WO2017199708A1 - 自動運転システム、自動運転状態報知プログラム、および自動運転状態報知方法 - Google Patents

自動運転システム、自動運転状態報知プログラム、および自動運転状態報知方法 Download PDF

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Publication number
WO2017199708A1
WO2017199708A1 PCT/JP2017/016320 JP2017016320W WO2017199708A1 WO 2017199708 A1 WO2017199708 A1 WO 2017199708A1 JP 2017016320 W JP2017016320 W JP 2017016320W WO 2017199708 A1 WO2017199708 A1 WO 2017199708A1
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WO
WIPO (PCT)
Prior art keywords
automatic driving
driving
automatic
plan
travel plan
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2017/016320
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English (en)
French (fr)
Japanese (ja)
Inventor
幸大 岡田
潔 鶴見
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Original Assignee
Denso Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to US16/099,591 priority Critical patent/US11072346B2/en
Publication of WO2017199708A1 publication Critical patent/WO2017199708A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G01C21/36—Input/output arrangements for on-board computers
    • G01C21/3697—Output of additional, non-guidance related information, e.g. low fuel level
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means

Definitions

  • the present disclosure relates to an automatic driving system, an automatic driving state notification program, and an automatic driving state notification method.
  • an automatic driving system for automatically driving a vehicle has been provided.
  • the driving operation of the driver is not necessary.
  • the information generated by the navigation device for use in determining driving operation is not notified to the driver, and is used for determining driving operation.
  • a technique for notifying the driver of only information not to be disclosed is disclosed.
  • the information used for the determination of the driving operation is, for example, information such as “Turn right at the next branch” or “There is a merging soon. Please drive carefully”.
  • the information that is not used for the determination of the driving operation is, for example, information such as “I entered XX prefecture” or “Fare is XX yen”.
  • the automatic operation system creates a travel plan and performs automatic operation according to the travel plan created. For this reason, there is a demand for the driver to obtain a sense of security by grasping whether or not the automatic driving system is performing automatic driving as planned.
  • the technique of Patent Document 1 merely informs the driver of information that is not used for determining the driving operation, and cannot satisfy the driver's desire to obtain the above-described feeling of security.
  • the present disclosure is capable of notifying a driver whether or not automatic driving is performed in accordance with a travel plan, and can provide the driver with a sense of security, an automatic driving state notifying program, and an automatic driving state notifying method.
  • the purpose is to provide.
  • the automatic operation system includes a travel plan creation unit that creates a travel plan for automatic operation, a travel state acquisition unit that acquires an actual travel state by automatic operation, and a travel plan for automatic operation. It includes a determination unit that compares an actual traveling state by automatic driving and determines whether or not automatic driving is performed as planned, and a notification control unit that notifies the determination result of the determination unit.
  • the driver determines whether the automatic driving system is performing automatic driving according to the driving plan by notifying the determination result of whether or not automatic driving is being performed according to the driving plan. It is possible to inform the driver and give the driver a sense of security.
  • the automatic driving state notification program includes a driving plan creation procedure for creating a driving plan for automatic driving and a driving state for acquiring an actual driving state by automatic driving in the control unit of the automatic driving system.
  • the acquisition procedure is compared with the driving plan for automatic driving and the actual driving state by automatic driving to determine whether automatic driving is performed according to the driving plan, and the determination result of the determination procedure is notified.
  • a notification control procedure to be executed.
  • the automatic driving state notification program by notifying the determination result that determines whether or not automatic driving is performed according to the travel plan, it is determined whether or not the automatic driving system is performing automatic driving according to the travel plan.
  • the driver can be notified, and a sense of security can be given to the driver.
  • the automatic driving state notification method includes: creating a driving plan for automatic driving; acquiring an actual driving state by automatic driving; and driving plan for automatic driving and actual driving by automatic driving. And determining whether or not automatic driving is performed according to the driving plan, and notifying the determination result of the determination.
