 shows a third example of a display image of candidates for the travel route displayed on the display device 112 by the route presentation unit 131 . The route presentation unit 131 displays an outline of a plurality of travel route candidates on the map image 50 . In the example of FIG. 7, the route A is indicated by dashed lines 51a1 and 51a3 and a solid line 51a2. The route B is indicated by dashed-dotted lines 51b1, 51b3 and 51b5 and solid lines 51b2 and 51b4. Route C is indicated by solid lines 51c1 and 51c3 and dashed-dotted lines 51c2 and 51c4.

Solid lines 51a2, 51b2, 51b4, 51c1 and 51c3 indicate automatic operation sections, and dashed lines 51a1, 51a3, 51b1, 51b3, 51b5, 51c2 and 51c4 indicate manual operation sections.
That is, in the map image 50, the automatically operated section and the manually operated section are drawn in different display modes. The automatic operation section and the manual operation section may be represented by lines of different colors and thicknesses, for example, in addition to line types.

In addition, icons 52a, 52b, and 52c similar to the icons 42a to 42c in FIG. Handover times and recommendations are shown.
With such a display, the occupant can understand in advance where the automatic driving section is and where the driving change request will be issued before the start of driving.

The route presentation unit 131 may show more detailed information about each of the travel route candidates on the map image displayed on the display device 112 .
Please refer to FIG. The route presentation unit 131 may display a map image 60 showing detailed information on the route A on the display device 112 .
For example, in the map image 50 of FIG. 7 showing the outline of the candidates for the driving route, the passenger touches the display position of the icon 52a or the lines 51a1 to 51a3 indicating the route A, thereby selecting the route for which the detailed information is to be displayed. You can choose A.

When the operation accepting unit 127 accepts the selection input of the route A, the route presenting unit 131 may display the map image 60 showing the detailed information of the route A on the display device 112 .
In the example of FIG. 8, the route A is indicated by dashed-dotted lines 61a1 and 61a3 and a solid line 61a2. One-dot chain lines 61a1 and 61a3 indicate manual operation sections. A solid line 61a2 indicates an automatic driving section that does not require the involvement of the passenger. Hereinafter, the automatic driving section that does not require the involvement of the passenger will be referred to as the "relaxation section" for the sake of convenience. In the relax section, the occupants may rest and perform other activities. The relax section is an example of the second automatic driving section described in the claims.

The relaxation section may be, for example, an automatic driving section other than the involvement-required section determined by the parameter calculation unit 130 .
Furthermore, in the map image 60, an icon 62a is displayed adjacent to the display position of the relaxation section 61a2, indicating that this section is a relaxation section. The map image 60 also has an icon 63a that indicates the point at which the first driving change request is issued.
Furthermore, some of the evaluation parameters (total distance, ETA) and other parameters (traffic conditions) are displayed directly on the map image 60 . Evaluation parameters other than total distance and ETA may be displayed directly.

See FIG. The route presentation unit 131 may display a map image 70 showing detailed information of the route B on the display device 112 .
For example, the occupant may select the route B for which detailed information is to be displayed by touching the lines 51b1 to 51b5 indicating the route B or the display position of the icon 52b in the map image 50 of FIG.

When the operation accepting unit 127 accepts the selection input of the route B, the route presenting unit 131 may display the map image 70 showing the detailed information of the route B on the display device 112 .
In the example of FIG. 9, the route B is indicated by dashed-dotted lines 71b1, 71b3 and 71b5, a dotted line 71b2, and a solid line 71b4. One-dot chain lines 71b1, 71b3 and 71b5 indicate manual operation sections.

A solid line 71b4 indicates a relaxation section. A dotted line 71b2 indicates an automatic driving section that requires the involvement of a passenger. Hereinafter, an automated driving section that requires the involvement of a passenger is referred to as a "watch section" for convenience. The "fixed section" is an example of the first automatic driving section described in the claims. The “gazing segment” may be, for example, a required involvement segment determined by the parameter calculation unit 130 .

That is, in the map image 70, the manual driving section, the relaxing section, and the watching section are drawn in a display manner. In addition to line types, for example, lines of different colors and thicknesses may be used.
As described above, the uncertainty of automated driving in the involvement-required section is higher than that in other automated driving sections (for example, relaxation sections). Therefore, the route presentation unit 131 displays the autonomous driving section on the map image 70 in different display modes depending on the uncertainty of the autonomous driving.

