Driving planning apparatus, storage medium, and driving planning method

Abstract

Provided are a driving planning device, a storage medium, and a driving planning method that, when a driver has an abnormality, generates a driving plan for a vehicle so that the vehicle moves to a road shoulder and stops the vehicle only when predetermined conditions for ensuring the safety of the vehicle are established. A driving planning device is provided with: a driver determination unit (41) that determines whether or not there is an abnormality in a driver; a condition determination unit (42) that determines whether or not a predetermined condition is satisfied on the basis of environment information about the surroundings of the vehicle (10); and a driving plan unit (43) that generates a first driving plan for moving the vehicle to the road shoulder and stopping the vehicle when the driver determination unit determines that there is an abnormality in the driver and the condition determination unit determines that the predetermined condition is satisfied. When the driver determination unit determines that there is an abnormality in the driver and the condition determination unit determines that the predetermined condition is not satisfied, a second driving plan for parking the vehicle in the lane in which the vehicle is traveling is generated.

Description

[0001] This application is a divisional application of the Chinese patent application with application date of June 29, 2021, application number 202110724569.2, and invention name “Driving planning device, storage medium and driving planning method”. Technical Field

[0002] The present invention relates to a driving planning device, a storage medium storing a computer program for driving planning, and a driving planning method. Background Art

[0003] The automatic control device mounted on the vehicle generates a travel route for the vehicle based on the current position of the vehicle, the destination position of the vehicle, and map information, and controls the vehicle to travel along the travel route.

[0004] The automatic control device controls the movement of the vehicle so as to maintain a safe distance between the vehicle and other vehicles. When the safe distance between the vehicle and other vehicles can no longer be maintained by automatic control, the driving of the vehicle is changed from automatic control to manual control, and the control of the vehicle is handed over to the driver.

[0005] The automatic control device controls the vehicle so that the vehicle stops in the lane it is traveling in when the driver makes an abnormality. This is because when the vehicle can no longer maintain a safe distance between the vehicle and other vehicles through automatic control, it is impossible to change the driving of the vehicle from automatic control to manual control to hand over the control of the vehicle to the driver.

[0006] For example, the following technology is proposed in Patent Document 1: when it is determined that there is an abnormality in the driver's behavior, following control of the leading vehicle is automatically started based on peripheral information including information of the leading vehicle traveling in front of the own vehicle, and after obtaining the stop information of the leading vehicle during the implementation of the following control, the own vehicle is stopped and the following control is terminated.

[0007] Prior art literature

[0008] Patent Document 1: Japanese Patent Application Publication No. 2014-58229 Summary of the invention

[0009] Technical problem to be solved by the invention

[0010] However, if the vehicle is stopped in a lane where other vehicles are also traveling, there is a risk of collision with the other vehicle approaching from behind.

[0011] Therefore, when the driver has an abnormality, it is considered that the vehicle is moved to a roadside considered to be a safe place where no other vehicles are traveling and stopped.

[0012] On the other hand, depending on the location, vehicles may be allowed to travel on the road shoulder depending on time periods, etc. Therefore, the road shoulder cannot always be regarded as a safe place where other vehicles do not travel.

[0013] Therefore, an object of the present invention is to provide a driving planning device that generates a driving plan for a vehicle so as to move the vehicle to a roadside and stop the vehicle only when a predetermined condition estimated to ensure the safety of the vehicle is satisfied when a driver abnormality occurs.

[0014] Technical solutions to solve problems

[0015] According to one embodiment, a driving plan device is provided. The driving plan device comprises: a driver determination unit that determines whether the driver is abnormal; a condition determination unit that determines whether a predetermined condition is satisfied based on environmental information around the vehicle; and a driving plan unit that generates a first driving plan for moving the vehicle to a shoulder of the road and stopping the vehicle when the driver determination unit determines that the driver is abnormal and the condition determination unit determines that the predetermined condition is satisfied, and generates a second driving plan for stopping the vehicle in a lane in which the vehicle is traveling when the driver determination unit determines that the driver is abnormal and the condition determination unit determines that the predetermined condition is not satisfied.

