JP6269104B2 - Automatic driving support system, automatic driving support method, and computer program - Google Patents

Description

  The present invention relates to an automatic driving support system, an automatic driving support method, and a computer program that support automatic driving control of a vehicle.

  2. Description of the Related Art In recent years, a navigation device is often mounted on a vehicle that provides vehicle travel guidance so that a driver can easily arrive at a desired destination. Here, the navigation device detects the current position of the vehicle by a GPS receiver or the like, acquires map data corresponding to the current position through a recording medium such as a DVD-ROM or HDD or a network, and displays it on a liquid crystal monitor. It is a device that can do. Further, the navigation device has a route search function for searching for a recommended route from the vehicle position to the destination when a desired destination is input, and sets the searched recommended route as a guide route. A guide route is displayed on the screen, and when the user approaches an intersection, the user is surely guided to a desired destination by voice guidance. In recent years, some mobile phones, smartphones, tablet terminals, personal computers, and the like have functions similar to those of the navigation device.

  Further, in recent years, automatic driving control in which the vehicle automatically travels along a preset route, regardless of the user's driving operation, other than the manual driving that travels based on the user's driving operation, as the driving mode of the vehicle. A new proposal has been made for driving by. In automatic driving control, for example, the current position of the vehicle, the lane in which the vehicle travels, the position of other vehicles in the vicinity are detected at any time, and vehicles such as a steering, a drive source, and a brake are driven so as to travel along a preset route. Control is automatic.

  Here, while the automatic driving control is being performed, various vehicle controls such as lane change and acceleration / deceleration are performed without the user performing a driving operation of the vehicle. In order to prevent such a situation, the navigation apparatus or the like guides in advance what kind of vehicle control is to be performed next before vehicle control is performed. For example, Japanese Patent Laid-Open No. 10-105885 proposes a technique for notifying the content of control performed next to a vehicle by voice guidance while automatic driving control of the vehicle is being performed.

JP 10-105885 (page 3)

  Here, the traveling by the automatic driving control described above has an advantage that the burden on the user's driving can be reduced, but there are situations where it is difficult to perform the traveling by the automatic driving control depending on road conditions. For example, there are situations where it is necessary to change lanes or merge in a short distance section or in bad weather. And in such a situation, it is necessary to interrupt the driving | running | working by automatic driving | operation control and to perform a manual driving | operation. Further, such interruption of the automatic operation control may occur not only at a timing predicted in advance but also at a timing that cannot be predicted in advance (for example, a sudden change in weather, etc.).

  Then, when the user suddenly needs to perform manual driving due to such interruption of automatic driving control, there is a problem that the user cannot grasp the driving operation to be performed next. The technique of Patent Document 1 is a technique for notifying the content of control performed next to the vehicle by voice guidance, but automatic driving control may be interrupted before the notification is performed, thus solving the above problem. I couldn't.

  The present invention has been made in order to solve the problems in the prior art, and even when the automatic operation control is interrupted, it is possible to appropriately perform the subsequent driving operation by the user. An object is to provide a support system, an automatic driving support method, and a computer program.

To achieve the above object, an automatic driving support system (1), an automatic driving support method, and a computer program according to the present invention provide an automatic driving support system that supports automatic driving control of a vehicle, and automatic driving of a vehicle using the system. An automatic driving support method for supporting control, and further a computer program for realizing the following functions for the system. Specifically, when traveling the automatic operation interval automatic driving control of the vehicle is performed, the control contents of the automatic driving control of the vehicle which is set for each of a plurality of sections dividing the automatic operation section, said plurality Control content acquisition means (41) for each of the sections, and while the vehicle travels in the automatic driving section by automatic driving control, the control contents of the automatic driving control corresponding to the section where the vehicle is currently located , Control guidance means (41) for repeatedly guiding at predetermined intervals and guiding the control content of automatic operation control corresponding to the section to be passed next after completing the control related to the control content. To do.

  According to the automatic driving support system, the automatic driving support method, and the computer program according to the present invention having the above-described configuration, even if the user needs to perform manual driving due to interruption of automatic driving control, the user Therefore, it is possible to reliably grasp the next driving operation to be performed. As a result, even if the automatic driving control is interrupted at any timing, it is possible to appropriately perform the driving operation by the user thereafter.

It is the block diagram which showed the structure of the navigation apparatus which concerns on this embodiment. It is a flowchart of the automatic driving guidance processing program according to the present embodiment. It is the figure which showed an example of the guidance schedule produced by the navigation apparatus. It is the figure which showed an example of the control table produced by the navigation apparatus. It is a flowchart of the sub-processing program of control content guidance processing. It is a flowchart of the sub-processing program of control content guidance processing. It is the figure which showed the example of driving | running | working guidance performed when automatic driving | operation control of a vehicle is interrupted. It is the figure which showed the example of driving | running | working guidance performed when automatic driving | operation control of a vehicle is interrupted. It is the figure which showed the example of driving | running | working guidance performed immediately before the control which concerns on the automatic driving | operation control of a vehicle is performed. It is the figure which showed the example of driving | running | working guidance performed immediately after the control which concerns on the automatic driving control of a vehicle is performed. It is the figure which showed the example of driving | running | working guidance performed when passing the boundary of the area divided in the control table. It is the figure which showed the example of driving | running | working guidance performed when passing the boundary of the area divided in the control table. It is the figure which showed the example of driving | running | working guidance periodically performed by a predetermined time interval. It is the figure which showed the example of driving | running | working guidance periodically performed by a predetermined time interval. It is a flowchart of the automatic driving | operation control processing program which concerns on this embodiment. It is a flowchart of the sub process program of the detection process of an interruption area.

  Hereinafter, an automatic driving support system according to the present invention will be described in detail with reference to the drawings based on an embodiment embodied in a navigation device. First, a schematic configuration of the navigation device 1 according to the present embodiment will be described with reference to FIG. FIG. 1 is a block diagram showing a navigation device 1 according to this embodiment.

  As shown in FIG. 1, the navigation device 1 according to the present embodiment includes a current position detection unit 11 that detects a current position of a vehicle on which the navigation device 1 is mounted, a data recording unit 12 that records various data, Based on the input information, the navigation ECU 13 that performs various arithmetic processes, the operation unit 14 that receives operations from the user, and information on a map around the vehicle and a route searched by the route search process described later for the user Such as a liquid crystal display 15 that displays voice guidance related to route guidance, a DVD drive 17 that reads a DVD as a storage medium, a probe center, a VICS (registered trademark: Vehicle Information and Communication System) center, and the like. And a communication module 18 for communicating with the information center.The navigation device 1 is connected to an in-vehicle camera 19 and various sensors installed on a vehicle on which the navigation device 1 is mounted via an in-vehicle network such as CAN. Furthermore, the vehicle control ECU 20 that performs various controls on the vehicle on which the navigation device 1 is mounted is also connected so as to be capable of bidirectional communication. Further, various operation buttons 21 mounted on the vehicle such as an automatic driving switch and an automatic driving start button described later are also connected.

