JP6217482B2 - Automatic driving support device, automatic driving support method and program - Google Patents

Description

  The present invention relates to an automatic driving support device, an automatic driving support method, and a program that support automatic driving.

Conventionally, various techniques for assisting automatic driving have been proposed.
For example, in the automatic driving device described in Patent Document 1, when the driving mode switch is switched to the driver driving mode, or when the currently running lane is not the automatic driving lane, the DCU reads “automatic driving” from the speaker. Please prepare for release ". Then, the DCU issues voice information “Automatic steering is cancelled. Please prepare”. As a result, the driver grasps the steering wheel and starts steering. In addition, since the steering actuator is steering, the driver has adjusted his hand to the movement of the steering wheel.

  Next, the DCU releases the automatic steering and leaves the steering to the driver. Subsequently, the DCU determines whether the travel deviation is equal to or less than a predetermined allowable range. If it is determined that the running deviation is below the specified range, the DCU determines that the driver is steering accurately, and “Cancel automatic accelerator and automatic brake. Voice information. As a result, the driver is ready to step on the accelerator pedal and immediately depress the brake pedal. In addition, since the accelerator actuator and the brake actuator are accelerating and braking, the driver is keeping pace with the movement of the accelerator pedal and the like.

  Thereafter, the DCU releases the automatic accelerator and the automatic brake, and leaves the accelerator and the brake to the driver. Thereby, the switching from the automatic operation mode to the driver operation mode is completed. As a result, when switching from the automatic operation mode to the driver operation mode, switching is performed in stages, so that the burden on the driver does not increase abruptly and approach to other vehicles or the like is less likely to occur.

JP-A-9-86223

  However, in the automatic driving apparatus described in Patent Document 1 described above, automatic driving may be suddenly canceled when the degree of recognition of sensors such as the front camera decreases due to changes in the weather, etc. This possibility cannot be notified by the driver. Therefore, since the automatic operation is suddenly switched to the manual operation depending on the driver's operation, the driver's burden is abruptly increased, and there is a possibility that an approach to another vehicle or the like occurs.

  Accordingly, the present invention has been made to solve the above-described problems, and it is possible to determine whether or not the possibility of canceling the automatic driving is high, and to allow the driver to be notified of the determination result. A support device, an automatic driving support method, and a program are provided.

  In order to achieve the above object, the automatic driving support apparatus (2) according to the present invention includes position specifying information acquisition means (31, 76A, 77) for acquiring position specifying information for specifying the position of the host vehicle while traveling. And a continuous index acquisition means (41) for acquiring a continuation index indicating the degree of continuous automatic driving based on the position specifying information during automatic driving, and a cumulative travel time acquisition means (41) for acquiring cumulative travel time. ), A change rate acquisition means (41) for acquiring the rate of change of the continuation index with respect to the cumulative travel time, and the continuation index within a predetermined cumulative travel time until the continuation index becomes equal to or less than a first continuation threshold. Based on the rate of change, possibility determination means (41) for determining the possibility of not being able to continue automatic driving immediately, and notification means (1) for notifying the determination result by the possibility determination means , Characterized by comprising a 16), the.

  An automatic driving support method according to the present invention is an automatic driving support device including a control unit and position specifying information acquisition means for acquiring position specifying information for specifying the position of the host vehicle while traveling. An automatic driving support method to be executed, wherein the control unit executes a position specifying information acquisition step for acquiring position specifying information for specifying the vehicle position during traveling, and during automatic driving, A continuation index acquisition step for acquiring a continuation index indicating a degree of continuous automatic driving based on the position specification information acquired in the position specification information acquisition step, a cumulative travel time acquisition step for acquiring a cumulative travel time, and A rate of change acquisition step of acquiring a rate of change of the continuation index acquired in the continuation index acquisition step with respect to the cumulative travel time acquired in the cumulative travel time acquisition step; and the continuation index is a first continuation Based on the rate of change of the continuation index within a predetermined cumulative travel time until the value becomes less than or equal to the value, the possibility determination step for determining the possibility of not being able to continue automatic driving immediately, and the possibility determination step And a notification step of notifying the determination result.

  In addition, a program according to the present invention is provided for specifying a vehicle position during traveling in a computer provided with position specifying information acquisition means for acquiring position specifying information for specifying the vehicle position during traveling. Acquires a position specifying information acquisition step for acquiring position specifying information, and a continuation index indicating the degree to which automatic driving can be continued based on the position specifying information acquired in the position specifying information acquiring step during automatic driving. To obtain a rate of change of the continuation index acquired in the continuation index acquisition step with respect to the cumulative travel time acquired in the cumulative travel time acquisition step Based on the rate of change of the continuation index within a predetermined cumulative travel time until the continuation index becomes equal to or less than a first continuation threshold, A probability determination step of determining a level of no longer possible to continue the automatic operation to Chi, a program for executing a notification step of notifying a determination result determined by the possibility determining step.

  In the automatic driving support device, the automatic driving support method, and the program having the above-described configuration, during automatic driving, a continuation index that represents the degree to which automatic driving can be continued is acquired based on position specifying information for specifying the vehicle position. . Then, based on the rate of change of the continuation index within a predetermined cumulative travel time until the continuation index becomes equal to or less than the first continuation threshold, it is determined whether or not there is a possibility that the automatic operation cannot be continued immediately. Can be notified to the driver. As a result, the driver can recognize the possibility of not being able to continue the automatic driving immediately based on the notified determination result, and the driver can smoothly switch to manual driving depending on the driver's operation. it can.

It is a block diagram which shows an example of the structure regarding this invention in the own vehicle. It is a figure which shows an example of the reliability data table stored in parameter DB. It is a figure which shows an example of the phrase data table stored in phrase DB. It is a main flowchart which shows the "automatic driving cancellation | release guidance process" performed in a navigation apparatus. FIG. 5 is a sub-flowchart showing a sub-process of “cancel / return phrase utterance determination process” of FIG. 4. FIG. It is explanatory drawing which shows an example of guidance phrase utterance determination. It is a figure which shows an example which displayed the guidance phrase on the liquid crystal display. It is explanatory drawing which shows an example of guidance phrase utterance determination in case the change rate of a continuation rate is small. It is explanatory drawing which shows an example of the cancellation | release phrase utterance determination in front of a cancellation | release point. It is explanatory drawing which shows an example of cancellation | release phrase utterance determination. It is explanatory drawing which shows an example of a return phrase utterance determination.

  Hereinafter, an automatic driving support device, an automatic driving support method, and a program according to the present invention will be described in detail with reference to the drawings based on an embodiment in which a navigation device is embodied.

[Schematic configuration of own vehicle]
A schematic configuration of the host vehicle 1 according to the present embodiment will be described with reference to FIG. As shown in FIG. 1, the host vehicle 1 according to the present embodiment basically includes a navigation device 2 installed on the host vehicle 1 and a vehicle control ECU (Electronic Control Unit) 3.

  Here, the navigation device 2 is provided on the center console or panel surface of the interior of the host vehicle 1, and displays a map around the vehicle and a search route to the destination, and voice guidance regarding route guidance. Is provided. Then, the current position of the host vehicle 1 is specified by the GPS 31 or the like, and when the destination is set, a search for a plurality of routes to the destination and guidance according to the set guide route are displayed on the liquid crystal display 15 or This is performed using the speaker 16. The detailed configuration of the navigation device 2 will be described later.

  The vehicle control ECU 3 is an electronic control unit that controls the entire host vehicle 1 and functions as an example of a vehicle control device. The vehicle control ECU 3 is connected to a navigation control unit 13 (to be described later) included in the navigation device 2. The vehicle control ECU 3 also includes an in-vehicle display (in-vehicle LCD) 5 for displaying a speedometer, a human interface (HMI) 6, a front shooting camera 76A, a rear shooting camera 76B, a laser scanner 77, a vehicle speed for detecting the vehicle speed. A sensor 51 and the like are connected.

