JP2002264826A - Automatic driving device for moving body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic driving device for a moving body for carrying out an automatic drive without lowering the drive moral of an occupant. SOLUTION: This automatic driving device carries out a lane maintaining control for controlling a vehicle to travel along a lane on a road without an steering operation by the occupant. The lane maintaining control is allowed when the occupant holds a steering wheel or touches the steering wheel, and inhibited and released when the occupant does not touch the steering wheel.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic driving device for a moving object, and more particularly, to an automatic driving device for a moving object which can be automatically operated.

[0002]

2. Description of the Related Art Conventionally, for example, JP-A-2000-256
As disclosed in JP-A-31-31, there is known a system for automatically driving a moving body. Specifically, the above-described conventional system applies a steering torque to a steering system in accordance with an amount of lateral displacement of a moving body in a lane. For this reason, according to such a system, even if the course is likely to be disturbed due to a crosswind, a slope of a road, or the like, the steering operation of the occupant can be assisted so that the moving body travels along the lane. As a result, it is possible to reduce the driving operation load of the occupant and improve the comfort.

[0003]

However, in the above-mentioned conventional system, the steering of the moving body is automatically performed irrespective of the driving operation of the occupant. That is, a situation occurs in which the moving body is automatically steered without the occupant operating the steering. Therefore, the morale of the occupant in the driving operation may be reduced, and the driving operation in an emergency may not be performed properly.

[0004] The present invention has been made in view of the above points, and an object of the present invention is to provide an automatic driving apparatus for a moving body capable of performing automatic driving while preventing a decrease in driving morale of an occupant. I do.

[0005]

The above object is achieved by the present invention.
An automatic driving device for automatically executing a process of driving a movable body that can be driven by a passenger, the access determining device determining whether or not the passenger has access to a predetermined driving operation means. Means, when the access discriminating means determines that the occupant has not accessed the predetermined driving operation means, prohibits the execution of automatic driving of the moving body;
This is achieved by an automatic driving apparatus for a moving object, comprising: automatic driving control means for canceling or suppressing.

[0008] According to an eighth aspect of the present invention, there is provided an automatic driving apparatus for executing a process of automatically driving a movable body that can be driven by a passenger, wherein the passenger accesses a predetermined driving operation means. Access determining means for determining whether or not there is a driver, and automatic driving control means for permitting execution of automatic driving of the moving body when the occupant is determined to be accessing the predetermined driving operation means by the access determining means. The present invention is also achieved by an automatic driving apparatus for a moving body, which comprises:

According to the first and eighth aspects of the present invention, the execution of the automatic driving of the moving body is permitted when the occupant is accessing the predetermined driving operation means, and the occupant is accessing the predetermined driving operation means. If not, prohibition, release, or suppression. Therefore, it is possible to avoid a situation in which the occupant does not access the driving operation means when the automatic driving is performed. Therefore, according to the present invention, the automatic driving can be performed while preventing a decrease in the driving morale of the occupant.

The above object is also directed to an automatic driving apparatus for executing a process for automatically driving a movable body that can be operated by an occupant, wherein the occupant performs a predetermined operation operation. Access determining means for determining whether or not the vehicle is accessing the vehicle; and when the access determining means determines that the occupant has not accessed the predetermined driving operation means, the execution of the automatic driving of the moving body is suppressed. Automatic operation control means, an environmental state detection means for detecting an environmental state around a moving object, and a degree of suppression when execution of the automatic operation is suppressed by the automatic operation control means. And a suppression degree changing unit that changes according to the result.

According to the second aspect of the present invention, the execution of the automatic driving of the moving body is suppressed when the occupant does not access the predetermined driving operation means. Also, at this time, the degree of suppression is changed according to the environmental conditions around the moving object.
Therefore, for example, when there is a curved road ahead of the moving object, if the degree of suppression of automatic driving is reduced,
It is possible to avoid a situation in which automatic driving is suddenly greatly suppressed to the release side on a curved road. For this reason, according to the present invention, while preventing the occupant's driving morals from lowering,
Automatic operation according to the surrounding environment can be performed.