Below, each component which comprises the navigation apparatus 1 is demonstrated in order.
The current position detection unit 11 includes a GPS 22, a vehicle speed sensor 23, a steering sensor 24, a gyro sensor 25, and the like, and can detect the current vehicle position, direction, vehicle traveling speed, current time, and the like. . Here, in particular, the vehicle speed sensor 23 is a sensor for detecting a moving distance and a vehicle speed of the vehicle, generates a pulse according to the rotation of the driving wheel of the vehicle, and outputs a pulse signal to the navigation ECU 13. And navigation ECU13 calculates the rotational speed and moving distance of a driving wheel by counting the generated pulse. Note that the navigation device 1 does not have to include all the four types of sensors, and the navigation device 1 may include only one or more types of sensors.

  The data recording unit 12 reads an external storage device and a hard disk (not shown) as a recording medium, a map information DB 31 recorded on the hard disk, a control table 32, a predetermined program, and the like, and stores predetermined data on the hard disk. And a recording head (not shown) as a driver for writing. The data recording unit 12 may be configured by a memory card, an optical disk such as a CD or a DVD, instead of the hard disk. Further, the map information DB 31 may be stored in an external server, and the navigation device 1 may be configured to acquire by communication.

  Here, the map information DB 31 displays, for example, link data 33 related to roads (links), node data 34 related to node points, search data 35 used for processing related to route search and change, facility data related to facilities, and maps. Storage means for storing map display data, intersection data relating to each intersection, search data for searching for points, and the like.

  The link data 33 includes, for each link constituting the road, the width of the road to which the link belongs, a gradient, a cant, a bank, a road surface state, a JCT or IC ramp, a merge section, the number of road lanes, Data representing the number of lanes decreasing, width narrowing, railroad crossings, etc. for corners, curvature radius, intersections, T-junctions, corner entrances and exits, etc. Data representing uphill roads, etc. in relation to road types, in addition to general roads such as national roads, prefectural roads, and narrow streets, as well as toll roads such as highway automobile national roads, city highways, automobile exclusive roads, general toll roads, and toll bridges Are recorded respectively.

  The node data 34 includes actual road branch points (including intersections, T-junctions, etc.) and the coordinates (positions) of node points set for each road according to the radius of curvature, etc. Node attribute indicating whether a node is a node corresponding to an intersection, etc., a connection link number list that is a list of link numbers of links connected to the node, and an adjacency that is a list of node numbers of nodes adjacent to the node via the link Data relating to the node number list, the height (altitude) of each node point, and the like are recorded.

  Further, as the search data 35, various data used for route search processing for searching for a route from a departure place (for example, the current position of the vehicle) to a set destination as described later are recorded. Specifically, the cost of quantifying the appropriate degree as a route to an intersection (hereinafter referred to as an intersection cost), the cost of quantifying the appropriate degree as a route to a link constituting a road (hereinafter referred to as a link cost), etc. Cost calculation data used for calculating the search cost is stored.

  On the other hand, when the control table 32 includes an automatic driving section in which the automatic driving control is performed on the planned travel route of the vehicle, the control content of the automatic driving control performed on the vehicle in the automatic driving section (for example, straight, rightward) This is a table in which lane changes, merging, etc.) are set. Here, the control table 32 is set by the navigation ECU 13 when the planned travel route of the vehicle is determined or during travel of the vehicle. When the control table 32 is set, the navigation ECU 13 transmits the control table 32 to the vehicle control ECU 20 together with the planned travel route. Then, the vehicle control ECU 20 performs automatic driving control during traveling according to the received control table 32. Details of the control table 32 will be described later.

  Here, as a traveling form of the vehicle, in addition to the manual driving traveling that travels based on the user's driving operation, the vehicle automatically travels along a predetermined route regardless of the user's driving operation. Traveling by operation control is possible. In the automatic driving control, for example, the current position of the vehicle, the lane in which the vehicle travels, and the positions of other vehicles in the vicinity are detected at any time, and steering and driving are performed so as to travel along a route preset by the vehicle control ECU 20. Vehicle control such as power source and brake is performed automatically. The details of the automatic operation control are already known, and the description is omitted. In addition, although automatic driving control may be performed for all road sections, in the following description, as an automatic driving section in which automatic driving control of a vehicle is performed, a gate (manned unmanned, A description will be made assuming that the automatic driving control is basically performed only during the period when the highway is provided with a chargeable free of charge) and the vehicle travels in the automatic driving section. However, other sections may be set as the automatic operation section. For example, a highway automobile national road, a city highway, a car road, a toll road, and a general road may be set as the automatic driving section. In addition, when the vehicle travels in the automatic driving section, automatic driving control is not always performed, but automatic driving control is selected by the user, and driving is performed by automatic driving control as described later. Is only done in appropriate circumstances. That is, the automatic driving section is a section in which automatic driving control is permitted for the vehicle in addition to manual driving.

  Traveling by the above-mentioned automatic driving control has a merit that the burden on the user's driving can be reduced, but there are situations where it is difficult to perform driving by the automatic driving control depending on road conditions. And in the navigation apparatus 1 which concerns on this embodiment, about the area where the situation where it is difficult to make it drive | work with such automatic driving | operation control among automatic driving | running | working sections interrupts automatic driving | operation control of a vehicle, and carries out manual driving | operation Set to the interrupted section to drive. The interruption section is set when the scheduled travel route is determined or while the vehicle is traveling. For example, since it is difficult to perform automatic driving control in a section where merging or a lane change is required in a short section or a section where the lane line is thin, the section is set as an interrupted section.

  On the other hand, the navigation ECU (Electronic Control Unit) 13 is an electronic control unit that controls the entire navigation device 1. The CPU 41 as an arithmetic device and a control device, and a working memory when the CPU 41 performs various arithmetic processes. In addition to the RAM 42 for storing route data when a route is searched, a control program, an automatic driving guidance processing program (see FIG. 2) described later, and an automatic driving control processing program (FIG. 15). And the like, and an internal storage device such as a flash memory 44 for storing a program read from the ROM 43. The navigation ECU 13 constitutes various means as processing algorithms. For example, the control content acquisition unit acquires the control content of the automatic driving control of the vehicle in the automatic driving section when traveling in the automatic driving section where the automatic driving control of the vehicle is performed. The control guidance means repeatedly guides the control contents of the automatic driving control performed from the next time on to the vehicle at predetermined intervals while the vehicle travels in the automatic driving section by the automatic driving control.

