Automobile and control method of automobile

Abstract

Provided are an automobile and an automobile control method configured so that a drive device, a brake device, and a steering device are controlled so as to travel in a driving mode selected by a driver among a fully automatic driving mode, a semi-automatic driving mode, and a manual driving mode using information from a periphery recognition device that acquires information about the periphery of the automobile. An electronic control unit of the automobile is configured to permit an override request issued by an accelerator operation of the driver when the driver selects the semi-automatic driving mode, and restrict the override request issued by the accelerator operation of the driver when the driver selects the full-automatic driving mode than when the driver selects the semi-automatic driving mode.

Description

Technical Field

[0001] The present disclosure relates to an automobile, and more particularly to an automobile that travels in a driving mode selected from among a fully automatic driving mode, a semi-automatic driving mode, and a manual driving mode, and a control method thereof. Background Art

[0002] In the past, as such a car, an example has been proposed in which, in a vehicle having a first automatic driving mode and a second automatic driving mode, when the second automatic driving mode is selected, it is difficult to comply with an override request issued by the driver compared to when the first automatic driving mode is selected (for example, refer to Japanese Patent Application Laid-Open No. 2020-172182). In this car, the driving mode is determined based on a predetermined reliability condition, and the level of override is adjusted for the determined driving mode. Here, the "override" means that when the request value issued by the driver's operation (accelerator operation, brake operation, etc.) when the fully automatic driving mode or the semi-automatic driving mode is selected as the driving mode is greater than the request value calculated by the electronic control unit when driving in the fully automatic driving mode or the semi-automatic driving mode, control is performed according to the request value issued by the driver's operation. Summary of the invention

[0003] Yet, in above-mentioned automobile, the driving mode is judged according to predetermined reliability condition, so the situation of driving with the driving mode that the driver does not intend is produced.In this case, the control of overriding that the driver does not intend is carried out, and can cause discomfort to the driver.

[0004] Therefore, in the present disclosure, in order to more appropriately control the override of the driver's accelerator operation, a vehicle and a control method thereof using the following means are provided.

[0005] The first scheme of the present disclosure relates to a car equipped with an electronic control unit. The electronic control unit is configured to control a drive device, a brake device, and a steering device in a manner that uses information from a surrounding recognition device that obtains information about the surroundings of the vehicle and drives in a driving mode selected by the driver among a fully automatic driving mode, a semi-automatic driving mode, and a manual driving mode. Furthermore, the electronic control unit is configured to allow an override request issued by the driver's accelerator operation when the driver selects the semi-automatic driving mode. Furthermore, the electronic control unit is configured to limit the override request issued by the driver's accelerator operation when the driver selects the fully automatic driving mode compared to when the semi-automatic driving mode is selected.

[0006] The automobile according to the first scheme controls the drive device, the brake device, and the steering device in a manner that the vehicle is driven in a driving mode selected by the driver among the fully automatic driving mode, the semi-automatic driving mode, and the manual driving mode, using information from a surrounding recognition device that obtains information about the surroundings of the vehicle. Furthermore, when the driver selects the semi-automatic driving mode, an override request issued by the driver's accelerator operation is permitted, and when the driver selects the fully automatic driving mode, an override request issued by the driver's accelerator operation is restricted compared to when the semi-automatic driving mode is selected. Thus, when the driver selects the semi-automatic driving mode, the driver's accelerator operation is given priority, and when the driver selects the fully automatic driving mode, unexpected accelerator operations can be handled. As a result, the override of the driver's accelerator operation can be more appropriately controlled.

[0007] In the automobile of the first embodiment, the electronic control unit may be configured to control the brake device to limit the override request issued by the driver's accelerator operation when the driver selects the fully automatic driving mode, compared to when the driver selects the semi-automatic driving mode. According to the automobile of the above structure, when the driver selects the semi-automatic driving mode, the override request issued by the driver's accelerator operation is permitted, and when the driver selects the fully automatic driving mode, the override request issued by the driver's accelerator operation is limited by controlling the brake device compared to when the driver selects the semi-automatic driving mode. According to the automobile of such structure, when the driver selects the semi-automatic driving mode, the driver's accelerator operation is given priority, and when the driver selects the fully automatic driving mode, unexpected accelerator operation can be handled. As a result, the override of the driver's accelerator operation can be more appropriately controlled.

