JP6221873B2 - 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 traveling vehicle control apparatus described in Patent Document 1, when the mode switching operation is performed from the automatic traveling mode to the manual traveling mode in which the vehicle travels by the driving operation of the driver, the automatic traveling mode is switched to the manual traveling mode. Transition gradually. Under the present circumstances, based on the acquired environmental information, the transition time until it transfers to automatic driving mode from manual driving mode is controlled. When the acquired environmental information represents a situation that requires more time to get used to the driving operation of the driver, the reduction amount ΔG of the automatic control gain G is corrected to a smaller value, and the transition Set the time to be longer.

Japanese Patent Laid-Open No. 10-309961

  However, in the automatic traveling vehicle control device described in Patent Document 1 described above, when the driving operation amount of the driver's accelerator or brake is within a predetermined range centered on the control target operation amount X0 in the automatic traveling mode, It is determined that the driving operation until the shift to the manual travel mode is appropriate. As a result, when the driver performs an acceleration operation or a deceleration operation exceeding the predetermined range from the speed in the automatic traveling mode, it is determined that the driving operation of the driver is not appropriate, and the automatic control gain G is returned to the maximum value GMAX. There is a problem that the shift to the manual travel mode is prohibited and the shift to the manual operation cannot be performed.

  Therefore, the present invention has been made to solve the above-described problems, and when switching from automatic operation to manual operation, automatic operation can be smoothly changed from the speed during automatic operation to the speed requested by the driver. A support device, an automatic driving support method, and a program are provided.

  In order to achieve the above object, the automatic driving support device (2) according to the present invention provides a predetermined distance in the traveling direction of the host vehicle from the switching start point at which switching from automatic driving to manual driving of the guide route is started during automatic driving. Acquired via an adjustment section setting means (41) for setting an adjustment section on the near side, an operation state acquisition means (78) for acquiring the driving operation state of the driver in the adjustment section, and the operation state acquisition means Requested output estimating means (41) for estimating the required travel output of the host vehicle requested by the driver based on the state of the driving operation of the driver, and a predetermined distance in the traveling direction of the host vehicle from the switching start point Output section setting means (41) for setting up to the output section, and within the output section, the actual traveling output of the host vehicle is set during the automatic driving. Wherein the traveling output control means for controlling so that the request traveling output from the running output of the vehicle (41), characterized by comprising a.

  An automatic driving support method according to the present invention is an automatic driving support method executed by an automatic driving support device including a control unit and an operation state acquisition unit that acquires a driving operation state of a driver, The adjustment section setting step for setting the adjustment section on the front side of a predetermined distance in the traveling direction of the host vehicle from the switching start point at which the switching from the automatic driving to the manual driving of the guide route is started during the automatic driving performed by the control unit. And an operation state acquisition step for acquiring the driving operation state of the driver in the adjustment interval set in the adjustment interval setting step through the operation state acquisition means, and the driver acquired in the operation state acquisition step. A requested output estimating step for estimating a requested travel output of the host vehicle requested by the driver based on a driving operation state; and An output section setting step for setting a predetermined distance ahead in both traveling directions as an output section, and an actual traveling output of the own vehicle in the output section set in the output section setting step. And a travel output control step for controlling the vehicle travel output to be the required travel output estimated in the required output estimation step.

  Further, the program according to the present invention provides a computer having an operation state acquisition means for acquiring a driving operation state of a driver, and a switching start point at which switching from automatic driving to manual driving of the guide route is started during automatic driving. An adjustment section setting step for setting an adjustment section on the front side of a predetermined distance in the traveling direction of the host vehicle, and a state of the driving operation of the driver in the adjustment section set in the adjustment section setting step. An operation state acquisition step acquired through the operation state acquisition step, a request output estimation step of estimating a required travel output of the host vehicle requested by the driver based on the state of the driving operation of the driver acquired in the operation state acquisition step, An output section setting step for setting an output section from a switching start point to a predetermined distance ahead in the traveling direction of the host vehicle; In the output section set in the output section setting step, the actual traveling output of the own vehicle becomes the requested traveling output estimated in the requested output estimating step from the traveling output of the own vehicle during the automatic driving. And a travel output control process to be controlled.

  In the automatic driving support device, the automatic driving support method, and the program having the above-described configuration, the driving operation state of the driver in the adjustment section set a predetermined distance from the switching start point at which switching from automatic driving to manual driving is started. Based on this, the required travel output of the host vehicle requested by the driver is estimated. Then, in the output section set from the switching start point to a predetermined distance ahead, the actual traveling output of the own vehicle is controlled to become the requested traveling output requested by the driver from the traveling output of the own vehicle at the time of automatic driving.

  As a result, the driver performs the driving operation to accelerate or decelerate within the adjustment section, so that the actual traveling output (speed) of the own vehicle when switching from the automatic driving to the manual driving is obtained. It is possible to accelerate or decelerate from the running output (speed). Therefore, when switching from automatic operation to manual operation, it is possible to smoothly change from the speed during automatic operation to the speed requested by the driver.

It is a block diagram which shows an example of the structure regarding this invention in the own vehicle. It is a flowchart which shows the "manual driving | operation switching process" performed in a navigation apparatus. It is a flowchart which shows the "manual driving | operation switching process" performed in a navigation apparatus. It is explanatory drawing explaining the driving | running | working output of the own vehicle at the time of switching from automatic driving | operation to manual driving | operation. It is a figure which shows an example which showed the difference amount of the actual accelerator opening by stepping on a driver, and the accelerator opening by vehicle control ECU in an adjustment area.