  The operation unit 14 is operated when inputting a departure point as a travel start point and a destination as a travel end point, and includes a plurality of operation switches (not shown) such as various keys and buttons. Then, the navigation ECU 13 performs control to execute various corresponding operations based on switch signals output by pressing the switches. The operation unit 14 can also be configured by a touch panel provided on the front surface of the liquid crystal display 15. Moreover, it can also be comprised with a microphone and a speech recognition apparatus.

  The liquid crystal display 15 also includes a map image including roads, traffic information, operation guidance, operation menus, key guidance, a guidance route from the departure point to the destination searched during route search, and guidance along the guidance route. Information, news, weather forecast, time, mail, TV program, etc. are displayed. In place of the liquid crystal display 15, HUD or HMD may be used.

  The speaker 16 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 13 and traffic information guidance. In particular, in the present embodiment, while the vehicle travels in the automatic driving section by the automatic driving control, the control content of the automatic driving control performed on and after the next time is repeatedly output at predetermined intervals.

  The DVD drive 17 is a drive that can read data recorded on a recording medium such as a DVD or a CD. Based on the read data, music and video are reproduced, the map information DB 31 is updated, and the like.

  The communication module 18 is a communication device for receiving traffic information, probe information, weather information, and the like transmitted from a traffic information center, for example, a VICS center or a probe center. . In addition, a vehicle-to-vehicle communication device that performs communication between vehicles and a road-to-vehicle communication device that performs communication with roadside devices are also included.

  The vehicle exterior camera 19 is constituted by a camera using a solid-state image sensor such as a CCD, for example, and is installed above the front bumper of the vehicle and installed with the optical axis direction downward from the horizontal by a predetermined angle. And the vehicle outside camera 19 images the front of the traveling direction of the vehicle when the vehicle travels in the automatic driving section. In addition, the vehicle control ECU 20 performs image processing on the captured image, thereby detecting a lane line drawn on the road on which the vehicle travels, other vehicles in the vicinity, and the like. Perform operation control. On the other hand, when the vehicle travels in an automatic driving section, the navigation ECU 13 has a section where a situation in which it is difficult to cause the driving to be performed by automatic driving control based on a captured image captured by the outside camera 19 as described later (for example, Detection of a thin section line, etc.). The detected section is set as an interrupted section as will be described later. In addition, you may comprise the vehicle exterior camera 19 so that it may arrange | position behind or a side other than the vehicle front. In addition, various sensors such as an illuminance sensor and a rain sensor may be used instead of the outside camera 19 for detection of a section where a situation where it is difficult to perform traveling by the automatic driving control occurs. In that case, for example, heavy rain or heavy fog can be detected. As a means for detecting other vehicles, a sensor such as a millimeter wave radar, vehicle-to-vehicle communication, or road-to-vehicle communication may be used instead of the camera.

  The vehicle control ECU 20 is an electronic control unit that controls the vehicle on which the navigation device 1 is mounted. Further, the vehicle control ECU 20 is connected to each drive unit of the vehicle such as a steering, a brake, and an accelerator. In the present embodiment, the vehicle control ECU 20 controls the drive unit particularly when the vehicle travels in an automatic driving section. Implement automatic operation control. Further, when the navigation ECU 13 creates the control table 32 in which the automatic driving control to be performed on the planned traveling route and the planned traveling route of the vehicle is created as described above, the traveling ECU 13 plans to travel to the vehicle control ECU 20 via the CAN. The route and the control table 32 are transmitted. Then, the vehicle control ECU 20 performs automatic driving control during traveling in accordance with the received scheduled traveling route and the control table 32.

  Next, an automatic driving guidance processing program executed by the CPU 41 in the navigation device 1 according to this embodiment having the above-described configuration will be described with reference to FIG. FIG. 2 is a flowchart of the automatic driving guidance processing program according to this embodiment. Here, the self-propelled driving guidance processing program is a program that is executed at predetermined intervals (for example, every 100 ms) after the planned traveling route (guidance route) of the vehicle is determined, and performs various types of guidance related to automatic driving control. For example, when the user sets a destination at the start of traveling, a route search process using a known Dijkstra method is executed, and the planned traveling route is determined by a user operation from among a plurality of candidates. 2, 5, 6, 15, and 16 are stored in the RAM 42 and ROM 43 provided in the navigation device 1 and executed by the CPU 41.

  First, in step (hereinafter abbreviated as S) 1 in the automatic driving guidance processing program, the CPU 41 determines whether or not the automatic driving switch is turned on. Here, the automatic driving switch is a switch for the user to switch whether the vehicle basically performs the automatic driving control in the automatic driving section or performs the manual driving without performing the automatic driving control. Be placed.

  And when it determines with the automatic driving | operation switch being turned ON (S1: YES), it transfers to S5. On the other hand, when it is determined that the automatic operation switch is OFF (S1: NO), the process proceeds to S2.

  That is, when it is determined that the automatic operation switch is OFF, the user desires to perform manual operation without performing automatic operation control in the automatic operation section. Assuming that the vehicle basically performs manual driving in the automatic driving section, the CPU 41 creates a guidance schedule for manual driving and provides driving guidance for the user who runs by manual driving.

  On the other hand, if it is determined that the automatic operation switch is turned on, the user desires to perform automatic operation control in the automatic operation section. Therefore, as described later, the CPU 41 performs the automatic operation section after S5. Assuming that the vehicle basically performs the automatic driving control, the control content of the automatic driving control is set, and the vehicle traveling guidance for the user who runs by the automatic driving control is performed.

  First, in S <b> 2, the CPU 41 determines whether a guidance schedule for 10 km ahead in the traveling direction has been created along the planned travel route from the current position of the vehicle. The guidance schedule is a schedule that defines how and at what timing guidance for a user who travels by manual operation will be performed in the future. Here, FIG. 3 is a diagram showing an example of a guidance schedule created in the navigation device 1.

  As shown in FIG. 3, the guidance schedule is for assisting a user who performs a manual operation with a driving instruction for causing the user to perform the driving along the planned driving route and a driving operation such as matters to be noted during the driving. Guidance is defined in association with guidance points. For example, if a planned travel route is set to turn left and right at a branch point A ahead of the direction of travel of the vehicle, the guidance “700m ahead is in the right (left) direction” 700m before the branch point A Create a schedule to give guidance “300m ahead is in the right (left) direction” 300m before branch point A, and “soon to be right (left)” 100m before branch point A Is done. In addition, when a right turn dedicated lane or a toll booth approaches, a schedule for warning information is created.