[0008] In the automobile of the first embodiment, the electronic control unit may be configured to prohibit an override request issued by the driver's accelerator operation when the driver selects the fully automatic driving mode. According to such a structure, the automobile can continue the automatic driving even if the driver performs an unexpected accelerator operation when the fully automatic driving mode is selected.

[0009] In the automobile of the first embodiment, the electronic control unit may be configured to restrict the override of the accelerator operation performed by the driver when the driver selects the fully automatic driving mode. In addition, in the automobile of the first embodiment, the electronic control unit may be configured to control the brake device by setting the value obtained by subtracting the predetermined value from the manual driving torque as the required torque when the manual driving torque exceeds the predetermined value of the automatic driving torque. Furthermore, in the automobile of the first embodiment, the electronic control unit may be configured to control the brake device by setting the value obtained by multiplying the manual driving torque by a coefficient smaller than 1 as the required torque when the value obtained by multiplying the manual driving torque by the coefficient exceeds the automatic driving torque.

[0010] In the automobile of the first embodiment, the electronic control unit may be configured to perform automatic selection of one of the fully automatic driving mode and the semi-automatic driving mode according to the situation without the need for driver selection. Furthermore, the electronic control unit may be configured to limit the override request issued by the driver's accelerator operation when driving in the driving mode selected by the driver, compared to the override request issued by the driver's accelerator operation when driving in the driving mode selected by the automatic selection. Here, in the automobile of the above structure, it may be configured to limit by controlling the brake device, compared to the override request issued by the driver's accelerator operation when driving in the driving mode selected by the automatic selection. According to the automobile of such a structure, when driving in the driving mode selected by the driver, the override can be permitted in the semi-automatic driving mode and the override can be restricted (including prohibited) in the fully automatic driving mode, and on the other hand, when driving in the driving mode selected by the automatic selection, the override can be permitted in both the semi-automatic driving mode and the fully automatic driving mode. In this way, the restrictions on override when selecting a driving mode through automatic selection are reduced compared to when the driving mode is selected through the driver's selection, thereby enabling priority to be given to accelerator operations performed by the driver when driving in a fully automatic driving mode or a semi-automatic driving mode through automatic selection.

[0011] In the automobile of the first embodiment, the electronic control unit may be configured to allow an override request issued by the driver's brake operation regardless of whether the driver has selected the semi-automatic driving mode or the fully automatic driving mode. According to such a structured automobile, the driver's brake operation can be prioritized regardless of whether the driver has selected the semi-automatic driving mode or the fully automatic driving mode.

[0012] A second aspect of the present disclosure relates to a control method for an automobile. The control method: (i) controls a driving device, a braking device, and a steering device in a manner that the vehicle travels in a driving mode selected by a driver among a fully automatic driving mode, a semi-automatic driving mode, and a manual driving mode using information from a surrounding recognition device that obtains information about the surroundings of the vehicle; (ii) permits an override request issued by an accelerator operation of the driver when the driver selects the semi-automatic driving mode; and (iii) limits an override request issued by an accelerator operation of the driver when the driver selects the fully automatic driving mode compared to when the semi-automatic driving mode is selected.

[0013] According to the second embodiment of the automobile control method, when the driver selects the semi-automatic driving mode, the driver's accelerator operation is prioritized, and when the driver selects the fully automatic driving mode, unexpected accelerator operation can be handled. As a result, the override of the driver's accelerator operation can be more appropriately controlled. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, in which like reference numerals represent like elements, and appended hereto:

[0015] Figure 1 This is a schematic structural diagram showing the structure of a car as an embodiment of an example of the present disclosure.

[0016] Figure 2 It is shown by Figure 1 FIG. 1 is a flowchart showing an example of an override permission / disapproval process executed by the main ECU.

