JP2019077427A - Vehicle control device, interface device, and computer - Google Patents

Abstract

To provide a vehicle control device configured to control a traveling state of a vehicle, the vehicle control device being capable of a safe operation while hindering an unnecessary intervening operation.SOLUTION: A vehicle control device comprises: an automatic operation control unit 113; an output processing unit 114; and an input processing unit 115. The automatic operation control unit 113 sets a control content for an automatic operation for a vehicle and controls the vehicle according to the control content. The output processing unit 114 outputs for notifying a vehicle driver of the control content. The input processing unit 115 accepts a driver response to the notification. According to the response, the automatic operation control unit 113 selectively causes a travel control unit to continue the control content or causes the travel control unit to set other control content, and sets the selected one.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to a vehicle control device configured to control a traveling state of a vehicle, an interface device used for communication between a device in the vehicle and a driver, and a computer.

  The vehicle control device described in Patent Document 1 below predicts future reliability with respect to control of a vehicle in a driving support system that follows a route or a preceding vehicle, or in an automatic driving system that automatically travels from a current position to a destination. A technique has been proposed that requires the driver to perform an intervention operation when the future reliability is less than a threshold.

JP, 2016-030513, A

  However, in the vehicle control device described in Patent Document 1 described above, there are many traffic volumes, various road shapes such as intersections exist, and general roads where not only cars but also bicycles and pedestrians go, in many situations. The reliability is lowered, and it is expected that the request for the intervention operation occurs frequently, and there is a possibility that the function of the automatic driving can hardly be exhibited.

  The present disclosure relates to a vehicle control apparatus configured to control a traveling state of a vehicle, a vehicle capable of performing safe operation while suppressing unnecessary intervention operations so that the function of automatic driving can be sufficiently exhibited on a general road. The purpose is to provide a control device.

  The vehicle control device according to one aspect of the present disclosure includes a travel control unit (113: S2, S4, S5, S8, S10, S11, S13, S15, S18, S20, S21, S23, S26, S28, S30, S32, S33) , S34, and a notification output unit (114: S2, S4, S5, S8, S10, S11, S13, S15, S18, S20, S21, S23, S26, S28, S30, S32, S33, S34) and a response Reception part (115: S9, S14, S19, S22, S27, S31) and selection setting part (113: S4, S5, S10, S11, S13, S15, S18, S20, S21, S23, S26, S28, S32) , S33).

  The traveling control unit is configured to set control content for automatic driving of the vehicle and to control the vehicle according to the control content. The notification output unit is configured to perform an output for notifying the driver of the vehicle of the control content.

  The response receiving unit is configured to receive the driver's response to the notification. The selection setting unit is configured to select and set whether to cause the traveling control unit to continue the control content or to cause the traveling control unit to set another control content in response to the response.

  According to such a configuration, the driver only has to select whether to continue the current control content or change to another control content, and the automatic driving can be continued regardless of the selection result. Therefore, it is possible to make the automatic driving a safe operation by making the driver select the control content while suppressing the intervention operation for the automatic driving by the driver as much as possible. As a result, the vehicle control device can fully exhibit the function of automatic driving on a general road.

  In addition, the reference numerals in parentheses described in this column and the claims indicate the correspondence with the specific means described in the embodiment described later as one aspect, and the technical scope of the present disclosure It is not limited.

It is a block diagram showing an example of composition of an automatic operation system of a 1st embodiment. It is the schematic which shows a mode that it enters into the intersection in a general road, and turns right. It is a figure which shows the installation place of the apparatus which becomes an example of the output device of 1st Embodiment, and an input device. It is an explanatory view showing an example of composition of an output device provided with a plurality of lamps. It is a list which shows the meaning of the LED display which is a specific example of the output device of 1st Embodiment. It is a flowchart (the 1) which shows an example of the automatic driving | operation control processing of 1st Embodiment. It is a flowchart (the 2) which shows an example of the automatic driving | operation control processing of 1st Embodiment. It is a flowchart (the 3) which shows an example of the automatic driving | operation control processing of 1st Embodiment. It is the schematic which shows a mode that it enters into the intersection in a general road, and turns right. It is the schematic which shows a mode that it drive | works the straight path in a general road, and avoids the vehicle parked on the road shoulder ahead. It is a flowchart which shows an example of the automatic driving | operation control processing in the modification 3 of 1st Embodiment. It is a block diagram showing an example of composition of an automatic operation system of a 2nd embodiment.

Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.
[1. First embodiment]
[1-1. Constitution]
The automatic driving system 1A of the first embodiment shown in FIG. 1 is mounted on a vehicle 201 that is going to travel at the intersection 200 in the example shown in FIG. FIG. 2 shows that a vehicle 201 traveling by automatic driving enters an intersection 200 and is about to turn to the right, and an arrow 201X indicates a locus where the vehicle 201 turns to the right at the intersection 200.

  In addition, the intersection 200 is provided with a traffic light 203 for the vehicle 201, and when the vehicle 201 enters the intersection 200 and directly looks at the traffic light 203 from the front of the intersection 200 to turn right, the traffic light 203 is red. A stop line 204 is drawn on the road that stops at the entrance of the intersection 200 when it is a signal. Furthermore, the oncoming vehicle 202 is present at the intersection 200, and it is shown that the vehicle is going to travel, that is, to go straight on the trajectory indicated by the arrow 202X. Note that the oncoming vehicle refers to a vehicle facing the path of the vehicle, that is, a vehicle traveling toward the vehicle in a vehicle adjacent to the vehicle lane.

  Here, the vehicle 201A indicates the position when the vehicle 201 stops at the stop line 204 by the red light of the traffic light 203, passes by the entrance of the intersection 200 by the green light of the traffic light 203, or stops at the red light of the traffic light 203 A vehicle 204B is shown starting from the state of stopping at line 204, that is, stopping at the position of the vehicle 201A, and passing by the entrance.

  A position where the vehicle 201 stops at the intersection 200 is indicated by the vehicle 201C, for example, the vehicle 201 enters the intersection 200 and passes on the oncoming vehicle 202, and the vehicle 201 enters beyond the stop line 204 to enter the vehicle 201C. The vehicle 201D indicates that the vehicle 201C passes by the position of the vehicle 201C by traveling as it is without stopping at the position or starting from a state of stopping at the position of the vehicle 201C.

  Also, a pedestrian crossing 205 is present on the right-turn road, and if there is a pedestrian 206 trying to cross this pedestrian crossing 205, the vehicle 201 turns right and the pedestrian 206 causes the pedestrian to come in front of it. The position at which the vehicle stops is indicated by a vehicle 201E. The vehicle 201 F indicates that the vehicle 201 completes the right turn of the intersection 200 and is about to go straight.

  An automatic driving system 1A shown in FIG. 1 includes an automatic driving control ECU (Electronic Control Unit) 101, a peripheral object sensor 102, a peripheral recognition camera 103, a vehicle position sensor 104, a road information storage unit 105, an output device 106, and an input device 107. The driving force control ECU 108, the braking force control ECU 109, the steering control ECU 110, and the navigation system 111 are provided. The automatic driving control ECU, the driving force control ECU 108, the braking force control ECU 109, the steering control ECU 110, and the navigation system 111 are connected via the in-vehicle network 112.

  The peripheral object sensor 102 detects a situation around the vehicle for use in automatic driving control. In the first embodiment of the present disclosure, the peripheral object sensor 102 is a traveling vehicle such as a stopped vehicle or a falling object, in addition to surrounding traveling vehicles such as a preceding vehicle, an adjacent lane traveling vehicle, an oncoming vehicle, and an approaching vehicle. Detect the presence, position, size, distance, etc. of various objects such as stationary objects and pedestrians. Specifically, the peripheral object sensor 102 corresponds to a laser radar sensor, a millimeter wave sensor, an ultrasonic sensor or the like.

  The periphery recognition camera 103 captures an image of the surroundings of the vehicle. Then, the peripheral recognition camera 103 not only detects the presence, position, size, distance, etc. of the peripheral objects detected by the peripheral object sensor 102 from the captured image, but also the white lines on the left and right of the running lane. Detect the existence and its position, the condition of traffic lights, and traffic signs.

  The vehicle position sensor 104 is a sensor for detecting the current vehicle position, and specifically corresponds to a global positioning system (GPS) or a gyro sensor. Then, based on these positioning signals, the white line position detected by processing the image captured by the peripheral recognition camera 103 and the captured image, the road information etc. read from the road information storage unit 105, which lane to travel The vehicle position is detected in a detailed and accurate manner including

  The road information storage unit 105 stores detailed road information and the like regarding the road on which the vehicle is to travel. The road information includes, for example, the number of lanes, the lane width, the center coordinates of each lane, the curve curvature, the number of lanes, the lane width, the stop line position, the traffic light position, and the like.

  Specifically, the output device 106 corresponds to a display device such as a lamp such as an LED or a display, and an audio output device such as a speaker. In the first embodiment, the LED display 301 shown in FIGS. 3 and 4 is applied as the output device 106.

  The LED display 301 includes two LEDs, a blue LED 302 and a red LED 303, which represent the items recognized, judged, and executed by the automatic driving system by a combination of lighting, blinking, and extinguishing. The correspondence between the states of the LEDs and the contents recognized, judged, and executed by the automatic driving system in the first embodiment is shown in FIG. However, FIG. 5 presupposes that automatic driving | running | working is in execution, and when automatic driving | running | working is not performed, it makes both blue LED302 and red LED303 light-extinguish. In addition, the LED indicator 301 shall be installed in the position which can be seen well from the driving vehicle of meter upper part as shown in FIG.

  The input device 107 is a switch operated by the driver. In the first embodiment, the switch lever 305 shown in FIG. 3 is applied as the output device 107. The switch lever 305 is a 3-way momentary switch that operates from the neutral state to the front and back, and when it is turned on at the back means "start, approval of travel" and when it is turned on, it is "traveled It means "deny and stop". A signal indicating the operation result of the switch lever 305 is output to the input processing unit 115 of the automatic driving ECU 101, and the input processing unit 115 is configured to recognize this signal.