[0016] In the driving planning device, the condition determination unit preferably determines that the predetermined condition is satisfied when the vehicle is traveling in a lane adjacent to a road shoulder and no other object traveling on the road shoulder and approaching the vehicle from behind the vehicle is detected.

[0017] In the driving planning device, preferably, the condition determination unit determines that the predetermined condition is not satisfied when at least another object traveling on a road shoulder and approaching the vehicle from behind the vehicle is detected.

[0018] In the driving planning device, the driving planning unit preferably generates the first driving plan so that the vehicle is moved toward a road shoulder in a lane in which the vehicle is traveling, travels along the road shoulder for a predetermined distance, and then moves the vehicle toward the road shoulder and stops.

[0019] In addition, in the driving planning device, it is preferred that the driving planning unit generates a third driving plan for moving the vehicle toward the shoulder of the road in the lane in which the vehicle is traveling and causing it to travel when the driver determination unit determines that the driver is abnormal, and after the third driving plan is generated, the first driving plan or the second driving plan is generated based on a determination made by the condition determination unit as to whether a predetermined condition is met.

[0020] In another embodiment, a non-transitory storage medium storing a computer program for driving plan that can be read by a computer is provided. The computer program for driving plan is characterized in that it causes a processor to execute: determining whether there is an abnormality in the driver, determining whether a predetermined condition is satisfied based on environmental information around the vehicle, generating a first driving plan for moving the vehicle to the shoulder of the road and stopping it when it is determined that the driver is abnormal and the predetermined condition is satisfied, and generating a second driving plan for stopping the vehicle in the lane in which the vehicle is traveling when it is determined that there is an abnormality in the driver and the predetermined condition is not satisfied.

[0021] According to another embodiment, a driving planning method is provided. The driving planning method causes a driving planning device to execute: determining whether a driver is abnormal, determining whether a predetermined condition is satisfied based on environmental information around the vehicle, generating a first driving plan to move the vehicle to a roadside shoulder and stop the vehicle if it is determined that the driver is abnormal and the predetermined condition is satisfied, and generating a second driving plan to stop the vehicle in a lane in which the vehicle is traveling if it is determined that the driver is abnormal and the predetermined condition is not satisfied.

[0022] Effects of the Invention

[0023] The driving planning device according to the present invention can generate a driving plan for the vehicle so as to move the vehicle to the shoulder of the road and stop the vehicle only when a predetermined condition estimated to ensure the safety of the vehicle is satisfied when an abnormality occurs in the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a diagram for explaining an outline of the operation of the driving planning device according to the first embodiment.

[0025] Figure 2 It is a schematic configuration diagram of a vehicle on which the driving planning device according to the first embodiment is mounted.

[0026] Figure 3 This is an operation flow chart of the driving planning device according to the first embodiment.

[0027] Figure 4 This is an operation flow chart of the condition determination unit.

[0028] Figure 5 (A) and (B) are diagrams for explaining the behavior of the vehicle based on the driving plan control.

[0029] Figure 6 This is an operation flow chart of the driving planning device according to the second embodiment.

[0030] Figure 7 (A) and (B) are diagrams for explaining the behavior of the vehicle based on the driving plan control.

[0031] Description of symbols

[0032] 10 Vehicles

[0033] 11 Camera

[0034] 12a~12f radar sensor

[0035] 13 Positioning information receiver

[0036] 14Map information storage device

[0037] 15Navigation device

[0038] 16 Monitoring Device

[0039] 17 User Interface

[0040] 18 Position estimation device

[0041] 19 Object Detection Device

[0042] 20 Lane planning device

[0043] 21 Vehicle Control Devices

[0044] 22 Driving Planning Device

[0045] 23 In-car network

[0046] 31 Communication interface

[0047] 32 Memory

[0048] 33 processors

[0049] 34 signal lines

[0050] 41 Driver Judgment Unit

[0051] 42 Condition determination unit

[0052] 43 Driving Planning Department DETAILED DESCRIPTION

[0053] Figure 1 (A) and Figure 1 (B) is a diagram for explaining the outline of the operation of the driving planning device according to the first embodiment. Figure 1 (A) and Figure 1 (B) describes an overview of the operation of the driving planning device disclosed in this specification.