  And when it determines with the guidance schedule for 10 km ahead of the advancing direction being produced along the driving planned route from the present position of a vehicle (S2: YES), it transfers to S4. On the other hand, when it is determined that a guidance schedule for 10 km ahead in the traveling direction along the planned travel route from the current position of the vehicle has not been created (S2: NO), the process proceeds to S3.

  In S3, the CPU 41 creates a guidance schedule (see FIG. 3) for 10 km ahead in the traveling direction along the planned travel route from the current position of the vehicle based on the map information and the planned travel route of the vehicle.

  After that, in S4, the CPU 41 performs traveling guidance for the user who performs the manual operation according to the created guidance schedule. Specifically, the current position of the vehicle is detected, and when it is determined that the vehicle has arrived at the guidance point described in the guidance schedule, the guidance voice associated with the guidance point is output from the speaker 16. Alternatively, a guide image may be output to the liquid crystal display 15. Note that the travel guidance for the user who performs the manual operation in S4 is the same as the travel guidance by a general navigation device that does not consider automatic operation control, and thus the details are omitted.

  On the other hand, in S5, the CPU 41 determines whether or not the control table 32 for 10 km ahead in the traveling direction is created along the planned travel route from the current position of the vehicle. The control table 32 is a table that defines the control content of the automatic driving control performed on the vehicle in the automatic driving section. Here, FIG. 4 is a diagram showing an example of the control table 32 created in the navigation device 1.

  As shown in FIG. 4, the control table 32 is based on the types of routes constituting the automatic driving section for the automatic driving section included in the planned driving route (in FIG. 4, the entire planned driving route is the automatic driving section). Are divided into a plurality of sections, and the control content of automatic operation control is defined for each section. The types of routes include an IC ramp section, a merge section, a main line, a JCT branch section, and a JCT ramp section. The control table also defines the number of action options (hereinafter referred to as action options) that the vehicle can take for each section. For example, in the example shown in FIG. 4, the IC ramp section from the departure point to 1000 m is one type of action option “straight ahead” that the vehicle can take, and “straight forward” is associated as the control content of automatic driving control. It has been. On the other hand, from the point 8000m away from the departure point to 9000m is the JCT branch section, and there are two types of action options that the vehicle can take, "straight ahead" and "change lane to the left", of which automatic driving control Is associated with “change left lane”.

  And when it determines with the control table 32 for 10 km ahead of the advancing direction being produced from the current position of a vehicle along a driving planned route (S5: YES), it transfers to S7. On the other hand, when it is determined that the control table 32 for 10 km ahead in the traveling direction along the planned travel route from the current position of the vehicle has not been created (S5: NO), the process proceeds to S6.

  In S <b> 6, the CPU 41 creates a control table 32 (see FIG. 4) for 10 km forward in the traveling direction along the planned travel route from the current position of the vehicle. The control table 32 is created based on the map information and the planned travel route, and the created control table 32 is stored in the RAM 42, the flash memory 44, or the like. The created control table 32 and the planned travel route of the vehicle are transmitted to the vehicle control ECU 20 via the CAN. Then, the vehicle control ECU 20 performs automatic driving control during traveling in accordance with the received scheduled traveling route and the control table 32.

  Thereafter, in S7, the CPU 41 executes a control content guidance process (FIGS. 5 and 6) described later. In the control content guidance process, traveling guidance for a user who travels by automatic driving control is performed based on the control table 32 created in S6 as described later.

  Next, a sub-process of the control content guidance process executed in S7 will be described with reference to FIGS. 5 and 6 are flowcharts of a sub-processing program for the control content guidance process.

  First, in S <b> 11, the CPU 41 acquires the control table 32 (see FIG. 4) created in S <b> 6 by reading it from the RAM 42 or the flash memory 44.

  Next, in S <b> 12, the CPU 41 acquires the current position of the vehicle based on the detection result of the current position detection unit 11. A map matching process for specifying the current position of the vehicle on the map data is also performed. Furthermore, it is desirable to specify the current position of the vehicle in detail using high-precision location technology. Here, the high-accuracy location technology detects the white line and road surface paint information captured from the camera behind the vehicle by image recognition, and further compares the white line and road surface paint information with a previously stored map information DB, thereby driving the vehicle. This is a technology that makes it possible to detect lanes and highly accurate vehicle positions. The details of the high-accuracy location technology are already known and will be omitted.

  Subsequently, in S13, the CPU 41 corresponds to the current position of the vehicle among the sections divided into a plurality of sections in the control table 32 based on the control table 32 acquired in S11 and the current position of the vehicle acquired in S12. The number of action options defined in the section to be performed (hereinafter referred to as the current section) and the control content are acquired. For example, when the control table 32 shown in FIG. 4 is acquired and the current position of the vehicle is between 8000 m and 9000 m from the departure place, “2” is set as the number of action options in the current section. Acquired and “change lane left” is acquired as the control content.

  Thereafter, in S14, the CPU 41 determines the destination for the current section among the sections divided into a plurality in the control table 32 based on the control table 32 acquired in S11 and the current position of the vehicle acquired in S12. Control content defined in a section adjacent to the vehicle side (that is, a section in which the vehicle travels next to the current section, hereinafter referred to as the next section) and control of automatic driving control performed in the next section from the current position of the vehicle Get the distance to the start position. The distance to the control start position may be a distance from the current position of the vehicle to the start position of the next section, or may be a distance from the current position of the vehicle to a position where control is actually started. For example, when the control table 32 shown in FIG. 4 is acquired and the current position of the vehicle is between 8000 m and 9000 m from the departure place, “straight ahead” is acquired as the control content of the next section. For example, “1500 m” is acquired as the distance to the control start position.

Next, in S15, the CPU 41 determines whether or not the automatic operation control is interrupted. Here, in the present embodiment, a section where a situation in which it is difficult to perform the driving by the automatic driving control is set as an interrupting section in which the automatic driving control of the vehicle is interrupted and the vehicle is driven by the manual driving. Then, when the vehicle enters one of the interrupted sections set at the present time, the automatic driving control is interrupted (see FIG. 15). For example, a section corresponding to any of the following conditions (1) to (5) is set as an interrupted section.
(1) A section that requires merging or changing lanes in a short section (for example, 500 m or less).
(2) A section where the lane marking (the roadway center line, the lane boundary line, the roadway outer line, etc.) has disappeared or has become so thin that it cannot be recognized by the camera.
(3) A section in which lane regulation is caused by accidents, construction work, fallen objects, etc., but it cannot be determined which lane the regulated lane is.
(4) A section in which the weather is difficult to detect by a camera or a sensor or the weather is difficult to control (for example, heavy rain, heavy fog, snow accumulation, road freezing) when the vehicle is running.
(5) A section other than (1) to (4) in which automatic operation control has been interrupted in the past.
The setting of the interruption section is basically performed when the planned travel route is set, but is also performed while the vehicle is traveling as described later. For example, when it is newly detected that there is a section with a thin lane line or a section with bad weather ahead in the traveling direction of the vehicle, it is difficult to perform automatic driving control in that section, so the section is interrupted. Set a new section. Moreover, you may comprise so that the area which interrupts automatic driving | operation control based on a user's manual operation can be set.