[0017] Figure 3 1 is a flowchart showing an example of an automatic setting override permission / disapproval process executed by the main ECU. DETAILED DESCRIPTION

[0018] Next, an embodiment as an example for carrying out the present disclosure will be described. Figure 1 1 is a schematic structural diagram showing the structure of the automobile 20 of the embodiment of the present disclosure. As shown in the figure, the automobile 20 of the embodiment includes a drive device 22, an electronic control unit for the drive device (hereinafter referred to as "drive ECU") 23, a brake device (brake device) 24, an electronic control unit for brakes (hereinafter referred to as "brake ECU") 25, a steering device 26, and an electronic control unit (hereinafter referred to as "main ECU") 30.

[0019] The drive device 22 is configured as a device that drives its output shaft 22a to rotate, for example, an example in which the car 20 is an electric car with a motor, an inverter, and a battery, an example in which the car 20 is a general engine-equipped car with an engine, an automatic transmission, and a fuel tank, an example in which the car 20 is a hybrid car with an engine, a fuel tank, a motor, an inverter, and a battery, an example in which the car 20 is a fuel cell car with a hydrogen tank, a fuel cell, a motor, and an inverter, etc. are equivalent to it. The output shaft 22a of the drive device 22 is connected to the drive wheels 28a and 28b via a differential gear 27. The drive device 22 is driven and controlled by the drive ECU 23. Although not shown in the figure, the drive ECU 23 has a microcomputer with a CPU, a ROM, a RAM, a flash memory, an input / output port, and a communication port. The signals from various sensors required for driving control of the drive device 22 are input to the drive ECU 23 via the input port. In addition, various control signals for driving control of the drive device 22 are output from the drive ECU 23 via the output port. The drive ECU 23 calculates the rotation speed N of the output shaft 22a of the drive device 22 based on the rotation position θ from a rotation position detection sensor (not shown) attached to the output shaft 22a. The drive ECU 23 communicates with the main ECU 30 via a communication port.

[0020] The brake device 24 is a known brake device that is hydraulically driven, and is configured to be able to impart the braking force caused by the brake pedal force generated by stepping on the brake pedal 48 and the braking force caused by the hydraulic adjustment to the driving wheels 28a, 28b, and the driven wheels 28c, 28d. The brake device 24 is driven and controlled by the brake ECU 25. Although not shown in the figure, the brake ECU 25 has a microcomputer having a CPU, ROM, RAM, flash memory, input and output ports, and a communication port. The brake ECU 25 controls the braking force caused by the brake pedal force provided by the brake device 24 and the braking force caused by the hydraulic adjustment. In addition, the brake ECU 25 communicates with the main ECU 30 via the communication port.

[0021] The steering device 26 mechanically connects a steering wheel (not shown) and driving wheels 28a and 28b via a steering shaft, and includes an actuator for steering. The steering device 26 steers the driving wheels 28a and 28b according to the driver's operation, and drives the actuator according to a steering signal from the main ECU 30, thereby steering the driving wheels 28a and 28b.

[0022] The air conditioning device 29 includes a refrigeration circuit and a blower fan, and performs air conditioning in the vehicle interior when the air conditioning switch 29 a is turned on, and does not perform air conditioning in the vehicle interior when the air conditioning switch 29 a is turned off.

[0023] The main ECU 30 includes a microcomputer having a CPU 31, a ROM 32, a RAM 33, a flash memory 34, an input / output port and a communication port (not shown). Signals from various sensors are input to the main ECU 30 via the input port. As the signal input to the main ECU 30, for example, an on / off signal from an air conditioning switch 29a indicating the on / off of the air conditioning device 29 can be cited. Also, there can be cited an ignition signal from an ignition switch 40, a vehicle speed V from a vehicle speed sensor 41, the speeds of each wheel from a wheel speed sensor 42, an acceleration α from an acceleration sensor 43, a yaw rate Yr from a yaw rate sensor 44, and a road surface slope θr from a slope sensor 45. In addition, there can be cited an accelerator opening Acc from an accelerator pedal position sensor 47 that detects the amount of depression of an accelerator pedal 46, and a brake pedal position BP from a brake pedal position sensor 49 that detects the amount of depression of a brake pedal 48.