  The vehicle control ECU 3 includes a CPU 71 as an arithmetic device and a control device, an internal storage device such as a RAM 72 used as a working memory when the CPU 71 performs various arithmetic processes, and a ROM 73 in which a control program and the like are recorded. Yes. Then, the CPU 71 creates an operation plan based on the route data of the guide route received from the navigation control unit 13 of the navigation device 2, the gradient information of each link on the route, the link length, and the like.

  The human interface 6 is provided with an automatic operation start button 61 for instructing the start of automatic operation. The driver can instruct the vehicle control ECU 3 to start automatic driving by pressing and turning on the automatic driving start button 61 on a toll road such as a national highway, an urban highway, and a general toll road. Here, the automatic operation start button 61 is switched between ON and OFF every time the user presses it. When the automatic operation start button 61 is turned on, the automatic operation control is started. On the other hand, when the automatic operation start button 61 is turned off during the execution of the automatic operation control, the automatic operation control is ended and the operation is switched to the manual operation depending on the operation of the driver. .

  When an instruction to start automatic driving is input, the CPU 71 switches from automatic driving to a toll road exit (rampway), toll gate (interchange), etc. on the guidance route based on the driving plan. Set the interruption timing to switch to manual operation by. For example, the CPU 71 sets the interruption timing at a position 300 m before the exit of the toll road. Then, the CPU 71 drives and controls an unillustrated engine device, brake device, electric power steering, and the like, and starts automatic operation until the interruption timing on the guide route.

  The front shooting camera 76A is attached in the vicinity of the rear mirror of the host vehicle 1, and is configured by a CCD camera or the like to capture the front of the host vehicle and outputs an image signal to the vehicle control ECU 3. The rear photographing camera 76B is attached to the rear end portion of the host vehicle 1, and is configured by a CCD camera or the like to photograph the rear of the host vehicle and outputs an image signal to the vehicle control ECU 3. The CPU 71 performs image processing on the image signal input from the front shooting camera 76 </ b> A, and recognizes an image of a white line (for example, a roadside band, a lane boundary line, etc.) indicating the boundary of the traveling lane by edge detection or the like.

  Then, the CPU 71 drives and controls an unillustrated engine device, brake device, electric power steering and the like so that the host vehicle 1 travels along the white line. Further, the CPU 71 outputs white line image recognition data to the navigation device 2. Further, the CPU 71 performs image processing on the image signals input from the front shooting camera 76 </ b> A and the rear shooting camera 76 </ b> B, detects the inter-vehicle distance from other vehicles existing before and after the host vehicle 1, and sends it to the navigation device 2. Output. Further, the CPU 71 performs image processing on image signals input from the front shooting camera 76 </ b> A and the rear shooting camera 76 </ b> B, detects a space around the host vehicle 1, and outputs the detected space to the navigation device 2.

  The laser scanner 77 is attached to the center position of the front end of the host vehicle 1, scans the periphery of the host vehicle 1, and travels around the vehicle as dynamic features, trees as static features, road signs, A data signal of the laser point group reflected from the guardrail, the central separation band, etc. is output to the vehicle control ECU 3. The CPU 71 extracts spatial feature points from the laser point group input from the laser scanner 77, recognizes static features such as guardrails and median strips, and the host vehicle 1 travels along these static features. In this way, an engine device, a brake device, an electric power steering, etc. (not shown) are driven and controlled. In addition, the CPU 71 outputs recognition data of a laser point group such as a guardrail and a median strip to the navigation device 2.

[Schematic configuration of navigation device]
Next, a schematic configuration of the navigation device 2 will be described. As shown in FIG. 1, the navigation apparatus 2 according to the present embodiment includes a current location detection processing unit 11 that detects the current position of the host vehicle, a data recording unit 12 that records various data, and input information. The navigation control unit 13 for performing various arithmetic processes, the operation unit 14 for receiving operations from the operator, the liquid crystal display (LCD) 15 for displaying information such as a map to the operator, and route guidance A communication device 17 that communicates with a speaker 16 that outputs voice guidance related to, etc., a road traffic information center (not shown), a map information distribution center (not shown), and the like via a mobile phone network, and the liquid crystal display 15 It is comprised from the touchscreen 18 with which the surface was mounted | worn.

Instead of the touch panel 18, a remote controller, joystick, mouse, touch pad, etc. may be provided.
A vehicle speed sensor 51 is connected to the navigation control unit 13. In addition, the navigation control unit 13 is electrically connected to the vehicle control ECU 3 so as to be able to acquire a relative positional relationship, a relative speed, and the like of the surrounding vehicle of the own vehicle 1 with respect to the own vehicle 1.

  Hereinafter, each component constituting the navigation device 2 will be described. The current position detection processing unit 11 includes a GPS 31, a distance sensor 32, and the like, and a current position of the own vehicle 1 (hereinafter referred to as “own vehicle position”), The vehicle direction, travel distance, elevation angle, etc. can be detected. For example, it is possible to detect the turning speed of the three axes by the gyro sensor, and to detect the azimuth (horizontal direction) and the traveling direction of the elevation angle.

  The GPS 31 includes a reception intensity detection unit 31A that detects reception intensity of radio waves received from GPS satellites. As the distance sensor 32, for example, the rotational speed of a wheel (not shown) of the host vehicle is measured, a sensor that detects the distance based on the measured rotational speed, the acceleration is measured, and the measured acceleration is measured twice. A sensor that integrates and detects the distance can be used.

  Further, the communication device 17 can receive the latest traffic information and weather information distributed from a probe center, a road traffic information center, and the like (not shown) at predetermined time intervals (for example, every five minutes). It is configured. The “traffic information” is, for example, detailed information related to traffic information such as travel time of each link, road traffic information regarding road traffic congestion, traffic regulation information due to road construction, building construction, and the like. In the case of road traffic information, the detailed information is the actual length of the traffic jam, the time when traffic congestion is expected to be resolved, and in the case of traffic regulation information, the duration of road construction, construction work, etc. The type of traffic regulation such as lane regulation, the time zone of traffic regulation, etc.

  The data recording unit 12 includes an external storage device and a hard disk (not shown) as a recording medium, a map information database (map information DB) 25, a parameter database (parameter DB) 27, a phrase database ( (Phrase DB) 29 and a driver (not shown) for reading predetermined programs and the like and writing predetermined data to the hard disk.

  The map information DB 25 stores navigation map information 26 used for travel guidance and route search of the navigation device 2. In the parameter DB 27, a confidence level data table that stores confidence levels representing the accuracy of the image recognition result by the front photographing camera 76A, the peripheral feature recognition result by the laser scanner 77, and the position detection result by the GPS 31. 28 (see FIG. 2) is stored. The phrase DB 29 stores a phrase data table 30 (see FIG. 3) that stores a plurality of guidance phrases that suggest that automatic driving cannot be continued.

  Here, the navigation map information 26 is composed of various information necessary for route guidance and map display. For example, new road information for specifying each new road, map display data for displaying a map, Search for intersection data related to intersections, node data related to node points, link data related to roads (links), search data for searching routes, facility data related to POI (Point of Interest) such as stores that are a type of facility, and points. Search data and the like.

  In addition, as node data, actual road junctions (including intersections, T-junctions, etc.), node coordinates (positions) set for each road according to the radius of curvature, etc. Elevation, node attribute indicating whether the node is a node corresponding to an intersection, etc., a connection link number list that is a list of link IDs that are identification numbers of links connected to the node, and a node of a node adjacent to the node via a link Data related to an adjacent node number list that is a list of numbers is recorded.

  Further, as link data, a link ID for specifying a link for each link constituting the road, a link length indicating the length of the link, a coordinate position (for example, latitude and longitude) of the start point and end point of the link, Data indicating presence / absence of median, link slope, road width to which link belongs, number of lanes, legal speed, level crossing, etc., for corners, indicate curvature radius, intersection, T-junction, corner entrance and exit, etc. Regarding the road type, in addition to general roads such as national roads, prefectural roads and narrow streets, data representing toll roads such as national highways, urban highways, general toll roads, and toll bridges are recorded.