  And when it determines with automatic driving | operation control being interrupted (S15: YES), it transfers to S16. On the other hand, when it determines with automatic driving | operation control not being interrupted (S15: NO), it transfers to S19.

  In S16, the CPU 41 determines whether there are a plurality of action options in the current section based on the information acquired in S13.

  When it is determined that there are a plurality of action options in the current section (S16: YES), the process proceeds to S17. On the other hand, when it is determined that the number of action options in the current section is only one (S16: NO), the process proceeds to S18.

  In S17, the CPU 41 guides the control content corresponding to the current section based on the information acquired in S13. For example, when the control table 32 shown in FIG. 4 is acquired and the current position of the vehicle is between 8000 m and 9000 m from the departure place, as shown in FIG. Please move to the left lane. ”Is performed. As a result, the automatic driving control is interrupted, and there are a plurality of actions that the vehicle can take (for example, in the example shown in FIG. 7, the vehicle can go straight along the main line, or the lane can be changed to enter the ramp). Even if it is a case, it becomes possible to perform subsequent driving operation by the user appropriately. That is, in the example shown in FIG. 7, it is possible to change the lane to the left and enter the JCT ramp. The guidance may be output by voice guidance, or a guidance image may be output.

  On the other hand, in S18, the CPU 41 guides the control content corresponding to the next section and the distance to the control start position (except when the control content is straight) based on the information acquired in S14. For example, when the control table 32 shown in FIG. 4 is acquired, and the current position of the vehicle is between 1000 m from the departure place, as shown in FIG. Please. ”Is performed. As a result, even if the automatic operation control is interrupted, it is possible to appropriately perform the subsequent driving operation by the user. In other words, in the example shown in FIG. 8, it is possible to join the vehicle traveling on the IC ramp to the main line.

  In S19, the CPU 41 determines whether or not it is a predetermined time before the control related to the automatic driving control of the vehicle is performed based on the control table 32 acquired in S11. The predetermined time before may be a fixed value (for example, 5 seconds before) or may be a fluctuation value (for example, timing at which control is started at the end of voice guidance).

  And when it determines with it being before the predetermined time when the control which concerns on the automatic driving control of a vehicle is performed (S19: YES), it transfers to S20. On the other hand, when it is determined that it is not a predetermined time before the control related to the automatic driving control of the vehicle is performed (S19: NO), the process proceeds to S21.

  In S20, the CPU 41 guides the control contents to be performed after a predetermined time to the vehicle based on the information acquired in S13 and S14. For example, in the case where the control table 32 shown in FIG. 4 is acquired and the current position of the vehicle is between 8000 m and 9000 m from the departure point and the timing at which the lane change is performed after a predetermined time, FIG. As shown in “Go to the left lane. ”Is performed. As a result, the user can grasp the control content of the automatic driving control to be performed in the vehicle from now on, and the user will not feel uneasy by executing the automatic driving control.

  On the other hand, in S21, the CPU 41 determines whether or not a predetermined time has elapsed since the control relating to the automatic driving control of the vehicle was performed. Note that the predetermined time elapsed may be a fixed value (for example, immediately after the control is performed) or a fluctuation value.

  And when it determines with it being the timing which predetermined time passed since control which concerns on the automatic driving control of a vehicle was performed (S21: YES), it transfers to S22. On the other hand, if it is determined that the predetermined time has not elapsed since the control related to the automatic driving control of the vehicle is performed (S21: NO), the process proceeds to S23.

  In S22, based on the information acquired in S13 and S14, the CPU 41 guides the next control content to be performed on the vehicle and the distance to the control start position (except when the control content is straight). For example, when the control table 32 shown in FIG. 4 is acquired, and the current position of the vehicle is a timing after a predetermined time has elapsed since the lane change was performed between 8000 m and 9000 m from the departure place. As shown in Figure 10, “Go straight in this lane. ”Is performed. As a result, the user can grasp in advance the control content of the automatic driving control performed next in the vehicle, and the user does not feel uneasy by the subsequent execution of the automatic driving control.

  In S <b> 23 of FIG. 6, the CPU 41 determines whether or not the vehicle has passed the boundary of the section defined in the control table 32 based on the current position of the vehicle and the control table 32. For example, when the control table 32 shown in FIG. 4 is acquired, it is determined whether or not each point of 1000 m, 1500 m, 8000 m, 9000 m, and 9500 m has passed from the departure place.

  And when it determines with the vehicle having passed the boundary of the area prescribed | regulated to the control table 32 (S23: YES), it transfers to S24. On the other hand, when it is determined that the vehicle has not passed the boundary of the section defined in the control table 32 (S23: NO), the process proceeds to S28.

  In S24, the CPU 41 determines whether there are a plurality of action options in the current section in which the vehicle has newly entered based on the information acquired in S13.

  When it is determined that there are a plurality of action options in the current section (S24: YES), the process proceeds to S25. On the other hand, when it is determined that the number of action options in the current section is only one (S24: NO), the process proceeds to S26.

  In S25, the CPU 41 guides the control content corresponding to the current section in which the vehicle has newly entered based on the information acquired in S13. For example, when the control table 32 shown in FIG. 4 is acquired and the current position of the vehicle has reached 8000 m from the departure place, as shown in FIG. Move ”Is performed. As a result, if the automatic driving control is interrupted in the future, and the vehicle can take a plurality of actions (for example, in the example shown in FIG. 11, the vehicle can go straight along the main line, change the lane, Even if it is possible to enter, it is possible to appropriately perform the driving operation by the user after the interruption. That is, in the example shown in FIG. 11, it is possible to change the lane to the left and enter the JCT ramp.

  On the other hand, in S26, the CPU 41 guides the control content corresponding to the next section and the distance to the control start position (except when the control content is straight) based on the information acquired in S14. For example, when the control table 32 shown in FIG. 4 is acquired and the current position of the vehicle reaches 1000 m from the departure place, as shown in FIG. . ”Is performed. As a result, even if the automatic driving control is interrupted in the future, it becomes possible to appropriately perform the driving operation by the user after the interruption. That is, in the example shown in FIG. 12, it is possible to join a vehicle traveling on an IC ramp to the main line.