[0024] Various control signals are output from the main ECU 30 via the output port. As control signals output from the main ECU 30, there can be cited control signals to the steering device 26, air conditioning control signals to the air conditioning device 29, display control signals to the display device 70, and communication control signals to the communication device 72. As described above, the main ECU 30 communicates with the drive ECU 23, the brake ECU 25, etc. via the communication port. In addition, the main ECU 30 communicates with the electronic control unit for shifting (hereinafter referred to as "shifting ECU") 50, the electronic control unit for peripheral identification (hereinafter referred to as "peripheral identification ECU") 55, and the navigation device 60 via the communication port.

[0025] Although not shown in the figure, the shift ECU 50 has a microcomputer having a CPU, a ROM, a RAM, a flash memory, an input / output port, and a communication port. A shift position signal from a shift position sensor 52 that detects the operation position of a shift lever 51 is input to the shift ECU 50 via the input port. The shift positions include a parking gear (P gear), a neutral gear (N gear), a forward gear (D gear), a reverse gear (R gear), and the like. The shift ECU 50 is connected to a peripheral identification ECU 55 in addition to the main ECU 30 via the communication port, and sets the shift position based on the shift position signal from the shift position sensor 52 and the control signal from the peripheral identification ECU 55, or sends the set shift position to the main ECU 30.

[0026] Although not shown, the surrounding recognition ECU 55 is equipped with a microcomputer having a CPU, ROM, RAM, flash memory, input / output ports, and a communication port. Various signals are input to the surrounding recognition ECU 55 via the input port. As the signal input to the surrounding recognition ECU 55, for example, there can be cited a signal representing the information of the vehicle and its surroundings from the surrounding recognition device 56 (for example, the vehicle distance D1 and D2 with other vehicles in front and behind the vehicle, the driving position of the vehicle on the lane of the road, etc.), and an automatic driving mode signal from the automatic driving switch 57. As the surrounding recognition device 56, for example, a camera, a millimeter wave radar, a quasi-millimeter wave radar, an infrared laser radar, a sonar, etc. can be cited. The automatic driving switch 57 is a switch for switching a fully automatic driving mode in which all driving operations are automatically performed, a semi-automatic driving mode in which the driver performs a part of the driving operation, and a manual driving mode in which the driver performs the driving operation. As a semi-automatic driving mode, for example, adaptive cruise control can be cited. In the following, the semi-automatic driving mode is described assuming adaptive cruise control. In addition, support control for avoiding and reducing collisions is performed regardless of the automatic driving mode. As described above, the periphery recognition ECU 55 communicates with the main ECU 30 and the shift ECU 50 via the communication port.

[0027] The navigation device 60 includes a main body 62 with a built-in control unit, a GPS antenna 64 for receiving information related to the current location of the vehicle, and a display 66. The control unit of the main body 62 has a storage medium (such as a hard disk, SSD, etc.) storing map information, an input / output port, and a communication port. In the map information, service information (such as sightseeing information, parking lots, etc.), road information of each driving section (such as between traffic lights, between intersections, etc.), etc. are stored as a database. The road information includes distance information, width information, number of lanes, regional information (urban area, suburbs), category information (general roads, highways), slope information, legal speed, number of traffic lights, turning radius of each curve, etc. The display 66 is configured as a touch panel display that displays various information such as information related to the current location of the vehicle, the planned driving route to the destination, and the user can input various instructions. When the user operates the display 66 to set a destination, the main body 62 of the navigation device 60 sets a planned driving route from the current location of the vehicle to the destination based on the map information stored in the main body 62, the current location of the vehicle from the GPS antenna 64, and the destination, and displays the set planned driving route on the display 66 for route guidance.