  • the automatic driving state notifying method described above by notifying the determination result that determines whether or not the automatic driving is performed according to the driving plan, it is determined whether or not the automatic driving system is performing the automatic driving as the driving plan.
  • the driver can be notified, and a sense of security can be given to the driver.
  • FIG. 1 is a functional block diagram illustrating an embodiment of the present disclosure.
  • FIG. 2 is a flowchart showing the automatic driving state notification process
  • FIG. 3 is a diagram (part 1) showing a notification mode
  • FIG. 4 is a diagram (part 2) showing a notification mode
  • FIG. 5 is a diagram (part 3) showing a notification mode
  • FIG. 6 is a diagram (part 4) showing a notification mode
  • FIG. 7 is a diagram (part 5) showing a notification mode
  • FIG. 8 is a diagram (part 1) illustrating determination timing and notification timing
  • FIG. 9 is a diagram (part 2) illustrating determination timing and notification timing
  • FIG. 10 is a diagram (part 3) illustrating the determination timing and the notification timing
  • FIG. 11 is a diagram (part 4) illustrating determination timing and notification timing
  • FIG. 12 is a diagram (part 5) showing determination timing and notification timing
  • FIG. 13 is a diagram (part 6) illustrating determination timing and notification timing.
  • the automatic driving system 1 includes a navigation device 2, a locator device 3, and a traveling track management device 4.
  • the navigation device 2 receives GPS radio waves emitted from GPS satellites and captured by the GPS in-dash antenna 5 and calculates various parameters extracted from the GPS radio waves to specify the current position of the own vehicle as the own vehicle position. Have Further, the navigation device 2 outputs various navigation information such as the host vehicle position, the destination, the route from the host vehicle position to the destination, and the estimated arrival time to the locator device 3. Further, the navigation device 2 outputs a display command signal and a voice output command signal to the HMI device 6.
  • the HMI device 6 is a head-up display or a speaker.
  • the HMI device 6 displays display information such as warning and route guidance on the head-up display according to the display command signal.
  • the voice output command signal is input from the navigation device 2
  • the HMI device 6 outputs voice information such as warning and route guidance from the speaker according to the voice output command signal.
  • the locator device 3 includes a control unit 7, a GPS receiver 8, a gyro sensor 9, a G sensor 10, a road network data storage unit 11, and a detailed map data storage unit 12.
  • the GPS receiver 8 receives and processes the GPS radio wave radiated from the GPS satellite and captured by the GPS roof antenna 13, calculates various parameters extracted from the GPS radio wave, and specifies the current position of the own vehicle as the own vehicle position. Then, a position signal indicating the specified vehicle position is output to the control unit 7.
  • the gyro sensor 9 detects an angular velocity acting on the host vehicle, and outputs an angular velocity signal indicating the detected angular velocity to the control unit 7.
  • the G sensor 10 detects acceleration acting on the host vehicle, and outputs an acceleration signal indicating the detected acceleration to the control unit 7.
  • the road network data storage unit 11 stores road network data and outputs the road network data to the control unit 7.
  • the detailed map data storage unit 12 stores detailed map data and outputs the detailed map data to the control unit 7.
  • the road network data stored in the road network data storage unit 11 and the detailed map data stored in the detailed map data storage unit 12 are more accurate than the map data used when the navigation device 2 identifies the vehicle position. High data.
  • the control unit 7 corrects the own vehicle position indicated by the position signal input from the GPS receiver 8 with the angular velocity indicated by the angular velocity signal input from the gyro sensor 9 or the acceleration indicated by the acceleration signal input from the G sensor 10. . Further, the control unit 7 can specify the position of the host vehicle with higher accuracy than the navigation device 2 by using the road network data and the detailed map data with relatively high accuracy as described above. The corrected own vehicle position is corrected.
  • the driver camera 15 photographs the driver sitting in the driver's seat and outputs a video signal including the captured video to the driver state detection device 14.