  Next, in S <b> 27, the CPU 41 reads the regular notification flag and the regular notification timer T stored in the RAM 42. Then, the regular notification flag is set to “ON”, and the regular notification timer T is set to “0”. As will be described later, the periodic notification flag is an automatic flag that is issued to the vehicle after the next time every time a predetermined time (for example, 1 minute) elapses regardless of whether automatic driving control is interrupted or the current position of the vehicle. This flag indicates whether or not the control content of the operation control is in a state of guidance (hereinafter referred to as “periodic guidance”), and the periodic guidance is set in a state where the periodic notification flag is set to “ON” as will be described later. Will be done. The regular notification timer T is a timer that measures the interval at which the regular guidance is performed.

  On the other hand, in S28, the CPU 41 reads the regular notification timer T from the RAM 42, and adds 100 ms (that is, the execution interval of the automatic driving guidance processing program).

  Next, in S29, the CPU 41 reads the regular notification flag and the regular notification timer T from the RAM 42, and whether the regular notification flag is “ON” and the regular notification timer T is 1 minute or longer. Judge whether or not. The time used as the determination criterion in S29 is an interval at which the regular guidance is performed. In this embodiment, it is 1 minute, but a time other than 1 minute may be defined.

  When it is determined that the regular notification flag is “ON” and the regular notification timer T is 1 minute or longer (S29: YES), the process proceeds to S30. On the other hand, when it is determined that the regular notification flag is not in the “ON” state or the regular notification timer T is less than one minute (S29: NO), the automatic driving guidance process is performed without performing guidance. Exit the program.

  In S30, the CPU 41 determines whether there are a plurality of action options in the current section based on the information acquired in S13.

  When it is determined that there are a plurality of action options in the current section (S30: YES), the process proceeds to S31. On the other hand, when it is determined that the number of action options in the current section is only one (S30: NO), the process proceeds to S32.

  In S31, the CPU 41 guides the control content corresponding to the current section based on the information acquired in S13. For example, when the control table 32 shown in FIG. 4 is acquired and the current position of the vehicle is between 8000 m and 9000 m from the departure place, as shown in FIG. Move to the left lane at the fork. Is repeated at 1 minute intervals. As a result, if the automatic driving control is interrupted in the future, and the vehicle can take a plurality of actions (for example, in the example shown in FIG. 13, the vehicle can go straight along the main line, change the lane, Even if it is possible to enter, it is possible to appropriately perform the driving operation by the user after the interruption. That is, in the example shown in FIG. 13, it is possible to change the lane to the left and enter the JCT ramp. Thereafter, the process proceeds to S34.

  On the other hand, in S32, based on the current position of the vehicle and the control table 32, the CPU 41 determines whether or not the distance from the current position of the vehicle to the control start position of the next automatic driving control to be performed is 2 km or less.

  If it is determined that the distance from the current position of the vehicle to the control start position of the automatic driving control to be performed next is 2 km or less (S32: YES), the process proceeds to S33. On the other hand, when it is determined that the distance from the current position of the vehicle to the control start position of the next automatic driving control to be performed is longer than 2 km (S32: NO), the process proceeds to S34 without performing guidance. . Therefore, even if one minute has passed since the time when the boundary of the section was passed or when the previous guidance was performed, guidance is not performed when the vehicle has only one action option (however, , S15, S19, S21, S23, and S32, except when the determination conditions are met).

  In S33, the CPU 41 guides the control content corresponding to the next section and the distance to the control start position (except when the control content is straight) based on the information acquired in S14. For example, when the control table 32 shown in FIG. 4 is acquired, and the current position of the vehicle is between 1000 m from the departure place, as shown in FIG. Join. Is repeated at 1 minute intervals. As a result, even if the automatic driving control is interrupted at any timing in the future, it becomes possible to appropriately perform the driving operation by the user after the interruption. That is, in the example shown in FIG. 14, it is possible to join a vehicle traveling on an IC ramp to the main line.

  Thereafter, in S34, the CPU 41 reads the periodic notification timer T from the RAM 42, substitutes “0”, and ends the automatic driving guidance processing program.

  Next, an automatic driving control processing program executed by the CPU 41 in the navigation device 1 according to this embodiment will be described with reference to FIG. FIG. 15 is a flowchart of the automatic operation control processing program according to the present embodiment. Here, the self-propelled driving control processing program is executed at a predetermined interval (for example, every 100 ms) after the planned traveling route (guide route) of the vehicle is determined, and the automatic driving control continuation determination, interruption interval setting, and the like are performed. It is a program to be performed.

  First, in S41, in the automatic operation control processing program, the CPU 41 determines whether or not the automatic operation start button is turned on. Here, the automatic operation start button is arranged on an instrument panel or the like, and is switched ON and OFF every time the user presses it. Then, automatic driving control is started when the vehicle is running in an automatic driving section (excluding the section set as an interruption section), while automatic driving is started when the vehicle is turned off during execution of the automatic driving control. Even during traveling in the section, the automatic operation control ends and switches to manual operation.

  And when it determines with the automatic driving | operation start button being turned ON (S41: YES), it transfers to S44. On the other hand, if it is determined that the automatic operation start button is not turned on (S41: NO), the process proceeds to S42.

  In S42, the CPU 41 determines whether or not automatic driving control in the vehicle is being executed.

  And when it determines with automatic driving | operation control in a vehicle being performed (S42: YES), it transfers to S43. On the other hand, when it is determined that the automatic driving control in the vehicle is not being executed (S42: NO), the automatic driving control processing program is terminated.

  In S43, the CPU 41 executes an automatic operation control end process. Specifically, an instruction signal for terminating the automatic driving control is transmitted to the vehicle control ECU 20 via the CAN. As a result, the automatic driving control ends in the vehicle and switches to manual driving.

  On the other hand, in S44, the CPU 41 determines whether or not the vehicle is in the automatic driving section based on the current position of the vehicle detected by the current position detection unit 11 and the map information. Note that it is desirable to specify the current position of the vehicle in detail using a high-precision location technology.

  And when it determines with a vehicle being in an automatic driving area (S44: YES), it transfers to S45. On the other hand, when it is determined that the vehicle is not in the automatic driving section (S44: NO), the process proceeds to S42.

  In S45, the CPU 41 executes an interruption section detection process (FIG. 16) described later. In addition, the detection process of the interruption section has a situation where it is difficult to perform the automatic driving control outside the section that has already been set as the interruption section using the outside camera 19 or the sensor while the vehicle is traveling as described later. This is a process of detecting a generated section and newly setting it as an interrupted section.