  The driving force control ECU 108 is an electronic control unit that controls an actuator such as an engine that generates the driving force of the vehicle. When a normal driver carries out driving, the driving force control ECU 108 controls the engine in accordance with the amount of operation of the accelerator pedal by the driver, and a desired driving force is generated. On the other hand, when the driving force control ECU 108 performs the automatic driving, the required driving force calculated by the automatic driving control ECU 101 is transmitted to the driving force control ECU 108 via the in-vehicle network 112, and the driving force control ECU 108 receives the requested driving. Control the engine to achieve the force. In addition, the driver operates a well-known switch or pedal, etc. as to whether the system 1A performs an automatic operation, a manual operation by the driver, or a semi-automatic operation in which only acceleration / deceleration is automatic. Is configured to be selectively switchable.

  The braking force control ECU 109 is an electronic control unit that controls a brake actuator that generates a braking force of the vehicle. When the driver performs a normal manual operation, the braking force control ECU 109 controls the brake actuator according to the amount of operation of the driver's brake pedal to generate a desired braking force. On the other hand, when the automatic driving is performed, the required braking force calculated by the automatic driving control ECU 101 is transmitted to the braking force control ECU 109 via the in-vehicle network 112, and the braking force control ECU 109 achieves the received required braking force. Control.

  The steering control ECU 110 is an electronic control unit that controls a motor that generates a steering torque of the vehicle. When a normal driver performs driving, the steering control ECU 110 controls the motor according to the driver's steering wheel operation to generate assist torque for the steering operation, whereby the driver performs steering with a small amount of force. It can be operated to realize the steering of the vehicle. On the other hand, when performing automatic driving, the required steering angle calculated by the automatic driving control ECU 101 is transmitted to the steering control ECU 110 via the in-vehicle network 112, and the steering control ECU 110 normally achieves the received required steering angle. Steering is performed by controlling a motor that generates assist torque in response to a driver's steering operation.

  The navigation system 111 indicates the route from the present location to the destination on the map by setting the destination by the driver, and further, the driving notice for traveling along the route, for example, turn right or left at the next intersection. It is a system device that makes a proposal to the driver with a screen such as a display or voice. The route information selected by the navigation system 111 is transmitted to the automatic driving control ECU 101 through the in-vehicle network 112, and the automatic driving control ECU 101 performs control so as to follow the route and travel.

  The automatic driving control ECU 101 includes a microcomputer having a central processing unit (CPU) (not shown) and a semiconductor memory (hereinafter, memory) such as, for example, a RAM or a ROM. Each function of the automatic driving control ECU 101 is realized by the CPU executing a program stored in the non-transitional tangible storage medium. In this example, the memory corresponds to a non-transitional tangible storage medium storing a program. Also, by executing this program, a method corresponding to the program is executed. Note that the non-transitional tangible recording medium has a meaning excluding the electromagnetic wave in the recording medium. In addition, the automatic driving control ECU 101 may include one microcomputer or may include a plurality of microcomputers.

  The autonomous driving control ECU 101 includes an autonomous driving control unit 113, an output processing unit 114, and an input processing unit 115, as shown in FIG. The method for realizing the functions of the respective units included in the automatic driving control ECU 101 is not limited to software, and some or all of the functions may be realized using one or more hardware. For example, when the above function is implemented by an electronic circuit that is hardware, the electronic circuit may be implemented by a digital circuit, an analog circuit, or a combination thereof.

  The autonomous driving control unit 113 realizes that the vehicle automatically travels to a destination. More specifically, the automatic driving control unit 113 is connected to the surrounding object sensor 102, the surrounding recognition camera 103, the vehicle position sensor 104, the road information storage unit 105, the navigation system 111, and other information via the in-vehicle network 112. For example, vehicle information such as vehicle speed detected and calculated by the ECU is acquired. Then, the automatic driving control unit 113 calculates the nearest route of several meters to several hundreds of meters and the target vehicle movement traveling along the route, in order to drive the vehicle toward the destination, and the target A target driving force, a target braking force, and a target steering angle for realizing vehicle motion are calculated.

  Furthermore, the automatic driving control unit 113 sets the calculated target driving force, target braking force, and target steering angle as required values to the driving force control ECU 108, the braking force control ECU 109, and the steering control ECU 110 via the on-vehicle network 112, respectively. The request value is transmitted, and the driving force control ECU 108, the braking force control ECU 109, and the steering control ECU 110 perform control to achieve the received request values, and the target vehicle motion calculated by the automatic driving control unit 113 To realize. That is, the vehicle travels automatically toward the destination.

  The output processing unit 114 is an outline of a target vehicle motion such as "running" including "stop" and start that are also calculated by the automatic driving control unit 113 on a unique traveling road such as "intersection" recognized by the automatic driving control unit 113. Control is performed to display the specific content on the output device 106, and in the first embodiment, the LED indicator 301.

  The input processing unit 115 reads the result of the driver operating the input device 107, and in the first embodiment, the switch lever 305, and delivers it to the automatic driving control unit 113, and the automatic driving control unit 113 receives the input. People's judgment is reflected in automatic travel control on unusual roads such as intersections.

[1-2. Processing Overview]
Next, an outline of automatic traveling performed by the automatic driving system 1A will be described.
First, when the driver sets a destination in the navigation system 111, the navigation system 111 generates a route from the current location to the destination. Then, the navigation system 111 transmits the generated route information to the on-vehicle network 112 to the automatic driving control ECU 101.

  Based on the route information received from the navigation system 111 via the in-vehicle network 112, the automatic driving control unit 113 implemented in the automatic driving control ECU 101 is the details of the road on which the vehicle is to travel from the road information storage unit 105. Reads information, number of lanes, lane width, center coordinates of each lane, curve curvature, number of lanes, lane width, stop line position, traffic light position, etc. Furthermore, the current vehicle position coordinates are read from the vehicle position sensor 104 Furthermore, from the white line position etc. which was imaged by the peripheral recognition camera 103 and processed and detected the imaged image, it was said that the vehicle was traveling with being located at the coordinates of which road on which lane. While calculating the vehicle position in a precise and accurate manner, the lane to travel from that position and the nearest route, for example, there is an intersection just ahead and head for the destination If the route information to turn right at the intersection is received from the navigation system 111, the route to turn right at the intersection, for example, if it is an intersection with a right turn lane, move to the right turn lane and set a path to turn right at the intersection Ru.

  Furthermore, the automatic driving control unit 113 sets a motion locus of the vehicle that follows the set route. The motion trajectory indicates a trajectory along which the vehicle moves a few seconds after the current position of the vehicle, and if there is nothing in the periphery, a motion trajectory along the set route is set, for example, by the peripheral object sensor 102 When an obstacle such as a vehicle stopped at the shoulder of the road is detected, a movement trajectory is set to avoid it.

  Then, the automatic driving control unit 113 further reads the speed limit information of the road from the navigation system 111 and the road information storage unit 105, and calculates the speed plan for safely traveling the set movement trajectory within the range of the speed limit. Do. Here, for example, when there is an intersection immediately after the route information from the navigation system 111 and the detailed information from the road information storage unit 105 and the presence of a traffic signal can be confirmed, an image captured by the surrounding area recognition camera 103 Detects the state of the traffic light, and if the traffic light is blue, decelerates so as to be able to accelerate to the intersection, and if red, the stop position detected by the detailed information from the road information storage unit 105 as well The speed plan is said to be decelerating so that the vehicle can stop. The set movement trajectory and speed plan correspond to the target vehicle movement.

  Then, the automatic driving control unit 113 calculates the target driving force, the target braking force, and the target steering angle for realizing the set target vehicle motion, and uses them as the request values to drive power control ECU 108 via the on-vehicle network 112 respectively. The driving force control ECU 108, the braking force control ECU 109, and the steering control ECU 110 perform control to achieve the received request values, thereby realizing automatic travel.

[1-3. processing]
Next, the process for operating the automatic driving safely while preventing the unnecessary intervention operation implemented by the automatic driving system 1A will be described using the flowcharts of FIGS.

  First, at S1, the automatic driving control unit 113 performs calculation of the coordinate position of the vehicle, ie, the vehicle 201, and setting of a traveling route for going to the destination, etc. Furthermore, the intersection 200 should turn right ahead of the current location. And the distance to the intersection 200 from the current value. Then, if the distance is considerably separated, for example, several hundred m or more, the processing shifts to S2.

  In S2, the autonomous driving control unit 113 calculates a motion trajectory, a speed plan, that is, a target vehicle motion. The speed plan at this time is basically set such that the vehicle travels at a constant speed at the legal speed of the road. In addition, the automatic driving control unit 113 determines that the road currently being traveled is not a unique situation in which there is an intersection etc., but is in a state of traveling along a road, and based on this result, the output processing unit Reference numeral 114 controls the display of the output device 106, in this embodiment, the LED display 301. At this time, control is performed so that both the blue LED 302 and the red LED 303 are turned off. Then, the automatic driving control unit 113 calculates the target driving force, the target braking force, and the target steering angle for realizing the set target vehicle movement, and the automatic driving system 1A controls the vehicle movement so as to realize the target value. The set target vehicle movement is realized.

  In S1, the distance from the current value to the intersection 200 is short, for example, at a distance of about a hundred and tens of meters or more, the automatic driving control unit 113 determines the state of the traffic light 203 based on the image captured by the surroundings recognition camera 103 In the case of a situation where it is in a position where it can be detected, travels as it is, and a route for entering the intersection 200 and turning right is set, the processing shifts to S3.

In S3, the automatic driving control unit 113 detects the state of the traffic light 203 based on the image captured by the surrounding area recognition camera 103, and when detecting the green signal, shifts the processing to S4.
In S <b> 4, the automatic driving control unit 113 calculates a target vehicle motion that decelerates toward the intersection 200 and travels slowly. At this time, the automatic driving control unit 113 travels in front of a peculiar road called an intersection, decelerates, and tries to go slowly, but it is judged that the vehicle continues traveling as it is. Based on this judgment, the output processing unit 114 Controls the display of the LED indicator 301 to turn on the blue LED 302 and turn off the red LED 303. Then, the automatic driving system 1A controls the vehicle movement so as to realize the set target vehicle movement, and the set target vehicle movement is realized.