[0054] exist Figure 1 (A) and Figure 1In the example shown in (B), the vehicles 10 are traveling in a lane 51 adjacent to a shoulder 53 on a road 50, and the road 50 has two lanes 51 and 52 and a shoulder 53. The two lanes 51 and the lane 52 are divided by a lane dividing line 54, and the lane 51 and the shoulder 53 are divided by a dividing line 55. The vehicle 10 is equipped with a monitoring device 16 for detecting abnormality of the driver, a driving plan device 22 for generating a driving plan after determining abnormality of the driver, and an object detection device 19 for detecting an object approaching the vehicle 10 from behind the vehicle 10.

[0055] exist Figure 1 In the example shown in (A), at time T103, the driving planning device 22 determines that the driver has an abnormality. Figure 1 In the example shown in (B), the driving plan device 22 determines that the driver has an abnormality at time T203, but the subsequent driving plan is different according to the surrounding environmental information. In addition, the driver's abnormality is detected by the monitoring device 16, and when the driver's driving-related action is not detected after the driver is warned, the driving plan device 22 determines that there is an abnormality.

[0056] exist Figure 1 In the example shown in (A), at time T103, the vehicle 10 is traveling in the lane 51 adjacent to the road shoulder 53, and the object detection device 19 does not detect other objects traveling on the road shoulder and approaching the vehicle 10 from behind the vehicle 10, so the driving planning device 22 determines that the predetermined condition is satisfied. At time T104, the predetermined condition is satisfied, so the driving planning device 22 of the vehicle 10 generates a driving plan to move the vehicle 10 to the road shoulder 53 and stop it, and as a result, the vehicle 10 changes lanes at time T105 and stops on the road shoulder at time T106.

[0057] On the other hand, Figure 1 In the example shown in (B), at time T203, the vehicle 10 is traveling in the lane 51 adjacent to the shoulder 53, but the object detection device 19 detects another vehicle 60 traveling on the shoulder and approaching the vehicle 10 from behind the vehicle 10, so the driving planning device 22 determines that the predetermined condition is not satisfied. At time T204, the predetermined condition is not satisfied, so the driving planning device 22 of the vehicle 10 generates a driving plan to stop the vehicle 10 in the lane 51 instead of stopping the vehicle 10 on the shoulder 53, and as a result, the vehicle 10 decelerates at time T205 and stops in the lane 51 at time T206.

[0058] As described above, when the driver has an abnormality, the driving planning device 22 generates a driving plan for moving the vehicle 10 to the shoulder of the road and stopping the vehicle 10 only when it is estimated that a predetermined condition that can ensure the safety of the vehicle 10 is satisfied.

[0059] Figure 2 1 is a schematic diagram of a vehicle 10 equipped with a driving planning device 22. The vehicle 10 includes a camera 11, radar sensors 12a to 12e, a positioning information receiver 13, a map information storage device 14, a navigation device 15, a monitoring device 16, a user interface (UI) 17, a position estimation device 18, an object detection device 19, a driving lane planning device 20, a vehicle control device 21, and a driving planning device 22. In addition, the vehicle 10 may also include a LiDAR sensor for detecting road features or other objects.

[0060] The camera 11, radar sensors 12a~12d, positioning information receiver 13, map information storage device 14, navigation device 15, monitoring device 16, user interface (UI) 17, position estimation device 18, object detection device 19, driving lane planning device 20, vehicle control device 21 and driving planning device 22 are connected in a communicative manner via an in-vehicle network 23 that complies with standards such as a controller area network.

[0061] The camera 11 is an example of a photographing unit provided in the vehicle 10. The camera 11 is installed on the vehicle 10 in a manner facing the front of the vehicle 10. The camera 11 photographs a camera image representing the environment of a predetermined area in front of the vehicle 10, for example, at a predetermined period. The camera image may represent a road included in the predetermined area in front of the vehicle 10 and road features such as lane markings on the road surface. The camera 11 has: a two-dimensional detector, which is composed of an array of photoelectric conversion elements such as CCD or C-MOS that are sensitive to visible light; and a photographing optical system, which forms an image of the area to be photographed on the two-dimensional detector.

