JP6311429B2 - Automatic operation plan display device and program for automatic operation plan display device - Google Patents

Description

  The present invention relates to an automatic operation plan display device and a program for an automatic operation plan display device.

  2. Description of the Related Art Conventionally, an automatic driving technique has been proposed in which driving, braking, and steering of a vehicle are automatically performed without receiving a driver's operation (see, for example, Patent Document 1).

JP 2009-51356 A

  About such a technique, the inventor examined as follows. If the performance of automatic driving is perfect, driving to the destination can be left to automatic driving. However, in practice, it is difficult for the driver to grasp the performance of automatic driving combining multiple functions, and there are road sections where automatic driving is possible and road sections where automatic driving is not possible depending on the road conditions driven by the driver. Therefore, even though the driver of the vehicle has selected automatic driving for a certain driving course, automatic driving may not be possible in most of the driving course. In such a case, the driver who intends to rely on automatic driving will be forced to perform only complicated driving, and as a result, the driver's response may be delayed, and even if the response is not delayed, the driver will be bothered There is a possibility of feeling. In such a case, the driver regrets that he / she did not select automatic driving or the like, and as a result, the driver's evaluation of the automatic driving function may be lowered.

  The present invention has been made in view of the above points, and it is an object of the present invention to reduce the possibility that the driver's evaluation for the automatic driving function is lowered due to the fact that the automatic driving in the traveling course is not performed as expected by the driver.

In order to achieve the above object, the invention according to claim 1 is directed to a driving support sensor (11), an actuator (12) for realizing driving, braking and steering, and the actuator based on a detection result of the driving support sensor. Is an automatic driving plan display device used in a vehicle equipped with a driving support device (13) that performs automatic driving by controlling the driving condition data indicating conditions under which the automatic driving by the driving support device is possible Use condition data acquisition means (120) for acquiring information, outline environment data acquisition means (130) for acquiring outline environment data as information on the situation on the road, and travel course calculation means for calculating a travel course to the destination (150)
By applying information on the situation on the road included in the traveling course in the outline environment data to the use condition data, the automatic driving in each of the plurality of road sections included in the traveling course is possible or not possible. Before the start of automatic driving in the traveling course, notification means (160, 170, 180) for notifying the driver, and use of creating the use condition data based on the performance of the vehicle or the performance of the automatic driving And an automatic operation plan display device comprising condition data creation means (15) .

  As described above, the automatic driving plan display device applies the information on the situation on the road included in the traveling course to the use condition data indicating the conditions under which the driving support device can perform automatic driving. Based on this fitting, it is possible to notify the driver of whether or not automatic driving is possible in each of a plurality of road sections included in the traveling course before starting automatic driving in the traveling course. As a result, the driver is less likely to be disappointed with excessive expectations for automatic driving, and thus the possibility that the driver's evaluation for the automatic driving function is lowered is reduced.

  In addition, the code | symbol in the bracket | parenthesis in the said and the claim shows the correspondence of the term described in the claim, and the concrete thing etc. which illustrate the said term described in embodiment mentioned later. .

It is a lineblock diagram of automatic operation system 1 concerning an embodiment of the present invention. It is a figure which shows an example of use condition data. It is a flowchart of the automatic driving | operation plan preparation process which the car navigation apparatus 19 performs. It is a figure which shows an example of the alerting | reporting content to a driver.

  Hereinafter, an embodiment of the present invention will be described. As shown in FIG. 1, the automatic driving system 1 according to this embodiment includes a driving support sensor 11, an actuator 12, a driving support device 13, a sensor maintenance device 14, a driving support management device 15, a driving support history storage device 16, and a display device. 17, outline | summary It has the environment acquisition apparatus 18, the car navigation apparatus 19, etc., and is mounted in the vehicle.

  The driving assistance sensor 11 is a sensor group used by the driving assistance device 13 for automatic driving and driving assistance. For example, the driving assistance sensor 11 detects a position of the own vehicle, a camera that photographs surrounding objects such as the front of the own vehicle. It has a position detector. Further, the driving assistance sensor 11 may include a distance sensor (for example, a laser radar or an ultrasonic sensor) that detects an inter-vehicle distance between the host vehicle and another vehicle in place of or in addition to the camera. .