  • the driver camera 15 is, for example, a CCD (Charge-Coupled Device) image sensor, a CMOS (Complementary Metal-Oxide Semiconductor) image sensor, or the like, and may be singular or plural.
  • the seating sensor 16 outputs a seating sensor signal indicating the pressure acting on the driver's seat to the driver state detection device 14.
  • the microphone 17 outputs a sound collection signal indicating the collected sound to the driver state detection device 14.
  • the handle sensor 18 outputs a handle sensor signal indicating the pressure acting on the handle to the driver state detection device 14.
  • the driver state detection device 14 uses a video signal input from the driver camera 15, a seating sensor signal input from the seating sensor 16, a sound collection signal input from the microphone 17, and a handle sensor signal input from the handle sensor 18. Is detected. Specifically, the driver state detection device 14 uses a video signal or a seating sensor signal, for example, to determine an image of the driver sitting on the driver's seat or a pressure greater than a certain value acting on the driver's seat. It is determined that the driver is seated in the driver's seat. Also, the driver state detection device 14 determines that the driver is awake by using, for example, a video signal or a sound collection signal to determine the video that the driver is opening or the voice that the driver has spoken.
  • the driver state detection device 14 uses a sound collection signal, for example, to determine that the driver has spoken a voice that approves switching from automatic operation to manual operation, so that the driver can switch from automatic operation to manual operation. Judge that you accept. Further, the driver state detection device 14 determines that the driver is holding the handle by using a handle sensor signal, for example, and determining a pressure that is greater than a certain value acting on the handle. The driver state detection device 14 determines whether the driver is seated in the driver's seat, whether the driver is awake, whether the driver has accepted the switching from automatic driving to manual driving, When it is determined whether or not it is gripped, a detection signal indicating the determination result is output to the navigation device 2, the locator device 3, and the traveling track management device 4.
  • a sound collection signal for example, to determine that the driver has spoken a voice that approves switching from automatic operation to manual operation, so that the driver can switch from automatic operation to manual operation. Judge that you accept.
  • the driver state detection device 14 determines that the driver is holding the handle by using a handle
  • the steering angle sensor 19 detects the steering angle of the steering wheel and outputs a steering angle signal indicating the detected steering angle of the steering wheel to the traveling track management device 4.
  • the accelerator sensor 20 detects an accelerator operation amount, and outputs an accelerator signal indicating the detected accelerator operation amount to the traveling track management device 4.
  • the brake sensor 21 detects a brake operation amount, and outputs a brake signal indicating the detected brake operation amount to the traveling track management device 4.
  • the vehicle front camera 22 images the front of the host vehicle and outputs a video signal including the captured image to the traveling track management device 4.
  • the vehicle front camera is, for example, a CCD image sensor, a CMOS image sensor, or the like, and may be singular or plural.
  • the millimeter wave radar 23 transmits a millimeter wave to the front of the host vehicle, detects the presence of an object (for example, a preceding vehicle) in front of the host vehicle based on the reception state of the reflected wave, and outputs a detection signal indicating the detection result to the traveling track. Output to the management apparatus 4.
  • the laser radar 24 transmits laser light to the front of the host vehicle, detects the presence of an object in front of the host vehicle based on the reception state of the reflected wave, and outputs a detection signal indicating the detection result to the traveling track management device 4. .
  • One or more millimeter wave radars or laser radars may be used.
  • the traveling track management device 4 includes a steering angle signal input from the steering angle sensor 19, an accelerator signal input from the accelerator sensor 20, a brake signal input from the brake sensor 21, a video signal input from the vehicle front camera 22, and a millimeter wave radar 23.
  • the traveling track on which the host vehicle travels is specified using the detection signal input from the vehicle and the detection signal input from the laser radar 24.
  • the traveling track management device 4 receives the automatic operation switching signal from the locator device 3, the traveling track management device 4 outputs traveling track information indicating the identified traveling track to the vehicle motion control device 25, thereby switching the system from manual operation to automatic operation. .