[0062] Whenever the camera 11 captures a camera image, it outputs the camera image and the camera image capturing time when the camera image was captured to the position estimation device 18 and the object detection device 19 via the in-vehicle network 23. The camera image is used in the position estimation device 18 to estimate the position of the vehicle 10. In addition, the camera image is used in the object detection device 19 to detect other objects around the vehicle 10.

[0063] The radar sensors 12a to 12f are installed on the outer surface of the vehicle 10, for example, in a manner facing the front, left front side, right front side, rear, left rear side, and right rear side of the vehicle 10, respectively. The radar sensors 12a to 12f respectively transmit millimeter waves synchronously toward the front, left front side, right front side, rear, left rear side, and right rear side of the vehicle 10 at the time of obtaining the reflected wave information set at a predetermined period, and receive the reflected waves reflected by the reflector. The time required for the reflected wave to return contains the distance information between other objects located in the direction irradiated with the millimeter wave and the vehicle 10. The radar sensors 12a to 12f respectively output the reflected wave information including the irradiation direction of the millimeter wave and the time required for the reflected wave to return to the object detection device 19 via the in-vehicle network 23 together with the time of obtaining the reflected wave information when the millimeter wave was emitted. The reflected wave information is used in the object detection device 19 for processing to detect other objects around the vehicle 10.

[0064] The positioning information receiver 13 outputs positioning information indicating the current position of the vehicle 10. For example, the positioning information receiver 13 may be a GNSS receiver. Whenever the positioning information is acquired in a predetermined reception cycle, the positioning information receiver 13 outputs the positioning information and the time at which the positioning information is acquired to the map information storage device 14 and the navigation device 15, etc.

[0065] The map information storage device 14 stores wide-area map information of a relatively large area (e.g., a square area of ​​10 to 30 km) including the current position of the vehicle 10. The wide-area map information includes three-dimensional information of the road surface, information indicating the types and positions of road features such as lane demarcation lines on the road, and high-precision map information including the legal speed of the road. The map information storage device 14 receives the wide-area map information from an external server via a base station through wireless communication via a wireless communication device (not shown) mounted on the vehicle 10 according to the current position of the vehicle 10, and stores it in the storage device. Whenever the positioning information is input from the positioning information receiver 13, the map information storage device 14 refers to the stored wide-area map information and outputs the map information of a relatively small area (e.g., a square area of ​​100 m to 10 km) including the current position indicated by the positioning information to the position estimation device 18, the driving lane planning device 20, and the driving planning device 22 via the in-vehicle network 23.

[0066] The navigation device 15 generates a driving route from the current position of the vehicle 10 to the destination position based on the navigation map information, the destination position of the vehicle 10 input from the UI 17, and the positioning information indicating the current position of the vehicle 10 input from the positioning information receiver 13. The driving route includes information on positions such as right turns, left turns, merging, and branching. The navigation device 15 newly generates a driving route for the vehicle 10 when a new destination position is set or when the current position of the vehicle 10 deviates from the driving route. Whenever the navigation device 15 generates a driving route, it outputs the driving route to the position estimation device 18 or the like via the in-vehicle network 23.

[0067] The monitoring device 16 monitors the state of the driver, and generates a driving non-participation signal indicating that the driver's driving participation action is not detected when the driver's driving participation action is not detected. The monitoring device 16 outputs the driving non-participation signal to the driving planning device 22 via the network 23. The monitoring device 16 has a monitoring camera 161 that captures a head image including the driver's head, a touch sensor 162 that detects that the driver is holding the steering wheel, and a torque sensor 163 that detects the torque of the steering wheel. The monitoring device 16 detects the driver's sight direction, the degree of eye opening (hereinafter also referred to as eye opening degree), and the degree of mouth opening (hereinafter also referred to as mouth opening degree) based on the head image captured at a monitoring time with a predetermined period, and determines the driver's driving participation level based on the detected sight direction, eye opening degree, and mouth opening degree. The monitoring device 16 determines that the driver's driving participation level is low when the sight direction deviates from a predetermined range including the front of the vehicle 10. In addition, the monitoring device 16 determines that the driver's participation level in driving is low when the eye opening degree is less than a predetermined eye opening degree reference value, or the mouth opening degree is greater than a predetermined mouth opening degree reference value. On the other hand, the monitoring device 16 determines that the driver's participation level in driving is high when the line of sight direction is within a predetermined range including the front of the vehicle 10, the eye opening degree is greater than a predetermined eye opening degree reference value, or the mouth opening degree is less than a predetermined mouth opening degree reference value.