  The driving support sensor 11 may further include a lane marker detector (for example, a radio that communicates the lane marker) that detects a lane marker embedded in the road. The driving support sensor 11 may further include a rain sensor that detects the presence or absence of rainfall outside the host vehicle. Further, the driving assistance sensor 11 has a GPS receiver, a vehicle speed sensor, an acceleration sensor, a yaw rate sensor, and the like as a position detector.

  The actuator 12 is an actuator that realizes driving, braking, and steering of the vehicle. More specifically, the actuator 12 includes a drive actuator that generates vehicle drive torque (engine torque, motor torque, etc.), a brake actuator that generates vehicle brake torque, a steering actuator that generates vehicle steering, and the like. And is controlled by the driving support device 13.

  The driving support device 13 includes a plurality of microcomputers including a CPU, a RAM, a ROM, and the like, and each microcomputer executes a predetermined program to perform an automatic driving process as necessary.

  The automatic driving process is a process in which the driving support device 13 controls the actuator 12 based on the detection result of the driving support sensor 11 to thereby execute the automatic driving of the vehicle. The automatic driving of the vehicle means that the driving, braking, and steering of the vehicle are automatically performed without receiving a driver's driving operation (accelerator operation, brake operation, steering). When the automatic driving is executed, the vehicle travels automatically.

Specifically, the driving assistance device 13 performs the following operations (a) to (g) in the automatic driving process (a) based on the detection result of the position detector of the driving assistance sensor 11. The current position and travel speed vector are specified.
(B) Based on the captured image (detection result) of the camera of the driving assistance sensor 11 or based on the distance (detection result) output by the laser radar or the ultrasonic sensor, The relative speed of the preceding vehicle with respect to the host vehicle is detected. The front object is another vehicle or an obstacle in front of the host vehicle.
(C) Based on the photographed image of the camera 13, the instruction content (for example, the speed limit) indicated by the traffic sign ahead of the host vehicle is detected.
(D) Based on the detection result of the lane marker detector of the driving assistance sensor 11, whether or not the host vehicle is driving in the lane where the lane marker is laid (that is, the lane in which the vehicle should automatically drive by automatic driving). Determine.
(E) It is determined whether or not automatic driving is possible based on the results detected in the above (a) to (d).
(F) If it is determined in the above (e) that automatic driving is possible, the host vehicle does not hit the vehicle ahead and obstacles along the road in the traveling course, and follow the instructions of the traffic sign. The actuator 16 is controlled to automatically drive, brake, and steer the vehicle.
(G) If it is determined in (e) above that automatic operation is not possible, automatic operation will not start unless automatic operation is performed at that time, and automatic operation is not possible if automatic operation is performed at that time. After notifying the driver that it is possible, stop automatic driving.

  In addition, the driving support device 13 performs intervention support processing as necessary by the CPU executing a predetermined program recorded in the ROM using the RAM as a work area. In the intervention support process, the driving support device 13 uses the actuator 12 to drive and brake the vehicle based on the detection result of the driving support sensor 11 when the driving operation is performed by the driver and the vehicle is traveling. , Intervention support to assist part of the steering.

  For example, in the intervention support process, the driving support device 13 controls the actuator 12 so as to keep a certain distance from the vehicle ahead and controls the driving and braking assist amounts of the vehicle. Further, for example, in the intervention support process, the driving support device 13 performs an assist to increase the braking force of the vehicle by controlling the actuator 12 so as to avoid a collision between the obstacle ahead and the host vehicle. Further, for example, the driving support device 13 controls the assist amount of the steering force so that the host vehicle does not deviate from the lane in the intervention support process.

  The sensor maintenance device 14 monitors the operation of the driving support sensor 11, detects an operation deficiency of the driving support sensor 11 due to bad weather or the like, and recovers the function of the driving support sensor 11 that is malfunctioning. For example, the sensor maintenance device 14 may or may not have a wiper that detects raindrops attached to the lens of the camera included in the driving assistance sensor 11 and removes the detected raindrops.

  The driving support management device 15 is a computer including a CPU, a RAM, a ROM, a flash memory, and the like. Then, the driving support management device 15 stores use condition data created according to the performance of the host vehicle, the performance of automatic driving, etc. in the flash memory, and the support driving plan created by the car navigation device 19 is stored in the flash memory. To remember.