  Furthermore, regarding toll roads, data relating to the toll road entrance and exit attachment roads (rampways), toll gates (interchanges), charges for each travel section, and the like are recorded. A toll road such as a national highway, a city highway, a car road, and a general toll road is referred to as a toll road. National roads, major local roads, prefectural roads, municipal roads, etc., excluding toll roads, are called general roads.

  In addition, as search data, data used for searching and displaying a route to a set destination is recorded, and costs for passing through a node (hereinafter referred to as node cost) and roads are configured. Cost data used for calculating a search cost including a link cost (hereinafter referred to as a link cost), route display data for displaying a guide route selected by the route search on a map of the liquid crystal display 15, and the like. It is configured. This link cost is data indicating the average travel time required to pass through the link, and is, for example, “3 (min)”.

The facility data includes hotel, amusement park, palace, hospital, gas station, parking lot, station, airport, ferry landing, interchange (IC), junction (JCT), service area, parking area (PA). POI names and addresses, telephone numbers, coordinate positions on the map (for example, latitude and longitude of the center position, entrance, exit, etc.), facility icons and landmarks that display the location of the facility on the map, etc. Are stored together with the facility ID that identifies the POI. In addition, a registered facility ID for specifying a registered facility such as a convenience store or a gas station registered by the user is also stored.
The contents of the map information DB 25 are updated by downloading update information distributed from the map information distribution center (not shown) via the communication device 17.

  As shown in FIG. 1, the navigation control unit 13 constituting the navigation device 2 is a working device that controls the entire navigation device 2, the CPU 41 as the control device, and the CPU 41 performs various arithmetic processes. Used as a memory, RAM 42 for storing route data when a route is searched, internal storage device such as ROM 43 for storing control programs, etc., cumulative running since starting automatic operation A timer 45 for measuring time is provided. Further, the ROM 43 determines whether there is a possibility that the automatic driving described later cannot be continued, and controls to speak a guidance phrase that suggests that the automatic driving cannot be continued. A program such as FIG. 4) is stored.

  The operation unit 14 is operated when correcting the current position at the start of travel, inputting a departure point as a guidance start point and a destination as a guidance end point, or when searching for information about facilities, etc. Consists of keys and multiple operation switches. The navigation control unit 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches.

  Also, the liquid crystal display 15 includes map information currently traveling, map information around the destination, operation guidance, operation menu, key guidance, guidance route from the current location to the destination, guidance information along the guidance route, traffic Information, news, weather forecast, time, mail, TV program, etc. are displayed.

  Further, the speaker 16 outputs voice guidance or the like for guiding traveling along the guidance route based on an instruction from the navigation control unit 13. Here, the voice guidance to be guided includes, for example, “200m ahead, turn right at XX intersection”.

  The touch panel 18 is a transparent panel-like touch switch mounted on the display screen of the liquid crystal display 15. Various instruction commands can be input by pressing buttons or a map displayed on the screen of the liquid crystal display 15. It is possible to do the same. Note that the touch panel 18 may be configured by an optical sensor liquid crystal method or the like that directly presses the screen of the liquid crystal display 15.

Here, an example of the confidence level data table 28 stored in the parameter DB 27 will be described with reference to FIG.
As shown in FIG. 2, the confidence level data table 28 includes “own vehicle position specifying method”, “influencing parameters”, “own vehicle position confidence level”, and “coefficient”.

  In the “own vehicle position specifying method”, “image recognition”, “peripheral feature recognition”, and “GPS reception” are stored as methods of specifying the own vehicle position. “Image recognition” is a method in which an image signal input from the front photographing camera 76A is subjected to image processing, and a white line indicating a boundary of a driving lane is recognized by edge detection or the like to identify the position of the vehicle with respect to the white line. Represents. The “peripheral feature recognition” represents a method of extracting spatial feature points from a laser point group input from the laser scanner 77 and specifying the position of the vehicle with respect to static features such as guardrails and median strips. “GPS reception” represents a method of acquiring a coordinate position (for example, latitude and longitude) by the GPS 31 and specifying the position of the vehicle on the road from the navigation map information 26.

  In the “influencing parameters”, parameters affecting the “own vehicle position confidence level” are stored. More specifically, “boundary line appearance” indicating the degree of removal of white line edges by image processing is stored in correspondence with “image recognition” of “own vehicle position specifying method”. Corresponding to “recognition of surrounding features” of “own vehicle location method”, “density / spreading status of spatial feature points” representing the density / spreading status of laser point groups forming spatial feature points is stored. . Corresponding to “GPS reception” of “own vehicle position specifying method”, “GPS reception intensity” representing the reception intensity of radio waves received from GPS satellites is stored.

  The “own vehicle position confidence level” includes a confidence level that represents the degree of recognition of each vehicle position specified by “image recognition”, “peripheral feature recognition”, and “GPS reception” of “own vehicle position identification method”. Divided into predetermined stages, for example, divided into 10 stages and stored as numerical values of “1” to “0.1”. Therefore, the larger the value of the own vehicle position confidence level, the higher the degree of recognition of the own vehicle position, that is, the higher the accuracy of the own vehicle position. For example, in the “image recognition”, “1” is stored as the degree of confidence in the vehicle position when “the boundary line (white line) is not blurred”, that is, when the white line is continuously detected. “0.1” is stored as the vehicle position confidence when “the boundary line (white line) is blurred”, that is, when there are many parts where the white line is peeled off.

  In “recognition of surrounding features”, the vehicle position confidence level when the dense point cloud is continuously acquired, that is, when the density of the laser point cloud is high and the spatial feature points are continuous, , “1” is stored. The vehicle position confidence when the density of the point cloud is rough and the point cloud is not continuous, that is, the density of the laser point cloud is low and the spatial feature points are not continuous is 0.1. Is stored. In “GPS reception”, “1” is stored as the vehicle position confidence level when the surroundings are not surrounded by a high building, that is, when the GPS 31 reception intensity is sufficient. “0.1” is stored as the vehicle position confidence level when the surrounding area is surrounded by a high building, that is, when the GPS 31 reception intensity is insufficient.

  “Coefficient” corresponds to “image recognition”, “peripheral feature recognition”, and “GPS reception” of “own vehicle position specifying method” when calculating a “continuation rate (continuation index)” described later. Coefficients A, B, and C for weighting each vehicle position confidence degree are stored.

Next, an example of the phrase data table 30 stored in the phrase DB 29 will be described with reference to FIG.
As shown in FIG. 3, the phrase data table 30 includes “phrase type” and “utterance data”. In the “phrase type”, type names of speech data such as “guidance phrase A”, “guidance phrase B”, “guidance phrase C”, “release guidance phrase”, “continuation guidance phrase”, and the like are stored. “Speech data” stores text data of guidance phrases that are voice-guided corresponding to each phrase type.

  For example, in the “speech data” corresponding to “guidance phrase A” of “phrase type”, sentence data of the guidance phrase “There is a point to cancel the automatic driving ahead. Please prepare for driving.” Is stored. ing. In other words, the “utterance data” corresponding to “guidance phrase A” stores a guidance phrase having a content that can be said in an affirmative system such as “...

  In addition, the “utterance data” corresponding to “guidance phrase B” of “phrase type” is “There is a very high possibility that automatic driving will be canceled in the future. Please prepare for driving as soon as possible.” The text data of the guidance phrase is stored. In other words, the “utterance data” corresponding to “guidance phrase B” has a very high probability of “... very quickly. A guidance phrase (first guidance phrase) is stored that suggests that there is a high possibility that the automatic driving is canceled within 1 minute, preferably within 10 seconds to 20 seconds.