[0010] The present invention is also directed to an automatic driving apparatus for executing a process for automatically driving a movable body which can be operated by an occupant, wherein the occupant performs a predetermined driving operation. Access determining means for determining whether or not access is being made to the means, environmental condition detecting means for detecting an environmental condition around the moving body, and an occupant being provided by the access determining means in a situation where driving is automatically performed. Automatic driving control means for determining the execution mode of the automatic driving based on the detection result of the environmental condition detecting means when it is determined that the predetermined driving operation means has not been accessed. This is achieved by an automatic driving device for a moving object.

According to the third aspect of the present invention, when the occupant stops accessing the predetermined driving operation means in a situation where the driving of the moving body is automatically performed, the execution mode of the automatic driving is set to the vicinity of the moving body. Is determined based on the environmental situation. For this reason, according to the present invention, it is possible to execute automatic driving according to the surrounding environmental conditions while preventing a decrease in the driving morale of the occupant.

In this case, as described in claim 4, in the automatic driving apparatus for a moving object according to claim 3, the automatic driving control means includes at least one of release, suppression, and continuation as an automatic driving execution mode. One of the two may be determined.

When the automatic driving is canceled or suppressed instantaneously from the state in which the automatic driving is performed, the state of the automatic driving changes at a stretch, so that the occupant appropriately handles the driving of the moving body by the driving operation. It is difficult.

Therefore, in the automatic driving apparatus for a moving body according to any one of the first to fourth aspects, the automatic driving control means may cancel or suppress execution of the automatic driving. It may be performed step by step over time.

In this case, as described in claim 6,
6. The automatic driving device for a moving body according to claim 5, wherein a change degree when the execution of the automatic driving is canceled or suppressed by the automatic driving control means is changed according to an environmental condition around the moving body. With this configuration, the occupant can take measures according to the environmental conditions around the moving object.

Further, if the execution of the automatic driving is canceled or suppressed immediately when the occupant stops accessing the predetermined driving operation means in the situation where the automatic driving is performed, the execution of the automatic driving is frequently canceled. Alternatively, suppression may be performed. Therefore, when the driving operation means has not been accessed, the state is firstly called out to the occupant, and when the access to the driving operation means is continued even after the calling, the execution of the automatic driving is performed for the first time. If the cancellation or suppression is performed, unnecessary cancellation or suppression of the automatic operation can be avoided.

Therefore, as described in claim 7, in the automatic driving apparatus for a moving body according to any one of claims 1 to 6, when the occupant does not have access to the predetermined driving operation means, the occupant is notified. Alerting means for calling attention to the passenger, wherein the automatic driving control means further includes, when driving is automatically performed, after the alerting means alerts the occupant, If the situation where the user does not access the driving operation means continues, the execution of the automatic driving of the moving object may be canceled or suppressed.

[0018]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 shows a system configuration of an automatic driving apparatus for a moving body 10 according to a first embodiment of the present invention.
The automatic driving device according to the present embodiment includes an electronic control unit (hereinafter, referred to as an electronic control unit).
The ECU 12 is controlled by the ECU 12.

As shown in FIG. 1, the moving body 10 has a steering wheel 14. The steering wheel 14 is provided in the vehicle cabin of the moving body 10 and has a function of turning the moving body 10 by a rotation operation by an occupant. The steering wheel 14 is fixed to one end of a steering shaft 16. The steering shaft 16 rotates with the rotation of the steering wheel 14.

A rack bar 20 is connected to the other end of the steering shaft 16 via a steering gear box 18. The steering gear box 18 has a function of converting the rotational movement of the steering shaft 16 into a linear movement of the rack bar 20 in the vehicle width direction. Wheels FL and FR are connected to both ends of the rack bar 20 via knuckle arms 22 and 24, respectively. In such a configuration, the wheels FL and FR are mounted on the steering shaft 16.
Is steered by the rack bar 20 being displaced in the vehicle width direction with the rotation of.