On the other hand, when the automatic driving control unit 113 detects a yellow signal or a red signal in S3, the process proceeds to S5.
In S5, the automatic driving control unit 113 calculates a target vehicle motion that decelerates to a stop line 204 at the entrance of the intersection 200 and stops. At this time, the automatic driving control unit 113 determines to stop at the stop line at the entrance of the unusual road called an intersection, and based on this determination, the output processing unit 114 displays the LED indicator 301 in blue. The LED 302 is turned off and the red LED 303 is controlled to blink. Then, the automatic driving system 1A controls the vehicle movement so as to realize the set target vehicle movement, and the set target vehicle movement is realized.

When the current position of the vehicle 201 is in the vicinity of the entrance of the intersection 200, that is, the position of the vehicle 201A in S1, the process proceeds to S6.
When the vehicle 201 is stopped at the stop line 204, that is, stopped at the position of the vehicle 201A by the process S5, the automatic driving control unit 113 determines the target vehicle movement and vehicle information such as vehicle speed set by itself at S6. If it is determined that the vehicle state is stopped, the process proceeds to S7.

In S7, the automatic driving control unit 113 detects the state of the traffic light 203 based on the image captured by the surrounding area recognition camera 103, and when detecting a red signal, shifts the processing to S8.
In S8, the automatic driving control unit 113 calculates a target vehicle motion that is to be stopped as it is. At this time, it is determined that the automatic driving control unit 113 continues to stop at the stop line in front of the peculiar road called the intersection, and based on this determination, the output processing unit 114 displays the LED indicator 301. , The blue LED 302 is turned off, and the red LED 303 is turned on.

  Then, the automatic driving system 1A controls the vehicle movement so as to realize the set target vehicle movement, and is controlled to set the set target vehicle movement, that is, to stop as it is. Note that, when stopping the vehicle, the automatic driving control unit 113 performs control on the safer side by performing control to continue stopping regardless of the operation of the switch lever 305. Here, the control on the safe side refers to control on the side of reducing the speed of the vehicle among the control contents of the plurality of automatic driving.

On the other hand, when the automatic driving control unit 113 detects a green signal in S7, the process proceeds to S9.
In S9, the driver reads the operation of the input device 107, which is the switch lever 305 in the first embodiment, and the automatic operation control unit 113 obtains the result, and the switch lever 305 is turned on at the back side. That is, if it is determined that the "start, travel approval" operation has not been performed, the process proceeds to S10.

  In S10, the automatic driving control unit 113 calculates a target vehicle motion that is to be stopped as it is. However, in a situation in which the state of the traffic light 203 is a green light is detected in S7 while stopping at a stop line in front of a specific road called an intersection, the automatic driving control unit 113 starts Also, based on this determination, the output processing unit 114 controls the display of the LED indicator 301 to blink the blue LED 302 and turn off the red LED 303. Then, the automatic driving system 1A controls to set the target vehicle motion that is set, that is, to stop as it is.

  Normally, immediately after the traffic light 203 changes to green, the driver does not immediately operate the switch lever 305 to "start, approve travel", so the process of S10 is performed and the driver displays the LED indicator 301. The blinking of the blue LED 302 can be confirmed to recognize that the system is ready to be launched.

On the other hand, when the automatic driving control unit 113 determines in S9 that the "start, travel approval" operation has been performed, the process proceeds to S11.
In S11, the automatic driving control unit 113 starts from a stopped state and proceeds to the middle of the intersection to make a right turn at the intersection while slowly moving, that is, a target vehicle motion such as tracing a trajectory 201X for the vehicle position 201C. It is calculated. At this time, the automatic driving control unit 113 determines that the vehicle starts moving and travels slowly as it is, and based on this determination, the output processing unit 114 turns on the display of the LED indicator 301, turns on the blue LED 302, and turns red. Control is made to turn off the LED 303. Then, the automatic driving system 1A performs control so as to realize the set target vehicle motion.

  Normally, the traffic light 203 turns green, and the driver recognizes that the system is ready to start by blinking the blue LED 302 in the process of S10, and operates the switch lever 305 to "start, approve travel". The process of S11 is performed, and the vehicle starts moving.

  In the process S4, the vehicle 201 does not stop at the stop line 204, but enters the intersection slowly, or in the process S11, the vehicle 201 stopped at the stop line 204, that is, the position of the vehicle 201A starts. When traveling slowly around the position of the vehicle 201A or the vehicle 201B, in S6, the automatic driving control unit 113 determines that the vehicle is traveling as the vehicle state from the target vehicle motion and vehicle information such as the vehicle speed set by itself. Then, the process proceeds to S12.

When the oncoming vehicle 202 is detected by the surrounding object sensor 102 in S12, the automatic driving control unit 113 shifts the processing to S13.
In S13, the automatic driving control unit 113 calculates a target vehicle motion that further decelerates from the slowing state and stops so as to follow the trajectory 201X at the center of the intersection 200 and at the position of the vehicle 201C. At this time, the automatic driving control unit 113 makes a determination to stop on a unique road called an intersection, and based on this determination, the output processing unit 114 turns off the display of the LED indicator 301 and turns off the blue LED 302. , The red LED 303 is controlled to blink. Then, the automatic driving system 1A controls the vehicle movement so as to realize the set target vehicle movement, and the set target vehicle movement is realized.

On the other hand, when the oncoming vehicle is not detected in S12, the automatic driving control unit 113 shifts the processing to S14.
In S14, when the input processing unit 115 reads the operation of the switch lever 305, and the automatic driving control unit 113 obtains the result, and the switch lever 305 determines that the "start, travel approval" operation has not been performed. The process proceeds to S13, and the vehicle 201 decelerates to the position of the vehicle 201C so as to follow the trajectory 201X and stops, and the display of the LED indicator 301 turns off the blue LED 302 and blinks the red LED 303. In the present embodiment, regardless of the presence or absence of an oncoming vehicle, when turning right at the intersection, it means basically stopping temporarily at the position of the center of the intersection, in the present embodiment, the vehicle 201C.

On the other hand, when the automatic driving control unit 113 determines that the “start, travel approval” operation has been performed by the switch lever 305 in S14, the process proceeds to S15.
In S15, the automatic driving control unit 113 calculates a target vehicle motion that follows the path 201X and travels slowly without stopping at the center of the intersection 200 and at the position of the vehicle 201C. At this time, the automatic driving control unit 113 makes a determination to continue traveling as it is, and based on this determination, the output processing unit 114 turns on the display of the LED indicator 301, turns on the blue LED 302, and turns red. Control is made to turn off the LED 303.

  Then, the automatic driving system 1A controls the vehicle motion so as to continue passing the position of the vehicle 201C while continuing the slowing such that the set target vehicle motion and the trajectory 201X are followed. In this embodiment, when the vehicle tries to turn right at the intersection, the vehicle is basically controlled to temporarily stop at the center of the intersection.

  However, there is no oncoming vehicle etc. at the driver's visual check, and if the driver decides that there is no problem even if the vehicle travels slowly without stopping for a while, the driver does not stop for a while. It means that you can drive to turn right as it is. However, if there is an oncoming vehicle and the system detects it, the process of S12 and S13 causes the vehicle 201 to temporarily stop at the position of the vehicle 201C in the intersection, so the driver erroneously "starts and approves traveling". The vehicle 201 does not run past the position of the vehicle 201C at the intersection, even if

  That is, in the present process, when there is an oncoming vehicle, the process of S14 is omitted and the process proceeds to S13 to perform control so as not to pass by the position of the vehicle 201C at the intersection, thereby controlling the safer side. Do.

On the other hand, when the current position of the vehicle 201 is in the intersection 200, that is, at the position of the vehicle 201C in S1, the process proceeds to S16.
When the vehicle 201 is stopped at the position of the vehicle 201C by the process S13, the automatic driving control unit 113 is stopped as the vehicle state from the vehicle information such as the target vehicle motion and the vehicle speed set by itself at S16. If it is determined, the process proceeds to S17.

  When the autonomous driving control unit 113 detects an obstacle in the vicinity, for example, the oncoming vehicle 202 or the pedestrian 206 trying to cross the pedestrian crossing 205, in S17, the process proceeds to S18. Migrate

  In S18, the automatic driving control unit 113 calculates a target vehicle motion that is to be stopped as it is. At this time, the automatic driving control unit 113 makes a determination to continue stopping as it is in a unique road called an intersection, and based on this determination, the output processing unit 114 displays the LED indicator 301 as a blue LED 302. Are turned off, and the red LED 303 is turned on. Then, the automatic driving system 1A controls the vehicle movement so as to realize the set target vehicle movement, and is controlled to set the set target vehicle movement, that is, to stop as it is.

On the other hand, when no automatic obstacle is detected in S17, the automatic driving control unit 113 shifts the processing to S19.
In S19, when the input processing unit 115 reads the operation of the switch lever 305, and the automatic driving control unit 113 obtains the result, and the switch lever 305 determines that the "start, travel approval" operation has not been performed. , Shift the processing to S20.

  In S20, the automatic driving control unit 113 calculates a target vehicle motion that is to be stopped as it is. However, in a situation where the vehicle is stopped on a peculiar road called an intersection, no obstacle is detected when traveling at S17, so the automatic driving control unit 113 determines that the vehicle may be started. The output processing unit 114 controls the display of the LED indicator 301 to blink the blue LED 302 and turn off the red LED 303 based on this determination. Then, the automatic driving system 1A controls to set the target vehicle motion that is set, that is, to stop as it is.

On the other hand, when the automatic driving control unit 113 determines in S19 that the "start, travel approval" operation has been performed by the switch lever 305, the process proceeds to S21.
In S21, since the automatic driving control unit 113 starts from the stopped state and turns the intersection 200 to the right, a target vehicle motion that follows the trajectory 201X is calculated. At this time, the automatic driving control unit 113 determines that the vehicle starts moving and travels slowly as it is, and based on this determination, the output processing unit 114 turns on the display of the LED indicator 301, turns on the blue LED 302, and turns red. Control is made to turn off the LED 303.