  Next, in S46, the CPU 41 determines whether or not the automatic operation control is being interrupted. As described above, even when the vehicle is traveling in the automatic driving section, if the vehicle is located in the set interruption section, the automatic driving control of the vehicle is interrupted and traveling by manual driving is performed.

  If it is determined that the automatic operation control is being interrupted (S46: YES), the process proceeds to S49. On the other hand, if it is determined that the automatic operation control is not interrupted (S46: NO), the process proceeds to S47.

  In S47, the CPU 41 determines whether or not the vehicle has entered the interruption section. The interrupted section is set when the scheduled travel route is set or in the interrupted section detection process (FIG. 16) described later.

  And when it determines with the vehicle having entered into the interruption area (S47: YES), it transfers to S48. In S48, the CPU 41 executes the automatic operation control interruption process. Specifically, an instruction signal for temporarily interrupting the automatic driving control is transmitted to the vehicle control ECU 20 via the CAN. As a result, the automatic operation control is temporarily interrupted in the vehicle and switched to manual operation. On the other hand, when it is determined that the vehicle has not entered the interruption section (S47: NO), automatic driving control is continuously performed.

  On the other hand, in S49, the CPU 41 determines whether or not the vehicle has left the suspended section.

  And when it determines with the vehicle having left the interruption area (S49: YES), it transfers to S50. In S50, the CPU 41 executes the automatic operation control restart process. Specifically, an instruction signal for resuming the automatic driving control that has been interrupted is transmitted to the vehicle control ECU 20 via the CAN. As a result, the automatic operation control that has been interrupted in the vehicle is resumed, and the manual operation is switched to the automatic operation control. On the other hand, when it is determined that the vehicle has not left the interruption section (S49: NO), the automatic operation control is continued to be interrupted.

  Next, the sub-process of the interruption section detection process executed in S45 will be described with reference to FIG. FIG. 16 is a flowchart of a sub-processing program for detecting an interruption interval.

  First, in S51, the CPU 41 acquires the current position of the vehicle based on the detection result of the current position detection unit 11. Note that it is desirable to specify the current position of the vehicle in detail using a high-precision location technology.

  Next, in S52, the CPU 41 acquires route information ahead of the vehicle in the traveling direction. For example, route information within 1 km is acquired along the planned travel route from the current position of the vehicle.

  Subsequently, in S53, the CPU 41 determines whether or not it is connected to a traffic information server such as an external server or a VICS center in which the interruption history of the automatic driving control of other vehicles is stored.

  If it is determined that the vehicle is connected to a traffic information server such as an external server or a VICS center in which the interruption history of the automatic driving control of other vehicles is stored (S53: YES), the route is transmitted from the server in S52. The latest automatic driving control interruption history and the latest traffic information in the forward section (hereinafter referred to as the detection target section) of the vehicle in which the information has been acquired are acquired (S54). On the other hand, if it is determined that the vehicle is not connected to a traffic information server such as an external server or a VICS center in which the suspension history of automatic driving control of other vehicles is stored (S53: NO), the process proceeds to S55.

  In S55, the CPU 41 determines whether a camera, a sensor, or the like for detecting the external environment of the vehicle is connected. Examples of the sensor include a millimeter wave radar for detecting an obstacle, a rain sensor for detecting rain and snow, an illuminance sensor, and the like.

  If it is determined that a camera or sensor for detecting the external environment of the vehicle is connected (S55: YES), the external environment around the vehicle is detected using the connected camera or sensor. (S56). On the other hand, if it is determined that a camera or sensor for detecting the external environment of the vehicle is not connected (S55: NO), the process proceeds to S57.

Subsequently, in S57, the CPU 41, among the sections ahead of the traveling direction of the vehicle that acquired the route information in S52, based on the interruption history and traffic information acquired in S54 and the external environment detected in S56, already It is determined whether or not there is a section in which a situation where it is difficult to cause the automatic driving control to run is performed except for the section set as the suspension section. And when it determines with the area where the situation where it is difficult to perform driving | running | working by automatic operation control exists, this area is newly specified as an interruption area. The interruption section specified in S57 cannot be specified during the route search, but is an interruption section that can be specified for the first time when the vehicle reaches the site. For example, the following (6) to (9) ) Is determined as an interrupted section.
(6) A section in which no interruption history exists at the time of setting the scheduled travel route, but a new interruption history is caused by the other vehicle interrupting the automatic driving control until the vehicle arrives at the site.
(7) A section in which a lane restriction is newly generated due to an accident, a construction work, a fallen object, or the like after the scheduled travel route is set, and it is not possible to determine which lane the restricted lane is.
(8) By imaging the road surface with the camera, it was newly detected that the lane markings (the lane center line, the lane boundary line, the lane outside line, etc.) have disappeared or have become so thin that they cannot be recognized by the camera. section.
(9) A section that cannot be predicted at the time of setting the scheduled travel route, but has become difficult to detect with a camera or sensor or difficult to control the vehicle (for example, heavy rain, heavy fog, snow accumulation, road freezing).

  Thereafter, the CPU 41 controls the automatic driving control according to the newly specified interruption section. In addition, the above-described travel guidance (S17, S18 in FIG. 5) is also performed according to the newly specified interrupted section. Therefore, even when the user needs to perform manual driving unexpectedly, the user can grasp the driving operation to be performed next.

  As described above in detail, in the navigation device 1 according to the present embodiment, the automatic driving support method using the navigation device 1, and the computer program executed by the navigation device 1, the vehicle travels in an automatic driving section in which automatic driving control of the vehicle is performed. In this case, the control table 32 defining the control content of the automatic driving control of the vehicle in the automatic driving section is acquired (S11), and the vehicle travels in the automatic driving section by the automatic driving control according to the acquired control table 32. In FIG. 5, since the control contents of the automatic driving control to be performed on and after the next time are repeatedly guided at predetermined intervals (S17, S18, S20, S22, S25, S26, S31, S33), the automatic driving control is interrupted. Even if the user needs to perform manual operation, Then it is possible to reliably grasp the driving operation to be performed by. As a result, even if the automatic driving control is interrupted at any timing, it is possible to appropriately perform the driving operation by the user thereafter.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in the present embodiment, the control content of the automatic driving control defined for the section where the vehicle is currently located or the next section among the sections divided by the control table 32 is guided. It is good also as a structure which guides also about the control content of the automatic driving | running control prescribed | regulated with respect to this area.

  Moreover, in this embodiment, even if there is only one action option in the section where the vehicle is located, if the determination conditions of S15, S19, S21, S23, and S32 are met, the vehicle travel guidance is implemented. However, even if the determination conditions of S15, S19, S21, S23, and S32 are met, the vehicle travel guidance is not performed when there is only one action option in the section where the vehicle is located. May be.