Furthermore, in the map image 70, an icon 72b2 is displayed adjacent to the display position of the relaxation section 71b4, indicating that this section is a relaxation section. An icon 72b1 indicating that this section is a gaze section is displayed adjacent to the display position of the gaze section 71b2.
The map image 70 also has an icon 73b1 indicating the point at which the first driving change request is issued, and an icon 73b2 indicating the point at which the second driving change request is issued.
In addition, some of the evaluation parameters (total distance, ETA) and other parameters (traffic conditions) are displayed directly on the map image 70 . Evaluation parameters other than total distance and ETA may be displayed directly.

Please refer to FIG. The route presentation unit 131 may display a map image 80 showing detailed information on the route C on the display device 112 .
For example, the occupant may select the route C for which detailed information is to be displayed by touching the lines 51c1 to 51c4 indicating the route C or the display position of the icon 52c in the map image 50 of FIG.

When the operation accepting unit 127 accepts the selection input of the route C, the route presenting unit 131 may display the map image 80 showing the detailed information of the route C on the display device 112 .
In the example of FIG. 10, the route A is indicated by dotted lines 81c1 and 81c3, dashed-dotted lines 81c2 and 81c5, and a solid line 81c4. Dotted lines 81c1 and 81c3 indicate gaze segments. One-dot chain lines 81c2 and 81c5 indicate manual operation sections. A solid line 81c4 indicates a relaxation section.

In the map image 80, an icon 82c3 is displayed adjacent to the display position of the relaxing section 81c4, indicating that this section is a relaxing section. Icons 82c1 and 82c2 are displayed adjacent to the display positions of the gaze segments 81c1 and 81c3, indicating that these segments are gaze segments.
The map image 80 also has an icon 83c1 indicating the point at which the first driving change request is issued and an icon 83c2 indicating the point at which the second driving change request is issued.
Furthermore, some of the evaluation parameters (total distance, ETA) and other parameters (traffic conditions) are displayed directly on the map image 80 . Evaluation parameters other than total distance and ETA may be displayed directly.

(Effect of Embodiment)
(1) The operation reception unit 127 receives input of a destination point by the passenger. The route candidate calculation unit 128 calculates a travel route along which the vehicle 1 travels from the departure point to the destination point. The section determination unit 129 determines an automatically operated section and a manually operated section on the travel route. The parameter calculation unit 130 calculates the automatic driving uncertainty indicating the possibility of switching to manual operation in the middle of the automatic operation section due to an external factor outside the vehicle 1, and the route presentation unit 131 calculates the travel route. Present the occupants with automated driving uncertainties before starting.

This allows the occupant to recognize the possibility that a driving change request will be issued in the middle of the section in which automatic driving is scheduled. Therefore, it becomes possible to select a travel route depending on whether or not there is a possibility that a driving change request will be issued in the middle of an automatic driving section. For example, it is possible to select a safe driving route that is less likely to issue a driving change request in the middle of an automated driving section.

(2) The route presentation unit 131 preferentially presents to the occupant a candidate with a lower automatic driving uncertainty among the plurality of candidates for the travel route.
As a result, for example, the occupant can select a safe travel route that is less likely to issue a driving change request in the middle of an automated driving section.

(3) The parameter calculation unit 130 calculates the automatic driving uncertainty and candidate evaluation parameters for each of the plurality of travel route candidates. The route presentation unit 131 determines the priority of the candidates by setting the weight of the uncertainty of automatic driving to be larger than the weight of the evaluation parameter, and preferentially presents the candidates with the higher priority to the occupant.
As a result, for example, the occupant can select a travel route with a priority that takes other evaluation parameters into consideration while giving priority to a travel route with low uncertainty of automatic driving.

(4) The parameter calculation unit 130 calculates the automatic driving uncertainty and candidate evaluation parameters for each of the plurality of travel route candidates. The route presentation unit 131 displays a table of automatic driving uncertainties and candidate evaluation parameters.
This allows, for example, the occupant to select a driving route in consideration of autonomous driving uncertainties and other evaluation parameters.