  Then, the automatic driving system 1A performs control so as to realize the set target vehicle motion. That is, in a situation where the vehicle is temporarily stopped at the intersection to turn right at the intersection, when an obstacle that is an obstacle to traveling such as an oncoming vehicle is detected, the vehicle is stopped as it is and is not detected. Will be notified to the driver and the driver will start with the approval of the driver. On the other hand, when the system detects an obstacle or the like, the driver does not start even if the driver approves the start.

  In the process S15, the vehicle 201 does not stop temporarily at the center of the intersection 200 or at the position of the vehicle 201C, and the vehicle 201 is traveling slowly trying to turn right at the intersection 200. Alternatively, the vehicle 201 is stopped at the position of the vehicle 201C by process S21. When traveling slowly around the position of the vehicle 201C or the vehicle 201D, for example, the automatic driving control unit 113 determines the vehicle state from the vehicle information such as the target vehicle movement and the vehicle speed set by itself in S16. If it is determined that the vehicle is traveling, the process proceeds to S22.

  In S22, the input processing unit 115 reads the operation of the switch lever 305, and the automatic operation control unit 113 obtains the result, and determines that the switch lever 305 does not perform the "deny travel and stop" operation. If it has, the process proceeds to S23.

  In S23, the automatic driving control unit 113 continues the traveling of turning right while slowly traveling along the locus 201X at the intersection center, the vehicle 201C, or the vicinity of the vehicle 201D by the process of S15 or the process of S21. Target vehicle motion is calculated. At this time, the automatic driving control unit 113 makes a determination to continue traveling as it is, and based on this determination, the output processing unit 114 turns on the display of the LED indicator 301, turns on the blue LED 302, and turns red. Control is made to turn off the LED 303.

  On the other hand, when the automatic driving control unit 113 determines in S22 that the switch lever 305 has performed the operation of "denying the travel and stopping it", the process proceeds to S18, and the vehicle 201 is in place, that is, the vehicle While stopping at a position near 201 C or the vehicle 201 D, the display of the LED indicator 301 turns off the blue LED 302 and turns on the red LED 303. This shows a situation where the driver confirms a sudden situation change, for example, a person or a bicycle that could not be confirmed until a short time ago appears on the right turn road, and the right turn is canceled. The restart is performed by the processes of S16, S17, S19, and S21.

On the other hand, when the current position of the vehicle 201 turns right at the intersection 200 at S1 and is near the entrance of the right turn road, that is, near the position of the vehicle 201E, the process proceeds to S24.
If the vehicle 201 is traveling slowly by the process S23, the automatic driving control unit 113 determines in S24 that the vehicle is traveling as the vehicle state from the target vehicle motion and vehicle information such as the vehicle speed set by itself in S24. Transfer the process to

  When the autonomous driving control unit 113 detects an obstacle, for example, the pedestrian 206 who is trying to cross the pedestrian crossing 205 by the surrounding object sensor 102 or the surrounding recognition camera 103 in S25, the process proceeds to S26.

  In S26, the automatic driving control unit 113 calculates a target vehicle motion that stops at a position, that is, at a position near the vehicle 201E. At this time, the automatic driving control unit 113 makes a decision to temporarily stop at the entrance of the road after turning right at the intersection and temporarily stopping at the entrance of the road ahead, and based on this determination, the output processing unit 114 controls the display of the LED indicator 301 to turn off the blue LED 302, blink the red LED 303, and turn on the light when stopped. Then, the automatic driving system 1A controls the vehicle movement so as to realize the set target vehicle movement, and is controlled to stop immediately from the set target vehicle movement, that is, the slow state.

On the other hand, when no automatic obstacle is detected at S25, the automatic driving control unit 113 shifts the process to S27.
In S27, the input processing unit 115 reads the operation of the switch lever 305, and the automatic operation control unit 113 obtains the result, and determines that the switch lever 305 does not perform the "deny travel and stop" operation. If yes, the process proceeds to S28.

  In S28, the automatic driving control unit 113 turns right at the intersection 200 in the processing of S23, and travels slowly along the entrance of the right turn road, that is, around the position of the vehicle 201E by following the locus 201X. A target vehicle motion that goes straight as it is is calculated. At this time, the automatic driving control unit 113 makes a determination to continue traveling as it is, and based on this determination, the output processing unit 114 turns on the display of the LED indicator 301, turns on the blue LED 302, and turns red. Control is made to turn off the LED 303.

  On the other hand, when the automatic driving control unit 113 determines in S27 that the switch lever 305 has performed the operation of "denying the travel and stopping it", the process proceeds to S26, and the vehicle 201 takes the place, that is, the vehicle The target vehicle motion to stop at a position near 201 E is calculated, and the display on the LED display 301 is blue LED 302 off and red LED 303 on. This is because, for example, the automatic driving control unit 113 can not detect the pedestrian 206 who tries to cross the pedestrian crossing 205 at the entrance of the road at the right turn from the peripheral object sensor 102 or the peripheral recognition camera 103 and determines that there is no obstacle However, it means operation and processing in a situation where the pedestrian 206 is recognized and the vehicle is stopped by visual confirmation of the driver.

  When the vehicle 201 is stopped near the position of the vehicle 201E by the process S26, the automatic driving control unit 113 is stopped as the vehicle state from the vehicle information such as the target vehicle movement and the vehicle speed set by itself in S24. If it is determined, the process proceeds to S29.

  When the autonomous driving control unit 113 detects an obstacle in the vicinity, for example, the pedestrian 206 who is about to cross the pedestrian crossing 205, in S29, the automatic driving control unit 113 shifts the process to S30.

  In S30, the automatic driving control unit 113 calculates a target vehicle motion that is to be stopped as it is. At this time, the automatic driving control unit 113 makes a decision to temporarily stop at the entrance of the road after turning right at the intersection and temporarily stopping at the entrance of the road ahead, and based on this determination, the output processing unit 114 controls the display of the LED indicator 301 so that the blue LED 302 is turned off and the red LED 303 is turned on. Then, the automatic driving system 1A controls the vehicle movement so as to realize the set target vehicle movement, and is controlled to set the set target vehicle movement, that is, to stop as it is.

On the other hand, when the automatic driving control unit 113 detects no obstacle at S29, the process proceeds to S31.
In S31, the input processing unit 115 reads the operation of the switch lever 305, and the automatic driving control unit 113 obtains the result, and the switch lever 305 determines that the "start, travel approval" operation has not been performed. , Shift the processing to S32.

  In S32, the automatic driving control unit 113 calculates a target vehicle motion that is to be stopped as it is. However, in the situation where it stops in the unusual road called the entrance of the road after turning right at the intersection and turning right, no obstacle is detected when traveling at S29, so automatic operation control The unit 113 determines that the vehicle may be started, and based on this determination, the output processing unit 114 controls the display of the LED indicator 301 so that the blue LED 302 blinks and the red LED 303 turns off. Then, the automatic driving system 1A controls to set the target vehicle motion that is set, that is, to stop as it is.

On the other hand, when the automatic driving control unit 113 determines in S31 that the "start, travel approval" operation has been performed by the switch lever 305, the process proceeds to S33.
In S33, the automatic driving control unit 113 starts from a stopped state, turns right at the intersection 200, and proceeds straight ahead on the road after the right turn, so that the target vehicle movement that follows the trajectory 201X is calculated. At this time, the automatic driving control unit 113 determines that the vehicle starts moving and travels slowly as it is, and based on this determination, the output processing unit 114 turns on the display of the LED indicator 301, turns on the blue LED 302, and turns red. Control is made to turn off the LED 303.

  Then, the automatic driving system 1A performs control so as to realize the set target vehicle motion. That is, in a situation where the vehicle is temporarily stopped at the entrance of the road after turning right at the intersection, when an object that is an obstacle for traveling such as a pedestrian is detected, the vehicle is stopped as it is. The driver is notified to that effect, and the driver takes off with approval. On the other hand, when the system detects an obstacle such as a pedestrian, the driver does not start even if the driver approves the start.

On the other hand, in S1, when the current position of the vehicle 201 completes the right turn of the intersection 200 and travels straight on the right turn road, that is, near the position of the vehicle 201F, the process proceeds to S34.
In S34, the automatic driving control unit 113 calculates a target vehicle motion that travels at a constant legal speed along the road. In addition, the automatic driving control unit 113 determines that the road currently being traveled is not a unique situation with an intersection or the like, but is in a state of traveling a road along a road, and based on this result, the output processing unit Reference numeral 114 controls the display of the output device 106, in this embodiment, the LED display 301. At this time, control is performed so that both the blue LED 302 and the red LED 303 are turned off.

[1-4. Effect according to the first embodiment]
According to the first embodiment described above, the following effects can be obtained.
(1a) The automatic driving system 1A includes an automatic driving control unit 113, an output processing unit 114, and an input processing unit 115 as functions of the automatic driving control ECU 101.

  The automatic driving control unit 113 is configured to set control content for automatic driving of the vehicle and control the vehicle according to the control content. The output processing unit 114 is configured to perform output for notifying the driver of the vehicle of the control content.

  The input processing unit 115 is configured to receive the driver's response to the notification. The automatic operation control unit 113 is configured to select and set whether to cause the automatic operation control unit 113 to continue the control content or to cause the automatic operation control unit 113 to set the other control content according to the response. Be done.

  According to such a configuration, the driver only has to select whether to continue the current control content or change to another control content, and the automatic driving can be continued regardless of the selection result. Therefore, it is possible to make the automatic driving a safe operation by making the driver select the control content while suppressing the intervention operation for the automatic driving by the driver as much as possible. As a result, the automatic driving system 1A can fully exhibit the function of automatic driving on a general road.

(1b) In the above-mentioned automatic driving system 1A, the output processing unit 114 sends the contents to be notified in a situation where it is going to travel on a peculiar road,
(1) Run
(2) Stopped
(3) It is judged that it can start from the stopped state
(4) Suppose that you are about to stop from running. In addition, depending on the surrounding conditions, such as intersections, roads where the vehicle is moving at a speed limit, such as a temporary stop or slow speed, occur with a high probability that there is a high probability of unusual roads, depending on the surrounding conditions. It means the upper point.