  In the present embodiment, the navigation device 1 is configured to create the control table 32, but may be configured to be created by the vehicle control ECU 20.

  In the present embodiment, the vehicle control ECU 20 automatically controls all of the accelerator operation, the brake operation, and the handle operation, which are operations related to the behavior of the vehicle, among the operations of the vehicle, without depending on the driving operation of the user. It has been described as an automatic operation control for traveling. However, in the automatic driving control, the vehicle control ECU 20 may control 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 operations of the vehicle. On the other hand, manual driving by the user's driving operation will be described as a case where the user performs all of the accelerator operation, the brake operation, and the steering wheel operation, which are operations related to the behavior of the vehicle, among the operations of the vehicle.

  In the present embodiment, the navigation device 1 executes the automatic driving guidance processing program (FIG. 2) and the automatic driving control program (FIG. 15), but the vehicle control ECU 20 may execute the automatic driving guidance processing program (FIG. 2). In this case, the vehicle control ECU 20 is configured to acquire the current position of the vehicle, map information, traffic information, and the like from the navigation device 1.

  Further, the present invention can be applied to a device having a function of travel guidance in addition to the navigation device. For example, the present invention can be applied to a mobile phone, a smartphone, a tablet terminal, a personal computer, and the like (hereinafter referred to as a mobile terminal). Further, the present invention can be applied to a system including a server and a mobile terminal. In that case, each step of the automatic driving guidance processing program (FIG. 2) and the automatic driving control program (FIG. 15) described above may be implemented by either a server or a mobile terminal. However, when the present invention is applied to a portable terminal or the like, it is necessary that a vehicle capable of performing automatic driving control and the portable terminal or the like be connected so as to be communicable (regardless of wired wireless).

  Moreover, although the embodiment which actualized the automatic driving support system according to the present invention has been described above, the automatic driving support system 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 control guidance means automatically drives the vehicle corresponding to the section in which the vehicle is currently located a predetermined time before the control related to the control content of the automatic driving control corresponding to the section in which the vehicle is currently located is performed every time a predetermined time elapses. Guidance is provided at one or a plurality of timings when a plurality of behavior options of the vehicle and when automatic driving control is interrupted after a predetermined time after the control related to the control content is performed. And
According to the automatic driving support system having the above-described configuration, it is possible to provide the user with the timing at which the content of the automatic driving control of the vehicle is switched, the timing at which the type of the route on which the vehicle travels changes, the timing at which some vehicle control is performed, etc. It is possible to guide the control contents of the automatic driving control to be performed to the vehicle from the next time at a timing when it is effective to perform the guidance. In addition, if guidance is periodically provided every time a predetermined time has passed, the user can appropriately perform subsequent driving operations regardless of when automatic driving control is interrupted. Is possible. In addition, if guidance is given a predetermined time before the control related to the automatic driving control is performed, the user can grasp the control content of the automatic driving control to be performed on the vehicle from now on. There is no concern for the user.

The second configuration is as follows.
The control guidance means passes the next section if the vehicle has only one action option even before completing the control related to the control content of the automatic driving control corresponding to the section where the vehicle is currently located. The control content of the automatic operation control corresponding to is guided .
According to the automatic driving support system having the above-described configuration, there is no other action option even when the guidance to the user is unnecessary, that is, when the automatic driving control is interrupted, and the user may mistaken the driving operation to be performed next. In a situation where there is no information, it is possible to provide a guide for a section to be passed next . And it is possible to reduce a control burden by not performing unnecessary guidance, and it does not make a user feel bothersome.

The third configuration is as follows.
The control content acquisition means divides the automatic driving section into a plurality of sections, and records the number of action options of the vehicle traveling in each section and the control contents of the automatic driving control of the vehicle executed in each section in association with each other. It is characterized by acquiring a table.
According to the automatic driving support system having the above-described configuration, it is possible to accurately specify the timing at which guidance for the user is effective by referring to the table.

1 Navigation device 13 Navigation ECU
14 Operation Unit 15 Liquid Crystal Display 32 Control Table 41 CPU
42 RAM
43 ROM

Claims (6)

When traveling in an automatic driving section in which automatic driving control of the vehicle is performed, the control content of the automatic driving control of the vehicle set for each of a plurality of sections dividing the automatic driving section is acquired for each of the plurality of sections. Control content acquisition means for
While the vehicle travels in the automatic driving section by automatic driving control, the control contents of the automatic driving control corresponding to the section where the vehicle is currently located are repeatedly guided at predetermined intervals, and the control related to the control contents is performed. An automatic driving support system comprising: control guidance means for guiding the control content of the automatic driving control corresponding to a section that passes next after completion . When the predetermined time has elapsed, the control guide means automatically controls the automatic operation control corresponding to the section in which the vehicle is currently located , a predetermined time before the control related to the control content of the automatic driving control corresponding to the section in which the vehicle is currently positioned. Guidance is given at one or more timings when a plurality of behavior options of the vehicle and when automatic driving control is interrupted after a predetermined time after the control related to the control content of the driving control is performed. The automatic driving support system according to claim 1. The control guidance means passes the next section if the vehicle has only one action option even before completing the control related to the control content of the automatic driving control corresponding to the section where the vehicle is currently located. The automatic driving support system according to claim 1 or 2, wherein the control content of the automatic driving control corresponding to is guided .   The control content acquisition means divides the automatic driving section into a plurality of sections, and the number of action options of the vehicle traveling in each section corresponds to the control content of the automatic driving control of the vehicle executed in each section. The automatic driving support system according to any one of claims 1 to 3, wherein a table recorded with the information is acquired. When the control content acquisition means travels in an automatic driving section in which automatic driving control of the vehicle is performed, the control content of the automatic driving control of the vehicle set for each of a plurality of sections that divide the automatic driving section , Acquiring for each of a plurality of sections ;
The control guide means repeatedly guides the control content of the automatic driving control corresponding to the section where the vehicle is currently located at a predetermined interval while the vehicle travels in the automatic driving section by the automatic driving control. And a step of guiding the control contents of the automatic driving control corresponding to the section to be passed next after completing the control related to the contents . Computer
When traveling in an automatic driving section in which automatic driving control of the vehicle is performed, the control content of the automatic driving control of the vehicle set for each of a plurality of sections dividing the automatic driving section is acquired for each of the plurality of sections. Control content acquisition means for
While the vehicle travels in the automatic driving section by automatic driving control, the control contents of the automatic driving control corresponding to the section where the vehicle is currently located are repeatedly guided at predetermined intervals, and the control related to the control contents is performed. Control guidance means for guiding the control content of the automatic operation control corresponding to the section to be passed next after completion ;
Computer program to make it function.

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