  In addition, the “utterance data” corresponding to “guidance phrase C” of “phrase type” says “Automatic driving may be canceled in the future. Please prepare for driving just in case.” The text data of the guidance phrase is stored. In other words, in the “utterance data” corresponding to “guidance phrase C”, it is not certain that “... may be. Guidance phrase (second guidance phrase), that is, a guidance phrase (the second guidance phrase indicating that there is a low possibility that the automatic driving is released within 10 seconds to 1 minute, preferably within 10 seconds to 20 seconds, immediately. 2 guidance phrases) are stored.

[Automatic operation cancellation guidance processing]
Next, in the host vehicle 1 configured as described above, the process is executed by the CPU 41 of the navigation device 2, and it is determined whether or not there is a possibility that the automatic driving cannot be continued, and the automatic driving cannot be continued. The “automatic driving cancellation guidance process” for controlling to speak a guidance phrase that suggests the effect will be described with reference to FIGS. 4 to 11. Note that the program shown in the flowchart of FIG. 4 is, for example, 0.1% every predetermined time while continuing automatic driving when a signal indicating that automatic driving is started is input from the vehicle control ECU 3. This process is executed every second. In addition, when the automatic driving start button 61 is pressed and turned on on the toll road, the vehicle control ECU 3 starts an automatic driving and then outputs an automatic driving start signal indicating that the automatic driving has started. Output to.

  As shown in FIG. 4, first, in step (hereinafter abbreviated as “S”) 11, the CPU 41 of the navigation device 2 instructs the vehicle control ECU 3 to recognize white line image recognition data and laser points such as guardrails and median strips. Requests that group recognition data be output. As a result, the CPU 71 of the vehicle control ECU 3 outputs the white line image recognition data and the recognition data of the laser point group such as the guardrail and the median strip to the navigation device 2.

  The CPU 41 stores the white line image recognition data input from the vehicle control ECU 3 and the recognition data of the laser point group such as the guard rail and the central separation band in the RAM 42. Further, the CPU 41 requests the GPS 31 to output the reception intensity of the radio wave received from the GPS satellite detected by the reception intensity detection unit 31A. Then, the CPU 41 stores the received intensity of the radio wave input from the GPS 31 in the RAM 42 as “GPS received intensity”.

  Subsequently, the CPU 41 reads the white line image recognition data from the RAM 42, reads the vehicle position confidence level corresponding to the white line image recognition data (hereinafter referred to as “image recognition confidence level”) from the confidence level data table 28, and It is stored in the RAM 42 as an “image recognition confidence level” representing the degree of recognition of the boundary line (white line). Further, the CPU 41 reads the recognition data of the laser point group such as the guard rail and the median strip from the RAM 42, and the vehicle position confidence level corresponding to the recognition data of the laser point group (hereinafter referred to as “feature recognition confidence level”). ) Is read from the confidence level data table 28 and stored in the RAM 42 as “feature recognition confidence level” representing the level of feature recognition.

  Further, the CPU 41 reads the GPS reception intensity from the RAM 42, reads the own vehicle position confidence level (hereinafter referred to as “GPS confidence level”) corresponding to the GPS reception intensity from the confidence level data table 28, and represents the GPS reception level. “GPS confidence” is stored in the RAM 42.

  Subsequently, the CPU 41 reads out the “image recognition confidence level”, “feature recognition confidence level”, and “GPS confidence level” from the RAM 42 and also reads the coefficients A, B, and C from the confidence level data table 28. Then, the CPU 41 uses the “continuation rate” that indicates how accurately the position of the vehicle on the road can be detected by the image recognition by the front photographing camera 76A, the peripheral feature recognition by the laser scanner 77, and the GPS 31. (Continuation index) "is calculated by the following equation (1) and stored in the parameter DB 27 in time series. At the same time, the CPU 41 reads the accumulated travel time T from the timer 45 and stores it in the parameter DB 27 in association with this “continuation rate”. Therefore, the “continuation rate” represents the degree to which the automatic driving can be continued, and the “continuation rate” is a continuation index representing the degree to which the automatic driving can be continued.

  Continuation rate = Image recognition confidence level × A + feature recognition confidence level × B + GPS confidence level × C (1)

  Subsequently, in S12, the CPU 41 reads an utterance flag from the RAM 42, and executes a determination process for determining whether the utterance flag is set to OFF. That is, the CPU 41 executes a determination process for determining whether or not a guidance phrase suggesting that automatic driving cannot be continued is not uttered. When the navigation device 2 is activated, the utterance flag is set to OFF and stored in the RAM 42. As will be described later, when the CPU 41 utters a guidance phrase that suggests that automatic driving cannot be continued, the CPU 41 reads the utterance flag from the RAM 42, sets it to ON, and stores it again in the RAM 42 (see S21). .

  If it is determined that the utterance flag is not set to OFF, that is, the utterance flag is set to ON (S12: NO), the CPU 41 proceeds to the process of S13. In S <b> 13, the CPU 41 selects a cancellation guidance phrase that informs that automatic driving is to be canceled or a continuous guidance phrase that informs that it is possible to continue automatic driving again, and performs voice guidance. After executing the sub-process (see FIG. 5) of the “return phrase utterance determination process”, the process ends.

  On the other hand, when it is determined that the utterance flag is set to OFF (S12: YES), the CPU 41 proceeds to the process of S14. In S <b> 14, the CPU 41 reads a decrease flag from the RAM 42, and executes a determination process for determining whether or not the decrease flag is set to OFF. That is, the CPU 41 determines whether or not “continuous change rate θ1” (see S18) representing a degree of change in the continuation rate, which will be described later, is determined to be larger than the second change rate threshold value R2 (see S22). Execute the process.

  When the navigation device 2 is activated, the lowering flag is set to OFF and stored in the RAM 42. As will be described later, when it is determined that the “continuous change rate θ1” is equal to or less than the second change rate threshold value R2, the CPU 41 reads the decrease flag from the RAM 42, sets it to ON, and stores it again in the RAM 42. (See S24).

  And when it determines with the fall flag being set to OFF (S14: YES), CPU41 transfers to the process of S15. In S <b> 15, the CPU 41 reads out the latest “continuation rate” calculated in S <b> 11 from the parameter DB 27, and executes a determination process for determining whether the “continuation rate” is equal to or less than the first continuation threshold value X <b> 1. The CPU 41 determines that the automatic operation cannot be continued when the “continuation rate” is equal to or less than the first continuation threshold value X1. The first continuation threshold value X1 is stored in advance in the parameter DB 27.

  When it is determined that the “continuation rate” is greater than the first continuation threshold value X1, that is, when it is determined that the automatic operation can be continued (S15: NO), the CPU 41 proceeds to the process of S16. In S16, based on the navigation map information 26, the CPU 41 has a release point for canceling automatic driving such as a toll road exit ramp (rampway), toll booth (interchange), etc. on the guide route ahead of the vehicle. Then, a determination process is performed to determine whether or not the vehicle exists within a predetermined distance V (m) from the vehicle position, for example, within 300 m.

  And when it determines with the cancellation | release point which cancels | releases automatic driving | running | working on the guidance route ahead of the own vehicle not existing within the predetermined distance V (m) from the own vehicle position, for example, within 300 m (S16: NO) The CPU 41 ends the process.

  On the other hand, when it is determined that the release point for canceling the automatic driving is present within the predetermined distance V (m) from the vehicle position, for example, within 300 m on the guide route ahead of the vehicle (S16: YES), CPU41 transfers to the process of S17. In S <b> 17, the CPU 41 reads “utterance data” corresponding to “guidance phrase A” of “phrase type” from the phrase data table 30, displays the text data of the guidance phrase on the liquid crystal display 15, and uses the speaker 16 for voice. After the guidance, the process proceeds to S21 described later.

