JP6161553B2 - Automatic driving support system, automatic driving support method, and computer program - Google Patents

Description

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

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

  Further, in recent years, automatic driving control in which the vehicle automatically travels along a preset route, regardless of the user's driving operation, other than the manual driving that travels based on the user's driving operation, as the driving mode of the vehicle. A new proposal has been made for driving by. In automatic driving control, for example, the current position of the vehicle, the lane in which the vehicle travels, the position of other vehicles in the vicinity are detected at any time, and vehicles such as a steering, a drive source, and a brake are driven so as to travel along a preset route. Control is automatic. Here, traveling by automatic driving control has the advantage of reducing the burden on the user's driving, but basically the user's intention is not reflected in the traveling speed of the vehicle, so it is difficult to predict the arrival time at the destination, In some cases, the user arrives earlier than necessary or arrives later than intended.

  Therefore, for example, in Japanese Patent Application Laid-Open No. 2008-180591, a driving preference given priority by the driver is selected from a plurality of items such as travel time priority, fuel efficiency priority, safety priority, etc., and the driving preference of the selected driver is given priority. In addition, a technology has been proposed in which a travel plan to a destination is made and travel is performed by automatic operation control.

JP 2008-180591 A (page 4-6)

  Here, in the technique described in Patent Document 1, for example, when travel time priority is selected as a driving preference, a travel plan is set so that the arrival time at the destination is as early as possible by automatic driving control. Driving is performed. However, even in that case, it is not always possible to arrive at the destination at the time desired by the user. And even if it is not possible to arrive at the time desired by the user, there will be a risk that the user will continue to run by automatic driving control without guiding it to the user, resulting in a great disadvantage for the user. .

  The present invention has been made to solve the above-described conventional problems, and in the case of running by automatic operation control, by giving the user an opportunity to correct the arrival time at the destination, An object of the present invention is to provide an automatic driving support system, an automatic driving support method, and a computer program which prevent a disadvantage to the user such as a significant delay in arrival.

  In order to achieve the above object, an automatic driving support system (1) according to the present invention supports automatic driving control of a vehicle when traveling by automatic driving control in an automatic driving section in which automatic driving control of the vehicle is permitted. It is. Specifically, route setting means (41) for setting a planned travel route from a departure place to a destination including an automatic driving section in which automatic driving control of the vehicle is permitted, and obtaining a target arrival time at the destination Target time acquisition means (41) that performs the predicted time of arrival of the vehicle to the destination when the vehicle is assumed to travel on the planned travel route by automatic driving control ) And switching guide means (41) for guiding the user to switch from the automatic driving control to the manual driving by the driving operation based on the predicted arrival time and the target arrival time.

  The automatic driving support method according to the present invention is a method for supporting automatic driving control of a vehicle when traveling by automatic driving control in an automatic driving section in which automatic driving control of the vehicle is permitted. Specifically, the route setting means (41) sets a planned travel route from the departure point to the destination including the automatic driving section in which automatic driving control of the vehicle is permitted, and the target time acquisition means (41). However, the step of acquiring the target arrival time to the destination and the arrival time predicting means (41) to the destination when it is assumed that the vehicle travels on the planned travel route by automatic driving control. The step of predicting the estimated arrival time of the vehicle, and the switching guide means (41) guides the user to switch from automatic operation control to manual operation by the user's driving operation based on the estimated arrival time and the arrival target time. And performing.

  The computer program according to the present invention is a computer program that supports automatic driving control of a vehicle when traveling by automatic driving control in an automatic driving section in which automatic driving control of the vehicle is permitted. Specifically, the computer sets a route setting means (41) for setting a planned travel route from a departure point to a destination including an automatic driving section in which automatic driving control of the vehicle is permitted, and an arrival target to the destination. Target time acquisition means (41) for acquiring time, and arrival time prediction for predicting the expected arrival time of the vehicle to the destination when the vehicle is assumed to travel on the planned travel route by automatic driving control. Means (41), and switching guidance means (41) for guiding the user to switch from automatic operation control to manual operation by the user's driving operation based on the expected arrival time and the arrival target time. It is characterized by.