  • the traveling track management device 4 receives a manual operation switching signal from the locator device 3, the traveling track management device 4 switches the system from automatic operation to manual operation.
  • the traveling track management device 4 receives an automatic stop signal from the locator device 3, the traveling track management device 4 outputs automatic stop information to the vehicle motion control device 25 to automatically stop the host vehicle in a safe zone.
  • the vehicle motion control device 25 controls the motion of the traveling vehicle so that the traveling vehicle follows the traveling track indicated by the traveling track information. Further, when the vehicle movement control device 25 receives the automatic stop information from the traveling track management device 4, the vehicle movement control device 25 controls the movement of the own vehicle so that the own vehicle automatically stops in the safety zone.
  • control unit 7 is composed of a microcomputer having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and an I / O (Input / Output).
  • the control unit 7 executes the computer program stored in the non-transitional tangible recording medium, thereby executing processing corresponding to the computer program and controlling the overall operation of the locator device 3.
  • the control unit 7 includes a travel plan creation unit 7a, a travel state acquisition unit 7b, a determination unit 7c, and a notification control unit 7d as functions related to the present disclosure.
  • Each of these units 7a to 7d is configured by an automatic operation state notification program executed by the control unit 7, and is realized by software.
  • the travel plan creation unit 7a uses the navigation information input from the navigation device 2, and as a travel plan for automatic driving, for example, a correspondence relationship between a predetermined time and a predetermined point on the basis of a predetermined time on a route from the vehicle position to the destination.
  • Create The travel plan creation unit 7a creates a travel plan using various traffic information such as traffic congestion, speed regulation, lane regulation, etc. by, for example, VICS (Vehicle Information and Communication System), and traffic conditions change thereafter.
  • the travel plan may be updated one by one according to what is done. For example, when the predicted arrival time at a predetermined point is calculated as “12:00” as a predetermined time, the travel plan creation unit 7a includes “10 minutes” before and after “12:00” as a reference.
  • the time before and after the predetermined time is a time used as a criterion for determining whether the automatic driving is performed according to the travel plan, and may be a fixed value or a variable that can be arbitrarily set by the driver. It may be a value.
  • the traveling state acquisition unit 7b acquires the own vehicle position (that is, the traveling position) as an actual traveling state by automatic driving.
  • the determination part 7c collates the driving plan of automatic driving
  • the determination unit 7c calculates “11:50 to 12:10” as the predetermined time as described above, the determination unit 7c is within the period “11:50 to 12:10” (for example, “11:53” or the like). ), It is determined that the self-driving vehicle is passing through the predetermined point or that the automatic driving is performed according to the travel plan.
  • the control unit 7 determines that the host vehicle does not pass or does not pass the predetermined point within the predetermined time indicated by the driving plan for the automatic driving, it determines that the automatic driving is not performed according to the driving plan. For example, if the determination unit 7c calculates “11:50 to 12:10” as the predetermined time as described above, the determination unit 7c is earlier than the period “11:50 to 12:10” (for example, “11:45 ”Etc.), it is determined that the vehicle has passed or passed the predetermined point, and it is determined that the automatic driving has been performed earlier than the travel plan, and after the period of“ 11: 50-12: 10 ”( For example, when it is determined that the host vehicle passes or passes through a predetermined point in “12:26” or the like, it is determined that the automatic driving is performed later than the travel plan.
  • the notification control unit 7d outputs a notification command signal to the HMI device 6 via the navigation device 2, and notifies the HMI device 6 of notification information indicating a determination result as to whether or not automatic driving is performed according to the travel plan. .
  • the control unit 7 performs an automatic driving state notification process in relation to the present disclosure.
  • the control unit 7 switches from manual operation to automatic operation, the control unit 7 starts an automatic operation state notification process.
  • automatic driving is performed with a section from an interchange of an automobile road to an interchange as an automatic driving section.
  • the control unit 7 When the control unit 7 starts the automatic driving state notification process, the control unit 7 generates a driving plan for automatic driving (S1, corresponding to a driving plan generation procedure).