  As the performance of the own vehicle, there are a rough road running ability and a full width of the vehicle. The performance of automatic driving includes the performance of the driving support sensor 11, the performance of the actuator 12, the performance of the driving support device 13, the performance of the sensor maintenance device 14, and the like. The use condition data is data indicating conditions under which automatic driving by the driving support device 13 is possible. The support driving plan is data indicating the schedule of execution, non-execution, execution of intervention support, and non-execution in each of a plurality of road sections included in the travel course.

  The use condition data recorded in the flash memory of the driving support management device 15 is, for example, as shown in FIG.

  The value of the item of rainy level (level 2 or lower in the example of FIG. 2) is a value indicating in which range the rainy level that increases as the amount of rainfall increases can be automatically operated. In the example of FIG. 2, it is shown that automatic operation is not possible at rainy levels exceeding level 2.

  The value of the road type item (other than the private road in the example of FIG. 2) is a value indicating in which road type automatic driving is possible. The example of FIG. 2 shows that automatic driving is impossible on a private road.

  The value of the width item (6 m or more in the example of FIG. 2) is a value indicating which range of the road width is automatic driving is possible. In the example of FIG. 2, it is shown that automatic driving is impossible if the road width is less than 6 m.

  The value of the item indicating whether construction is possible (possible in the example of FIG. 2) is a value indicating whether or not automatic driving that avoids a lane under construction is possible. In the example of FIG. 2, it is shown that automatic driving that avoids the lane under construction is possible.

  The value of the item indicating whether the night is possible (impossible in the example of FIG. 2) is a value indicating whether automatic driving is possible at night. The example of FIG. 2 shows that automatic driving is impossible at night.

  The value of the item indicating whether or not an accident is possible (possible in the example of FIG. 2) is a value indicating whether or not an automatic operation that avoids a lane in which an accident has occurred is possible. In the example of FIG. 2, it is shown that automatic driving that avoids a lane during an accident is possible.

  The value of the item of whether or not an unpaved road is allowed (not possible in the example of FIG. 2) is a value indicating whether or not automatic driving is possible on an unpaved road. In the example of FIG. 2, it is shown that automatic driving is impossible on an unpaved road.

  The value of the essential sensor item (in the example of FIG. 2, a camera or a vehicle speed sensor) is a value indicating the minimum driving support sensor 11 necessary for enabling automatic driving. In the example of FIG. 2, if either the camera or the vehicle speed sensor does not operate normally in the driving assistance sensor 11, it indicates that automatic driving is impossible.

  The value of the unusable road list item is a history of execution or non-execution of automatic driving by the driving support device 13 in each of a plurality of road sections on which the vehicle has traveled in the past. It is a device that stores information in association with the situation on the road. The situation on the road includes weather, day and night, presence of traffic jams, and construction work. Since the sunrise and sunset times differ depending on the region, the time information is not enough to determine the day and night on the road, but the road position information is required.

  The values of each item in the use condition data are as follows. For all items other than the unusable road list, the design / manufacturer of the automatic traveling system 1 determines that the automatic traveling system 1 is based on the above-described vehicle performance or automatic driving performance. At the time of manufacture, a program that is set as a constant of catalog specifications for sale or equivalent to automatic operation may be recorded in the flash memory. The reason why the program equivalent to the automatic driving is separately provided is to obtain the same result as in the case of actually driving automatically in step 160 described later without intervention in the automatic driving program. By doing in this way, it becomes possible to prevent malfunction of automatic driving.

  Alternatively, the values of each item in the use condition data are based on the performance of the own vehicle or the automatic driving performance recorded in advance in the flash memory of the driving support management device 15 for all except for the unusable road list. The CPU of the driving support management device 15 may be created each time the vehicle is started, for example, and recorded in the flash memory.

  For example, if the wiper is included as the sensor maintenance device 14 of the host vehicle based on the information on the performance of automatic driving recorded in the flash memory, the driving support management device 15 The value may be level 5 (maximum value). Further, when the wiper is not included as the sensor maintenance device 14 of the host vehicle, the value of the item of rain may be set to level 3.

  In addition, for example, the driving support management device 15 reflects the infrared ray emitted from the camera included in the driving support sensor 11 of the own vehicle based on the information on the performance of the automatic driving recorded in the flash memory. When the night view function for detecting infrared rays is provided, the value of the night allowance item may be set to “permitted”. If the camera does not have a night view function, the value of the night allowance item may be set to “impossible”.