The moving body 10 also has a CCD camera 30 disposed at the front of the vehicle body (for example, a room mirror). The CCD camera 30 captures a situation around a predetermined area extending in front of the vehicle body. An image processing unit 32 is connected to the CCD camera 30. Image data of the surrounding situation taken by the CCD camera 30 is supplied to the image processing unit 32. The image processing unit 32 performs image processing on the image data obtained by the CCD camera 30, and detects a lane (lane) drawn on the road on which the moving object 10 travels. In the image processing unit 32,
The above-described ECU 12 is connected. Image processing unit 32
Outputs a signal corresponding to the detected position of the lane with respect to the moving body 10 to the ECU 12. The ECU 12 detects the position of the lane with respect to the moving body 10 based on the output signal of the image processing unit 32.

A steering angle sensor 34 and a vehicle speed sensor 36 are connected to the ECU 12. The steering angle sensor 34 outputs a signal corresponding to a steering angle of the steering wheel 14 (hereinafter, referred to as a steering angle). In addition, the vehicle speed sensor 36 generates a pulse signal at a cycle corresponding to the speed of the moving body 10. The output signal of the steering angle sensor 34 and the output signal of the vehicle speed sensor 36 are supplied to the ECU 12. The ECU 12 includes a steering angle sensor 34.
And the vehicle speed is detected based on the output signal of the vehicle speed sensor 36.

A navigation device 38 is connected to the ECU 12. The navigation device 38
This is a device for detecting the position of the moving object 10 using GPS or the like. The navigation device 38 also has a function of detecting a condition such as a curvature or a gradient of a road in a predetermined area ahead of the vehicle 10 based on the position of the moving body 10. The ECU 12 uses the navigation device 38 to grasp the position of the mobile unit 10 and the state of the road expected to travel.

A steering contact sensor 40 is connected to the ECU 12. The steering contact sensor 40 is a pressure-sensitive sensor disposed on a grip portion of the steering wheel 14 which is held by an occupant. Steer contact sensor 40
Is made of, for example, a semiconductor material, and outputs an electric signal corresponding to the pressure applied to the surface of the steering wheel 14. The output signal of the steer contact sensor 40 is EC
U12. The ECU 12 determines whether the occupant is holding the steering wheel 14 or is touching the steering wheel 14 based on the output signal of the steering contact sensor 40.

The ECU 12 also has a motor driver 4
2 are connected. The motor driver 42 is connected to a motor 44 disposed on the steering gear box 18 and engaged with the rack bar 20. The motor driver 42 supplies a drive current to the motor 44 according to a command signal from the ECU 12. The motor 44 applies a steering torque according to the drive current supplied from the motor driver 42 to the rack bar 20. The ECU 12 supplies a command signal to the motor driver 42 according to the logic described later, and drives the motor 44 to displace the rack bar 20 and steer the wheels FL and FR.

The ECU 12 is further connected to a warning lamp 46 and a warning speaker 48. Warning lamp 46
Is arranged at a position where an occupant in the vehicle cabin can view it, and lights up in accordance with a command signal from the ECU 12.
The alarm speaker 48 emits a sound into the vehicle compartment according to a command signal from the ECU 12. The ECU 12 drives the warning lamp 46 and the warning speaker 48 in accordance with the logic described later to call attention to the occupant.

Next, the operation of the automatic driving apparatus according to the present embodiment will be described.

The automatic driving apparatus according to the present embodiment detects a lane on a road based on image data from the CCD camera 30, drives a motor 44 so that the moving body 10 travels along the lane, and outputs a signal from a wheel FL. , FR are steered without the occupant steering the steering wheel 14. Hereinafter, this processing is referred to as “lane keeping control”.

More specifically, the automatic driving device grasps the actual positional relationship between the lane on the road and the moving body 10 detected based on the image data obtained by the CCD camera 30, and a desired positional relationship is established. The amount of displacement in the vehicle width direction to which the moving body 10 should move is calculated, and the steering torque applied to the rack bar 20 is calculated based on the calculated amount of displacement, vehicle speed, and the like. Then, a command signal is supplied to the motor driver 42 so that the calculated steering torque is applied to the rack bar 20, and the motor 44 is driven. Therefore, according to such an automatic driving device, it is possible to execute the lane keeping control for causing the moving body 10 to travel along the lane on the road without the occupant operating the steering wheel 14.