  • the control unit 7 determines whether or not the determination timing is set in advance (S2), and determines whether or not the automatic driving end condition is satisfied (S3).
  • the determination timing is the timing when the host vehicle passes or passes through a predetermined point, the timing when the elapsed time after the automatic driving system 1 starts automatic driving reaches the predetermined time, and the automatic driving system 1 starts automatic driving The timing when the travel distance of the host vehicle has reached a predetermined distance.
  • the control part 7 will acquire the actual driving
  • the control unit 7 determines that the vehicle does not pass or does not pass the predetermined point within the predetermined time, and determines that the automatic driving is not performed according to the travel plan (S5: NO)
  • the notification command signal I s output to the HMI device 6 via the navigation device 2
  • the HMI device 6 notifies that the automatic driving is not performed according to the travel plan (S7, corresponding to the notification control procedure).
  • control unit 7 determines that the host vehicle has passed or passed the predetermined point earlier than the predetermined time and determines that the automatic driving is performed earlier than the travel plan, as illustrated in FIG.
  • display information M2 such as “passed XX point earlier than planned” is displayed on the head-up display.
  • control unit 7 calculates the time that is earlier than the travel plan, and as shown in FIG. 5, for example, display information such as “passed the XX point about XX minutes earlier than planned”. M3 may be displayed on the head-up display.
  • the control unit 7 outputs an audio output command signal to the HMI device 6 via the navigation device 2 and outputs audio information from the speaker indicating that the automatic driving is performed earlier than the travel plan. May be.
  • control unit 7 determines that the host vehicle has passed or passed the predetermined point later than the predetermined time, and determines that the automatic driving is performed later than the travel plan, as shown in FIG.
  • display information M4 such as “passed XX point later than planned” is displayed on the head-up display.
  • control unit 7 calculates the time that is delayed with respect to the travel plan, and as shown in FIG. 7, for example, a display such as “passed the XX point about XX minutes behind the schedule” is displayed.
  • Information M5 may be displayed on the head-up display.
  • the control unit 7 outputs an audio output command signal to the HMI device 6 via the navigation device 2 and outputs audio information indicating that the automatic driving is performed later than the travel plan from the speaker. May be.
  • control unit 7 determines that the automatic driving end condition is not satisfied (S3: NO)
  • the control unit 7 returns to the above-described step S2 and repeats the steps after S2.
  • the control unit 7 determines that the automatic driving end condition is satisfied, for example, when the host vehicle passes a preset switching determination point (a point before the exit interchange that is the interchange closest to the destination). Then (S3: YES), the automatic driving state notification process is terminated. That is, the control unit 7 determines whether or not the automatic driving is being performed according to the travel plan every time the determination timing is reached in a period until the automatic driving end condition is satisfied.
  • the control unit 7 determines the timing at which the host vehicle passes through, for example, an interchange (IC), a junction (JCT), a service area (SA), and a parking area (PA) on an automobile-only road by performing the processing described above. If it is set as the timing, as shown in FIG. 8, it is determined whether or not automatic driving is performed according to the travel plan at the timing when the vehicle passes through an interchange or the like, and the determination result is notified to the driver. . That is, it is possible to notify the driver whether or not automatic driving is being performed according to the travel plan at the timing when the host vehicle passes through a breakpoint such as an interchange.
  • IC interchange
  • JCT junction
  • SA service area
  • PA parking area
  • the control unit 7 may set the determination timing in any way. Regardless of whether or not the vehicle passes through an interchange or the like, the control unit 7 determines whether the elapsed time since the start of the automatic operation is a predetermined time (for example, every 30 minutes, t1 to t7), as shown in FIG. It is possible to make a determination at the timing of reaching and notify the driver of the determination result. Further, as shown in FIG. 10, the control unit 7 determines at the timing when the traveling distance of the own vehicle after the start of the automatic driving reaches a predetermined distance (for example, every 10 kilometers, d1 to d7), and the determination The result may be notified to the driver. Further, the control unit 7 may combine these determination timings.