  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. The vehicle control ECU 3 is connected to a navigation control unit 13 (to be described later) included in the navigation device 2. Further, the vehicle control ECU 3 includes an in-vehicle display (in-vehicle LCD) 5 for displaying a speedometer, a human interface (HMI) 6, a front photographing camera 76A, a rear photographing camera 76B, a millimeter wave radar 77, an accelerator sensor 78, A vehicle speed sensor 51 for detecting the vehicle speed is 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 relative position of the other vehicle around the host vehicle 1 with respect to the host vehicle 1, and navigation. Output to device 2. 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 millimeter wave radar 77 is attached to the center position of the front end of the host vehicle 1 and the center position of the rear end of the host vehicle 1, and the distance to other vehicles existing around the front of the host vehicle and the rear of the host vehicle and The relative speed with respect to the vehicle 1 is detected, and the distance to the detected other vehicle and the relative speed data of the other vehicle existing in the vicinity with respect to the own vehicle 1 are output to the vehicle control ECU 3. The CPU 71 is based on the distance from the millimeter wave radar 77 to the other vehicle in the vicinity and the relative speed data of the other vehicle in the vicinity with respect to the own vehicle 1. The relative position and relative speed of the vehicle 1 with respect to the host vehicle 1 are detected and output to the navigation device 2.

  The accelerator sensor 78 is attached to an accelerator pedal (not shown), detects the amount of depression of the driver's accelerator pedal (hereinafter referred to as “actual accelerator opening”), and outputs it to the vehicle control ECU 3. In the state of manual operation depending on the driver's operation, the CPU 71 controls the driving of an engine device (not shown) corresponding to the actual accelerator opening input from the accelerator sensor 78, and the actual running output (hereinafter referred to as the following) of the host vehicle 1. "Actual driving output").

[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 another vehicle existing around the host vehicle 1 with respect to the host vehicle 1.

  Hereinafter, each component constituting the navigation device 2 will be described. The current position detection processing unit 11 includes a GPS 31 and the like, and includes the current position of the own vehicle 1 (hereinafter referred to as “own vehicle position”), the own vehicle direction, The 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.

  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 communication device 17 is configured to be capable of two-way communication with a communication device mounted on a surrounding vehicle of the host vehicle 1.

  The data recording unit 12 reads an external storage device and a hard disk (not shown) as a recording medium, a map information database (map information DB) 25 stored in the hard disk, a predetermined program, etc. And a driver (not shown) for writing the data. The map information DB 25 stores navigation map information 26 used for travel guidance and route search of the navigation device 2.

  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, Presence / absence of median strip, link gradient, road width to which link belongs, number of lanes, legal speed, presence / absence of lane change prohibition line, coordinate position of both end points of lane change prohibition line (for example, latitude and longitude) The data representing the railroad crossings, etc. for corners, the radius of curvature, intersections, T-junctions, corner entrances and exits, etc., for road types, in addition to general roads such as national roads, prefectural roads, narrow streets, etc. Data representing toll roads such as national roads, city expressways, 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. One-digit or two-digit national roads excluding toll roads, three-digit or more national roads, major local roads, prefectural roads, municipal roads, etc. 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. In addition to being used as a memory, it has a RAM 42 for storing route data when a route is searched, an internal storage device such as a ROM 43 for storing control programs, a timer 45 for measuring time, etc. Yes. Further, the ROM 43 stores a program such as “manual operation switching process” (see FIG. 2) for safely switching from automatic operation described later to manual operation according to the driver's operation.

  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.

[Manual operation switching process]
Next, in the host vehicle 1 configured as described above, a process that is executed by the CPU 41 of the navigation device 2 and that is a “manual driving switching process” that safely switches from automatic driving to manual driving depending on the driver's operation. This will be described with reference to FIGS. The program shown in the flowcharts in FIGS. 2 and 3 is a process executed every predetermined time, for example, every 100 milliseconds after the guide route is determined and transmitted to the vehicle control ECU 3. In addition, for example, when the automatic operation start button 61 is pressed and turned on on a toll road, the vehicle control ECU 3 starts an automatic operation control and then outputs an automatic operation start signal indicating that automatic operation has started. Output to the navigation device 2.

  As shown in FIG. 2, first, in step (hereinafter abbreviated as “S”) 11, the CPU 41 of the navigation device 2 determines whether or not an automatic driving start signal indicating that automatic driving has started is input from the vehicle control ECU 3. That is, the automatic operation start button 61 is turned on, and determination processing for determining whether or not automatic operation is in progress is executed. If the automatic operation start button 61 is not turned on and it is determined that automatic operation is not being performed (S11: NO), the CPU 41 ends the process.

  On the other hand, when the automatic operation start button 61 is turned on and it is determined that automatic operation is being performed (S11: YES), the CPU 41 proceeds to the process of S12. In S12, the CPU 41 sets the interruption timing set at the position 300m before the exit of the toll road, that is, the coordinate position (for example, latitude and longitude) of the switching start point from automatic driving to manual driving depending on the driver's operation. The vehicle control ECU 3 is requested to transmit. Thereby, the CPU 71 of the vehicle control ECU 3 transmits the coordinate position of the switching start point from the automatic driving to the manual driving to the navigation device 2.