[0028] Next, the operation of the automobile 20 of the embodiment thus configured, particularly the operation when the driver steps on the accelerator pedal 46 when the automobile 20 is traveling in the fully automatic driving mode or the semi-automatic driving mode, will be described. When traveling in the fully automatic driving mode or the semi-automatic driving mode, the main ECU 30 calculates the torque to be output to the output shaft 22a of the drive device 22 for traveling (hereinafter referred to as "automatic driving torque") based on the vehicle speed V, the acceleration α, the inter-vehicle distance to the preceding vehicle, etc., sets the torque as the required torque T*, and drives the drive device 22 so that the set required torque T* is output to the output shaft 22a. When traveling in the manual driving mode, the main ECU 30 calculates the torque to be output to the output shaft 22a of the drive device 22 for traveling (hereinafter referred to as "manual driving torque") based on the amount of depression of the accelerator pedal 46 by the driver and the vehicle speed V, sets the torque as the required torque T*, and drives the drive device 22 so that the set required torque T* is output to the output shaft 22a. Therefore, when the driver selects the fully automatic driving mode or the semi-automatic driving mode as the driving mode, when the driver steps on the accelerator pedal 46, which of the automatic driving torque and the manual driving torque is set as the required torque T* becomes a problem. Similarly, when the driver selects the fully automatic driving mode or the semi-automatic driving mode as the driving mode, when the driver steps on the brake pedal 48, which of the automatic driving braking torque and the manual driving braking torque is set as the required braking torque becomes a problem. In the embodiment, by executing the main ECU 30 Figure 2 The above problem is solved by the illustrated processing of whether or not to allow override control. Here, as described above, override control means that when the required value issued by the driver's operation (accelerator operation, brake operation, etc.) when the full automatic driving mode or the semi-automatic driving mode is selected as the driving mode is greater than the required value calculated by the main ECU 30 when driving in the full automatic driving mode or the semi-automatic driving mode, control is performed according to the required value issued by the driver's operation.

[0029] When executing the override permission process, the main ECU 30 first determines whether the driver has selected the full automatic driving mode as the driving mode (step S100). This determination can be performed by checking the automatic driving mode signal from the automatic driving switch 57. When it is determined that the driver has selected the full automatic driving mode as the driving mode, the override of the accelerator operation performed by the driver is prohibited (step S110). At the same time, the override of the brake operation performed by the driver is permitted (step S140). Then, this process is terminated. That is, when the driver selects the full automatic driving mode as the driving mode, even if the manual driving torque exceeds the automatic driving torque due to the driver's large depression of the accelerator pedal 46, the automatic driving torque is set to the required torque T* and the drive device 22 is controlled. Moreover, when the manual driving brake torque exceeds the automatic driving brake torque due to the driver's large depression of the brake pedal 48, the manual driving brake torque is set to the required brake torque and the brake device 24 is controlled. The prohibition of the override of the accelerator operation performed by the driver when the driver selects the full automatic driving mode as the driving mode is to suppress the override caused by the unexpected accelerator operation. Permitting override of a brake operation performed by the driver when the driver selects the full automatic driving mode as the driving mode is for giving priority to braking of the vehicle performed by the driver's operation even during automatic driving in the full automatic driving mode.

[0030] When it is determined in step S100 that the driver has not selected the fully automatic driving mode as the driving mode, it is determined whether the driver has selected the semi-automatic driving mode as the driving mode (step S120). When it is determined that the driver has selected the semi-automatic driving mode as the driving mode, an override of the accelerator operation performed by the driver is permitted (step S130). At the same time, an override of the brake operation performed by the driver is permitted (step S140). Then, this process is terminated. That is, when the driver selects the semi-automatic driving mode as the driving mode, when the manual driving torque exceeds the automatic driving torque due to the driver's large depression of the accelerator pedal 46, the manual driving torque is set to the required torque T* and the drive device 22 is controlled. When the manual driving brake torque exceeds the automatic driving brake torque due to the driver's large depression of the brake pedal 48, the manual driving brake torque is set to the required brake torque and the brake device 24 is controlled. The reason why the override of the accelerator operation performed by the driver is permitted when the driver selects the semi-automatic driving mode as the driving mode is to give priority to the driver's accelerator operation. Permitting the override of the brake operation performed by the driver when the driver selects the semi-automatic driving mode as the driving mode is for giving priority to the braking of the vehicle performed by the brake operation of the driver even during the semi-automatic driving.