When the vehicle 10 can travel along the lane on the road without steering operation by the occupant due to the execution of the lane keeping control, the morale of the occupant is reduced, which hinders the emergency driving operation. There is a risk. Therefore, the automatic driving apparatus according to the present embodiment is characterized in that the lane keeping control is executed while preventing such inconvenience. Hereinafter, the characteristic portion of the present embodiment will be described with reference to FIG.

FIG. 2 is a flowchart showing an example of a control routine executed by the ECU 12 in this embodiment to realize the above-described functions. The routine shown in FIG. 2 is a routine that is repeatedly started at predetermined time intervals. When the routine shown in FIG. 2 is started, first, the process of step 100 is executed.

In step 100, the steering contact sensor 4
Based on the output signal of 0, it is determined whether the occupant is gripping the steering wheel 14 or touching the steering wheel 14. As a result, when an affirmative determination is made, it can be determined that the occupant can quickly operate the steering wheel 14, and it can be determined that there is no obstacle to the steering operation in an emergency. Therefore, when such a determination is made, the process of step 102 is executed next.

In step 102, a process for permitting the execution of the lane keeping control is executed. After the process of step 102 is performed, the moving body 10 can travel along the lane on the road without the occupant operating the steering wheel 14 thereafter. When the process of step 102 is completed, the current routine is completed.

On the other hand, if a negative determination is made in step 100, the occupant
Since the vehicle does not touch the steering wheel, it can be determined that the vehicle is not in a state where a quick steering operation can be performed, and that the steering operation in an emergency is hindered. Therefore, when such a determination is made, the process of step 104 is performed next.

In step 104, a process for inhibiting / releasing the execution of the lane keeping control is executed. This step 104
Is executed, when the lane keeping control is not executed thereafter, the execution of the control is prohibited, and when the lane keeping control is executed, the execution of the control is released. Therefore, the situation in which the moving body 10 travels along the lane on the road without the occupant operating the steering wheel 14 does not occur. When the process of step 104 is completed, the current routine is completed.

According to the routine shown in FIG. 2, the execution of the lane keeping control is switched depending on whether or not the occupant touches the steering wheel 14. Specifically, when the occupant does not touch the steering wheel 14, The execution of the lane keeping control can be prohibited / canceled. That is, in the present embodiment, the lane keeping control is executed only when the occupant is gripping or touching the steering wheel 14, and is not executed when the occupant is not touching. Steering wheel 14
The situation not touching is avoided.

Therefore, in the present embodiment, even when the lane keeping control is executed, the occupant can use the steering wheel 14.
It is necessary to grasp or touch the steering wheel, thereby preventing the occupant's driving morale from lowering in the steering operation. That is, it is possible to execute the lane keeping control while preventing a decrease in the driving morale of the occupant. For this reason, according to the system of the present embodiment, even if, for example, another moving body suddenly interrupts ahead of the moving body 10 during execution of the lane keeping control, the occupant immediately avoids the emergency by steer operation. As a result, the moving body 1 when the lane keeping control is executed is
0 can be improved in safety.

By the way, in the configuration in which the lane keeping control is immediately shifted from the execution state to the cancellation state, the steering torque to the rack bar 20 driven by the motor 44 disappears at a stretch, so that the moving body 10 easily moves straight thereafter. For this reason, for example, if the lane keeping control is shifted to the released state when the moving body 10 is traveling on a curved road or the like, the time margin for the occupant to properly perform the steering operation of the moving body 10 is reduced.

Therefore, when the execution of the lane keeping control is canceled due to the occupant not touching the steering wheel 14, the automatic driving apparatus of the present embodiment gradually releases the cancellation over a predetermined time. Do. Specifically, after the transition condition is satisfied, the steering torque applied to the rack bar 20 by the motor 44 is reduced stepwise as time passes. According to this configuration, the steering torque to the rack bar 20 due to the lane keeping control does not disappear at once,
Since the vehicle gradually decreases and releases the vehicle, there is enough time for the occupant to perform the steering operation properly, and more appropriate release control of the lane keeping control is performed regardless of whether the vehicle is on a straight road or a curved road. Becomes possible.

On a straight road, even if the speed of the transition from the execution state of the lane keeping control to the release state is high, that is, even if the execution of the lane keeping control is rapidly released, the steering torque is originally small. Safe traveling of the moving body 10 is not impaired as compared with the case of a curved road.