  According to the automatic driving support system, the automatic driving support method, and the computer program according to the present invention having the above-described configuration, it is predicted that the vehicle will reach the destination when it is assumed that the vehicle travels on the planned travel route by the automatic driving control. Based on the time and the arrival target time, guidance is provided to prompt the user to switch from automatic operation control to manual operation by the user's driving operation. It is possible to allow the user to grasp whether or not it is delayed, and to give the user an opportunity to correct the arrival time at the destination under necessary conditions. As a result, it is possible to prevent a disadvantage to the user such as a significant delay in arrival at the destination.

It is the block diagram which showed the structure of the navigation apparatus which concerns on this embodiment. It is a flowchart of the arrival time guidance processing program which concerns on this embodiment. It is the figure which showed an example of the control content of the automatic driving control set with respect to the driving planned route of a vehicle. It is the figure which showed the driving | running | working guidance screen displayed on a liquid crystal display in step 6. FIG. It is a figure explaining the calculation method of the estimated arrival time to the destination for every switching recommendation point, when there are a plurality of switching recommendation points. It is the figure which showed the driving | running | working guidance screen displayed on a liquid crystal display in step 10. FIG. It is the figure explaining the selection method of the switching recommendation point in case there exist a some switching recommendation point.

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

  As shown in FIG. 1, the navigation device 1 according to the present embodiment includes a current position detection unit 11 that detects a current position of a vehicle on which the navigation device 1 is mounted, a data recording unit 12 that records various data, Based on the input information, the navigation ECU 13 that performs various arithmetic processes, the operation unit 14 that receives operations from the user, and a guide route (vehicles) set on the map around the vehicle and the navigation device 1 for the user Liquid crystal display 15 for displaying information related to the travel route), a speaker 16 for outputting voice guidance for route guidance, a DVD drive 17 for reading DVD as a storage medium, a probe center, and VICS (registered trademark: Vehicle Information). and Communication System) A communication module that communicates with an information center such as a center. And 8, are constructed from. The navigation device 1 is connected to an in-vehicle camera 19 and various sensors installed on a vehicle on which the navigation device 1 is mounted via an in-vehicle network such as CAN. Furthermore, the vehicle control ECU 20 that performs various controls on the vehicle on which the navigation device 1 is mounted is also connected so as to be capable of bidirectional communication. Various operation buttons 21 mounted on the vehicle such as an automatic driving switch and an automatic driving start button are also connected.

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

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

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

  The link data 33 includes, for each link constituting the road, the width of the road to which the link belongs, a gradient, a cant, a bank, a road surface state, a merged section, a road structure, the number of road lanes, the number of lanes The data indicating the decreasing part, the width narrowing part, the level crossing, etc. for the corner, the curvature radius, the intersection, the T-junction, the entrance and the exit of the corner, etc., the data indicating the road attribute, the downhill road, the uphill road, etc. In addition to general roads such as national roads, prefectural roads, and narrow streets, data representing roads are recorded for expressways such as national highways, urban highways, exclusive roads, general toll roads, and toll bridges. Is done.

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

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

  On the other hand, the navigation ECU (Electronic Control Unit) 13 is an electronic control unit that controls the entire navigation device 1. The CPU 41 as an arithmetic device and a control device, and a working memory when the CPU 41 performs various arithmetic processes. From the ROM 43 and the ROM 43 in which a RAM 42 that stores route data when a route is searched, a control program, an arrival time guidance processing program (see FIG. 2) described later, and the like are recorded. An internal storage device such as a flash memory 44 for storing the read program is provided. The navigation ECU 13 constitutes various means as processing algorithms. For example, the route setting means sets a planned travel route from a departure point to a destination including an automatic driving section in which automatic driving control of the vehicle is permitted. The target time acquisition means acquires the target time of arrival at the destination. The arrival time predicting means predicts the estimated arrival time of the vehicle to the destination when the vehicle is assumed to travel on the planned travel route by automatic driving control. The switching guidance means performs guidance for prompting switching from automatic operation control to manual operation by the user's driving operation based on the estimated arrival time and the arrival target time.

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

  Further, the liquid crystal display 15 includes a map image including a road, traffic information, operation guidance, operation menu, key guidance, guidance information along a guidance route (scheduled travel route), news, weather forecast, time, mail, television. Programs etc. are displayed. Further, in the present embodiment, when the vehicle is assumed to travel on the planned travel route by automatic driving control, the estimated arrival time of the vehicle to the destination, or switching from automatic driving control to manual driving by the user's driving operation The guidance for prompting is also displayed. In place of the liquid crystal display 15, HUD or HMD may be used.