  Further, for example, the driving support management device 15 performs the construction when the processing speed of the captured image of the camera is higher than the reference value in the driving support device 13 based on the information on the performance of the automatic driving recorded in the flash memory. Both the values of the propriety item and the accident propriety item may be “permitted”. Further, when the processing speed of the captured image of the camera is equal to or lower than the reference value, the values of the items indicating whether construction is possible and whether the accident is possible may be set to “impossible”. As the processing speed (automatic driving performance) of the captured image of the camera, for example, the reciprocal of the time from when the captured image is acquired until the position of the obstacle in the captured image is recognized may be employed.

  Further, for example, the driving support management device 15 determines that the rough road running level of the own vehicle (the higher the higher the bad road running performance) is the reference value or more based on the information on the performance of the own vehicle recorded in the flash memory. In this case, the value of the item of whether or not an unpaved road is permitted may be “permitted”. In addition, when the rough road running level of the host vehicle is less than the reference value, the value of the unpaved road availability item may be “impossible”.

  Further, for example, the driving support management device 15 sets the threshold (6 m in FIG. 2) in the road type item as the full width of the own vehicle increases based on the performance information of the own vehicle recorded in the flash memory. You may come to enlarge.

  The driving support history storage device 16 records the execution / non-execution history of the automatic driving by the driving support device 13 in each of a plurality of road sections on which the vehicle travels, It is a device that records in association with the situation of. The recording destination is an unusable road list of use condition data in the flash memory of the driving support management device 15.

  The display device 17 is a display that displays various types of information to the driver under the control of the car navigation device 19. The outline environment acquisition device 18 has a wireless communication function, communicates with a center outside the host vehicle using the wireless communication function, receives outline environment data from the center, and outputs it to the car navigation device 19.

  Summary Environmental data includes traffic information and environmental information. Traffic information includes traffic conditions on each road within a given range (for example, within the same prefecture, within a radius of 50 km centered on the position of the vehicle) (for example, whether there is construction, whether there is an accident, whether there is traffic jams, etc.) ) Information. That is, the traffic information is infrastructure information of an event that becomes an obstacle to traveling and needs to be dealt with. Environmental information includes information on events that adversely affect driving support sensors, such as weather information on the road (specifically, whether it is raining and rainfall per unit time), day and night on the road, etc. is there.

  As described above, the outline environment acquisition device 18 acquires outline environment data that cannot be acquired by the surrounding detection sensor that can detect only the situation of the host vehicle and the vicinity of the host vehicle (for example, within 10 m from the host vehicle). . Examples of the peripheral detection sensor include a camera, a position detector, a distance sensor, and a lane marker detector. However, since the weather can be applied in a wide range, the rain sensor of the driving assistance sensor 11 is not a surrounding detection sensor.

  By using the data of this summary environment, it is possible to predict a failure in automatic driving that will be detected during future driving. The car navigation device 19 may notify the driver that a failure on the road cannot be predicted by using the display device 17 when the general environment acquisition device 18 does not operate normally.

  The car navigation device 19 sets a destination based on a destination setting operation of the driver, calculates a travel course (corresponding to a guide route) to the set destination based on map data (not shown), and calculates the calculated travel This is a device for displaying a course on the display device 17.

  The car navigation device 19 has a computer including a CPU, RAM, ROM, flash memory, map data reading device, operation unit (for example, touch panel, mechanical button), and the like. Then, in the car navigation device 19, the CPU executes a predetermined program recorded in the ROM or the flash memory using the RAM as a work area, and in addition to the above processing, the automatic driving plan creation processing shown in FIG. Run.

  Details of the automatic operation plan creation process will be described below. First, the driver performs an operation of inputting a destination on the operation unit in order to grasp the traveling course to the destination. Then, the car navigation device 19 starts the process of FIG. 3, and first sets a destination based on the above input operation of the driver in step 100.

  Subsequently, in step 110, it is checked whether or not the driving support device 13 that operates during traveling operates normally before calculating the traveling course. If even one of the plurality of microcomputers constituting the driving support device 13 does not operate, it is determined that the entire driving support device 13 is faulty, and the driver is informed that the driving support device 13 is faulty. The processing in FIG. 3 is terminated without executing step 120. If it is determined that the entire driving support device 13 is not at fault, the process proceeds to step 120. In step 120, use condition data (see FIG. 2) is acquired from the flash memory of the driving support management device 15.