[0031] In the automobile 20 of the embodiment described above, when the driver selects the semi-automatic driving mode as the driving mode, the override of the accelerator operation performed by the driver is permitted. When the driver selects the full automatic driving mode as the driving mode, the override of the accelerator operation performed by the driver is prohibited. Thus, when the driver selects the semi-automatic driving mode as the driving mode, the driver's accelerator operation is given priority. When the driver selects the full automatic driving mode as the driving mode, it is possible to cope with unexpected accelerator operations. As a result, the override of the driver's accelerator operation can be controlled more appropriately.

[0032] In addition, in the automobile 20 of the embodiment, when the driver selects the semi-automatic driving mode as the driving mode and when the driver selects the fully automatic driving mode, the override of the brake operation performed by the driver is permitted. Therefore, when the driver selects the semi-automatic driving mode as the driving mode and when the driver selects the fully automatic driving mode, the braking of the vehicle performed by the driver's brake operation can be given priority.

[0033] In the automobile 20 of the embodiment, when the driver selects the fully automatic driving mode as the driving mode, the override of the accelerator operation performed by the driver is prohibited. However, it is also possible to impose restrictions on the override of the accelerator operation performed by the driver. For example, when the manual driving torque exceeds the predetermined value of the automatic driving torque, the value obtained by subtracting the predetermined value from the manual driving torque may be set as the required torque T* to control the brake device 24. Alternatively, when the value obtained by multiplying the manual driving torque by a coefficient k smaller than 1 exceeds the automatic driving torque, the value obtained by multiplying the manual driving torque by the coefficient k may be set as the required torque T* to control the brake device 24.

[0034] In the automobile 20 of the embodiment, the main ECU 30 may automatically select a driving mode according to the vehicle condition. Figure 3 In the illustrated automatic setting, permission is performed by overriding the permission / disapproval processing.

[0035] In execution Figure 3 When the main ECU 30 determines whether the driving mode is automatically selected (step S200), the main ECU 30 first determines whether the driving mode is automatically selected. This determination can be made by determining whether the driving mode is automatically selected by the main ECU 30. When it is determined that the driving mode is not automatically selected, that is, when it is determined that the driving mode is selected by the driver, the Figure 2 The result of the overriding permission process (step S230) is shown, and this process ends. Figure 2 The exemplary overriding permission and non-permission processing has been described above.

[0036] When it is determined in step S200 that the driving mode is automatically selected, the override of the accelerator operation performed by the driver is permitted regardless of whether the full automatic driving mode or the semi-automatic driving mode is selected (step S210). At the same time, the override of the brake operation performed by the driver is permitted (step S220). Then, the present process is terminated. When the full automatic driving mode is automatically selected as the driving mode, the override of the accelerator operation performed by the driver is permitted. At the same time, if it is considered that the override of the accelerator operation performed by the driver is prohibited when the driver selects the full automatic driving mode as the driving mode, it can be said that the override of the accelerator operation performed by the driver when the driver selects the driving mode is restricted compared to when the driving mode is automatically selected. In other words, the restriction on the override of the accelerator operation performed by the driver when the driving mode is automatically selected is reduced compared to when the driver selects the driving mode. As a result, when the full automatic driving mode or the semi-automatic driving mode is automatically selected as the driving mode, the accelerator operation performed by the driver can be given priority.

[0037] In the automobile 20 of the embodiment, the drive ECU 23 is used to control the drive device 22, and the brake ECU 25 is used to control the brake device 24. However, the main ECU 30 may perform all or part of the functions of the drive ECU 23 and the brake ECU 25.

[0038] The correspondence between the main elements of the embodiment and the main elements of the invention described in the "Summary of the Invention" is described. The surrounding identification device 56 in the embodiment is an example of the "surrounding identification device" of the invention, the drive device 22 is an example of the "drive device", the brake device 24 is an example of the "brake device", the steering device 26 is an example of the "steering device", and the drive ECU 23, the brake ECU 25, the main ECU 30, etc. are examples of the "electronic control unit".