[0068] The monitoring device 16, when determining that the driver's participation level in driving is low, gives the driver a warning requesting participation in driving via the UI 17. The monitoring device 16, when determining that the driver's participation level in driving is high based on the detected sight line direction, eye opening degree, and mouth opening degree within a predetermined time after the warning is given to the driver, determines that the driver is participating in driving. In addition, the monitoring device 16 determines that the driver is participating in driving when the touch sensor 162 detects that the driver is holding the steering wheel, or when the torque sensor 163 detects the driver's operation of the steering wheel within a predetermined time after the warning is given to the driver. In addition, the monitoring device 16 determines that the driver is participating in driving when the driver's operation of the accelerator pedal or the brake pedal is detected within a predetermined time after the warning is given to the driver. On the other hand, when it is not determined that the driver's participation level in driving is high, the touch sensor 162 does not detect that the driver is holding the steering wheel, the torque sensor 163 does not detect the driver's operation of the steering wheel, and the driver's operation of the accelerator pedal and the brake pedal is not detected within a predetermined time after the warning is given to the driver, it is determined that the driver is not participating in driving. Then, the monitoring device 16 generates a non-participation driving signal indicating that the driver's action of participating in driving is not detected. In addition, the above content is an example of generating a non-participation driving signal, and the monitoring device 16 can also use other methods to determine whether to generate a non-participation driving signal. In addition, in the above example, the driver is warned once before the non-participation driving signal is generated, but the monitoring device 16 can warn multiple times or generate a non-participation driving signal without warning.

[0069] UI17 is an example of a notification unit. UI17 is controlled by the navigation device 15, the monitoring device 16, and the driving plan device 22, etc., and notifies the driver of the driving information of the vehicle 10, warnings for participation in driving, etc. In addition, UI17 generates an operation signal corresponding to the operation of the vehicle 10 by the driver. The driving information of the vehicle 10 includes information related to the current and future paths of the vehicle, such as the location and driving route of the vehicle. UI17 has a display unit 171 such as a liquid crystal display or a touch panel to display driving information and warnings. In addition, UI17 may also have an audio output device (not shown) for notifying the driver of driving information and warnings. In addition, UI17 is an input device for the driver to input operating information on the vehicle 10, such as a touch panel or an operation button. As operating information, for example, the destination location, the via point, the vehicle speed, and the control information of other vehicles can be cited. UI17 outputs the input operating information to the navigation device 15 and the driving plan device 22 via the in-vehicle network 23.

[0070] The position estimation device 18 estimates the position of the vehicle 10 at the time when the camera image is captured based on the road features around the vehicle 10 represented in the camera image. For example, the position estimation device 18 compares the lane division lines recognized in the camera image with the lane division lines represented by the map information input from the map information storage device 14, and obtains the estimated position and estimated azimuth of the vehicle 10 at the time when the camera image is captured. In addition, the position estimation device 18 estimates the driving lane on the road where the vehicle 10 is located based on the lane division lines represented by the map information, the estimated position and the estimated azimuth of the vehicle 10. Whenever the position estimation device 18 obtains the estimated position, estimated azimuth, and driving lane of the vehicle 10 at the time when the camera image is captured, it outputs these information to the object detection device 19, the driving lane planning device 20, the vehicle control device 21, and the driving planning device 22.

[0071] The object detection device 19 detects other objects and their types (e.g., vehicles) around the vehicle 10 based on the camera image and the reflected wave information. Other objects include other vehicles traveling around the vehicle 10. The object detection device 19 tracks the detected other objects and finds the trajectory of the other objects. The object detection device 19 determines the driving lane in which the other objects are traveling based on the lane demarcation lines and other object positions indicated by the map information. In addition, the object detection device 19 determines the shoulder of the road on which the other objects are traveling based on the demarcation lines that demarcate the lanes and shoulders indicated by the map information and other object positions. The object detection device 19 outputs object detection information to the driving lane planning device 20 and the driving planning device 22, etc. The object detection information includes information indicating the type of the detected other objects, information indicating their positions, and information indicating the driving lane or the shoulder of the road on which the other objects are traveling.