  The CPU 41 stores in the RAM 42 the coordinate position of the switching start point from automatic driving to manual driving received from the vehicle control ECU 3. Then, based on the navigation map information 26, the CPU 41, for example, at the current vehicle speed by automatic driving, from the starting point of switching from automatic driving to manual driving to a predetermined distance before the guide route in the traveling direction of the host vehicle 1. The distance to the near side for the distance traveled for about 10 seconds is set as the “adjustment section”.

  The “adjustment zone” is a zone for estimating a requested speed required of the vehicle after the driver switches from automatic driving to manual driving in an “output zone” described later. In the “adjustment zone”, the host vehicle 1 does not control the traveling output of the own vehicle 1 depending on the driving operation of the driver in the “adjustment zone” (accelerator operation by depressing the accelerator pedal of the driver). It is controlled in accordance with the traveling output of the host vehicle 1 during automatic driving, as in the existing section that is traveling in automatic driving.

  Then, the CPU 41 acquires the coordinate position of the front end point (start point) in the traveling direction of the host vehicle 1 in the adjustment section based on the navigation map information 26, and switches the coordinate position from automatic operation to manual operation. Is stored in the RAM 42 as a “switch notification point”.

  For example, as shown in FIG. 4, based on the navigation map information 26, the CPU 41 sets the adjustment zone 82 from the switching start point 81 from automatic driving to manual driving to about 300 m in the traveling direction of the host vehicle 1. To do. Then, based on the navigation map information 26, the CPU 41 obtains the coordinate position of the front end point (start point) in the traveling direction of the host vehicle 1 in the adjustment section 82, and changes the coordinate position from automatic operation to manual operation. It memorize | stores in RAM42 as the switching alerting | reporting point 83 which alert | reports switching.

  And CPU41 acquires the own vehicle position based on the detection result of the present location detection process part 11. FIG. Subsequently, the CPU 41 reads from the RAM 42 the coordinate position of the switching notification point that notifies the switching from the automatic operation to the manual operation, and executes a determination process for determining whether or not the vehicle position has reached the switching notification point. If it is determined that the vehicle position has not reached the switching notification point (S12: NO), the CPU 41 ends the process.

  On the other hand, when it is determined that the vehicle position has reached the switching notification point (S12: YES), the CPU 41 proceeds to the process of S13. In S <b> 13, the CPU 41 counts down by the speaker 16 the time until reaching the “switch start point” from the automatic operation to the manual operation, that is, the time until the switch from the automatic operation to the manual operation is started. Along with voice guidance, the liquid crystal display 15 displays a countdown.

  For example, when the position of the host vehicle reaches the switching notification point, the CPU 41 provides voice guidance through the speaker 16 “10 seconds before the automatic driving is canceled. Please prepare for driving”. Thereafter, the CPU 41 counts down the remaining time until switching from the automatic operation to the manual operation is started, and provides voice guidance. As shown in FIG. 5, the CPU 41 displays a countdown display unit 15 </ b> A on the liquid crystal display 15 that counts down the remaining time until switching from automatic operation to manual operation is started. Then, the CPU 41 counts down the remaining time on the countdown display portion 15A, such as “10 seconds ago”, “9 seconds ago”, “8 seconds ago”,.

  Thereafter, in S14, the CPU 41 causes the vehicle control ECU 3 to detect the “actual accelerator opening” detected by the accelerator sensor 78 and the “speed maintaining accelerator opening” in the automatic operation, that is, “actual driving in the current automatic operation”. It requests to transmit each accelerator opening information of “output accelerator opening”. As a result, the CPU 71 of the vehicle control ECU 3 transmits the accelerator opening information of the “actual accelerator opening” detected by the accelerator sensor 78 and the “accelerator opening for speed maintenance” in the automatic operation to the navigation device 2.

  The CPU 41 stores in the RAM 42 each accelerator opening information of “actual accelerator opening” detected by the accelerator sensor 78 received from the vehicle control ECU 3 and “speed maintaining accelerator opening” in automatic operation. Then, the CPU 41 sets the “speed maintaining accelerator opening” as the travel output of the host vehicle 1 and the “actual accelerator opening” as the requested travel output requested by the driver, A difference amount of “degree” is calculated, and this difference amount is displayed on the liquid crystal display 15. As shown in FIG. 4, the CPU 41 determines the difference amount of the “actual accelerator opening” with respect to the “speed maintaining accelerator opening” from the time when the actual accelerator opening 87A, 87B passes the differential display start point 88 where the acceleration is stabilized. Is preferably displayed on the liquid crystal display 15.

  For example, as shown in FIG. 5, the CPU 41 displays “speed maintaining accelerator opening” with a solid square frame 85, and displays “speed maintaining accelerator opening” on the side thereof. Then, the CPU 41 calculates the difference amount of the “actual accelerator opening” with respect to the “speed maintaining accelerator opening”. When the “actual accelerator opening” is larger than the “speed maintaining accelerator opening”, a rectangular frame with the same horizontal width at the height corresponding to the difference amount is provided above the upper end of the square frame 85. 86 is displayed, and “actual accelerator opening” is displayed on the side.

  When the “actual accelerator opening” is smaller than the “speed maintaining accelerator opening”, a rectangular box with the same horizontal width at the height corresponding to the difference amount is provided below the upper end of the square frame 85. A frame 86 is displayed, and “actual accelerator opening” is displayed on the side of the frame 86. Thus, the driver determines the amount of depression of the accelerator pedal with respect to the current vehicle speed of the host vehicle 1 in automatic driving, based on the positional relationship between the dashed square frame 86 and the solid square frame 85 and the height dimension of the dashed square frame 86. The amount of deviation can be easily recognized.