In the situation where it is going to drive the peculiar road, for example, when it is made to stop by the driver's final judgment when the driver is notified by the output processing unit that "(1) travels", When the operator performs an operation of meaning "stop" the lever SW 302, the input processing unit 115 reads it, and stops from traveling in the automatic operation control unit according to the operation. Also, when it is notified by the output processing unit 114 that “the vehicle is about to be stopped from traveling (4)”, the lever SW (302) is used to make the vehicle travel without stopping based on the final judgment of the driver. By performing an operation of meaning "travel", the automatic operation control unit is controlled to travel as it is without stopping.

  According to such a configuration, for example, in a situation where an automatically driven vehicle automatically enters an intersection and turns right, the prior art reduces reliability and causes an intervention operation request to be generated. In the disclosed technology, the automatic driving function can be operated as it is.

  (1c) In particular, when the automatic driving system 1A arrives at the intersection to turn right at the time of automatic driving, if it recognizes that there is no obstacle in the vicinity such as an oncoming vehicle, it travels slowly to enter the intersection and once in the intersection While trying to stop, notify the driver that it is about to stop. Here, if the driver can confirm that there is nothing around the oncoming vehicle or the like and that there is no problem even if the driver makes a right turn as it is, the system does not stop by performing a "run" operation, but instead makes a right turn. A smooth right turn can be made without unnecessary stopping.

  (1d) On the other hand, in the situation where the automatic driving system 1A has stopped temporarily at the intersection, if there is an obstacle in the vicinity such as an oncoming vehicle but the system can not detect it, it judges that it can start. The driver is notified of the purport and the driver is urged to take off, but the driver notices the difference between the surroundings and the judgment of the system seen by one's own eyes, and does not start the vehicle by not performing the "travel" operation. , Can be stopped as it is.

  Furthermore, even if the driver decides to start from a stopped state at one time in the intersection, if the surrounding situation changes and it becomes necessary to stop the vehicle, the driver notices prior to detection and determination of the system. At the same time, the driver can stop the vehicle by performing the "stop" operation. As described above, safe operation can be realized by taking in the judgment of the driver while preventing unnecessary intervention operations so that the function of the automatic driving system can be sufficiently exhibited.

  (1e) In the above-described automatic driving system 1A, the automatic driving control ECU 101 receives route information from the navigation system 111, the number of lanes of the traveling road from the road information storage unit 105, lane width, center coordinates of each lane, curve curvature, Based on detailed road information such as the number of lanes, lane width, stop line position, traffic light position, and information from the vehicle position sensor 104 and the peripheral recognition camera 103, a route for automatically traveling with the current position of the vehicle 201 which is the vehicle. Identify the situation where the road you drive is an intersection. The autonomous driving control ECU 101 recognizes that it is possible to start in a stopped state in a situation where the own vehicle travels and stops in a peculiar road such as an intersection, while in a traveling state. The LED indicator 301 displays control recognition or action content such as trying to keep running, trying to stop in the running state, trying to keep the stop as it is, etc. .

  Further, the automatic driving control ECU 101 reads the driver's intention "start, approval of traveling" or "deny travel and stop" by the input of the switch lever 305 operated by the driver, and the automatic driving control ECU 101 If the automatic driving control unit 113 recognizes and determines that the vehicle can travel, control is performed to continue starting or traveling according to this input, and if stopping is instructed, control is performed to stop the vehicle.

  According to such a configuration, the driver recognizes the content of the vehicle 201 and determines the contents of determination, and finally determines whether to drive or stop the vehicle by stopping the driver's judgment even if the vehicle is about to travel. Alternatively, even if the vehicle is about to stop, if the driver determines that there is no safety problem and it is determined that the vehicle is an unnecessary stop, the vehicle can be driven as it is, so that it is possible to realize automatic driving with both safety and convenience.

  In particular, as in the example shown in FIG. 2, when the vehicle 201 tries to stop once at the center of the intersection 200 and at the position of the vehicle 201 C when the vehicle 201 turns the intersection 200 right, the judgment is displayed by the LED indicator 301 Do. If it is determined that the driver does not need to stop once without the oncoming vehicle or the like, the switch lever 305 can be operated to "start, approval of traveling" to cause the vehicle to make a right turn without stopping. However, at this time, if the vehicle 201 detects the oncoming vehicle 202 and thereby determines that the vehicle stops, traveling is not performed even if the driver operates the switch lever 305 to "start, approval of traveling".

  Further, in a situation where the vehicle 201 turns right at the intersection 200 and travels in the vicinity of the vehicle 201E to go straight, there is a pedestrian 206 who tries to cross the pedestrian crossing 205, and the vehicle 201 can not recognize it. When it is going to travel, the judgment is displayed on the LED display 301. The driver can stop the vehicle 201 by recognizing that the vehicle is about to travel as it is despite the presence of a pedestrian and operating the switch lever 305 to "deny travel and stop". it can.

  (1f) In the above-described automatic driving system 1A, when the driver does not respond to the notification, the automatic driving control unit 113 selects a preset safer control content out of the control content and the other control content. Configured to

According to such a configuration, it is possible to control the vehicle more safely when the driver can not respond due to his / her fault.
(1g) In the above-described automatic driving system 1A, the output processing unit 114 is configured to perform an output for notifying control content when the road environment changes. The road environment indicates the conditions around the vehicle, such as the shape of the road indicating the number of lanes and the presence or absence of an intersection, the presence or absence of an obstacle such as a pedestrian or another vehicle. In the above embodiment, when the intersection is recognized, when the position in the intersection changes, when a pedestrian or an oncoming vehicle is detected, etc., notification is given that the road environment has changed.

  According to such a configuration, when the road environment changes, the control content can be notified, so when the driving requires attention, the notification can be surely performed. Thus, the vehicle can be run more safely.

In addition, if notification is performed only when the road environment changes, it is possible to make it difficult for the driver to feel bothersome with the notification as compared with the configuration in which the control content is always notified.
(1h) In the above-described automatic driving system 1A, when the automatic driving control unit 113 sets the control content for stopping the vehicle, the automatic driving control unit 113 causes the control content for stopping the vehicle regardless of the presence or absence of a response. Configured to set up.

  According to such a configuration, when the control content for stopping the vehicle as automatic driving is set, the vehicle can be stopped regardless of the presence or absence of the driver's response. Thus, the vehicle can be controlled more safely. In addition, the driver can prevent the vehicle from being stopped by manual driving by canceling the automatic driving.

  (1i) In the above-mentioned automatic driving system 1A, as the control contents, the output processing unit 114 "runs", "stops", "can start from the stopped state", and "runs" It is configured to perform an output regarding at least one of “stopping from state”.

  According to such a configuration, the control contents of the vehicle are "traveling", "stopped", "can start from the stopped state", and "stop from the traveling state", It is possible to notify the driver that at least one of them is applicable.

  (1j) In the above-described automatic driving system 1A, the input processing unit 115 is configured to receive, as a response, at least one of “stop the vehicle” and “run the vehicle”.

According to such a configuration, the driver can transmit the intention for “stop the vehicle” or “move the vehicle” to the automatic driving system 1A.
(1k) In the above-described automatic driving system 1A, one or more output devices 106 are configured to perform notification according to the output from the output processing unit 114.

According to such a configuration, the driver can be notified using the output device 106.
(1l) In the above-described automatic driving system 1A, the output device 106 further includes the LEDs 302 and 303 which are one or more lamps, and the output processing unit 114 performs one of the lighting patterns preset corresponding to the control content. Or configured to provide an output for lighting a plurality of lamps. The lighting pattern represents at least one state of the color of the lamp and the turning off, lighting and blinking of the lamp.

  According to such a configuration, since the driver is notified by the lighting pattern using the lamp, the notification contents can be intuitively recognized. Moreover, according to such a configuration, it is possible to shorten the time for the driver to look aside to recognize the control content, as compared to the case where notification is performed by characters, patterns, and the like.

  (1 m) In the above-described automatic driving system 1A, one or more input devices 107 are configured to be operable by the driver, and the input processing unit 115 is configured to receive an operation on the input device 107 as a response. .

  According to such a configuration, it is possible to receive an operation as a response to the input device 107. The input device 107 may receive an input by voice or motion.

  (1n) In the above-described automatic driving system 1A, the input device 107 further includes a momentary switch or lever 305, and the input processing unit 115 is configured to recognize the driver's response from the position of the momentary switch or lever 305. Ru.

According to such a configuration, the driver's intention can be recognized by the operation of the momentary switch or the lever.
[1-5. Modification 1 of First Embodiment]
Although the first embodiment has been described using an example in which the vehicle turns right at an intersection, the present disclosure does not limit application to only this situation. For example, as shown in FIG. 9, the present invention can be applied to a situation where the vehicle 201 goes straight on at the intersection 500, and the above-described effect can be obtained.

  FIG. 9 shows that a vehicle 201 traveling by automatic driving enters an intersection 500 and is going straight ahead as it is, and an arrow 501 shows a path along which the vehicle 201 goes straight along the intersection 200 as it is. The intersection 500 is also provided with a traffic light 503 for the vehicle 201, and the stop line 504 is drawn on the road, the traffic light 503 is a red light, and the stop position of the vehicle at the stop line 504 is the vehicle 201 It shows.

  In addition, the preceding vehicle 502 is present at a point where the vehicle 201 goes straight through the intersection 500, and is temporarily stopped due to traffic jam or the like. Here, if the leading vehicle 502 does not exist, the state of the traffic light 503 is detected before the intersection 500 as in the right turn, and if it is a green light, the automatic driving control unit 113 moves the target vehicle The automatic driving control unit 113 makes a determination to cross an unusual road called an intersection, and based on this determination, the output processing unit 114 turns on the display of the LED indicator 301, turns on the blue LED 302, Control is performed to turn off the red LED 303.