  Subsequently, in step 130, in order to predict the situation on the road (weather, traffic congestion, trouble in driving support such as construction) occurring in the traveling course, the summary environment data is used to obtain the summary environment data. get. Then, the occurrence position of various situations in the acquired outline environment data is identified as each position in the map data.

  Subsequently, in step 140, based on the use condition data acquired in step 120 and the summary environment data acquired in step 130, a failure prediction is performed to change the cost of the road. Note that the cost here is a well-known amount used when calculating the optimum travel route to the destination by the Dijkstra method or the like. The basic value of the cost of each road section is determined by the road length, width, travel time, and the like.

  In step 140, specifically, if the value of the construction availability item in the obtained use condition data is “impossible”, the cost of the road section under construction in the obtained summary environment data Is made larger than the basic value, and when it is “possible”, it is made the same as the basic value.

  In addition, if the value of the accident availability item in the obtained use condition data is “impossible”, the cost of the road section where the accident is occurring in the obtained summary environment data is less than the basic value. If it is increased and “Yes”, it is the same as the basic value.

  Note that the cost of the road section that is congested in the acquired summary environment data is the same as the basic value. This is because automatic driving will not stop if it follows the preceding vehicle.

  Note that the road cost change in step 140 may be executed only when, for example, the driver has set the automatic driving road priority option to ON as a route search option. Other route search options that can be set by the driver include toll road priority, toll road avoidance, and traffic jam avoidance.

  Subsequently, in step 150, an optimal traveling course from the departure point (for example, the current location of the host vehicle) to the destination is calculated by the Dijkstra method or the like. At the time of this calculation, as a result of the cost being changed in step 140, a road section in which automatic driving is impossible is difficult to select as a traveling course. In this way, by performing spot determination in advance for a complicated operation that is expected to stop automatic traveling, an appropriate traveling course can be calculated in a short time.

  Subsequently, in step 160, the conditions on all road sections included in the travel course obtained by the calculation in step 150 are specified based on the occurrence positions of various situations in the outline environment data acquired in step 130.

  Then, the information on the situation on each identified road section, the fixed information on each road section, and the information on the operation state of each sensor included in the driving support sensor 11 are applied to the use condition data acquired in step 120. Thus, it is determined whether or not automatic driving in each section is possible.

The situation on each road section includes weather, day and night, whether construction is in progress, and whether an accident is occurring. Further, the fixed information of each road section includes road type, width, and presence / absence of pavement. Also,
In step 160, for example, if the use condition data is as shown in FIG. 2, the car navigation device 19 operates as shown in (a) to (h) below.

  (B) In each road section, if the situation in the section does not satisfy the value of the rainy item in the use condition data, it is determined that automatic driving is not possible in the section.

  (B) Further, in each road section, if the road type of the section does not satisfy the value of the road type item in the use condition data, it is determined that automatic driving is not possible in the section.

(C) In each road section, if the width of the section does not satisfy the value of the width item in the use condition data, it is determined that automatic operation is not possible in the section. And furthermore,
(2) In addition, when the value of the unpaved road availability item is not possible as shown in FIG. 2, if each section is not paved in each road section, it is determined that automatic driving is not possible in the section. To do.

  (E) In addition, when the value of the night allowance item is not possible as shown in FIG. 2, in each road section, if it is night when traveling in the section, automatic driving is not possible in the section. Is determined.

  (F) If either the camera or the vehicle speed sensor in the driving assistance sensor 11 is out of order, it is determined that automatic driving is impossible in all road sections.

  (G) Also, in each road section, the road section is included in the impossible road list, and the situation on the road associated with the section in the impossible road list is the relevant in the latest overview environment data. If it matches the situation on the road in the section, it is determined that automatic driving is impossible in the section. By doing in this way, it is possible to leave a history of road sections (points) and road conditions that the driving support device 13 could not actually drive automatically as a history, and determine whether or not automatic driving is possible based on that history. Thus, it is possible to more accurately determine whether or not driving assistance is possible.

  (H) If none of the above (a) to (g) applies to each road section, it is determined that automatic driving is possible in the section.

  Although different from the example of FIG. 2, if the value of the item indicating whether construction is possible is impossible, it is determined that automatic operation is not possible in the section if the construction is being performed in the section in each road section. .