  As shown in FIG. 2, in S <b> 15, the CPU 41 reads from the RAM 42 the “actual accelerator opening” and the “speed maintaining accelerator opening” in automatic operation. Then, the CPU 41 sets an accelerator opening within a predetermined increase / decrease range centered on the “speed maintaining accelerator opening”, for example, within ± 10%, as the “speed maintaining accelerator opening range”. The state of “actual accelerator opening” with respect to “accelerator opening range” is detected and stored in the RAM 42.

  For example, as shown in FIG. 4, the CPU 41 sets the accelerator opening that is 10% larger than the accelerator opening 89 for maintaining the speed around the accelerator opening 89 for maintaining the speed to the upper limit of the accelerator opening range 91 for maintaining the speed. The accelerator opening 91A is stored in the RAM 42. The CPU 41 stores an accelerator opening that is 10% smaller than the accelerator opening 89 for maintaining the speed in the RAM 42 as a lower limit accelerator opening 91B of the accelerator opening range 91 for maintaining the speed.

  When the actual accelerator opening 87B is larger than the upper limit accelerator opening 91A, the CPU 41 sets the actual accelerator opening 87B with respect to the speed maintaining accelerator opening range 91 as "accelerator larger than speed maintenance" in the RAM 42. Remember. In addition, when the actual accelerator opening 87A is smaller than the lower limit accelerator opening 91B, the CPU 41 sets the actual accelerator opening 87A with respect to the accelerator opening range 91 for maintaining the speed as "accelerator smaller than speed maintenance" in the RAM 42. Remember.

  Further, when the “actual accelerator opening” is not more than the upper limit accelerator opening 91A and not less than the lower limit accelerator opening 91B, the CPU 41 sets the “actual accelerator opening” state for the accelerator opening range 91 for maintaining the speed. Is stored in the RAM 42 as “within the accelerator opening range for maintaining the speed”. Further, when the actual accelerator opening 87C is greatly deviated from the lower limit accelerator opening 91B, for example, when the actual accelerator opening 87C is smaller than 70% of the accelerator opening 89 (the deviation threshold) of the speed maintaining accelerator opening 89B. Then, the state of the actual accelerator opening 87C with respect to the speed maintaining accelerator opening range 91 is stored in the RAM 42 as “a large deviation from the speed maintaining accelerator opening range”.

  When the actual accelerator opening is greatly deviated from the upper limit accelerator opening 91A, for example, when the accelerator 41 is larger than an accelerator opening (deviation threshold) that is 130% of the accelerator opening 89 for maintaining the speed, The state of the actual accelerator opening with respect to the speed maintaining accelerator opening range 91 may be stored in the RAM 42 as “significantly deviating from the speed maintaining accelerator opening range”.

  Subsequently, in S <b> 16, the CPU 41 acquires the own vehicle position based on the detection result of the current location detection processing unit 11. The CPU 41 reads the coordinate position of the switching start point from automatic driving to manual driving from the RAM 42, and whether or not the vehicle position has reached the switching start point, that is, whether or not the end point of the “adjustment zone” has been reached. A determination process for determining And when it determines with the own vehicle position not having reached the switching start point (S16: NO), CPU41 performs the process after S13 again.

  On the other hand, when it is determined that the vehicle position has reached the switching start point (S16: YES), the CPU 41 proceeds to the process of S17. In S <b> 17, the CPU 41 reads out the coordinate position of the switching start point from the automatic operation to the manual operation from the RAM 42. Then, based on the navigation map information 26, the CPU 41, for example, from the starting point of switching from automatic driving to manual driving to the point where the guide route travels a predetermined distance in the traveling direction of the host vehicle 1, for example, the current vehicle speed by automatic driving. Set the “output section” to the point where the vehicle traveled for about 4 seconds.

  The “output section” is a section in which the driver estimated in the “adjustment section” starts to output the requested speed requested of the own vehicle 1, and the own vehicle 1 is the driver estimated in the “adjustment section” in the “output section”. It is controlled based on the required speed required for the host vehicle 1.

  And CPU41 acquires the coordinate position of the end point (end point) of the advancing direction side of the own vehicle 1 of an output area based on the navigation map information 26, and this coordinate position can be switched from automatic driving to manual driving. It is stored in the RAM 42 as “completed point for switching to manual operation”.

  For example, as shown in FIG. 4, based on the navigation map information 26, the CPU 41 outputs from a switching start point 81 from automatic driving to manual driving to a point that travels about 100 m along the guide route in the traveling direction of the host vehicle 1. Set to section 93. And CPU41 acquires the coordinate position of the end point (end point) by the side of the advancing direction of the own vehicle 1 of the output area 93 based on the navigation map information 26, and switches this coordinate position from automatic operation to manual operation. Is stored in the RAM 42 as the completion point 95 for switching to manual operation.

  Subsequently, in S18, the CPU 41 reads out the "actual accelerator opening" state for the "speed maintaining accelerator opening range" from the RAM 42, and the "actual accelerator opening" state for the "speed maintaining accelerator opening range". However, a determination process for determining whether or not “is greatly deviated from the accelerator opening range for maintaining the speed” is executed. When it is determined that the state of the “actual accelerator opening” with respect to the “speed maintaining accelerator opening range” is “significantly deviated from the speed maintaining accelerator opening range” (S18: YES). ), The CPU 41 proceeds to the process of S19.