[0072] The driving lane planning device 20 selects a lane in the road where the vehicle 10 is traveling based on the map information, the driving route, the surrounding environment information, and the current position of the vehicle 10 in the nearest driving section (e.g., 10 km) selected from the driving route input by the navigation device 15 at a driving lane plan generation time set at a predetermined period, and generates a driving lane plan indicating a predetermined driving lane for the vehicle 10 to travel. The driving lane planning device 20 generates a driving lane plan, for example, so that the vehicle 10 travels in a lane other than a passing lane. Whenever the driving lane plan is generated, the driving lane planning device 20 outputs the driving lane plan to the driving planning device 22.

[0073] In addition, the driving lane planning device 20 determines whether a lane change is required based on the map information, the driving route, and the current position of the vehicle 10 in the nearest driving section selected from the driving route. The driving lane planning device 20 may also use the surrounding environment information or the vehicle state information in the determination of whether a lane change is required. The surrounding environment information includes the position and speed of other vehicles traveling around the vehicle 10. The vehicle state information includes the current position, vehicle speed, acceleration, and traveling direction of the vehicle 10. Specifically, the driving lane planning device 20 determines whether a lane change is required based on the driving route and the current position of the vehicle 10 so that the vehicle 10 moves to the lane toward the destination position. It is determined whether the vehicle 10 enters (merges) from the driving road currently traveling to the other road of the merging target, and whether the vehicle 10 exits (divides) from the driving road to the other road of the branching target. In merging and diverging, the vehicle moves from the lane of the driving road to the lane of the other road, so a lane change is included.

[0074] The vehicle control device 21 controls each part of the vehicle 10 based on the position, vehicle speed, yaw rate and driving plan of the vehicle 10 so that the vehicle 10 travels along the driving route. For example, the vehicle control device 21 obtains the steering angle, acceleration and angular acceleration of the vehicle 10 based on the driving plan, the vehicle speed and yaw rate of the vehicle 10, and sets the steering amount, accelerator opening or braking amount so as to achieve the steering angle, acceleration and angular acceleration. In addition, the vehicle control device 21 outputs a control signal corresponding to the set steering amount to an actuator (not shown) that controls the steering wheel of the vehicle 10. In addition, the vehicle control device 21 obtains the fuel injection amount based on the set accelerator opening, and outputs a control signal corresponding to the fuel injection amount to a driving device (not shown) such as an engine of the vehicle 10. Alternatively, the vehicle control device 21 outputs a control signal corresponding to the set braking amount to a brake (not shown) of the vehicle 10.

[0075] All or part of the functions of the position estimation device 18, the object detection device 19, the lane planning device 20, and the vehicle control device 21 are, for example, functional modules implemented by a computer program running on a processor. Alternatively, all or part of the functions of the position estimation device 18, the object detection device 19, the lane planning device 20, and the vehicle control device 21 may be dedicated computing circuits. The position estimation device 18, the object detection device 19, the lane planning device 20, the vehicle control device 21, and the driving planning device 22 are described as separate devices, but all or part of these devices may be configured as one device.

[0076] The driving planning device 22 executes a driver determination process for determining whether the driver has an abnormality. In addition, the driving planning device 22 executes a condition determination process for determining whether a predetermined condition is satisfied based on environmental information around the vehicle.

[0077] In addition, the driving plan device 22 performs a driving plan process for generating a driving plan indicating a planned driving trajectory of the vehicle 10 until a predetermined time in the future (e.g., 5 seconds) based on the driving lane plan, map information, the current position of the vehicle 10, the surrounding environment information, and the vehicle state information at a driving plan generation time set at a predetermined cycle. Here, the driving plan device 22 performs a driving plan process for generating a driving plan for moving the vehicle 10 to the shoulder of the road and stopping it when it is determined that the driver is abnormal and the predetermined condition is satisfied. In addition, the driving plan device 22 performs a driving plan process for generating a driving plan for stopping the vehicle 10 in the lane in which the vehicle 10 is traveling when it is determined that the driver is abnormal and the predetermined condition is not satisfied.