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

  The speaker 16 outputs voice guidance for guiding traveling along the guidance route based on an instruction from the navigation ECU 13 and traffic information guidance. Further, in the present embodiment, when the vehicle is assumed to travel on the planned travel route by automatic driving control, the estimated arrival time of the vehicle to the destination, or switching from automatic driving control to manual driving by the user's driving operation The guidance voice prompting the user is also output.

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

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

  The vehicle exterior camera 19 is constituted by a camera using a solid-state image sensor such as a CCD, for example, and is installed above the front bumper of the vehicle and installed with the optical axis direction downward from the horizontal by a predetermined angle. And the vehicle outside camera 19 images the front of the traveling direction of the vehicle when the vehicle travels in the automatic driving section. In addition, the vehicle control ECU 20 performs image processing on the captured image, thereby detecting a lane line drawn on the road on which the vehicle travels, other vehicles in the vicinity, and the like. Perform operation control. In addition, you may comprise the vehicle exterior camera 19 so that it may arrange | position behind or a side other than the vehicle front. As a means for detecting other vehicles, a sensor such as a millimeter wave radar, vehicle-to-vehicle communication, or road-to-vehicle communication may be used instead of the camera.

  The vehicle control ECU 20 is an electronic control unit that controls the vehicle on which the navigation device 1 is mounted. Further, the vehicle control ECU 20 is connected to each drive unit of the vehicle such as a steering, a brake, and an accelerator. In the present embodiment, the vehicle control ECU 20 controls the drive unit particularly when the vehicle travels in an automatic driving section. Implement automatic operation control. Moreover, navigation ECU13 transmits the instruction | indication signal regarding automatic driving | operation control with respect to vehicle control ECU20 via CAN at the time of the driving plan route (guide route) of a vehicle being determined. And vehicle control ECU20 implements the automatic driving | operation control after a driving | running | working start according to the received instruction signal. The content of the instruction signal includes information for specifying a planned travel route (guide route) and control content of automatic driving control performed on the vehicle with respect to the automatic driving section included in the planned traveling route (for example, straight traveling). , Change lane to the right, merge, etc.).

  Next, an arrival time guidance processing program executed by the CPU 41 in the navigation device 1 according to the present embodiment having the above-described configuration will be described with reference to FIG. FIG. 2 is a flowchart of the arrival time guidance processing program according to the present embodiment. Here, the arrival time guidance processing program is executed when a scheduled travel route (guidance route) is determined and a predetermined operation by the user is accepted after the vehicle has started traveling. Is a program that guides the estimated time of arrival of the vehicle to the destination when it is assumed that the vehicle is to be driven by automatic driving control, and that prompts the user to switch from automatic driving control to manual driving by a driving operation. 2 is stored in the RAM 42 or the ROM 43 provided in the navigation device 1 and is executed by the CPU 41.

  First, in the arrival time guidance processing program, in step (hereinafter abbreviated as S) 1, the CPU 41 determines whether or not the vehicle is traveling under automatic driving control. In the following description, it is assumed that the planned driving route of the vehicle includes an automatic driving section (for example, an expressway) where automatic driving control is performed. In addition, when the vehicle travels in an automatic driving section, automatic driving control is not always performed, but the user can intentionally cancel the automatic driving control by operating an automatic driving start button or the like. . However, in the following description, it is assumed that the vehicle basically travels by automatic driving control in the automatic driving section, except when the switching point is registered as described later.

  And when it determines with the vehicle drive | working by automatic driving | operation control (S1: YES), it transfers to S2. On the other hand, when it is determined that the vehicle is traveling by manual driving by the user's driving operation (S1: NO), the arrival time guidance processing program is terminated without performing guidance.

  Next, in S <b> 2, the CPU 41 acquires a scheduled travel route (guide route) currently set in the navigation device 1. Here, for example, when the user sets a destination at the start of traveling, a route search process using a known Dijkstra method is executed, and the planned traveling route is determined by a user operation from among a plurality of candidates. .