[0039] In addition, since the embodiment is an example for specifically describing the method for implementing the invention described in the “Summary of the Invention”, the correspondence between the main elements of the embodiment and the main elements of the invention described in the “Summary of the Invention” is not limited to the elements of the invention described in the “Summary of the Invention”. In other words, the invention described in the “Summary of the Invention” should be interpreted based on the description therein, and the embodiment is only a specific example of the invention described in the “Summary of the Invention”.

[0040] As mentioned above, although the mode for implementing the present invention was described using the embodiment, the present invention is not limited to such embodiment, and it is needless to say that the present invention can be implemented in various forms within the scope not departing from the gist of the present invention.

[0041] The present invention can be used in the automobile manufacturing industry, etc.

Claims

1. A car, characterized in that: The electronic control unit includes an electronic control unit configured to control a driving device, a braking device, and a steering device in a manner of driving in a driving mode selected by a driver among a fully automatic driving mode, a semi-automatic driving mode, and a manual driving mode using information from a surrounding recognition device that obtains information about the surroundings of the vehicle, wherein: The electronic control unit is configured to permit an override request issued by an accelerator operation of the driver when the driver selects the semi-automatic driving mode, The electronic control unit is configured to limit an override request issued by an accelerator operation of the driver when the driver selects the fully automatic driving mode compared to when the driver selects the semi-automatic driving mode.

2. The automobile according to claim 1, characterized in that: The electronic control unit is configured to control the brake device to limit an override request issued by the driver's accelerator operation when the driver selects the fully automatic driving mode, compared to when the driver selects the semi-automatic driving mode.

3. The automobile according to claim 1, characterized in that: The electronic control unit is configured to prohibit an override request issued by an accelerator operation of the driver when the driver selects the full automatic driving mode.

4. The automobile according to claim 1, characterized in that: The electronic control unit is configured to impose a restriction on an override of an accelerator operation performed by a driver when the driver selects the fully automatic driving mode.

5. The automobile according to claim 1, characterized in that: The electronic control unit is configured to control the brake device by setting a value obtained by subtracting a predetermined value from the manual driving torque as a required torque when the manual driving torque exceeds a predetermined value of the automatic driving torque.

6. The automobile according to claim 1, characterized in that: The electronic control unit is configured to control the brake device by setting a value obtained by multiplying the manual driving torque by a coefficient smaller than 1 as a required torque when a value obtained by multiplying the manual driving torque by the coefficient exceeds the automatic driving torque.

7. The automobile according to claim 1, characterized in that: The electronic control unit is configured to automatically select one of the fully automatic driving mode and the semi-automatic driving mode according to the situation without the need for driver selection. The electronic control unit is configured to limit an override request issued by a driver's accelerator operation when the vehicle is traveling in the driving mode selected by the driver, compared to an override request issued by a driver's accelerator operation when the vehicle is traveling in the driving mode selected by the automatic selection.

8. The automobile according to claim 7, characterized in that: The electronic control unit is configured to limit an override request issued by a driver's accelerator operation when traveling in the driving mode selected by the driver, by controlling the brake device, compared to an override request issued by the driver's accelerator operation when traveling in the driving mode selected by the automatic selection.

9. The automobile according to claim 1, characterized in that: The electronic control unit is configured to permit an override request issued by a brake operation of the driver regardless of whether the driver has selected the semi-automatic driving mode or the fully automatic driving mode.

10. A method for controlling a vehicle, characterized in that: include: controlling a driving device, a braking device, and a steering device in a manner that the vehicle travels in a driving mode selected by a driver among a fully automatic driving mode, a semi-automatic driving mode, and a manual driving mode using information from a surrounding recognition device that obtains information about the surroundings of the vehicle; When the driver selects the semi-automatic driving mode, allowing an override request issued by the driver's accelerator operation; as well as When the driver selects the fully automatic driving mode, an override request issued by the driver's accelerator operation is limited compared to when the semi-automatic driving mode is selected.

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