  For example, from the phrase data table 30, the CPU 41 stores the sentence data “There is an automatic driving cancellation point in the future. Please prepare for driving” corresponding to the “phrase type” “guidance phrase A” on the liquid crystal display 15. indicate. At the same time, the CPU 41 provides voice guidance in a definite system that the automatic driving cannot be continued, saying, “There is an automatic driving cancellation point in the future. Please prepare for driving.” Thereafter, the CPU 41 proceeds to a process of S21 described later.

  On the other hand, when it is determined in S15 that the “continuation rate” is equal to or less than the first continuation threshold X1, that is, when it is determined that the automatic operation cannot be continued (S15: YES), the CPU 41 proceeds to the process of S18. To do. In S <b> 18, the CPU 41 calculates the continuous change rate θ <b> 1 and stores it in the RAM 42. Specifically, as illustrated in FIG. 6, the CPU 41 reads the cumulative travel time TX when the “continuation rate” is equal to or less than the first continuation threshold value X <b> 1 from the parameter DB 27.

  Then, the CPU 41 reads the “continuation rate” from the cumulative travel time TX to the cumulative travel time TJ for a predetermined time before, for example, 10 seconds before, from the parameter DB 27 in time series, and from the cumulative travel time TJ to the cumulative travel time. “Maximum continuation rate Y” up to time TX is extracted. Further, the CPU 41 reads the accumulated travel time TMAX associated with the “maximum continuation rate Y” from the parameter DB 27 and stores it in the RAM 42. Thereafter, the CPU 41 calculates the continuous change rate θ1 by the following equation (2) and stores it in the RAM. That is, the continuous change rate θ1 is an inclination angle of the changing continuous rate with respect to the accumulated travel time T.

  (Continuous change rate θ1) = atan (| (maximum continuation rate Y) − (first continuation threshold X1) | ÷ | (cumulative travel time TX) − (cumulative travel time TMAX) |) (2)

  Subsequently, in S <b> 19, the CPU 41 reads out the continuous change rate θ <b> 1 from the RAM 42, and executes a determination process for determining whether or not the continuous change rate θ <b> 1 is greater than or equal to the first change rate threshold value R <b> 1. That is, the CPU 41 executes a determination process for determining whether or not the “continuation rate” is rapidly decreased. The first change rate threshold value R1 is stored in advance in the parameter DB 27. For example, the first change rate threshold value R1 is an angle of 0.26 (radian) to 0.79 (radian), and preferably an angle of 0.35 (radian) to 0.52 (radian).

  And when it determines with continuation change rate (theta) 1 being more than 1st change rate threshold value R1 (S19: YES), CPU41 transfers to the process of S20. In S <b> 20, the CPU 41 reads “utterance data” corresponding to “guidance phrase B” of “phrase type” from the phrase data table 30, displays the text data of the guidance phrase on the liquid crystal display 15, and uses the speaker 16 for voice. invite.

  For example, as shown in FIG. 6 and FIG. 7, at the cumulative travel time TX, the CPU 41 cancels “automatic driving from this point onward” corresponding to “guidance phrase B” of “phrase type” from the phrase data table 30. The possibility is very high. Please prepare for driving as soon as possible. "Is displayed on the liquid crystal display 15. At the same time, the CPU 41 uses the speaker 16 to say, “It is very likely that automatic driving will be canceled. Please prepare for driving as soon as possible.” The voice guidance 81 of the guidance phrase (first guidance phrase) that suggests that there is a high possibility that the automatic driving is canceled within 1 minute, preferably within 10 seconds to 20 seconds.

  Subsequently, as shown in FIG. 4, in S21, the CPU 41 reads the utterance flag from the RAM 42, sets the utterance flag to ON, stores it again in the RAM 42, and ends the processing.

  On the other hand, when it is determined in S19 that the continuous change rate θ1 is less than the first change rate threshold value R1 (S19: NO), the CPU 41 proceeds to the process of S22. In S22, the CPU 41 executes a determination process for determining whether or not the continuous change rate θ1 is equal to or less than the second change rate threshold value R2. That is, the CPU 41 executes a determination process for determining whether or not the “continuation rate” is gradually decreased. The second change rate threshold value R2 is stored in advance in the parameter DB 27. For example, the second change rate threshold value R2 is an angle of 0.02 (radian) to 0.09 (radian), and preferably an angle of 0.02 (radian) to 0.05 (radian).

  When it is determined that the continuous change rate θ1 is greater than the second change rate threshold value R2 (S22: NO), the CPU 41 proceeds to the process of S23. In S <b> 23, the CPU 41 reads “utterance data” corresponding to “guidance phrase C” of “phrase type” from the phrase data table 30, displays the text data of the guidance phrase on the liquid crystal display 15, and makes sound through the speaker 16. invite. Thereafter, the CPU 41 proceeds to the process of S21.

  For example, as shown in FIG. 6, when the “continuation rate” is the cumulative travel time TX at which the first continuation threshold value X1 is reached, the CPU 41 corresponds to “guidance phrase C” of “phrase type” from the phrase data table 30. The text data of “Automatic driving may be released in the future. Please prepare for driving just in case.” Is displayed on the liquid crystal display 15. At the same time, the CPU 41 promptly says, for example, within 10 seconds to 1 minute, that the automatic operation may be canceled in the future. Performs voice guidance of a guidance phrase (second guidance phrase) that suggests that it is unlikely that automatic driving will be canceled within 10 to 20 seconds.

  On the other hand, as shown in FIG. 4, when it is determined that the continuous change rate θ1 is equal to or less than the second change rate threshold value R2 (S22: YES), the CPU 41 proceeds to the process of S24. In S24, the CPU 41 reads the lowering flag from the RAM 42, sets the lowering flag to ON and stores it again in the RAM 42, and then ends the process.

  On the other hand, if it is determined in S14 that the decrease flag is set to ON (S14: YES), that is, if it is determined that the continuous change rate θ1 is equal to or less than the second change rate threshold value R2, the CPU 41 , The process proceeds to S25. In S25, the CPU 41 reads the latest “continuation rate” calculated in S11 from the parameter DB 27, and determines whether or not the “continuation rate” is equal to or lower than the second continuation threshold X2 that is lower than the first continuation threshold X1. Execute the process. The second continuation threshold value X2 is stored in advance in the parameter DB 27.

  If it is determined that the “continuation rate” is equal to or lower than the second continuation threshold value X2 lower than the first continuation threshold value X1 (S25: YES), the CPU 41 proceeds to the process of S26 and performs the process of S23. In the same manner as described above, “utterance data” corresponding to “guidance phrase C” of “phrase type” is read from the phrase data table 30, and the text data of the guidance phrase is displayed on the liquid crystal display 15, and voice guidance is provided by the speaker 16. .

  For example, as shown in FIG. 8, when the cumulative duration time TW when the “continuation rate” is the second continuation threshold value X2 lower than the first continuation threshold value X1, the CPU 41 reads “phrase type” from the phrase data table 30. The text data of “Guidance Phrase C” of “Automatic driving may be released in the future. Please prepare for driving just in case.” Is displayed on the liquid crystal display 15. At the same time, the CPU 41 promptly says, for example, within 10 seconds to 1 minute, that the automatic operation may be canceled in the future. Performs voice guidance of a guidance phrase (second guidance phrase) that suggests that it is unlikely that automatic driving will be canceled within 10 to 20 seconds.

  Subsequently, as shown in FIG. 4, in S <b> 27, the CPU 41 reads a decrease flag from the RAM 42. Then, the CPU 41 sets the decrease flag to OFF and stores it again in the RAM 42, and then proceeds to the processing of S21.