  In addition, unlike the example of FIG. 2, when the value of the traffic jam availability item is not possible, if each road segment is congested in the relevant segment, it is determined that automatic driving is not possible in that segment. .

  In addition, unlike the example of FIG. 2, if the value of the item indicating whether or not an accident is possible is not determined in each road section, if an accident occurs in the section, it is determined that automatic driving is not possible in the section. To do.

  In step 170, an automatic travel list is created based on the determination result in step 160. The automatic travel list is data that includes, for each road section in the travel route, whether or not automatic driving is possible in the road section and the state of the road in the road section (information in the overview environment data).

  Subsequently, in step 180, the travel course to the destination 31 based on the automatic travel list is displayed on the display device 17 in a map display format. FIG. 4 shows an example of this map display. In FIG. 4, a route connecting road sections 20, 21, 22, and 23 is a traveling course. According to the automatic travel list, the road sections 20 and 23 cannot be automatically traveled, and the road sections 21 and 22 are capable of automatic travel. In order to show this, in the display of FIG. , 23 are represented by dotted lines, and road sections 21 and 22 (automatic travel sections) are represented by solid lines. By doing in this way, the driving | running | working takeover point which is a boundary of the automatic driving | running | working area 21 and 22 and the area 20 and 23 which is not so becomes clear. The reason why the driving hand over is clarified is that the joy of automatic driving disappears when driving is started from automatic driving in an unexpected state. The method of taking over the operation is already known.

  For the automatic travel sections 21 and 22, the state of the road in each road section 21 and 22 is displayed so that the joy of automatic travel can be understood. For example, in the automatic travel sections 21 and 22, a complicated driving operation / situation (that is, a driver's pain point) that is generally painful for the driver himself / herself is clearly indicated. If automatic driving is performed in the automatic corresponding sections 21 and 22, the driver can avoid these pain points.

  Specifically, “There is traffic, but it will automatically drive along the lane”, “There is construction on the way, but you can change the course by automatic driving”, “While the rain is poor visibility The message 38 such as “There is no influence on the automatic driving”, “the driving distance: XX km”, “the driving time: XX min” is displayed. These messages may be notified to the driver by voice. Further, like the icons 41 and 42 in FIG. 4, an image indicating that the automatic traveling section 22 is under construction and occurrence of rain may be additionally displayed.

  The pain point information indicating that each of the driving operation for changing the course due to the construction, the situation for the construction, the situation for the traffic jam, and the situation for the rain is a pain point is recorded in a storage medium such as a ROM of the car navigation device 19 in advance. ing. In step 180, the CPU of the car navigation device 19 detects a pain point existing in the automatic travel sections 21 and 22 based on the outline environment data and the pain point information.

  In addition, for sections 20 and 23 in which automatic driving is not possible (sections in which automatic driving is not preferable for safety), messages 36 and 37 for requesting manual driving from the driver are displayed. These messages may be notified to the driver by voice.

  This message also includes that intervention assistance is partially provided for driving, braking, or steering by the driver in the sections 20 and 23 where automatic driving is not possible. Specifically, it is a message such as “I support a brake for preventing collision” and “I will stop at a safe place”. These messages may also be notified to the driver by voice. The notified partial intervention support is realized by the driving support device 13 by actually using the actuator 12 in the sections 20 and 23. The specific method of partial intervention support is well known.

  Subsequently, in step 190, an execution determination for automatic traveling is accepted. Specifically, the operation waits until the driver performs an operation for instructing “execution of automatic driving” or an operation for instructing “not performing automatic driving” on the operation unit of the car navigation device 19. Then, when there is an operation for instructing “no automatic driving”, the automatic driving list is discarded. Thereby, the driving assistance device 13 does not perform automatic traveling.

  If there is an operation for instructing “execution of automatic driving”, a support plan is created according to the automatic driving list and recorded in the flash memory of the driving support management device 15. In the example of FIG. 4, the support plan performs partial intervention support such as only a collision prevention brake in the road section 20, performs automatic traveling in the sections 21 and 22, and performs a predetermined safe position in the section 23. The plan is to provide partial intervention support to stop the vehicle.