  • a predetermined time for example, every 30 minutes, t1 to t7
  • control unit 7 may determine, for example, at a timing when the host vehicle passes through an interchange or the like, or a timing at which an elapsed time after the start of automatic driving reaches a predetermined time.
  • the predetermined time and the predetermined distance may also be fixed values or variable values that can be arbitrarily set by the driver.
  • control part 7 may change the frequency which alert
  • control unit 7 may also thin out the timing for notifying the determination result in the same manner when determining at the timing when the elapsed time from the start of the automatic operation has reached a predetermined time. . Further, as shown in FIG. 13, the control unit 7 also thins out the timing for notifying the determination result when the determination is made at the timing when the traveling distance of the host vehicle has reached a predetermined distance after the automatic driving is started. May be.
  • control unit 7 determines whether the automatic driving is performed as planned according to the time zone during which the automatic driving is performed, the traveling position of the host vehicle in which the automatic driving is performed, the number of times the automatic driving is performed in a predetermined period, and the like. You may change the frequency which alert
  • the driving plan of the automatic driving is compared with the actual driving state by the automatic driving, it is determined whether or not the automatic driving is performed according to the driving plan, and the determination result is notified. . Thereby, it is possible to notify the driver whether or not the automatic driving system 1 is performing the automatic driving according to the travel plan, and it is possible to give the driver a sense of security.
  • a correspondence relationship between a predetermined time and a predetermined point based on a predetermined time is created as a travel plan for automatic driving, and it is determined that the host vehicle has passed or passed the predetermined point within the predetermined time. Then, when it is determined that the automatic driving is performed according to the travel plan, and it is determined that the host vehicle does not pass or does not pass the predetermined point within the predetermined time, it is determined that the automatic driving is not performed according to the travel plan. I tried to do it. Thereby, it can be determined on the time axis whether or not the automatic operation is performed according to the travel plan.
  • the automatic driving system 1 determines that the automatic driving is not performed according to the driving plan, the difference between the driving plan of the automatic driving and the actual driving state by the automatic driving is calculated and the calculation result is notified. I made it. As a result, the driver can be notified of how early or late the automatic driving is with respect to the travel plan.
  • a travel plan is created not only using navigation information but also using traffic information based on VICS, for example, and thereafter the travel plan is updated one by one as traffic conditions change. Accordingly, it is possible to flexibly cope with changes in traffic conditions.
  • the timing when the travel distance reaches a predetermined distance it is determined whether or not automatic driving is performed according to the travel plan.
  • the elapsed time since the start of automatic driving, and the travel distance of the host vehicle after starting automatic driving Can be determined periodically.
  • the determination result of whether or not the automatic driving is performed according to the driving plan, the time zone in which the automatic driving is performed, the traveling position of the own vehicle in which the automatic driving is performed, the predetermined period The frequency of notifying the determination result as to whether or not the automatic driving is performed according to the travel plan is changed according to the number of times the automatic driving is performed. As a result, it is possible to avoid the possibility that the driver feels annoying the notification of the determination result.
  • the present invention is not limited to the case where the section on the main line from the interchange of the automobile exclusive road to the interchange is set as an automatic driving section, but may be applied when another section is set as an automatic driving section.
  • each section is expressed as, for example, S1. Further, each section can be divided into a plurality of subsections, while a plurality of sections can be combined into one section. Further, each section configured in this manner can be referred to as a device, module, or means.

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PCT/JP2017/016320 2016-05-19 2017-04-25 自動運転システム、自動運転状態報知プログラム、および自動運転状態報知方法 Ceased WO2017199708A1 (ja)

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US16/099,591 US11072346B2 (en) 2016-05-19 2017-04-25 Autonomous driving system, non-transitory tangible computer readable medium, and autonomous driving state notifying method

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JP2016100467A JP6493299B2 (ja) 2016-05-19 2016-05-19 自動運転システム及び自動運転状態報知プログラム
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