  On the other hand, when it is determined that the “continuation rate” is greater than the second continuation threshold value X2 (S25: NO), the CPU 41 proceeds to the process of S28. In S28, the CPU 41 executes the process of S16. And when it determines with the cancellation | release point which cancels | releases an automatic driving | operation on the guidance route ahead of the own vehicle existing within the predetermined distance V (m) from the own vehicle position, for example, within 300 m (S28: YES), CPU41 transfers to the process of S29. In S <b> 29, the CPU 41 reads “utterance data” corresponding to “guidance phrase A” of “phrase type” from the phrase data table 30, displays the text data of the guidance phrase on the liquid crystal display 15, and uses the speaker 16 for voice. After the guidance, the process proceeds to S27.

  On the other hand, when it is determined that the release point for canceling the automatic driving does not exist within a predetermined distance V (m) from the vehicle position, for example, within 300 m on the guide route ahead of the vehicle (S28: NO). The CPU 41 ends the process.

[Release / return phrase utterance determination processing]
Next, the “release / return phrase utterance determination process” executed by the CPU 41 in S13 will be described with reference to FIGS.

  As shown in FIG. 5, first, in S111, the CPU 41 executes the process of S16. And when it determines with the cancellation | release point which cancels | releases automatic driving on the guidance route ahead of the own vehicle existing within the predetermined distance V (m) from the own vehicle position, for example, within 300 m (S111: YES), CPU41 transfers to the process of S112. In S112, the CPU 41 reads “utterance data” corresponding to the “release guidance phrase” of the “phrase type” from the phrase data table 30, displays the text data of the “release guidance phrase” on the liquid crystal display 15, and the speaker. 16 provides voice guidance.

  For example, as shown in FIG. 9, when the CPU 41 determines that the vehicle position is located within a predetermined distance V (m) from the release point 82 such as an exit of a toll road, for example, within 300 m, the “continuation rate” "Is greater than the third continuation threshold X3," utterance data "corresponding to the" release guidance phrase "is read from the phrase data table 30 at the time of the cumulative travel time TR that has reached the point.

  Then, the CPU 41 displays on the liquid crystal display 15 the sentence data “Automatic driving will be canceled soon. Please prepare for driving”. At the same time, the CPU 41 provides a voice guidance of the notice of the cancellation of the automatic driving with the speaker 16 "Please release the automatic driving soon. Please prepare for driving." As will be described later, when the “continuation rate” is equal to or lower than the third continuation threshold value X3 lower than the second continuation threshold value X2, the “continuation rate” is equal to or lower than the third continuation threshold value X3. At the time of the cumulative travel time TZ, the “release guidance phrase” is voice-guided (see S115).

  Subsequently, as shown in FIG. 5, in S113, the CPU 41 informs the driver that the automatic driving is to be canceled at a point about 100 m in front of the cancellation point by voice through the speaker 16. For example, the CPU 41 performs voice guidance through the speaker 16 as “automatic driving is canceled after 5 seconds”. At the same time, the CPU 41 outputs an “automatic driving cancellation instruction” that instructs the vehicle control ECU 3 to cancel the automatic driving and set the manual driving according to the operation of the driver. Thus, the CPU 71 of the vehicle control ECU 3 cancels the automatic driving and sets the driver to the manual driving 5 seconds after the “automatic driving cancellation instruction” is input.

  In S114, the CPU 41 reads the utterance flag from the RAM 42, sets the utterance flag to OFF, stores it again in the RAM 42, ends the sub-process, and returns to the main flowchart.

  On the other hand, when it is determined in S111 that the release point for canceling the automatic driving is not within the predetermined distance V (m), for example, within 300m, from the vehicle position on the guidance route ahead of the vehicle (S111: NO), CPU41 transfers to the process of S115. In S115, the CPU 41 reads the latest “continuation rate” calculated in S11 from the parameter DB 27, and determines whether or not the “continuation rate” is equal to or lower than the third continuation threshold X3, which is lower than the second continuation threshold X2. Execute the process. If it is determined that the “continuation rate” is equal to or lower than the third continuation threshold value X3 lower than the second continuation threshold value X2 (S115: YES), the CPU 41 executes the process of S112 transition. The third continuation threshold value X3 is stored in advance in the parameter DB 27.

  For example, as shown in FIG. 10, when the “continuation rate” becomes equal to or lower than the first continuation threshold value X1, the CPU 41 changes to the first continuation threshold value X3 that is lower than the second continuation threshold value X2. “Speech data” corresponding to the “release guidance phrase” of “phrase type” is read from the phrase data table 30 at the cumulative travel time TZ that is equal to or less than the 3 continuation threshold X3. Then, the CPU 41 displays on the liquid crystal display 15 the sentence data “Automatic driving will be canceled soon. Please prepare for driving”. At the same time, the CPU 41 gives a voice guidance to the effect that the automatic driving will be canceled, saying “I will cancel the automatic driving soon. Please prepare for driving”. Thereafter, the CPU 41 executes the processes after S113.

  On the other hand, as shown in FIG. 5, when it is determined that the “continuation rate” is greater than the third continuation threshold X3 (S115: NO), the CPU 41 proceeds to the process of S116. In S116, the CPU 41 reads the latest “continuation rate” calculated in S11 from the parameter DB 27, and the “continuation rate” is increased by the continuation rate α from the first continuation threshold X1 by the fourth continuation threshold X4 = (first A determination process for determining whether or not the continuation threshold value X1 + continuation rate α) is reached is executed.

  When it is determined that the “continuation rate” has become equal to or greater than the fourth continuation threshold value X4 (S116: YES), the CPU 41 determines that the possibility that the “continuation rate” has increased and the automatic operation has been released has decreased. That is, it is determined that the automatic operation can be continued, and the process proceeds to S117. In S117, the CPU 41 reads “utterance data” corresponding to the “continuation guidance phrase” of the “phrase type” from the phrase data table 30, displays the sentence data of the “continuation guidance phrase” on the liquid crystal display 15, and the speaker. 16 provides voice guidance. Thereafter, the CPU 41 executes processing subsequent to S114.

  For example, as shown in FIG. 11, after the “continuation rate” becomes equal to or lower than the first continuation threshold value X1, the CPU 41 becomes the fourth continuation threshold value X4 that is increased by the continuation rate α from the first continuation threshold value X1. At the cumulative travel time TXα, “utterance data” corresponding to “continuation guidance phrase” of “phrase type” is read from the phrase data table 30. Then, the CPU 41 displays text data “Returned to a stable state. Please ease your posture.” On the liquid crystal display 15. At the same time, the CPU 41 gives a voice guidance that suggests that automatic driving can be continued, "Returned to a stable state. Please ease your posture." Thereafter, the CPU 41 executes processing subsequent to S114.

  On the other hand, as shown in FIG. 5, when it is determined that the “continuation rate” is lower than the fourth continuation threshold X4 (S116: NO), the CPU 41 ends the sub-process and returns to the main flowchart.

  As described above in detail, in the host vehicle 1 according to the present embodiment, the CPU 41 of the navigation device 2 displays the “image recognition confidence level” representing the boundary line (white line) recognition degree and the “feature feature degree degree” representing the feature recognition degree. “Continuation rate” obtained by acquiring “recognition confidence” and “GPS confidence” representing the degree of GPS reception, and indexing how accurately the position of the vehicle on the road is detected (1) Calculated by Thereby, CPU41 can evaluate the degree which can continue an automatic driving | operation with a "continuation rate".

  Then, when the “continuation rate” becomes equal to or less than the first continuation threshold X1, the CPU 41 determines a predetermined time before the cumulative travel time TX when the “continuation rate” becomes equal to or less than the first continuation threshold X1, for example, The “maximum continuation rate Y” between the accumulated travel time TJ 10 seconds ago and the accumulated travel time TX is read from the parameter DB 27. Further, the CPU 41 reads the accumulated travel time TMAX associated with the “maximum continuation rate Y” from the parameter DB 27. Thereafter, the CPU 41 calculates “continuous change rate θ1” according to the equation (2). Therefore, the CPU 41 can quickly calculate the “continuous change rate θ1”.