Subsequently, in S <b> 3, the CPU 41 acquires a target arrival time that is a target arrival time to the destination. Note that the arrival target time may be input when the user inputs a destination when searching for a route, or may be input when the arrival time guidance processing program is executed. . Moreover, it is good also considering the arrival time to the destination guided to the user at the time of route search as the arrival target time.
The target arrival time to be acquired may be a specific time (for example, XX hours / minutes) or a required time (for example, arrival after XX minutes).

  Thereafter, in S4, the CPU 41 predicts an estimated arrival time, which is the arrival time of the vehicle at the destination when it is assumed that traveling by the automatic driving control is continued. Specifically, the predicted arrival time is predicted from the current position of the vehicle to the destination on the assumption that traveling by automatic driving control is performed in the automatic driving section and traveling by manual driving is performed outside the automatic driving section. In addition to predicting the automatic driving control to be performed and the route information of the planned travel route, the predicted arrival time is estimated based on traffic information, average travel time, statistical traffic information obtained based on VICS information and probe information. Etc. are performed. Moreover, you may use about the past driving | running | working log | history of a vehicle.

  Here, the control content of the automatic driving control performed on the vehicle is set by the navigation ECU 13 or the vehicle control ECU 20 when, for example, a planned travel route is determined. Specifically, the control content of the automatic driving control (for example, going straight, changing lanes to the right, joining, etc.) is set for the automatic driving section included in the planned travel route. For example, in the example shown in FIG. 3, it is the figure which showed an example of the control content of the automatic driving control set when the area ae is an automatic driving area among the driving schedule paths of a vehicle. In the example illustrated in FIG. 3, the control content of the automatic operation control is set for the sections a to e. In addition, the control content of automatic driving control is basically determined based on the planned travel route and map information. For example, “Merge” is set as the control content of automatic driving control in the section where it is necessary to merge with the main line by IC etc. Is done. Also, “change lane to right (left)” is set in the section where lane change is required to move to another highway by JCT or the like. And in said S4, the required time concerning the driving | running | working of each area is estimated based on the control content of the automatic driving control set for every area. For example, in a state where there is basically no traffic jam, the vehicle travels in the automatic driving section at 90% of the legal speed. Calculate by adding the specified time to the required time.

In addition, automatic driving control in situations where it is difficult to run with automatic driving control in automatic driving sections (for example, sections where merging or lane changes are required in short sections, sections with bad weather, sections with thin lane lines, etc.) May be temporarily interrupted. Therefore, in S4, it is desirable to predict the expected arrival time in consideration of such interruption of automatic operation control.
Note that the estimated arrival time may be predicted with a specific hour and minute (for example, XX hour and O minutes) or may be predicted with a required time (for example, arrival after XX minutes).

  In S5, the CPU 41 compares the target arrival time acquired in S3 with the predicted arrival time predicted in S4, and determines whether or not the predicted arrival time is later than the target arrival time. In S5, it may be determined whether or not it is delayed by a predetermined time (for example, 10 minutes) or more in consideration of the calculation error of the estimated arrival time.

  If it is determined that the predicted arrival time is later than the target arrival time (S5: YES), the process proceeds to S6. On the other hand, when it is determined that the predicted arrival time is the same as or earlier than the target arrival time (S5: NO), the arrival time guidance processing program is terminated without performing guidance.

  Next, in S <b> 6, the CPU 41 performs guidance for prompting switching from automatic operation control to manual operation by a user's operation. Specifically, it is better to guide the predicted arrival time predicted in S4, and to take into account the delay from the arrival target time and the switching to manual operation when traveling by automatic operation control is continued. To the user. The guidance may be performed using the liquid crystal display 15 or by voice guidance.

  For example, FIG. 4 is a diagram showing a travel guidance screen 51 displayed on the liquid crystal display 15 in S4. As shown in FIG. 4, on the travel guidance screen 51, an option icon 52 is displayed together with a sentence “The estimated time of arrival when automatic driving control is continued is XX hours and minutes. Do you want to switch to manual driving?”. Then, by accepting a user operation on the option icon 52, it is determined whether or not the user wishes to switch from automatic operation control to manual operation.