  When the car navigation device 19 finishes the process of FIG. 3 and the vehicle starts to travel on the travel route, the driving support management device 15 is configured to realize the support plan based on the current position of the vehicle and the support plan. The driving support device 13 is controlled. As a result, the driving support device 13 performs partial intervention support such as only a collision-preventing brake in the road section 20, performs automatic traveling in the sections 21 and 22, and at a predetermined safe position in the section 23. Provide partial intervention support to stop the vehicle. However, even during traveling in the sections 21 and 22, it may be determined that automatic driving is not possible due to some cause (for example, new construction), and automatic driving may not be performed or may be stopped. In this case, as described above, the driving support history storage device 16 cannot associate the history of automatic driving in the section 21 or the section 22 with the situation on the road on which the vehicle is traveling when the driving is not performed. Add to the road list.

  As described above, the car navigation device 19 acquires use condition data indicating conditions under which automatic driving by the driving support device 13 is possible (step 120), and acquires general environment data that is information on the situation on the road ( Step 130). Further, the travel course to the destination is calculated (step 150). Furthermore, by applying the information on the situation on the road included in the driving course in the outline environment data to the use condition data, it is possible or impossible to perform automatic driving in each of a plurality of road sections included in the driving course. Before the start of the automatic driving in the traveling course, the driver is notified (steps 160, 170, 180).

  As described above, the automatic driving plan display device applies the information on the situation on the road included in the traveling course to the use condition data indicating the conditions under which the driving support device can perform automatic driving. Based on this fitting, it is possible to notify the driver of whether or not automatic driving is possible in each of a plurality of road sections included in the traveling course before starting automatic driving in the traveling course. As a result, the driver is less likely to be disappointed with excessive expectations for automatic driving, and thus the possibility that the driver's evaluation for the automatic driving function is lowered is reduced.

  In the above embodiment, the car navigation device 19 functions as an example of a use condition data acquisition unit by executing Step 120 of FIG. 3, and as an example of the outline environment data acquisition unit by executing Step 130. Function. Further, the car navigation device 19 functions as an example of a traveling course calculation unit by executing step 150, and functions as an example of a notification unit by executing steps 160, 170, and 180.

(Other embodiments)
In addition, this invention is not limited to above-described embodiment, In the range described in the claim, it can change suitably. Further, the above embodiments are not irrelevant to each other, and can be combined as appropriate unless the combination is clearly impossible. In each of the above-described embodiments, it is needless to say that elements constituting the embodiment are not necessarily essential unless explicitly stated as essential and clearly considered essential in principle. Yes. Further, in each of the above embodiments, when numerical values such as the number, numerical value, quantity, range, etc. of the constituent elements of the embodiment are mentioned, it is clearly limited to a specific number when clearly indicated as essential and in principle. The number is not limited to the specific number except for the case. Further, in each of the above embodiments, when referring to the shape, positional relationship, etc. of the component, etc., the shape, unless otherwise specified and in principle limited to a specific shape, positional relationship, etc. It is not limited to the positional relationship or the like. For example, the following modifications are allowed. In addition, the following modifications can select application and non-application to the said embodiment each independently. In other words, any combination of the following modifications can be applied to the above-described embodiment.

(Modification 1)
In the above-described embodiment, the driving support history storage device 16 records the history on the basis of whether or not automatic driving has actually been executed in each road section of the vehicle. However, this is not necessarily the case. The driving support history storage device 16 executes or does not execute automatic driving even in a situation in which the driver does not automatically drive and the driving support plan is not created, and thus the driving support device 13 does not perform automatic driving at all. This history may be recorded in the same manner as in the above embodiment. In that case, the driving support device 13 does not control the actuator 12, but executes the automatic driving process in all road sections. That is, the automatic driving process is simulated in all road sections. The driving support history storage device 16 records execution / non-execution of automatic driving according to the determination result of (e) in the automatic driving process. By doing so, the impossible road list can accumulate more history. Of course, when the driving support device 13 executes the automatic driving process in a simulated manner, functions and sensors that do not operate normally in the driving support device 13 and the driving support sensor 11 are treated as failures.