However, in this situation, the vehicle 201 detects the presence of the leading vehicle 502 stopping ahead of the intersection 500 by the peripheral object sensor 102 and the peripheral recognition camera 103, and the automatic driving control unit 113 Since 201 can not cross the intersection 500, it is determined that the vehicle stops at the stop line 504, and a target vehicle motion that causes the vehicle to stop is calculated. Then, based on the determination, the display of the LED indicator 301 is controlled to turn off the blue LED 302 and to blink the red LED 303.

  Here, if the width of the intersection 500 is wide or if the central portion of the intersection 500 is hilly and the vehicle 201 can not detect the leading vehicle 502, the vehicle 201 is a green light if the traffic light 503 is a green light. Then, the vehicle enters the intersection 500 as it is, and stops when the preceding vehicle 502 can be detected. In this case, the vehicle 201 may stop in such a manner as to block the orthogonal road in the intersection 500, and if the signal changes here, the travel of the vehicle traveling on the orthogonal road is impeded.

  At this time, when it is determined by the preceding vehicle 502 that the crossing vehicle 500 can not cross the intersection 500, the vehicle 201 is stopped by operating the switch lever 305 to "deny travel and stop". That is, it pauses at the position of the vehicle 201A. At this time, when stopped, the display of the LED indicator 301 turns off the blue LED 302 and turns on the red LED 303, but the traffic light 503 is a green signal, and the preceding vehicle 502 can not be detected. It is determined that the vehicle can be started, and based on the determination, the display of the LED indicator 301 blinks the blue LED 302 and turns off the red LED 303.

  As long as the driver does not operate the switch lever 305 to "start, approve travel", the vehicle remains stopped. Therefore, when the driver determines that the leading vehicle 502 can start and cross the intersection 500, the switch lever The vehicle 201 is started by operating 305 to "start, approval of traveling".

[1-6. Modification 2 of the First Embodiment 2]
In the first embodiment described above, an example of application on a peculiar road such as an intersection is shown, but the peculiar road does not merely indicate the road shape, but an obstacle or the like on a straight road along the road. The situation where a travel route that avoids it may be formed may also be regarded as a unique road. In order to travel safely in this situation by automatic driving, the above-described effects can be obtained by applying the first embodiment.

  For example, as shown in FIG. 10, while the vehicle 201 is traveling on a normal straight road 600 without intersections, traffic lights, etc., there is a parked vehicle 602 on the front shoulder, and it is also applied it can. FIG. 10 shows that a vehicle 201 traveling by automatic driving is traveling on a straight road 600, and a parked vehicle 602 exists in front of it, and the arrow 601 is taken by the vehicle 201 to avoid it. It shows a running track.

  When the oncoming vehicle 603 travels toward this side in the oncoming traffic lane and the vehicle 201 runs off the oncoming traffic lane to travel away from the parked vehicle 602, the oncoming vehicle 603 is paused to pass through. The position to be moved is indicated by a vehicle 201G.

  Here, when the vehicle 201 is traveling far from the parked vehicle 602 and traveling at an undetectable position, the automatic driving control unit 113 performs the target vehicle movement such as traveling at a constant legal speed, as in the example of turning right at the intersection. Are calculated, and control is performed to realize the target vehicle motion in the automatic driving system 1A. In addition, the automatic driving control unit 113 determines that the road currently being traveled is not a unique condition, but is in a state of traveling along a road, and based on the result, the output processing unit 114 The display of the display 301 is controlled to turn off both the blue LED 302 and the red LED 303.

  Then, when the vehicle 201 approaches the parked vehicle 602 to a distance that can be detected by the peripheral object sensor 102 and the periphery recognition camera 103, the automatic driving control unit 113 avoids the parked vehicle 602, that is, follows the trajectory of the arrow 601. While calculating the target vehicle motion, the automatic driving control unit 113 determines that the vehicle travels on a specific road such as setting a traveling locus for avoiding an obstacle. Based on this determination, the output processing unit 114 , And controls the display of the LED indicator 301 to turn on the blue LED 302 and turn off the red LED 303.

  As a result, the driver can recognize that the vehicle is parked in the forward direction and is about to travel appropriately. Then, when the oncoming vehicle 603 is detected while the vehicle 201 travels along the path of the arrow 601 so as to avoid the parked vehicle 602, the automatic driving control unit 113 passes the oncoming vehicle 603, so the vehicle 201G While calculating the target vehicle motion that stops at a nearby position, the automatic driving control unit 113 determines that the oncoming vehicle is to be stopped in order to spend the oncoming vehicle. Based on the determination, the output processing unit 114 The display of the display 301 is controlled so as to turn off the blue LED 302, blink the red LED 303, and turn on the light when stopped. Then, when the oncoming vehicle 603 passes and there is no obstacle, the automatic operation control unit 113 determines that the vehicle can be started, and based on the determination, the display of the LED indicator 301 blinks the blue LED 302, and the red LED 303 Turn off the light.

  Here, when the driver operates the switch lever 305 to "start, approve travel", the vehicle 201 starts moving, follows the path of the arrow 601, and travels so as to avoid the parked vehicle 602. Here, when the automatic driving control unit 113 determines that the vehicle can travel avoiding the parked vehicle 602 without jumping into the opposite lane, the vehicle continues traveling without temporarily stopping even if the oncoming vehicle 603 is present.

  At this time, the driver can tell from the display of the LED display 301 that the vehicle is about to travel. Here, when the driver feels uneasy such as being too close to the oncoming vehicle 603, the driver operates the switch lever 305 to "deny traveling and stop", whereby the vehicle 201 is near the vehicle 201G. You can stop at the position of and spend time. That is, there is also an effect of realizing safe traveling suitable for human sensitivity.

[1-7. Modification 3 of the First Embodiment 3]
Also, as shown in FIG. 10, while traveling on a normal straight road 600, there is a parked vehicle 602 on the front shoulder, and in a situation where it travels avoiding that, for example, the processing shown in FIG. It is also good.

  For example, at S1 shown in FIG. 6, the autonomous driving control section 113 calculates the distance to the intersection 200 from the current value of the vehicle, and when the distance is considerably long, the process is changed to the process of S2 described above. Implement the process shown in 11.

In the process shown in FIG. 11, the automatic driving control unit 113 first determines the traveling state of the vehicle 201 at S50.
If it is determined in S50 that the vehicle is traveling based on the target vehicle motion and vehicle information such as the vehicle speed set by itself, the automatic driving control unit 113 shifts the processing to S51.

  In S51, the automatic driving control unit 113 recognizes an obstacle by the peripheral object sensor 102 and the peripheral recognition camera 103. The obstacle here is an obstacle existing in the vehicle lane representing the lane on which the vehicle is driven, that is, the vehicle lane on which the automatic driving system 1A is mounted, or enters the vehicle lane. Represents an obstacle that may be at risk. For example, another vehicle parked on the road in the host vehicle lane, a pedestrian 206 who is about to cross the pedestrian crossing 205, and the like correspond to the obstacle here.

When an obstacle is not detected in S51, the process proceeds to S2 described above. If an obstacle is detected in S51, the process proceeds to S52.
In S52, the automatic driving control unit 113 recognizes an oncoming vehicle by the peripheral object sensor 102 and the peripheral recognition camera 103.

  When the oncoming vehicle is not detected in S52, the process proceeds to S53, and the automatic driving control unit 113 calculates a target vehicle motion when traveling on a traveling route for traveling as it is avoiding an obstacle. In this case, the traveling route travels a position separated by a predetermined distance from the obstacle, and since there is no oncoming vehicle, the vehicle lane may be extended.

  Also, when passing by the obstacle, the vehicle decelerates and travels. That is, when passing by the side of the obstacle, a lower traveling speed is set than in the case where there is no obstacle. Further, in S53, the output processing unit 114 controls the display of the LED display 301 so that the blue LED 302 is turned on and the red LED 303 is turned off.

  If an oncoming vehicle is detected in S52, the process proceeds to S54, and it is determined whether the travel route when the vehicle travels avoiding an obstacle, is beyond the vehicle lane. The travel route here is obtained in the same manner as the process of S53.

  When the traveling route goes out of the host vehicle lane in S54, the processing proceeds to S55, and the automatic driving control unit 113 calculates the target vehicle movement such that the host vehicle is decelerated and stopped at a predetermined distance from the obstacle. Do. At this time, the automatic driving control unit 113 determines to temporarily stop the oncoming vehicle in order to spend the oncoming vehicle, and based on this determination, the output processing unit 114 turns off the display of the LED indicator 301 and turns off the blue LED 302, The red LED 303 is controlled to blink. The output processing unit 114 may control the display of the LED indicator 301 to turn on when the vehicle stops.

  If the traveling route does not extend beyond the host vehicle lane in S54, the process proceeds to S56, the input processing unit 115 reads the operation of the switch lever 305, the automatic driving control unit 113 obtains the result, and the switch lever 305 It is determined whether the "start, travel approval" operation has been performed.

  If it is determined in S56 that the "start, travel approval" operation has not been performed, the process proceeds to S55. If it is determined in S56 that the "start and travel approval" operation has been performed, the processing proceeds to S57, and the automatic driving control unit 113 avoids the obstacle and travels the driving route for traveling as it is without protruding the vehicle lane. Calculate the target vehicle motion when traveling. When passing by the obstacle, the vehicle decelerates and travels as in the case of S53. Further, at S57, the output processing unit 114 controls the display of the LED display 301 so that the blue LED 302 is turned on and the red LED 303 is turned off.

  When the automatic driving control unit 113 determines that the vehicle is stopped in S50, the process proceeds to S58. In S58, the automatic driving control unit 113 recognizes the oncoming vehicle by the peripheral object sensor 102 and the peripheral recognition camera 103.

  When the oncoming vehicle is detected in S58, the process proceeds to S59, and the automatic driving control unit 113 holds the stop of the own vehicle. At this time, the automatic driving control unit 113 still determines to temporarily stop the oncoming vehicle in order to spend the oncoming vehicle, and based on this determination, the output processing unit 114 turns off the display of the LED indicator 301 and turns off the blue LED 302. , And control to turn on the red LED 303.