Therefore, as a preferred embodiment of the automatic driving apparatus according to the present embodiment, the lane keeping control is performed in accordance with the road conditions such as the curvature and the gradient of the road in a predetermined area in front of the moving body grasped by using the navigation apparatus 38. The transition speed from the execution state to the release state is changed. Specifically, the transition speed is made faster on a gentler curved road, and the traveling speed is made slower on a steeper curved road. According to such a configuration, it is possible to realize an appropriate transition speed of the lane keeping control according to the road condition around the moving body.

Next, a second embodiment of the present invention will be described with reference to FIG. 3 together with FIG. 1 and FIG. The system according to the present embodiment includes the automatic driving device shown in FIG.
This is realized by causing the ECU 12 to execute the routine shown in FIG.

In the first embodiment, when the occupant is not touching the steering wheel 14, the execution of the lane keeping control is immediately prohibited or canceled. On the other hand, when the occupant is not touching the steering wheel 14, the system of this embodiment first notifies the occupant by the warning lamp 46 and the warning speaker 48.
Only when the occupant does not touch the steering wheel 14 continues to prohibit / cancel the execution of the lane keeping control, the situation in which the execution of the lane keeping control is unnecessarily prohibited / canceled is avoided. . Hereinafter, the characteristic portions will be described.

FIG. 3 is a flowchart showing an example of a control routine executed by the ECU 12 in this embodiment to realize the above-described functions. The routine shown in FIG. 3 is a routine that is repeatedly started at predetermined time intervals. In FIG. 3, steps that execute the same processing as the steps shown in FIG. 2 are denoted by the same reference numerals, and description thereof is omitted. That is, in the routine shown in FIG.
After a negative determination is made in step 100, step 12
0 is executed.

In step 120, processing for driving the warning lamp 46 and the warning speaker 48 is executed. When the process of step 120 is executed, the warning lamp 46 is turned on, and the warning speaker 48 performs voice guidance,
The occupant is notified that he is not touching the steering wheel 14 and is prompted to touch the steering wheel 14. When the process of step 120 is completed, the process of step 122 is executed next.

In step 122, it is determined whether or not the occupant grips or touches the steering wheel 14 before the predetermined time has elapsed after the warning lamp 46 and the warning speaker 48 have been driven. As a result, when the occupant grips or touches the steering wheel 14,
Since the steering operation in an emergency can be performed properly, there is no problem even if the lane keeping control is executed. Therefore, when such a determination is made, the execution of the lane keeping control is permitted in step 102 described above.

On the other hand, if it is determined in step 122 that the state in which the occupant does not touch the steering wheel 14 has continued for a predetermined period of time even though the warning lamp 46 and the warning speaker 48 have been driven, then In the above step 104, the execution of the lane keeping control is prohibited.
It is released.

According to the routine shown in FIG. 3, when the occupant is not touching the steering wheel 14, the occupant is first alerted by the warning lamp 46 and the alarm speaker 48.
The execution of the lane keeping control can be prohibited / canceled only when the state of not touching 4 continues. According to this configuration, when the occupant stops touching the steering wheel 14 in a situation where the lane keeping control is being executed, the occupant is notified of the fact, so that the execution of the lane keeping control is immediately prohibited or canceled. The situation is avoided, and the situation in which the execution of the lane keeping control is unnecessarily prohibited or canceled is avoided. For this reason, according to the system of the present embodiment, the execution of the lane keeping control can be continued as long as possible, while preventing the morale of the occupant from lowering.

In the first and second embodiments,
The steering wheel 14 is referred to as “predetermined driving operation means”, the lane keeping control is referred to as “automatic driving” described in the claims, and the warning lamp 46 and the warning speaker 48 are referred to in the claims. The ECU 12 corresponds to “arousing means” described in the range.
However, by executing the step 100, the “access determining means” described in the claims is executed. By executing the steps 102 and 104, the “automatic driving control means” described in the claims is executed. By detecting a road condition around the moving object using the navigation device 38, the “environmental condition detecting means” described in the claims makes it possible to detect the road condition in a predetermined area in front of the moving object using the navigation device 38. By changing the speed of transition from the execution state of the lane keeping control to the release state in accordance with the road condition such as the curvature of the vehicle, the "change degree changing means" described in the claims is realized.