  In S <b> 19, based on the navigation map information 26, the CPU 41 acquires a legal speed at a switching completion point at which switching from automatic driving to manual driving is completed, that is, a speed limit. Then, the CPU 41 shifts the vehicle control ECU 3 from the “speed maintaining accelerator opening” in the automatic operation, that is, from the traveling output speed of the “actual opening accelerator opening” in the current automatic operation to the manual operation. A request is made to decelerate stepwise until the speed becomes less than the speed limit on the near side, for example, on the near side of 50 m from the switching completion point.

  Thereby, for example, as shown in FIG. 4, the CPU 71 of the vehicle control ECU 3 sets the vehicle speed 96 of the host vehicle 1 at a predetermined distance from the completion point of switching to manual operation, for example, 50 m before and below the speed limit. The engine device (not shown) is driven and controlled so that the vehicle speed 96 is maintained when the vehicle speed is less than the speed limit.

  Subsequently, in S20, the CPU 41 detects a vehicle speed of the host vehicle 1 by the vehicle speed sensor 51, and performs a determination process for determining whether or not the vehicle speed of the host vehicle 1 is less than the speed limit at the point where the switching to manual driving is completed. Run. And when it determines with the vehicle speed of the own vehicle 1 not being less than the speed limit of the switching completion point to manual operation (S20: NO), CPU41 performs the process of S20 again and makes it less than speed limit. Wait for it to become.

  On the other hand, when it determines with the vehicle speed of the own vehicle 1 having become less than the speed limit of the completion point of switching to manual driving (S20: YES), CPU41 transfers to the process of S21. In S <b> 21, the CPU 41 emits a warning sound with a loud sound from the speaker 16 and displays “Switch to manual operation. Prepare for operation” on the liquid crystal display 15, and then ends the process.

  On the other hand, if it is determined in S18 that the state of the “actual accelerator opening” with respect to the “speed maintaining accelerator opening range” is not “deviation from the speed maintaining accelerator opening range” (S18). : NO), CPU41 transfers to the process of S22. As shown in FIG. 3, in S <b> 22, the CPU 41 reads the state of “actual accelerator opening” with respect to “speed maintaining accelerator opening range” from the RAM 42, and reads “actual accelerator opening with respect to“ speed maintaining accelerator opening range ”. A determination process for determining whether the state of “degree” is “within the accelerator opening range of speed maintenance” is executed.

  If it is determined that the “actual accelerator opening range” with respect to the “speed maintaining accelerator opening range” is “within the speed maintaining accelerator opening range” (S22: YES), the CPU 41 executes S23. Move on to processing. In S23, the CPU 41 maintains the speed in the current automatic driving until the vehicle control ECU 3 completes the switching from the automatic driving to the manual driving, that is, travels at the accelerator opening degree for maintaining the speed. Request to do.

  As a result, for example, as shown in FIG. 4, the CPU 71 of the vehicle control ECU 3 is not allowed to travel at a vehicle speed 97 that maintains the current speed of automatic driving until the switching completion point 95 at which switching to manual driving is completed. The illustrated engine device is driven.

  Subsequently, in S24, the CPU 41 acquires the vehicle position based on the detection result of the current location detection processing unit 11 at regular time intervals, for example, every 100 milliseconds, and switches from automatic operation to manual operation. The switching completion point to be completed is read from the RAM 42. Then, when the vehicle position reaches a switching completion point where the switching to the manual operation is completed, the CPU 41 causes the vehicle control ECU 3 to travel corresponding to the “actual accelerator opening” detected by the accelerator sensor 78. After requesting to travel with the output, the process is terminated.

  Thereby, for example, as shown in FIG. 4, the CPU 71 of the vehicle control ECU 3 starts from the switching completion point 95 at which the switching to the manual operation is completed, and the vehicle speed 97 </ b> A corresponding to the “actual accelerator opening” detected by the accelerator sensor 78. The engine device (not shown) is driven so that the vehicle runs.

  On the other hand, if it is determined in S22 that the “actual accelerator opening range” with respect to the “speed maintaining accelerator opening range” is not “within the speed maintaining accelerator opening range” (S22: NO), the CPU 41 The process proceeds to S25. In S <b> 25, the CPU 41 reads out the “actual accelerator opening” state for the “speed maintaining accelerator opening range” from the RAM 42, and the “actual accelerator opening” state for the “speed maintaining accelerator opening range” is “ A determination process is performed to determine whether or not “the acceleration is greater than the speed maintenance” which is larger than the upper limit accelerator opening of the “speed maintenance accelerator opening range”.

  If it is determined that the state of the “actual accelerator opening” with respect to the “speed maintaining accelerator opening range” is “accelerator greater than speed maintenance” (S25: YES), the CPU 41 proceeds to the process of S26. Transition. In S <b> 26, the CPU 41 instructs the vehicle control ECU 3 to set the current automatic speed so as to have the same speed as the traveling output corresponding to the “actual accelerator opening” at the switching completion point where the switching from the automatic driving to the manual driving is completed. For example, after requesting to increase the speed in 10 steps so as to increase the speed step by step from the speed in operation, the process proceeds to S28 described later.

  Thereby, for example, as shown in FIG. 4, the CPU 71 of the vehicle control ECU 3 performs the speed in the automatic driving from the switching start point 81 from the automatic driving to the manual driving to the switching completion point 95 where the switching to the manual driving is completed. The engine device (not shown) is driven so that the vehicle travels at a vehicle speed 98 in which the speed is increased in 10 steps, for example, from the travel speed to the travel speed corresponding to the “actual accelerator opening” detected by the accelerator sensor 78. .