  When the oncoming vehicle is not detected in S58, the process proceeds to S60, the input processing unit 115 reads the operation of the switch lever 305, the automatic driving control unit 113 obtains the result, and the switch lever 305 It is determined whether or not the travel approval operation has been performed. If it is determined in S60 that the "start, travel approval" operation has not been performed, the process proceeds to S61, and the automatic driving control unit 113 holds the stop of the vehicle. At this time, the automatic driving control unit 113 determines that the vehicle can be started, and based on this determination, the output processing unit 114 blinks the blue LED 302 and turns off the red LED 303 as the display of the LED indicator 301. Control to

  If it is determined in S60 that the "start and travel approval" operation has been performed, the processing proceeds to S62, and the automatic driving control unit 113 performs the target vehicle motion when traveling the traveling route for traveling avoiding the obstacle. Calculate At this time, the vehicle travels at a reduced speed when passing by the obstacle. Further, in S62, the output processing unit 114 controls the display of the LED display 301 so that the blue LED 302 is turned on and the red LED 303 is turned off.

[1-8. Effects of Modification 3 of the First Embodiment]
(1o) In the third modification of the first embodiment, the automatic driving control unit 113 is configured to obtain the recognition result of the obstacle on the route of the vehicle, and the output processing unit 114 is configured to When changing from a state not recognizing an obstacle on the route of the vehicle to a state recognizing an obstacle on the route of the vehicle, either move the vehicle avoiding the obstacle or stop the vehicle in front of the obstacle Are configured to perform output for notifying control content including

According to such a configuration, it is possible to notify whether to run the vehicle avoiding the obstacle or to stop the vehicle before the obstacle, and to select the control content by the driver's operation.
(1p) In the configuration of the third modification of the first embodiment, the automatic driving control unit 113 is configured to acquire the recognition result of the oncoming vehicle facing the route of the vehicle, and the output processing unit 114 performs the road environment If, as a change of the vehicle, the vehicle moves from the state not recognizing the obstacle to the state recognizing the obstacle and the oncoming car is recognized, the vehicle is run without the obstacle or the obstacle It is configured to perform an output for notifying control contents including whether to stop the vehicle in the near side.

  According to such a configuration, when an oncoming vehicle is recognized, it is possible to select the control content of whether to run the vehicle avoiding the obstacle or to stop the vehicle in front of the obstacle by the operation of the driver. it can.

[1-9. Modification 4 of the first embodiment 4]
In the configuration of the third modification of the first embodiment, when it is possible to set a travel route that does not extend the host vehicle lane, the oncoming vehicle may travel while avoiding an obstacle before the host vehicle passes by the side of the host vehicle It is configured to select whether to stand by until the vehicle passes by the vehicle, but it may be configured to ask the driver for permission when setting the traveling route that goes out of the vehicle lane.

  In this case, for example, when it is determined in the process of S54 in FIG. 11 that the travel route goes out of the host vehicle lane, a process of causing the driver to select the control content may be performed as in S56. In this process, when there is a driver's operation, the process may shift to S57, and when there is no driver's operation, it may shift to S55.

According to such a configuration, it is possible to obtain a configuration for asking for permission for “traveling over”.
[2. Second embodiment]
The basic configuration of the second embodiment is the same as that of the first embodiment, so the difference will be described below. The same reference numerals as those in the first embodiment denote the same components, and reference is made to the preceding description.

  In the first embodiment described above, the switch lever 305 is adopted as the input device 107. On the other hand, in the second embodiment, an existing device such as an accelerator pedal, a brake pedal, or a shift SW such as a paddle shift or a shift lever is utilized as a vehicle with an MT mode as the input device 107. It differs from the first embodiment.

[2-1. Constitution]
The automatic driving system 1B of 2nd Embodiment is shown in FIG. The autonomous driving system 1B is also adopted in a third embodiment described later. The devices constituting the automatic driving system 1B are substantially the same as the devices constituting the automatic driving system 1A of the first embodiment, and in the second embodiment, the accelerator pedal 701 is replaced with the input device 107 existing in the first embodiment. And the brake pedal 702 or the shift switch 703.

  An accelerator pedal 701 and a shift switch 703 connected to the driving force control ECU 108 and a brake pedal 702 connected to the braking force control ECU 109 are described in FIG. 11 showing the configuration of the automatic driving system 1B of the second embodiment. However, these may actually be similarly installed in the automatic driving system 1A of the first embodiment, and are merely omitted in FIG.

[2-2. Outline of processing]
In the first embodiment, "start, approval of travel" and "deny travel, and stop" are set by the switch lever 305 when the accelerator pedal is momentarily turned on. “When the brake pedal is turned on momentarily,“ deny travel and stop ”is set.

  The momentary pedal ON represents a state in which the pedal is operated by less than a preset operation value. However, the operation value is a value set for at least one of the time when the pedal is operated and the operation amount of the pedal.

  The momentary accelerator pedal ON is detected by the driving force control ECU 108, and the information is transmitted to the automatic driving control ECU 101 via the network 112, and the input processing unit 115 automatically generates "starting and traveling approval" information. It is delivered to the operation control unit 113.

  On the other hand, when the pedal is not momentary, it functions as an override that overwrites the automatic driving by the operation of the driver. When the accelerator pedal ON which is not instantaneous is input, the driving force control ECU cancels the automatic driving by the automatic driving control ECU 101, and calculates the control amount of the vehicle as in the normal driving operation.

  Similarly, the momentary brake pedal ON is also detected by the braking force control ECU, the information is transmitted to the automatic driving control ECU 101 via the network 112, and the input processing unit 115 “denies traveling and stops”. Is passed to the automatic driving control unit 113 as the

  On the other hand, when the brake pedal ON which is not instantaneous is input, the braking force control ECU 109 cancels the automatic driving by the automatic driving control ECU 101, and calculates the control amount of the vehicle as in the normal driving operation.

[2-3. Effects of Second Embodiment]
According to the second embodiment described above, the effect (1a) of the first embodiment described above is exhibited, and further, the following effect is exhibited.

  (2a) In the above-described automatic driving system 1B, the input device 107 is configured using the accelerator pedal and the brake pedal, and the input processing unit 115 is operated by the accelerator pedal or the brake pedal by less than a preset operation value. In this case, a response to the effect that the vehicle is caused to travel by the accelerator pedal is received, and a response to the effect that the vehicle is stopped by the brake pedal is received.

  According to such a configuration, it is possible to suppress the inconvenience of operating a new input device which has not been provided in the vehicle up to now, such as the switch lever 305 in the first embodiment. In addition, when the accelerator pedal and the brake pedal are operated by an operation less than the operation value, the accelerator pedal and the brake pedal can be used as the input device 107. Then, the intention of the driver to drive and stop the vehicle can be received by these pedals.

  (2b) In the above-mentioned automatic driving system 1B, when the accelerator pedal or the brake pedal is operated by the operation value or more, the automatic driving control unit 113 changes the control content by the automatic driving control unit 113 to the control content by the driver's operation. Configured to implement changing overriding.

According to such a configuration, the accelerator pedal and the brake pedal can be used as the input device 107 and the pedal for performing the driving operation according to the content of the operation.
[2-4. Modification of Second Embodiment]
Instead of the pedal as described above, a shift switch such as a paddle shift or shift lever may be used to input a shift change operation to the transmission. SW is an abbreviation of switch. It is also possible to set "start, approval of travel" at shift-up ON of shift SW, and "deny travel and stop" at shift-down ON.

  In this mode, the driving power control ECU detects the operation of the shift SW, and the information is transmitted to the automatic driving control ECU 101 via the network 112, and the input processing unit 115 The information is given to the automatic driving control unit 113 as information of “denying the travel and stopping it”. The entire process such as turning right and going straight to the intersection explained in the first embodiment and avoiding obstacles on a straight road is completely the same as in the first embodiment, and the operation content of the device that causes the driver to issue a run or stop command In the processes of S9, S14, S19, S22, S27, and S31 for detecting H, only the operating device to be detected is changed.

  That is, in the above-described automatic driving system 1B, the input device 107 is configured using a paddle shift or shift lever for inputting a shift change operation to the transmission during manual driving by the driver, and the input processing unit 115 Is configured to receive a response indicating that the vehicle is caused to travel by a paddle shift or shift up operation by a shift lever during automatic driving, and receive a response indicating that the vehicle is stopped by a shift down operation by a paddle shift or shift lever. Be done. The manual operation refers to a state in which the control content to the vehicle is set by the operation of the driver regardless of the control content by the automatic driving control unit 113, and the automatic driving is the control content by the automatic driving control unit 113 Represents the state of controlling the vehicle.

  According to such a configuration, a paddle shift or shift lever can be used as the input device 107. A shift change operation can be used to accept the driver's intention to drive and stop the vehicle.

[3. Third embodiment]
Although a plurality of lamps are used as the output device 106 in the first embodiment described above, the display and audio function of the navigation system 111 may be used as the output device 106.

[3-1. Constitution]
The equipment which constitutes automatic operation system 1B of a 3rd embodiment shown in Drawing 11 is the same as the equipment which constitutes automatic operation system 1B of a 2nd embodiment. In the third embodiment, the display of the navigation system 111 is used as the output device 107 present in the first embodiment.

[3-2. Outline of processing]
In the first embodiment, the LED display 301 is used to “run”, “stop”, “determine that it can start from the stopped state”, and “stop from the running state”. While the contents of judgment and control by the automatic driving control unit 113 are expressed, in the third embodiment, characters and pictures or both are displayed on the display of the navigation system 111, and the contents of the characters are displayed. Voice through.

  Based on the determination of the automatic driving control unit 113 and the control content, the output processing unit 114 passes the information to the navigation system 111 via the network 112. The navigation system 111 performs control to display the received content on the display and generate sound. The entire process such as turning right and going straight at the intersection explained in the first embodiment and avoiding obstacles on a straight road is completely the same as in the first embodiment, but the judgment and control contents of the vehicle system are made to the driver. Only the display method in the processing of S2, S4, S5, S8, S10, S13, S15, S18, S20, S21, S23, S26, S28, S30, S32, S33, and S34 changes.

[3-3. Effects of the Third Embodiment]
According to the third embodiment described above, the effect (1a) of the first embodiment described above is exhibited, and further, the following effect is exhibited.