In the first and second embodiments, whether the occupant is gripping the steering wheel 14 or is touching the steering wheel 14 is determined by whether the occupant is disposed on the grip portion of the steering wheel 14. Although the determination is made using the pressure-type steering contact sensor 40, the sweat sensor for detecting the occupant's sweat disposed on the steering wheel 14 and the correction steering of the steering wheel 14 by the occupant during running are detected. May be used.

In the first and second embodiments, the motor 44 for turning the wheels FL and FR is engaged with the rack bar 20 during the execution of the lane keeping control. They may be engaged. In the first embodiment, the moving body 10 forms a steering system in which the steering wheel 14 and the wheels FL and FR are mechanically connected. However, the steering wheel 14 and the wheels FL and FR are connected to each other. Not mechanically linked,
The present invention can also be applied to a moving body that constitutes a so-called by-wire steering system that is electrically connected.

In the first and second embodiments, the navigation device 38 is used to detect the road condition around the moving object. However, the present invention is not limited to this. The road condition around the moving object may be detected using a camera, a radar sensor, or the like.

In the first and second embodiments, when the occupant does not touch the steering wheel 14, the occupant is notified by the warning lamp 46. Instead of the warning lamp 46, This may be displayed on a predetermined display device together with the warning lamp 46. In this case, the display device that performs the warning display corresponds to the “alert unit” recited in the claims.

In the first and second embodiments, when the occupant stops touching the steering wheel 14 during the execution of the lane keeping control, the execution of the lane keeping control is canceled. It is not necessary to cancel the execution, and the execution may be suppressed to some extent. That is, the steering torque such as 10% or 20% of the steering torque required when executing the lane keeping control is set to the motor 4.
4 may be applied to the rack bar 20 by using the drive of FIG. Also in this case, the moving body cannot travel properly unless the occupant operates the steering wheel 14, so the occupant must grip or touch the steering wheel 14, and the morale of the occupant decreases with respect to the steering operation. Can be prevented. Therefore, even in such a configuration, it is possible to realize the execution of the lane keeping control while preventing a decrease in the driving morale of the occupant.

In this case, the degree of suppression of the execution of the lane keeping control is changed in accordance with the road condition around the moving body grasped by using the navigation device 38. Specifically, the gentler the curved road, the more the lane keeping control is performed. The driving of the motor 44 among the steering torques required during the execution of the control
The ratio of the steering torque actually applied to the vehicle may be reduced, and the ratio may be increased for a steeper curve.
According to such a configuration, it is possible to determine an appropriate degree of suppression of the execution of the lane keeping control based on the road conditions around the moving body, and it is possible to appropriately secure safe traveling of the moving body 10. In this case, the ECU 12 changes the degree of suppression of the execution of the lane keeping control in accordance with the road condition such as the curvature of the road in a predetermined area ahead of the moving body grasped by using the navigation device 38. Is implemented.

Further, in the first and second embodiments, the present invention is applied to a device for executing lane keeping control for turning the wheels FL and FR without steering the steering wheel 14 by an occupant as automatic driving. However, the present invention is not limited to this, and the vehicle can follow the preceding vehicle using the radar sensor or the like without using the driver to operate the accelerator, brake, steering, etc. A device that performs control, or
The present invention can also be applied to a device or the like that executes control for parking a moving body in a predetermined parking space without involving a steer operation by an occupant.

For example, in an apparatus for performing tracking control,
If the occupant does not put his / her foot on the accelerator pedal or brake pedal or prepares his / her foot in the vicinity thereof, or does not hold or touch the steering wheel, the following control shall not be performed. In addition, it is possible to prevent a decrease in the driving morale of the occupant due to the following control, and it is possible to ensure safe traveling of the moving body. In this case, the accelerator pedal, the brake pedal, or the steering wheel corresponds to the "predetermined driving operation means" described in the claims.

As described above, according to the first and eighth aspects of the present invention, it is possible to perform the automatic operation of the moving body while preventing the morale of the occupant from lowering.