  Subsequently, in S7, the CPU 41 determines whether or not the user who has received the guidance performed in S6 has selected switching from automatic operation control to manual operation. Specifically, when “Yes” is pressed among the option icons 52 shown in FIG. 4, it is determined that the user desires switching from automatic operation control to manual operation. In addition, it is good also as a structure which makes CPU41 select instead of making a user select. In this case, for example, when the predicted arrival time is significantly delayed (for example, 30 minutes or more) from the target arrival time, the switching from the automatic operation control to the manual operation is selected.

  When it is determined that the user who has received the guidance performed in S6 has selected switching from automatic operation control to manual operation (S7: YES), the process proceeds to S8. On the other hand, if it is determined that switching from automatic operation control to manual operation is not selected (S7: NO), the arrival time guidance processing program is terminated without performing guidance.

In S8, the CPU 41 acquires, as a recommended switching point, a point recommended for switching from automatic driving control to manual driving in the automatic driving section from the current position of the vehicle to the destination. Note that the recommended switching points include, for example, a facility that can stop a vehicle such as a service area or a parking area along a planned travel route. Moreover, even if it is on a main line, if it is a point except the area where it is determined that it is difficult to make it take over from automatic operation control to manual operation, it can be acquired as a recommended switching point. Here, the section in which it is determined that it is difficult to take over from the automatic driving control to the manual driving is, for example, a section in which the burden of the vehicle operation by the user after the handing over to the manual driving is larger than a certain amount. is there. Note that the certain amount is the upper limit of the operation burden that a general user can drive properly immediately after the start of driving. For example, a section corresponding to any one of the following conditions (A) to (D) is a section in which the burden of the vehicle operation by the user after the handover to the manual operation is performed is larger than a certain amount.
(A) Section with poor road surface conditions such as step formation, road surface freezing, unpaved, etc.
(C) A section in which a brake operation or a steering operation of a predetermined amount or more such as merging, branching, curve, and gradient needs to be performed within a predetermined time.
(D) A section where a strong wind (for example, wind speed of 15 m / s or more) is generated.

  It should be noted that it is desirable to acquire a plurality of recommended switching points with a certain distance interval. Further, the recommended switching point may be specified as a section having a certain distance width instead of a point.

  Next, in S9, for each recommended switching point acquired in S8, the CPU 41 corrects the arrival time of the vehicle to the destination when it is assumed that switching from automatic driving control to manual driving is performed at that point. Predict the estimated arrival time. Specifically, the corrected estimated time of arrival is calculated on the assumption that driving from the current position of the vehicle to the recommended switching point is performed by automatic driving control in the automatic driving section, and driving from the recommended switching point to the destination is performed by manual driving. Predict. Note that the details of the process related to the prediction are the same as in S4, and a description thereof will be omitted.

As a result, for example, as shown in FIG. 5, when three points A to C are acquired as recommended switching points along the planned travel route, first, switching from automatic driving control to manual driving is performed at point A. The corrected estimated arrival time when it is assumed to have been calculated is calculated. Similarly, the estimated arrival time when it is assumed that the automatic operation control is switched to the manual operation at the point B, and the correction when the automatic operation control is switched to the manual operation at the point C is assumed. Estimated arrival time is calculated. Note that, depending on the shape of the planned travel route and traffic conditions, the corrected estimated arrival time may be later than the predicted arrival time predicted in S4. However, in the following description, the corrected estimated arrival time is more than the estimated arrival time. I will explain that it will be faster.
As with the estimated arrival time, the corrected estimated arrival time may be predicted with a specific time (for example, XX hour), or may be predicted with a required time (for example, arrival after XX minutes).

  Next, in S10, the CPU 41 guides the recommended switching point acquired in S8, and also guides the estimated corrected arrival time predicted in S9 in association with the recommended switching point. When a plurality of recommended switching points are acquired, the estimated correction arrival times predicted for each of the plurality of recommended switching points are associated and guided. The guidance may be performed using the liquid crystal display 15 or by voice guidance.