  On the other hand, when it is determined that the state of the “actual accelerator opening” with respect to the “speed maintaining accelerator opening range” is not “accelerator larger than the speed maintaining”, that is, the lower limit accelerator opening of the “speed maintaining accelerator opening range” is opened. When it is determined that the accelerator is smaller than the speed maintenance (the accelerator is smaller than the speed) (S25: NO), the CPU 41 proceeds to the process of S27. In S <b> 27, the CPU 41 instructs the vehicle control ECU 3 to make the current automatic speed at the same speed as the traveling output corresponding to the “actual accelerator opening” at the switching completion point where the switching from the automatic driving to the manual driving is completed. In order to decrease the speed stepwise from the speed in operation, for example, it is requested to decrease the speed in ten steps.

  Thereby, for example, as shown in FIG. 4, the CPU 71 of the vehicle control ECU 3 performs the speed in the automatic driving from the switching start point 81 from the automatic driving to the manual driving to the switching completion point 95 where the switching to the manual driving is completed. The engine device (not shown) is driven so that the vehicle travels at a vehicle speed 99 that decreases the speed in 10 steps, for example, from the travel speed to the travel speed corresponding to the “actual accelerator opening” detected by the accelerator sensor 78. .

  Subsequently, in S28, the CPU 41 detects the vehicle speed of the host vehicle 1 by the vehicle speed sensor 51, and determines whether or not the vehicle speed of the host vehicle 1 has reached a speed corresponding to the “actual accelerator opening”. Execute. When it is determined that the vehicle speed of the host vehicle 1 has not reached the speed corresponding to the “actual accelerator opening” (S28: NO), the CPU 41 executes the process of S28 again, Wait until the speed corresponding to "degree" is reached.

  On the other hand, when it determines with the vehicle speed of the own vehicle 1 having reached the speed corresponding to "actual accelerator opening" (S28: YES), CPU41 complete | finishes the said process. Thus, after the vehicle 1 reaches the switching completion point at which the switching to the manual operation is completed, the CPU 71 of the vehicle control ECU 3 travels at a speed corresponding to the “actual accelerator opening” detected by the accelerator sensor 78. Thus, an engine device (not shown) is driven.

  For example, as shown in FIG. 4, the CPU 71 of the vehicle control ECU 3 detects the “actual accelerator opening” detected by the accelerator sensor 78 after the vehicle 1 has reached a switching completion point 95 at which the switching to the manual operation is completed. The engine device (not shown) is driven so that the vehicle travels at a vehicle speed 98A or a vehicle speed 99A.

  As described in detail above, in the host vehicle 1 according to the present embodiment, the CPU 41 of the navigation device 2 is a predetermined distance before the guide route in the traveling direction of the host vehicle 1 from the start point of switching from automatic driving to manual driving. Set up to “adjustment section”. In addition, the CPU 41 sets an “output section” from a point where switching from automatic driving to manual driving starts to a point where the vehicle travels a predetermined distance in the traveling direction of the vehicle 1. Further, the CPU 41 sets a “switching completion point to manual driving” at which the switching from the automatic driving to the manual driving is completed at the end point (end point) on the traveling direction side of the host vehicle 1 in the output section.

  Then, the CPU 41 detects the state of the “actual accelerator opening” with respect to the “speed maintaining accelerator opening range” in the automatic operation in the “adjustment section”. When the “actual accelerator opening” is larger than the “speed maintaining accelerator opening range” or when the “actual accelerator opening” is smaller than the “speed maintaining accelerator opening range”, the CPU 41 In the “output section”, when reaching the point where the switching to the manual operation is completed, the speed is accelerated or decelerated step by step so as to reach the speed corresponding to the “actual accelerator opening” from the speed in the automatic operation. Thus, it requests | requires with respect to vehicle control ECU3. In addition, when the “actual accelerator opening” is within the “speed maintaining accelerator opening range”, the CPU 41 performs the current automatic operation until the switching completion point where the switching to the manual operation of the “output section” is completed. The vehicle control ECU 3 is requested to run while maintaining the speed.

  As a result, the driver automatically adjusts the actual travel output, which is the actual travel output of the vehicle when switching from automatic operation to manual operation, by adjusting the amount of depression of the accelerator pedal within the “adjustment zone”. It becomes possible to accelerate or decelerate from the running output of the own vehicle at the time. Therefore, when switching from automatic operation to manual operation, the driver adjusts the amount of accelerator pedal depression in the “adjustment section”, so that the speed requested by the driver from the speed during automatic operation in the “output section”. It becomes possible to change smoothly.

  Further, in the “adjustment section”, the state of “actual accelerator opening” with respect to “speed maintaining accelerator opening range” is “significantly deviated from the speed maintaining accelerator opening range”. Requests the vehicle control ECU 3 to gradually decelerate from the speed in the automatic driving to a speed less than the speed limit when reaching the completion point of switching to the manual driving in the “output section”. .

  As a result, the CPU 71 of the vehicle control ECU 3 controls the engine device (not shown) so as to gradually decelerate from the speed in the automatic driving to a speed less than the speed limit. It becomes possible to deter.

  In the adjustment section, the CPU 41 counts down the time until the switching from the automatic operation to the manual operation is started by the speaker 16 and gives a voice guidance, and displays the countdown on the liquid crystal display 15. Thereby, the driver can easily confirm the grace time from the start of switching from automatic operation to manual operation.