  When the “continuous change rate θ1” is equal to or greater than the first change rate threshold value R1, the CPU 41 determines that there is a high possibility that the automatic driving cannot be continued immediately, and the speech data corresponding to the “guidance phrase B” is determined. The phrase is read from the phrase data table 30 and displayed on the liquid crystal display 15, and voice guidance is provided by the speaker 16. As a result, the driver can prepare to be able to respond immediately to the cancellation of the automatic driving by recognizing that there is a high possibility that the automatic driving cannot be immediately continued by listening to the voice guidance of the guidance phrase B. Become. Further, the CPU 41 can quickly determine the guidance phrase B to be uttered and inform the driver.

  When “continuous change rate θ1” is smaller than the first change rate threshold value R1, the CPU 41 determines that there is a low possibility that the automatic driving cannot be continued immediately, and the utterance data corresponding to “guidance phrase C”. Is read from the phrase data table 30 and displayed on the liquid crystal display 15, and voice guidance is provided by the speaker 16. As a result, the driver can easily prepare for the cancellation of the automatic driving by recognizing that it is unlikely that the automatic driving cannot be continued immediately by listening to the voice guidance of the guidance phrase C. It becomes. Further, the CPU 41 can quickly determine the guidance phrase C to be uttered and inform the driver. Therefore, the CPU 41 can quickly determine whether there is a possibility that the automatic operation cannot be continued immediately and notify the driver.

  Further, when the “continuous change rate θ1” is equal to or lower than the second change rate threshold R2 that is lower than the first change rate threshold R1, the “continuation rate” is equal to or lower than the second continuous threshold that is lower than the first continuous threshold X1. Utterance data corresponding to “guidance phrase C” is read from the phrase data table 30 and displayed on the liquid crystal display 15, and voice guidance is provided by the speaker 16. As a result, when it takes a long time, for example, 30 minutes, to decrease the “continuation rate”, the guidance phrase C is notified at a time closer to the time when the automatic driving is canceled, and the automatic driving of the driver is canceled. Preparation time can be shortened.

  Then, the CPU 41 displays the guidance phrase B or the guidance phrase C on the liquid crystal display 15, and after the voice guidance is given by the speaker 16, the automatic operation is canceled when the “continuation rate” becomes the third continuation threshold X3 or less. The utterance data corresponding to the “release guidance phrase” that guides the user is read from the phrase data table 30, displayed on the liquid crystal display 15, and voice-guided by the speaker 16. Thus, the driver can smoothly cope with the manual driving depending on the driver's operation from the automatic driving after preparing for the cancellation of the automatic driving.

  If the vehicle position is located within a predetermined distance V (m) from the release point at which automatic driving is canceled before the “continuation rate” becomes equal to or less than the third continuation threshold value X3, the CPU 41 The utterance data corresponding to the “cancellation guidance phrase” for guiding the cancellation is read from the phrase data table 30 and displayed on the liquid crystal display 15, and voice guidance is provided by the speaker 16. As a result, the driver can surely know that the automatic driving is released at a position a predetermined distance V (m) before the release point, and can prepare with sufficient margin for the cancellation of the automatic driving. it can.

  If the “continuation rate” reaches the fourth continuation threshold value X4 that is higher than the first continuation threshold value X1 by the continuation rate α before the “continuation rate” becomes equal to or less than the third continuation threshold value X3, the CPU 41 Reads out the utterance data corresponding to the “continuation guidance phrase” suggesting that the automatic operation can be continued from the phrase data table 30 and displays it on the liquid crystal display 15 as well as voice guidance through the speaker 16. Accordingly, the driver can easily know that the automatic driving can be continued again by listening to the “continuation guidance phrase”.

  In addition, this invention is not limited to the said Example, Of course, various improvement and deformation | transformation are possible within the range which does not deviate from the summary of this invention. In the embodiment of the present invention, the vehicle control ECU 3 does not depend on the driver's operation to control all the operations of the accelerator operation, the brake operation, and the steering wheel operation, which are the operations related to the behavior of the vehicle among the operations of the vehicle. It has been described as automatic operation. However, the automatic driving that does not depend on the driver's operation means that the vehicle control ECU 3 controls at least one of the accelerator operation, the brake operation, and the steering wheel operation, which is an operation related to the behavior of the vehicle among the vehicle operations. Good. On the other hand, manual driving depending on the driver's operation has been described as a driver performing an accelerator operation, a brake operation, and a steering wheel operation, which are operations related to the behavior of the vehicle, among the operations of the vehicle.

  Moreover, although the embodiment which actualized the automatic driving assistance device according to the present invention has been described above, the automatic driving assistance device can also have the following configuration, and in that case, the following effects can be obtained.

For example, the first configuration is as follows.
First change rate determination means for determining whether or not the change rate of the continuation index is equal to or less than a first change rate threshold value, and the possibility determination means includes the change rate of the continuation index as the first change rate threshold value. If it is determined that it is larger, it is determined that there is a high possibility that the automatic operation cannot be immediately continued, and if it is determined that the rate of change of the continuation index is equal to or less than the first change rate threshold, the automatic operation is immediately performed. It is characterized in that it is determined that there is a low possibility of being unable to continue.
According to the automatic driving support apparatus having the above configuration, when it is determined that the rate of change of the continuation index is greater than the first change rate threshold, it is determined that there is a high possibility that the automatic driving cannot be continued immediately. Can be notified to the driver. Further, when it is determined that the rate of change of the continuation index is equal to or less than the first change rate threshold, it is determined that there is a low possibility that the automatic driving cannot be continued immediately, and the determination result can be notified to the driver. It becomes. Therefore, the automatic driving support device can quickly determine whether there is a possibility that the automatic driving cannot be continued immediately, and can notify the driver.

The second configuration is as follows.
A first cumulative travel time when the continuation index is less than or equal to the first continuation threshold, and a second cumulative when the maximum continuation index is within the predetermined cumulative travel time that goes back from the first cumulative travel time Travel time acquisition means for acquiring a travel time, wherein the rate of change acquisition means obtains a value obtained by subtracting the first continuation threshold from the maximum continuation index from the second cumulative travel time to the first cumulative travel time. The arc tangent of the value divided by the time difference is acquired as the rate of change of the continuation index.
According to the automatic driving support apparatus having the above-described configuration, the value obtained by subtracting the first continuation threshold from the maximum continuation index within a predetermined cumulative travel time traced back from the first cumulative travel time when the first continuation threshold is reached or less. The arc tangent of the value divided by the time difference from the second cumulative travel time to the first cumulative travel time when it becomes the maximum continuation index is taken as the rate of change of the continuation index. Therefore, the first cumulative travel time when the first continuation threshold value is not reached, the maximum continuation index within a predetermined cumulative travel time traced back from the first cumulative travel time, and the second accumulation when the maximum continuation index is reached By acquiring the travel time, it is possible to quickly calculate the rate of change of the continuation index until the continuation index becomes equal to or less than the first continuation threshold.

The third configuration is as follows.
A second change rate determination unit that determines whether or not the rate of change of the continuation index is equal to or lower than a second change rate threshold value that is lower than the first change rate threshold value, and the continuation index is determined by the second change rate determination unit; When it is determined that the change rate is less than or equal to the second change rate threshold, the notifying unit determines that the continuation index is less than or equal to the second continuation threshold lower than the first continuation threshold. The determination result by the possibility determination means is notified.
According to the automatic driving support device having the above-described configuration, when the rate of change of the continuation index is equal to or lower than the second rate of change threshold that is lower than the first rate of change threshold, the second continuation is lower than the first continuation threshold. When the value becomes equal to or lower than the threshold value, it is determined whether there is a possibility that the automatic operation cannot be continued immediately, and the determination result is notified. Thereby, when it takes a long time, for example, 30 minutes, to decrease the continuation index, the determination result is notified at a time closer to the time when the automatic driving is canceled, and the preparation time for the cancellation of the automatic driving of the driver Can be shortened.