  For example, FIG. 6 is a diagram showing a travel guidance screen 61 displayed on the liquid crystal display 15 in S10. As shown in FIG. 6, on the travel guide screen 61, the planned travel route of the vehicle and the recommended switching point set along the planned travel route are superimposed on the map on the left side of the screen. For example, in the example shown in FIG. 6, three points A to C are set as recommended switching points. In addition, an information window 62 is displayed for displaying a list of the estimated corrected arrival times predicted when switching from automatic driving control to manual driving at each switching recommended point. In the example shown in FIG. 6, the corrected estimated arrival time is indicated not by a specific time but by a difference with respect to the arrival target time (how far behind the arrival target time). For example, when switching from automatic operation control to manual operation at point A (OOSA) that is closest to the current position of the vehicle, it is possible to arrive at the destination at approximately the same time as the arrival target time. Show. On the other hand, when switching from automatic operation control to manual operation at the point C (near XX IC) closest to the destination, it is possible to arrive at the destination with a delay of 20 minutes from the target time of arrival. Show. The corrected estimated arrival time may be indicated by a specific hour or minute, or may be a difference with respect to the expected arrival time instead of the target arrival time.

  Then, the user visually recognizes the driving guidance screen 61 displayed on the liquid crystal display 15 to change the position of the point suitable for switching from automatic driving control to manual driving and when switching is performed at each point. It is possible to grasp how much delay occurs with respect to the target time.

  Next, in S <b> 11, the CPU 41 determines whether or not the user who has received the guidance performed in S <b> 10 has selected any recommended switching point as a point for switching from automatic driving control to manual driving. Specifically, as shown in FIG. 7, when any position of the information window 62 displayed on the liquid crystal display 15 is pressed by the user, the recommended switching point where the information is displayed at the pressed position. It is determined that the user has selected as a point for switching from automatic operation control to manual operation.

  If it is determined that one of the recommended switching points has been selected as a point for switching from automatic driving control to manual driving (S11: YES), the process proceeds to S12. On the other hand, if it is determined that none of the recommended switching points has been selected as a point for switching from automatic driving control to manual driving (S11: NO), the arrival time is not registered without registering the switching point. The guidance processing program is terminated.

  In S12, the CPU 41 registers the recommended switching point selected by the user as a switching point where switching from the automatic operation control to the manual operation control is performed.

  Thereafter, in S13, the CPU 41 changes a section (hereinafter referred to as an automatic driving execution section) in which the automatic driving control is performed in the planned traveling route in accordance with the switching point registered in S12. Specifically, the automatic driving section is the area before the switching point registered in S12 in the automatic driving section. When the automatic driving execution section is changed, information for specifying the changed automatic driving execution section and the control content set for the section are transmitted to the vehicle control ECU 20 via the CAN. In addition, when the control content (for example, going straight, changing the lane to the right, merging, etc.) of the automatic driving control performed on the vehicle by changing the automatic driving execution section is changed, the control of the automatic driving control is again performed. Set the contents.

  As described above in detail, in the navigation device 1, the automatic driving support method using the navigation device 1, and the computer program executed by the navigation device 1, the vehicle includes an automatic driving section in which automatic driving control of the vehicle is performed. (S2) On the other hand, the target time of arrival at the destination is acquired (S3), and the vehicle to the destination is assumed when the vehicle travels on the planned driving route by automatic driving control. Is predicted (S4), and based on the estimated arrival time and the arrival target time, guidance is provided to prompt switching from automatic operation control to manual operation by the user's driving operation (S6). When the user arrives at the destination under the necessary circumstances, the user is made to know in advance whether the arrival at the destination is behind the target. It is possible to give the user the opportunity to modify. As a result, it is possible to prevent a disadvantage to the user such as a significant delay in arrival at the destination.

Note that the present invention is not limited to the above-described embodiment, and various improvements and modifications can be made without departing from the scope of the present invention.
For example, in the present embodiment, the arrival time guidance processing program (FIG. 2) is executed in a state where the vehicle is traveling along the planned travel route, and guidance for urging switching from automatic operation control to manual operation is performed. However, the arrival time guidance processing program (FIG. 2) may be executed at the time of route search (that is, when the scheduled travel route is determined). In that case, by performing the processing after S2 of the arrival time guidance processing program (FIG. 2) at the time when the planned travel route is determined, the automatic driving control is switched to the manual driving before the vehicle starts traveling. It is possible to register a switching point for switching.