(5) The route presentation unit 131 displays an icon indicating automatic driving uncertainty. Thereby, the visibility of the uncertainty of automatic driving of each candidate of the travel route can be improved.
(6) The route presentation unit 131 displays a travel route and an icon indicating the uncertainty of automatic driving of the travel route on the map image.
As a result, the travel route can be visually recognized in the map image, and the uncertainty of the automatic driving of the travel route can be recognized.

(7) The route presentation unit 131 displays the automatic driving section on the map image in different display modes depending on the uncertainty of automatic driving.
As a result, the driver can visually recognize on the map where he/she must be careful in the automated driving section, and can prepare in advance.

(8) The parameter calculation unit 130 determines the first automatic driving section that requires the attention of the occupant and the second automatic driving section that does not require the involvement of the occupant in automatic driving. The route presentation unit 131 displays on the map whether it is the first automatic driving section or the second automatic driving section.
As a result, the driver can visually recognize on the map where he/she will need to participate in driving in the automated driving section, and can prepare in advance.

Reference Signs List 1 self-vehicle 10 driving support device 100 ambient environment sensor 101 vehicle sensor 102 positioning device 103 map database 104 communication device 106 user interface device 107 navigation system 108 Controller 109 Actuator 111 Input device 112 Display device 113, 115 Processor 114, 116 Storage device 120 Object recognition unit 121 Map generation unit 122 Driving action determination unit 123 Running trajectory generation unit 124 Travel control unit 126 HMI control unit 127 Operation reception unit 128 Route candidate calculation unit 129 Section determination unit 130 Parameter calculation unit 131 Route presentation unit 132 Route setting part

Claims (7)

Receiving the input of the destination point by the crew,
Calculating a plurality of candidates for a travel route on which the autonomous vehicle travels from the departure point to the destination point,
Determining an automatic operation section and a manual operation section in each of the plurality of candidates for the travel route,
Calculate the automated driving uncertainty indicating the possibility of switching to manual operation in the middle of the automated driving section due to external factors outside the automated driving vehicle,
Determining the degree of recommendation for each of the plurality of candidates for the driving route based on the automatic driving uncertainty,
Displaying a plurality of candidates for the travel route and a plurality of icons respectively adjacent to the plurality of candidates for the travel route on a map image before starting travel on the travel route;
Each of the plurality of icons simultaneously indicates the automatic driving uncertainty and the degree of recommendation of the travel route candidate adjacent to the icon,
A route presentation method characterized by: 2. The route presentation method according to claim 1, wherein the icon is an emotional icon imitating a face having different expressions according to the uncertainty of automatic driving . For each of the plurality of candidates for the driving route, calculate the automatic driving uncertainty and the candidate evaluation parameters,
The priority of the candidates is determined by setting the weight of the automatic driving uncertainty larger than the weight of the evaluation parameter, and the candidate with the higher priority is preferentially presented to the occupant.
The route presentation method according to claim 1, characterized by: For each of the plurality of candidates for the driving route, calculate the automatic driving uncertainty and the candidate evaluation parameters,
Displaying a table of the automatic driving uncertainty and the candidate evaluation parameters,
3. The route presentation method according to claim 1 or 2, characterized by: The route presentation method according to any one of claims 1 to 3 , wherein the automatic driving section is displayed on the map image in different display modes depending on the uncertainty of the automatic driving. Determining a first automatic operation section that requires the occupant's attention and a second automatic operation section that does not require the occupant's involvement in automatic operation,
Displaying on the map image whether it is the first automatic driving section or the second automatic driving section,
The route presentation method according to any one of claims 1 to 3 , characterized in that: A process of accepting an input of a destination point by a crew member;
A process of calculating a plurality of candidates for a travel route along which the autonomous vehicle travels from the departure point to the destination point;
A process of determining an automatic operation section and a manual operation section in each of the plurality of candidates for the travel route;
A process of calculating automatic operation uncertainty indicating the possibility of switching to manual operation in the middle of the automatic operation section due to external factors outside the automatic operation vehicle;
A process of determining the recommendation degree of each of the plurality of candidates for the driving route based on the automatic driving uncertainty;
a process of displaying, on a map image, a plurality of candidates for the travel route and a plurality of icons adjacent to the plurality of candidates for the travel route, before the travel on the travel route is started;
with a processor that executes
A route presentation device, wherein each of the plurality of icons simultaneously indicates the automatic driving uncertainty and the degree of recommendation of the candidate for the travel route adjacent to the icon.

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