  Further, the CPU 41 displays the difference amount of the “actual accelerator opening” with respect to the “speed maintaining accelerator opening” on the liquid crystal display 15 in the adjustment section. Thus, the driver can easily recognize a deviation state from the accelerator pedal depression amount with respect to the traveling output of the own vehicle 1 in the automatic driving, and the driver outputs the acceleration output (speed) requested by the driver. It becomes possible to set easily.

  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.
The travel output control means controls the actual travel output of the host vehicle in accordance with the travel output of the host vehicle during the automatic driving in the adjustment section.
According to the automatic driving support device having the above configuration, the actual driving output of the host vehicle is controlled in accordance with the driving output of the host vehicle during the automatic driving in the adjustment section. It is possible to travel at the speed at the time of automatic driving to the switching start point to start.

The second configuration is as follows.
The operation state acquisition means acquires the driving operation state of the driver after the adjustment section, and the traveling output control means has reached the end point of the output section in the traveling direction of the own vehicle of the output section. At this time, the actual travel output of the host vehicle is controlled stepwise so as to become the required travel output, and after the host vehicle reaches the end point in the traveling direction of the host vehicle in the output section, the host vehicle The actual running output of the vehicle is controlled according to the requested running output.
According to the automatic driving support device having the above-described configuration, the host vehicle gradually accelerates or decelerates to the requested traveling output of the host vehicle requested by the driver until the host vehicle reaches the end point in the traveling direction of the host vehicle in the output section. Therefore, it is possible to smoothly switch from the speed during automatic driving to the speed requested by the driver. From the end point of the output section, the vehicle can travel at a speed requested by the driver.

The third configuration is as follows.
In the adjustment section, it has a notifying means for notifying the driver of switching to manual operation, and the required output estimating means notifies the driver of switching to manual operation by the notifying means, and then the requested travel The output estimation is started.
According to the automatic driving support apparatus having the above-described configuration, after the notification means notifies the driver of the switching to the manual driving, the driving operation state during the manual driving of the driver is started in order to start the estimation of the required driving output. It is possible to reliably acquire and improve the estimation accuracy of the required travel output.

The fourth configuration is as follows.
The adjustment section includes difference amount presenting means for presenting a difference amount between the traveling output of the host vehicle by the automatic driving and the requested traveling output estimated via the requested output estimating means. .
According to the automatic driving support apparatus having the above-described configuration, since the difference amount between the traveling output of the own vehicle by the automatic driving and the requested traveling output is presented by the difference amount presenting means in the adjustment section, the driver can A difference between the driving output of the vehicle and the state of the driving operation of the vehicle can be easily confirmed.

The fifth configuration is as follows.
In the adjustment section, it comprises determination range setting means for setting a travel output determination range having a predetermined increase / decrease range centered on the travel output of the host vehicle by the automatic driving, and the required output estimation means The requested travel output at the switching start point is estimated based on the state and the travel output determination range.
According to the automatic driving support device having the above configuration, the required driving output at the switching start point is estimated based on the driving operation state of the driver and the driving output determination range having a predetermined increase / decrease range centering on the driving output of the host vehicle. To do. Thereby, when the driving operation state of the driver corresponds to the driving output determination range, it is possible to estimate that the driving output of the own vehicle at the time of the automatic driving is the driver's requested driving output.

The sixth configuration is as follows.
When the required travel output estimated at the switching start point is larger than the travel output determination range, the travel output control means travels stepwise from the travel output of the host vehicle during the automatic operation. When the required travel output estimated at the switching start point is smaller than the travel output determination range, the vehicle travels stepwise from the travel output of the host vehicle during the automatic operation. When the required travel output estimated at the switching start point deviates from the travel output determination range by a deviation threshold or more, a predetermined speed limit is determined from the travel output of the host vehicle. Control is performed so as to achieve a limited travel output corresponding to.
According to the automatic driving support device having the above-described configuration, when the required driving output estimated at the switching start point is larger than the driving output determination range, the driving output is stepwise from the driving output of the own vehicle at the time of automatic driving. Therefore, it is possible to accelerate smoothly to the speed requested by the driver. In addition, when the required travel output estimated at the switching start point is smaller than the travel output determination range, the speed required by the driver is decreased in order to gradually decrease the travel output from the travel output of the host vehicle during automatic driving. It is possible to decelerate smoothly. Further, when the required travel output estimated at the switching start point deviates from the travel output determination range by a deviation threshold or more, control is performed so that the travel output of the host vehicle becomes the limited travel output corresponding to the predetermined speed limit. Therefore, it is possible to continue the automatic driving and suppress the accident.

Furthermore, the seventh configuration is as follows.
The difference amount presenting means starts presenting the difference amount at a timing when the driver is notified of switching to the manual operation via the notifying means, and counts down the difference amount until the switching start point is reached. It is characterized by presenting and presenting.
According to the automatic driving support device having the above-described configuration, the deviation status between the driving output of the own vehicle at the time of automatic driving and the state of the driving operation of the driver, and the grace state from the start point of switching from automatic driving to manual driving Can be guided.