  Further, in this embodiment, only when traveling by automatic operation control, the process after S2 of the arrival time guidance processing program (FIG. 2) is executed, and guidance for urging to switch from automatic operation control to manual operation is provided. However, if the vehicle travels in the automatic operation section even after traveling by manual operation, the process after S2 of the arrival time guidance processing program (FIG. 2) may be executed.

  Further, in the present embodiment, when the estimated arrival time is later than the arrival target time, guidance is provided for prompting switching from automatic operation control to manual operation by the user's driving operation. Even when it is earlier than the target time (especially when it is much earlier), guidance for prompting switching from automatic operation control to manual operation by the user's driving operation may be provided. In that case, the user can adjust the arrival time to the destination by switching to manual driving and taking a detour.

  Further, in the present embodiment, the navigation device 1 is configured to set the control content of the automatic driving control performed on the vehicle (for example, straight ahead, lane change to the right, merge, etc.), but the control content of the automatic driving is It is good also as a structure which vehicle control ECU20 sets. Further, the control content of the automatic driving control does not necessarily need to be set at the time of route search or switching point registration, but may be set before reaching the automatic driving section.

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

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

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

  Moreover, although the embodiment which actualized the automatic driving support system according to the present invention has been described above, the automatic driving support system can also have the following configuration, and in that case, the following effects can be obtained.

For example, the first configuration is as follows.
Route setting means for setting a planned travel route from a departure point to a destination including an automatic driving section in which automatic driving control of the vehicle is permitted; target time acquisition means for acquiring a target time of arrival at the destination; and Based on the arrival time prediction means for predicting the estimated arrival time of the vehicle to the destination when the vehicle is assumed to travel on the planned travel route by automatic driving control, based on the estimated arrival time and the arrival target time Switching guide means for performing guidance for prompting switching from automatic driving control to manual driving by a user's driving operation.
According to the automatic driving support system having the above-described configuration, automatic driving is performed based on the predicted arrival time and the arrival target time of the vehicle when it is assumed that the vehicle travels on the planned driving route by automatic driving control. Since guidance to prompt the user to switch from manual control to manual operation is provided, it is necessary for the user to know in advance whether or not the arrival at the destination is behind the target when traveling by automatic operation control. It is possible to give the user an opportunity to correct the arrival time at the destination under various circumstances. As a result, it is possible to prevent a disadvantage to the user such as a significant delay in arrival at the destination.

The second configuration is as follows.
The arrival time predicting means is an estimated arrival time of the vehicle to the destination when it is assumed that the vehicle continuously travels by automatic driving control in a state where the vehicle travels by the automatic driving control. It is characterized by predicting.
According to the automatic driving support system having the above-described configuration, in the state where the vehicle is traveling by the automatic driving control, the user is notified whether the arrival at the destination is delayed from the target when the automatic driving control is continued. It is possible to grasp in advance, and to cancel the automatic operation control and switch to manual operation as necessary.

The third configuration is as follows.
The switching guide means performs guidance for prompting switching from automatic operation control to manual operation by a user's driving operation when the expected arrival time is later than the arrival target time.
According to the automatic driving support system having the above-described configuration, automatic driving is performed when the estimated arrival time of the vehicle to the destination is delayed from the arrival target time when it is assumed that the vehicle travels on the planned traveling route by automatic driving control. Since guidance for urging the switch from the control to the manual operation is performed, the switch from the automatic operation control to the manual operation can be performed in a situation necessary for the user.

The fourth configuration is as follows.
The switching guide means guides a recommended point for switching from automatic driving control to manual driving between the position of the vehicle and the destination.
According to the automatic driving support system having the above-described configuration, the guidance for prompting the switching from the automatic driving control to the manual driving and the recommended point for switching from the automatic driving control to the manual driving are also guided. It is possible to grasp at which position of the planned route it is appropriate to switch from automatic operation control to manual operation.

The fifth configuration is as follows.
The switching guidance means predicts the arrival time of the vehicle to the destination when switching from automatic driving control to manual driving at the recommended point, and the arrival time predicted together with the recommended point It is characterized by guiding.
According to the automatic driving support system having the above-described configuration, the guidance for prompting the switching from the automatic driving control to the manual driving, the recommended point for switching from the automatic driving control to the manual driving, and the automatic driving control to the manual driving at the recommended point. The arrival time at the destination when switching to is also guided, so how the arrival time at the destination changes when switching from automatic operation control to manual operation for the user It is possible to grasp in advance.