  (3a) The above-described automatic driving system 1B further includes one or more displays, and the output processing unit 114 performs an output for displaying the control content on the display by at least one of characters and pictures. Configured

  According to such a configuration, since the control content is notified using at least one of the character and the picture while suppressing the troublesomeness of arranging a new device, the driver can be notified in an easy-to-understand manner. it can.

  (3b) In the above-described automatic driving system 1B, the output device 106 further includes one or more speakers, and the output processing unit 114 is configured to perform output for notifying the control content by voice.

  According to such a configuration, since the control content is notified by voice, it is easy for the driver to understand, and the notification can be recognized without causing the driver to look aside in order to recognize the control content.

[4. Other embodiments]
As mentioned above, although embodiment of this indication was described, this indication can be variously deformed and implemented, without being limited to the above-mentioned embodiment.

  (4a) The multiple functions of one component in the above embodiment may be realized by multiple components, or one function of one component may be implemented by multiple components. . Also, a plurality of functions possessed by a plurality of components may be realized by one component, or one function realized by a plurality of components may be realized by one component. In addition, part of the configuration of the above embodiment may be omitted. In addition, at least a part of the configuration of the above-described embodiment may be added to or replaced with the configuration of the other above-described embodiment. In addition, all the aspects contained in the technical thought specified from the wording described in the claim are an embodiment of this indication.

  (4b) In addition to the above-described automatic driving system, a vehicle control device which is a component of the automatic driving system, a program for causing a computer to function as the automatic driving system, non-transitional actual conditions such as semiconductor memory recording this program The present disclosure can also be realized in various forms such as physical recording media and vehicle control methods.

[5. Correspondence between the configuration of the embodiment and the configuration of the present disclosure]
In the above embodiment, the automatic driving control ECU 101 corresponds to a vehicle control device, an interface device, and a computer in the present disclosure, and the output device 106 corresponds to a notification execution unit in the present disclosure, a display, and a speaker. Further, in the above-described embodiment, the input device 107 corresponds to the operation unit in the present disclosure, and the automatic driving control unit 113 corresponds to the override unit in the present disclosure.

  In the above embodiment, S2, S4, S5, S8, S10, S11, S13, S15, S18, S21, S23, S26, S28, S30, S32, S33 performed by the function of the automatic operation control unit 113. , S34, S53, S55, S57, S59, S61, and S62 correspond to the travel control unit in the present disclosure, and the functions of the output processing unit 114 perform S2, S4, S5, S8, S10, S11, The processes of S13, S15, S18, S20, S23, S26, S28, S30, S32, S33, S34, S53, S57, S59, S61, and S62 correspond to the notification output unit in the present disclosure. In the above embodiment, the processing of the input processing unit 115: S9, S14, S19, S22, S27, S31, S56, S60 corresponds to the response receiving unit and the response output unit in the present disclosure, and the automatic operation control is performed. The processing of S4, S5, S10, S11, S13, S15, S18, S20, S21, S26, S28, S32, S33, S55, S57, S61, and S62 performed by the function of the unit 113 is referred to in the present disclosure. It corresponds to the selection setting unit.

  1A, 1B: automatic driving system, 101: automatic driving control ECU, 102: peripheral object sensor, 106: output device, 107: input device, 107: output device, 108: driving force control ECU, 109: braking force control ECU, DESCRIPTION OF SYMBOLS 110 ... Steering control ECU, 111 ... Navigation system, 113 ... Automatic operation control part, 114 ... Output processing part, 115 ... Input processing part, 301 ... LED display, 302 ... Blue LED, 303 ... Red LED, 305 ... Switch lever .

Claims (19)

A vehicle control device (101) configured to control a traveling state of a vehicle, wherein
The control contents for automatic driving of the vehicle are set, and the travel control unit (113: S2, S4, S5, S8, S10, S11, S13, S15, S18) configured to control the vehicle according to the control contents. , S20, S21, S23, S26, S28, S30, S32, S33, S34, S53, S55, S57, S59, S61, S62),
A notification output unit (114: S2, S4, S5, S8, S10, S11, S13, S15, S18, S20, S21, S21, S21, S21, S21, S21, S21, S21) configured to perform an output for notifying the driver of the vehicle of the control content. S23, S26, S28, S30, S32, S33, S34, S53, S55, S57, S59, S61, S62),
A response receiving unit (115: S9, S14, S19, S22, S27, S31, S56, S60) configured to receive a driver's response to the notification;
A selection setting unit (113) configured to select and set whether to cause the travel control unit to continue the control content or to cause the travel control unit to set another control content in accordance with the response. S4, S5, S10, S11, S13, S15, S18, S20, S21, S23, S26, S28, S32, S33, S55, S57, S61, S62),
A vehicle control device comprising: The vehicle control device according to claim 1, wherein
When the driver does not respond to the notification, the selection setting unit is configured to select a safer control content set in advance from the control content and the other control content. apparatus. A vehicle control apparatus according to claim 1 or 2, wherein
The vehicle control device according to claim 1, wherein the notification output unit is configured to perform an output for notifying the control content when a road environment changes. The vehicle control device according to any one of claims 1 to 3, wherein
An obstacle acquisition unit (S51) configured to acquire a recognition result of the obstacle on the path of the vehicle;
When the notification output unit transitions from a state in which an obstacle on the route of the vehicle is not recognized to a state in which an obstacle is recognized as a change in the road environment, the vehicle is allowed to travel while avoiding the obstacle A vehicle control apparatus configured to perform an output for notifying control content including whether to stop the vehicle before the obstacle. The vehicle control device according to claim 4,
And a facing acquisition unit (S52) configured to acquire a recognition result of an oncoming vehicle facing the path of the vehicle.
The notification output unit transitions from a state not recognizing an obstacle on the route of the vehicle to a state recognizing an obstacle as a change in the road environment, and recognizes the oncoming vehicle when the oncoming vehicle is recognized. A vehicle control apparatus configured to perform an output for notifying control content including whether to avoid traveling the vehicle or stop the vehicle in front of the obstacle. The vehicle control device according to any one of claims 1 to 5, wherein
When the travel control unit sets control content for stopping the vehicle, the selection setting unit sets vehicle control content for stopping the vehicle regardless of presence or absence of the response. apparatus. The vehicle control device according to any one of claims 1 to 5, wherein
Among the control contents, the notification output unit is “running”, “stopped”, “can start from a stopped state”, and “stopping from a traveling state”. A vehicle control device configured to perform an output related to at least one of: The vehicle control device according to any one of claims 1 to 7, wherein
The vehicle control device configured to receive, as the response, at least one of “stop the vehicle” and “run the vehicle” as the response. A vehicle control apparatus according to any one of claims 1 to 8, wherein
One or more notification implementation units (106) configured to perform a notification according to the output from the notification output unit;
A vehicle control device further comprising The vehicle control device according to claim 9, wherein
The notification implementation unit further comprises one or more lamps (302, 303),
The vehicle control device according to claim 1, wherein the notification output unit is configured to perform an output for lighting the one or more lamps in a lighting pattern set in advance corresponding to the control content. A vehicle control apparatus according to claim 9 or 10, wherein
The notification implementation unit further comprises one or more displays (106),
The vehicle control device, wherein the notification output unit is configured to perform an output for displaying the control content on the display by at least one of a character and a picture. The vehicle control device according to any one of claims 9 to 11, wherein
The notification implementation unit further comprises one or more speakers (106),
The vehicle control device configured to perform an output for notifying the control content by voice. The vehicle control device according to any one of claims 1 to 12, wherein
It further comprises one or more operation units (107) configured to be operable by the driver,
The vehicle control device configured to receive an operation on the operation unit as the response. The vehicle control device according to claim 13, wherein
The operation unit further comprises a momentary switch or lever (302);
The vehicle control device, wherein the response receiving unit is configured to recognize a response of the driver according to a position of the momentary switch or the lever. A vehicle control apparatus according to claim 13 or 14, wherein
The operation unit is configured using an accelerator pedal and a brake pedal.
When the accelerator pedal or the brake pedal is operated by less than a preset operation value, the response reception unit receives a response to the effect that the vehicle is caused to travel by the accelerator pedal, and stops the vehicle by the brake pedal. A vehicle control device configured to receive a response to that effect. The vehicle control device according to claim 15.
When the accelerator pedal or the brake pedal is operated by the operation value or more, an override unit (113) configured to perform override to change the control content by the travel control unit to control content by the driver's operation ),
A vehicle control device further comprising A vehicle control apparatus according to any one of claims 13 to 16, wherein
The operation unit is configured using a paddle shift or shift lever for inputting a shift change operation on the transmission during manual operation by the driver.
The response receiving unit receives a response indicating that the vehicle is to travel by the paddle shift or the shift up operation by the shift lever during automatic driving, and stops the vehicle by the paddle shift or the shift down operation by the shift lever. A vehicle control device configured to receive a response to that effect. An interface device (101) configured to communicate with a driver in a vehicle, comprising:
A notification output unit (114: S2, S4, S5, S8, S10, S11, S13, S15, S18) configured to perform an output for notifying the driver of the vehicle of the control content of the automatic driving of the vehicle. , S20, S21, S23, S26, S28, S30, S32, S33, S34, S53, S55, S57, S59, S61, S62),
A response receiving unit (115: S9, S14, S19, S22, S27, S31, S56, S60) configured to receive a driver's response to the notification;
A response output unit (115: S9, S14, S19, S22, S27, S31, S56, S60) configured to output the response received by the response receiving unit to the traveling control unit that sets the control content ,
An interface device comprising: A computer (101),
A process of performing an output for notifying the driver of the vehicle of the control contents of the automatic driving of the vehicle (114: S2, S4, S5, S8, S10, S11, S13, S15, S18, S20, S21, S23, S26, S28, S30, S32, S33, S34, S53, S55, S57, S59, S61, S62),
A process of receiving a driver's response to the notification (115: S9, S14, S19, S22, S27, S31, S56, S60);
A process (115: S9, S14, S19, S22, S27, S31, S56, S60) of outputting the response received by the response receiving unit to the traveling control unit for setting the control content;
A computer (101) configured to perform

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