DESCRIPTION OF SYMBOLS 1 Own vehicle 2 Navigation apparatus 3 Vehicle control ECU
11 current location detection processing unit 15 liquid crystal display 15A countdown display unit 25 map information DB
26 Navi Map Information 41, 71 CPU
42, 72 RAM
43, 73 ROM
78 Acceleration sensor 81 Switching start point 82 Adjustment zone 83 Switching notification point 85, 86 Square frame 87A, 87B Actual accelerator opening 88 Differential display starting point 89 Speed maintaining accelerator opening 91 Speed maintaining accelerator opening range 91A Upper limit accelerator opening Degree 91B Lower accelerator opening 93 Output section 95 Switching completion point 96, 97, 97A, 98, 98A, 99, 99A Vehicle speed

Claims (10)

During automatic driving, an adjustment section setting means for setting an adjustment section on the front side of a predetermined distance in the traveling direction of the host vehicle from a switching start point for starting switching from automatic driving to manual driving of the guide route;
Operation state acquisition means for acquiring the state of the driving operation of the driver in the adjustment section;
Requested output estimating means for estimating the required traveling output of the host vehicle requested by the driver based on the state of the driving operation of the driver acquired through the operation state acquiring means;
An output section setting means for setting an output section from the switching start point to a predetermined distance ahead in the traveling direction of the host vehicle;
Within the output section, travel output control means for controlling the actual travel output of the host vehicle to be the required travel output from the travel output of the host vehicle during the automatic operation;
An automatic driving support device characterized by comprising:   2. The automatic driving support according to claim 1, wherein the traveling output control unit controls an actual traveling output of the host vehicle in accordance with a traveling output of the host vehicle during the automatic driving in the adjustment section. apparatus. The operation state acquisition means acquires the state of the driving operation of the driver after the adjustment section,
The travel output control means includes
When the host vehicle reaches the end point in the traveling direction of the host vehicle in the output section, the actual driving output of the host vehicle is controlled stepwise so as to become the required driving output,
The actual traveling output of the own vehicle is controlled in accordance with the requested traveling output after the own vehicle reaches an end point in the traveling direction of the own vehicle in the output section. Item 3. The automatic driving support device according to item 2. Informing means for informing the driver of switching to manual operation in the adjustment section,
4. The demand output estimation means starts estimation of the demand travel output after informing the driver of switching to manual operation by the notification means. The automatic driving assistance device described.   The adjustment section includes difference amount presenting means for presenting a difference amount between the traveling output of the host vehicle by the automatic driving and the requested traveling output estimated via the requested output estimating means. The automatic driving assistance device according to any one of claims 1 to 4. In the adjustment section, comprising a determination range setting means for setting a travel output determination range having a predetermined increase / decrease range around the travel output of the host vehicle by the automatic driving,
6. The demand output estimation means estimates the demand travel output at the switching start point based on a driving operation state of the driver and the travel output determination range. The automatic driving assistance device according to any one of the above. The travel output control means includes
When the required travel output estimated at the switching start point is larger than the travel output determination range, control is performed to increase the travel output stepwise from the travel output of the host vehicle during the automatic operation. ,
When the required travel output estimated at the switching start point is smaller than the travel output determination range, control is performed so that the travel output is gradually reduced from the travel output of the host vehicle during the automatic operation. ,
When the required travel output estimated at the switching start point deviates from the travel output determination range by a deviation threshold or more, the travel output of the host vehicle becomes a limited travel output corresponding to a predetermined speed limit. The automatic driving support device according to claim 6, wherein the automatic driving support device is controlled as follows.   The difference amount presenting means starts presenting the difference amount at a timing when the driver is notified of switching to the manual operation via the notifying means, and counts down the difference amount until the switching start point is reached. The automatic driving assistance device according to any one of claims 5 to 7, wherein the automatic driving assistance device is notified and presented. An automatic driving assistance method executed by an automatic driving assistance device comprising a control unit and an operation state obtaining means for obtaining a driving operation state of a driver,
Executed by the control unit;
During automatic driving, an adjustment zone setting step for setting an adjustment zone on the front side of a predetermined distance in the traveling direction of the host vehicle from a switching start point that starts switching from automatic driving to manual driving of the guide route;
An operation state acquisition step of acquiring the driving operation state of the driver in the adjustment interval set in the adjustment interval setting step via the operation state acquisition unit;
A request output estimation step of estimating a required travel output of the host vehicle requested by the driver based on the state of the driving operation of the driver acquired in the operation state acquisition step;
An output section setting step for setting an output section from the switching start point to a predetermined distance ahead in the traveling direction of the host vehicle;
In the output section set in the output section setting step, the actual traveling output of the own vehicle becomes the requested traveling output estimated in the requested output estimating step from the traveling output of the own vehicle during the automatic driving. A travel output control process for controlling
An automatic driving support method characterized by comprising: In a computer equipped with operation state acquisition means for acquiring the state of driving operation of the driver,
During automatic driving, an adjustment zone setting step for setting an adjustment zone on the front side of a predetermined distance in the traveling direction of the host vehicle from a switching start point that starts switching from automatic driving to manual driving of the guide route;
An operation state acquisition step of acquiring the driving operation state of the driver in the adjustment interval set in the adjustment interval setting step via the operation state acquisition unit;
A request output estimation step of estimating a required travel output of the host vehicle requested by the driver based on the state of the driving operation of the driver acquired in the operation state acquisition step;
An output section setting step for setting an output section from the switching start point to a predetermined distance ahead in the traveling direction of the host vehicle;
In the output section set in the output section setting step, the actual traveling output of the own vehicle becomes the requested traveling output estimated in the requested output estimating step from the traveling output of the own vehicle during the automatic driving. A travel output control process for controlling
A program for running

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