The sixth configuration is as follows.
There are a plurality of recommended points, and when one of the recommended points out of the plurality of recommended points guided by the switching guide means is selected by the user, the selected recommended point is manually selected from the automatic driving control. It has the point registration means registered as a switching point where switching to operation control is performed.
According to the automatic driving support system having the above-described configuration, a plurality of recommended points for switching from automatic driving control to manual driving are guided, and the user is allowed to select a point for actual switching. Whether to switch from automatic operation control to manual operation can be selected by a user's intention from a plurality of candidates.

The seventh configuration is as follows.
In accordance with the switching point registered by the point registration means, an automatic driving execution section determining means for determining a section for executing the automatic driving control in the planned driving route, and a section for performing the automatic driving control in the planned driving route. On the other hand, it has control content setting means for setting the control content of the automatic driving control performed on the vehicle.
According to the automatic driving support system having the above configuration, it is possible to set the control content of the automatic driving control performed by the vehicle when traveling on the planned traveling route in consideration of the section where the automatic driving control is performed. Become.

1 Navigation device 13 Navigation ECU
14 Operation unit 15 Liquid crystal display 41 CPU
42 RAM
43 ROM
51, 61 Travel guidance screen 62 Information window

Claims (9)

Route setting means for setting a planned travel route from a departure point to a destination including an automatic driving section in which automatic driving control of the vehicle is permitted;
Target time acquisition means for acquiring a target time of arrival at the destination;
Arrival time predicting means for predicting the predicted arrival time of the vehicle to the destination when the vehicle is assumed to travel on the travel route by automatic driving control;
An automatic driving support system, comprising: a switching guidance unit that performs guidance for prompting switching from automatic driving control to manual driving by a user's driving operation based on the predicted arrival time and the target arrival time.   The arrival time predicting means is an estimated arrival time of the vehicle to the destination when it is assumed that the vehicle continuously travels by automatic driving control in a state where the vehicle travels by the automatic driving control. The automatic driving support system according to claim 1, wherein:   The switching guide means performs guidance for prompting switching from automatic driving control to manual driving by a user's driving operation when the predicted arrival time is later than the target arrival time. The automatic driving support system according to claim 2.   4. The switching guidance means for guiding a recommended point for switching from automatic driving control to manual driving between the position of the vehicle and the destination. The automatic driving support system described in 1. The switching guide means includes
Predicting the arrival time of the vehicle to the destination when switching from automatic driving control to manual driving at the recommended point;
The automatic driving support system according to claim 4, wherein the arrival time predicted together with the recommended location is guided. There are multiple recommended points,
When any one of the recommended points guided by the switching guide means is selected by the user, the selected recommended point is switched from automatic operation control to manual operation control. 6. The automatic driving support system according to claim 4, further comprising point registration means for registering as a switching point. In accordance with the switching point registered by the point registration means, automatic driving execution section determining means for determining a section for performing automatic driving control in the planned travel route,
The control content setting means which sets the control content of the said automatic driving control performed with respect to the said vehicle with respect to the area which implements automatic driving control in the said driving planned route is characterized by the above-mentioned. The automatic driving support system described. A route setting means for setting a planned travel route from a departure point to a destination including an automatic driving section in which automatic driving control of the vehicle is permitted;
A target time acquisition means for acquiring a target time of arrival at the destination;
An arrival time predicting unit predicting an estimated arrival time of the vehicle to the destination when the vehicle is assumed to travel on the planned travel route by automatic driving control;
An automatic driving support method, characterized in that the switching guide means includes a step of guiding the user to switch from the automatic driving control to the manual driving by the driving operation based on the predicted arrival time and the arrival target time. . Computer
Route setting means for setting a planned travel route from a departure point to a destination including an automatic driving section in which automatic driving control of the vehicle is permitted;
Target time acquisition means for acquiring a target time of arrival at the destination;
Arrival time predicting means for predicting the predicted arrival time of the vehicle to the destination when the vehicle is assumed to travel on the travel route by automatic driving control;
Switching guidance means for performing guidance for prompting switching from automatic operation control to manual operation by a user's driving operation based on the expected arrival time and the arrival target time;
Computer program to make it function.

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