The fourth configuration is as follows.
Control information output means for outputting vehicle control information to a vehicle control device that controls the host vehicle, and a continuation index for determining whether or not the continuation index is equal to or lower than a third continuation threshold that is lower than the second continuation threshold When it is determined via the determination means and the continuation index determination means that the continuation index is equal to or lower than the third continuation threshold, the automatic driving is performed with respect to the vehicle control device via the control information output means. Canceling instruction means for outputting an automatic driving cancellation instruction for instructing the driver to set to manual driving by the driver, and the informing means informs the driver that the automatic driving is set to the manual driving by the driver. It is characterized by notifying.
According to the automatic driving support device having the above-described configuration, when the continuation index is equal to or lower than the third continuation threshold value that is lower than the second continuation threshold value, the vehicle control device is automatically driven through the control information output unit. An automatic operation cancellation instruction is issued to instruct the driver to set for manual operation. In addition, the driver is notified that automatic driving is set to manual driving by the driver. As a result, the driver can recognize that the automatic driving is canceled and prepare for the cancellation of the automatic driving, and then can smoothly respond to the manual driving depending on the operation of the driver from the automatic driving.

Furthermore, the fifth configuration is as follows.
Current position acquisition means for acquiring a current position, and release point determination means for determining whether or not there is a release point for releasing the automatic driving within a predetermined distance forward from the current position, from the current position When it is determined that there is a cancellation point for canceling the automatic driving within a predetermined distance ahead, the cancellation instructing unit is operated by the driver from the automatic driving to the vehicle control device via the control information output unit. An automatic driving release instruction for instructing to set to manual driving is output, and the notification means notifies the driver that the automatic driving is set to manual driving by the driver.
According to the automatic driving support apparatus having the above configuration, when there is a release point for canceling the automatic driving within a predetermined distance from the current position, the automatic control is set to the manual driving by the driver for the vehicle control device. An automatic operation cancellation instruction is output to instruct to do so. Further, the driver is notified that the manual operation by the driver is set. Thus, the driver can surely know that the automatic driving is released at a position a predetermined distance before the release point, and can prepare with sufficient margin for the cancellation of the automatic driving.

DESCRIPTION OF SYMBOLS 1 Own vehicle 2 Navigation apparatus 3 Vehicle control ECU
15 Liquid crystal display 16 Speaker 25 Map information DB
26 Navigation map information 27 Parameter DB
28 Confidence data table 29 Phrase DB
30 Phrase data table 31 GPS
31A reception intensity detection unit 41, 71 CPU
42, 72 RAM
43, 73 ROM
61 Automatic operation start button 76A Front camera 76B Rear camera 77 Laser scanner 82 Release point

Claims (8)

Position specifying information acquisition means for acquiring position specifying information for specifying the vehicle position during traveling;
During automatic driving, continuation index acquisition means for acquiring a continuation index indicating the degree to which automatic driving can be continued based on the position specifying information;
Cumulative travel time acquisition means for acquiring cumulative travel time;
Change rate acquisition means for acquiring a change rate of the continuation index with respect to the cumulative travel time;
Possibility determination means for determining the possibility of not being able to continue automatic driving immediately based on the rate of change of the continuation index within a predetermined cumulative travel time until the continuation index becomes a first continuation threshold or less;
Informing means for informing the determination result by the possibility determining means;
An automatic driving support device characterized by comprising: Comprising a first rate-of-change determining means for determining whether the rate of change of the continuation index is equal to or less than a first rate-of-change threshold;
The possibility determination means includes
When it is determined that the change rate of the continuation index is greater than the first change rate threshold, it is determined that there is a high possibility that the automatic operation cannot be continued immediately;
2. The automatic driving according to claim 1, wherein when it is determined that the change rate of the continuation index is equal to or less than the first change rate threshold, it is determined that there is a low possibility that the automatic driving cannot be continued immediately. Support device. A first cumulative travel time when the continuation index is less than or equal to the first continuation threshold, and a second cumulative when the maximum continuation index is within the predetermined cumulative travel time that goes back from the first cumulative travel time A travel time acquisition means for acquiring the travel time;
The rate-of-change acquisition means calculates an arc tangent of a value obtained by dividing a value obtained by subtracting the first continuation threshold from the maximum continuation index by a time difference from the second cumulative travel time to the first cumulative travel time. The automatic driving support device according to claim 1, wherein the automatic driving support device is acquired as a change rate. A second rate-of-change determining means for determining whether the rate of change of the continuation index is equal to or lower than a second rate-of-change threshold lower than the first rate-of-change threshold;
When it is determined by the second change rate determination means that the change rate of the continuation index is equal to or less than the second change rate threshold value, the notification means has a lower continuation index than the first continuation threshold value. The automatic driving assistance apparatus according to claim 2 or 3, wherein when the value becomes equal to or less than 2 continuation threshold, the determination result by the possibility determination means is notified. Control information output means for outputting vehicle control information to a vehicle control device for controlling the host vehicle;
Continuation index determination means for determining whether or not the continuation index is equal to or lower than a third continuation threshold value lower than the second continuation threshold value;
When it is determined that the continuation index is equal to or lower than the third continuation threshold value via the continuation index determination unit, the vehicle control device is manually operated by the driver from the automatic operation via the control information output unit. Cancellation instruction means for outputting an automatic driving cancellation instruction instructing to set to driving;
With
The automatic driving support device according to claim 4, wherein the notification unit notifies the driver that the automatic driving is set to the manual driving by the driver. Current position acquisition means for acquiring the current position;
Cancellation point determination means for determining whether or not there is a cancellation point for canceling the automatic driving within a predetermined forward distance from the current position;
With
When it is determined that there is a release point for releasing the automatic driving within a predetermined distance from the current position, the release instruction means instructs the vehicle control device via the control information output means to perform the automatic operation. An automatic operation cancellation instruction is issued to instruct the driver to set to manual operation by the driver,
6. The automatic driving support device according to claim 5, wherein the notifying unit notifies the driver that the automatic driving is set to the manual driving by the driver. An automatic driving support method executed by an automatic driving support device comprising a control unit and position specifying information acquisition means for acquiring position specifying information for specifying the position of the host vehicle while traveling,
Executed by the control unit;
A position specifying information acquisition step for acquiring position specifying information for specifying the position of the vehicle during traveling;
During automatic driving, a continuation index acquisition step for acquiring a continuation index indicating the degree of continuous automatic driving based on the position specification information acquired in the position specification information acquisition step;
A cumulative travel time acquisition step for acquiring the cumulative travel time;
A change rate acquisition step of acquiring a change rate of the continuation index acquired in the continuation index acquisition step with respect to the cumulative travel time acquired in the cumulative travel time acquisition step;
A possibility determination step of determining a possibility that the automatic operation cannot be continued immediately based on a rate of change of the continuation index within a predetermined cumulative travel time until the continuation index becomes equal to or less than a first continuation threshold;
A notification step of notifying the determination result determined in the possibility determination step;
An automatic driving support method characterized by comprising: In a computer provided with position specifying information acquisition means for acquiring position specifying information for specifying the position of the vehicle during traveling,
A position specifying information acquisition step for acquiring position specifying information for specifying the position of the vehicle during traveling;
During automatic driving, a continuation index acquisition step for acquiring a continuation index indicating the degree of continuous automatic driving based on the position specification information acquired in the position specification information acquisition step;
A cumulative travel time acquisition step for acquiring the cumulative travel time;
A change rate acquisition step of acquiring a change rate of the continuation index acquired in the continuation index acquisition step with respect to the cumulative travel time acquired in the cumulative travel time acquisition step;
A possibility determination step of determining a possibility that the automatic operation cannot be continued immediately based on a rate of change of the continuation index within a predetermined cumulative travel time until the continuation index becomes equal to or less than a first continuation threshold;
A notification step of notifying the determination result determined in the possibility determination step;
A program for running

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