11 Driving Support Sensor 12 Actuator 13 Driving Support Device 19 Car Navigation Device (Automatic Driving Plan Display Device)

Claims (9)

A driving support sensor (11), an actuator (12) for realizing driving, braking and steering, and a driving support device (13) for performing automatic driving by controlling the actuator based on the detection result of the driving support sensor; Is an automatic driving plan display device used for vehicles equipped with
Use condition data acquisition means (120) for acquiring use condition data indicating a condition under which the automatic driving by the driving support device is possible;
Summary environment data acquisition means (130) for acquiring summary environment data which is information on the situation on the road;
Traveling course calculation means (150) for calculating a traveling course to the destination;
By applying information on the situation on the road included in the traveling course in the outline environment data to the use condition data, the automatic driving in each of the plurality of road sections included in the traveling course is possible or not possible. Notification means (160, 170, 180) for notifying the driver of the possibility before the start of the automatic driving in the traveling course ;
An automatic operation plan display device comprising: use condition data creating means (15) for creating the use condition data based on the performance of the vehicle or the performance of the automatic driving.   The automatic operation plan display device according to claim 1, wherein the use condition data is an amount corresponding to the performance of the vehicle or the performance of the automatic operation.   The informing means requests a driver to perform manual driving for a section where the automatic driving is impossible among the plurality of road sections, and supports intervention for driving, braking, or steering by the driver in the impossible section. The automatic operation plan display device according to claim 1 or 2, wherein a notification to the effect is made. The notification means, automatic operation plan view of any one of claims 1 to 3, characterized in that detecting and notifying the pain points of the driver can be avoided by the automatic operation for the automatic operation is enabled section apparatus.   The automatic operation plan display device according to any one of claims 1 to 4, wherein the use condition data is an amount corresponding to the presence or absence of a sensor maintenance device that maintains the driving support sensor.   The summary environment data includes one or more information of weather information on the road, day and night information on the road, traffic congestion information on the road, and construction information on the road. The automatic operation plan display device according to any one of claims 1 to 5. A driving support sensor (11), an actuator (12) for realizing driving, braking and steering, and a driving support device (13) for performing automatic driving by controlling the actuator based on the detection result of the driving support sensor; Is a program for an automatic driving plan display device used in a vehicle equipped with the automatic driving plan display device,
Usage condition data acquisition means (120) for acquiring usage condition data indicating conditions under which the automatic driving by the driving support device is possible,
Outline environment data acquisition means (130) for acquiring outline environment data which is information on the situation on the road,
Travel course calculation means (150) for calculating the travel course to the destination ,
Of the summary environment data, by applying information on the situation on each road included in the traveling course to the use condition data, the automatic driving in each of a plurality of road sections included in the traveling course is possible. Informing means (160 , 170 , 180) for informing the driver of the impossibility before starting the automatic driving in the traveling course , and
A program that functions as use condition data creation means (15) for creating the use condition data based on the performance of the vehicle or the performance of the automatic driving .   A driving support sensor (11), an actuator (12) for realizing driving, braking and steering, and a driving support device (13) for performing automatic driving by controlling the actuator based on the detection result of the driving support sensor; Is an automatic driving plan display device used for vehicles equipped with
  Use condition data acquisition means (120) for acquiring use condition data indicating a condition under which the automatic driving by the driving support device is possible;
  Summary environment data acquisition means (130) for acquiring summary environment data which is information on the situation on the road;
  Traveling course calculation means (150) for calculating a traveling course to the destination;
  By applying information on the situation on the road included in the traveling course in the outline environment data to the use condition data, the automatic driving in each of the plurality of road sections included in the traveling course is possible or not possible. An informing means (160, 170, 180) for informing the driver of the possibility before starting the automatic driving in the traveling course,
  The automatic operation plan display device, wherein the notification means detects and notifies a driver's pain point that can be avoided by the automatic driving in a section where the automatic driving is possible.   A driving support sensor (11), an actuator (12) for realizing driving, braking and steering, and a driving support device (13) for performing automatic driving by controlling the actuator based on the detection result of the driving support sensor; Is an automatic driving plan display device used for vehicles equipped with
  Use condition data acquisition means (120) for acquiring use condition data indicating a condition under which the automatic driving by the driving support device is possible;
  Summary environment data acquisition means (130) for acquiring summary environment data which is information on the situation on the road
  Traveling course calculation means (150) for calculating a traveling course to the destination;
  By applying information on the situation on the road included in the traveling course in the outline environment data to the use condition data, the automatic driving in each of the plurality of road sections included in the traveling course is possible or not possible. An informing means (160, 170, 180) for informing the driver of the possibility before starting the automatic driving in the traveling course,
The automatic operation plan display device, wherein the use condition data is an amount corresponding to the presence or absence of a sensor maintenance device for maintaining the driving support sensor.

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