According to the second to fourth aspects of the present invention, it is possible to execute the automatic driving according to the environmental conditions around the moving body while preventing the morale of the occupant from lowering.

According to the fifth and sixth aspects of the present invention, it is possible to provide a time margin for the occupant to appropriately deal with the operation of the moving body in the process of canceling or suppressing the automatic operation.

Further, according to the invention of claim 7, it is possible to avoid a situation in which the cancellation or suppression of the automatic operation is performed unnecessarily.

[Brief description of the drawings]

FIG. 1 is a system configuration diagram of a moving object automatic driving apparatus according to a first embodiment of the present invention.

FIG. 2 is a flowchart illustrating an example of a control routine that is executed to determine whether to execute lane keeping control in the present embodiment.

FIG. 3 is a flowchart of an example of a control routine executed to determine whether or not to execute lane keeping control in a second embodiment of the present invention.

[Description of Signs] 10 Moving body 12 Electronic control unit (ECU) 14 Steering wheel 30 CCD camera 40 Steer contact sensor 44 Motor 46 Warning lamp 48 Warning speaker

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Claims (8)

[Claims] 1. An automatic driving apparatus for automatically executing a driving operation of a movable body that can be operated by an occupant, comprising: an access determining unit that determines whether the occupant has access to a predetermined driving operation unit. Means, and if the access discriminating means determines that the occupant has not accessed the predetermined driving operation means, prohibits, cancels, or suppresses the execution of the automatic driving of the moving body; An automatic driving device for a moving body, comprising: 2. An automatic driving apparatus for automatically executing a driving operation of a movable body that can be operated by an occupant, comprising: an access judging device for judging whether or not the occupant has access to a predetermined driving operation means. Means; and if the access determining means determines that the occupant has not accessed the predetermined driving operation means, automatic driving control means for suppressing execution of automatic driving of the moving body; and environmental conditions around the moving body. Environmental status detection means for detecting the automatic operation control means, the suppression degree when the execution of the automatic operation is suppressed, the suppression degree change means for changing according to the detection result of the environmental state detection means, An automatic driving device for a moving body, comprising: 3. An automatic driving apparatus for automatically executing a driving operation of a movable body that can be operated by an occupant, comprising: an access judging unit for judging whether or not the occupant has access to a predetermined driving operation means. Means, an environmental condition detecting means for detecting an environmental condition around the moving object, and in a situation where the driving is automatically performed, the occupant is not accessing the predetermined driving operation means by the access determining means. An automatic driving control means for determining an execution mode of the automatic driving based on the detection result of the environmental condition detecting means when the judgment is made, and an automatic driving apparatus for a moving object. 4. The automatic driving apparatus for a mobile body according to claim 3, wherein the automatic driving control means determines the execution mode of the automatic driving to be any one of at least two of cancellation, suppression, and continuation. An automatic driving device for a moving object, comprising: 5. The automatic driving apparatus for a moving body according to claim 1, wherein the automatic driving control unit performs stepwise cancellation or suppression of the execution of the automatic driving over a predetermined time. An automatic driving device for a moving body, characterized in that: 6. The automatic driving apparatus for a moving body according to claim 5, wherein a degree of change when the automatic driving is canceled or suppressed by the automatic driving control means is changed according to an environmental condition around the moving body. An automatic driving apparatus for a moving body, comprising: 7. The automatic driving apparatus for a moving body according to claim 1, wherein the occupant is alerted when the occupant does not access the predetermined driving operation means. The automatic driving control means may further include a state in which the driver does not access the predetermined driving operation means after the driver is alerted by the warning means in a situation where the driving is automatically performed. The automatic driving device for a moving object is characterized by canceling or suppressing the execution of the automatic driving of the moving object when the operation is continued. 8. An automatic driving apparatus for automatically executing a driving operation of a movable body that can be operated by an occupant, comprising: an access discriminator for judging whether or not the occupant has access to a predetermined driving operation means. Means; and automatic driving control means for permitting execution of automatic driving of a moving body when the occupant is determined to be accessing the predetermined driving operation means by the access determining means. Automatic driving device for moving objects.