[0078] The driving plan is represented as a set of the target position of the vehicle 10 and the target vehicle speed at the target position at each time from the current time to a predetermined time in the future. The cycle of generating the driving plan is preferably shorter than the cycle of generating the driving lane plan. When the driving lane plan includes a lane change in which the vehicle 10 moves between lanes or between a lane and a shoulder of the road, the driving plan device 22 generates a driving plan including a lane change so that a predetermined distance can be maintained between the vehicle 10 and other vehicles. When the driving lane plan includes a lane change in which the vehicle 10 moves between lanes and a predetermined distance cannot be ensured between the vehicle 10 and other vehicles, the driving plan device 22 generates a driving plan to stop the vehicle. Whenever the driving plan is generated, the driving plan device 22 outputs the driving plan to the vehicle control device 21.

[0079] The communication IF 31 is an example of an in-vehicle communication unit, and has an interface circuit for connecting the driving planning device 22 to the in-vehicle network 23. That is, the communication IF 31 is connected to the camera 11, the radar sensors 12a to 12d, the positioning information receiver 13, the map information storage device 14, the navigation device 15, the monitoring device 16, the UI 17, the position estimation device 18, the object detection device 19, the driving lane planning device 20, and the vehicle control device 21 via the in-vehicle network 23.

[0080] The memory 32 is an example of a storage unit, and includes, for example, a volatile semiconductor memory and a nonvolatile semiconductor memory, and stores computer programs of applications used in information processing executed by the processor 33 of the driving planning device 22 and various data.

[0081] The processor 33 has one or more CPUs (Central Processing Units) and their peripheral circuits. The processor 33 may also have other operation circuits such as a logic operation unit, a numerical operation unit, or a graphics processing unit. When the processor 33 has multiple CPUs, it may also have a memory for each CPU. The processor 33 performs driver determination processing, condition determination processing, and driving plan processing.

[0082] The processor 33 includes a driver determination unit 41 that performs a driver determination process, a condition determination unit 42 that performs a condition determination process, and a driving plan unit 43 that performs a driving plan process. These units of the processor 33 are, for example, functional modules implemented by a computer program running on the processor 33. Alternatively, these units of the processor 33 may be dedicated operation circuits provided in the processor 33.

[0083] Figure 3 This is an example of an operation flow chart of the driving planning device 22. Figure 3 The process of generating a driving plan by the driving planning device 22 will be described. The driving planning device 22 generates a driving plan according to the following process during the travel of the vehicle 10. Figure 3 The action flowchart shown is used to repeatedly execute the driving plan process.

[0084] First, the driver determination unit 41 of the processor 33 of the driving planning device 22 determines whether the driver is abnormal at the driver determination time set in a predetermined cycle (step S101). When a non-participation driving signal indicating that the driver's action of participating in driving is not detected is input from the monitoring device 16, the driver determination unit 41 determines that the driver is abnormal (step S101-Yes). On the other hand, when a non-participation driving signal is not input from the monitoring device 16, the driver determination unit 41 determines that the driver is not abnormal.

[0085] If it is determined that the driver is abnormal, the condition determination unit 42 of the processor 33 of the driving planning device 22 determines whether the predetermined condition is satisfied (step S102). Whether the predetermined condition in step S102 is satisfied will be described later. Figure 4 to describe.

[0086] When it is determined that the predetermined condition is satisfied (step S102 - Yes), the driving planning unit 43 of the processor 33 of the driving planning device 22 generates a driving plan for moving the vehicle 10 to the shoulder of the road and stopping the vehicle 10 (step S103) (see Figure 1On the other hand, when it is determined that the predetermined condition is not satisfied (step S102-No), the driving planning unit 43 generates a driving plan for stopping the vehicle 10 in the lane in which the vehicle 10 is traveling (step S104) (see Figure 1 (B)). The driving planning unit 43 performs Figure 3 The operations shown are performed until control is started so that the vehicle control unit 21 drives the vehicle 10 to the target position on the road shoulder 53 or stops the vehicle 10 in the lane in which the vehicle 10 is traveling based on the driving plan.

[0087] In addition, when it is determined that the driver is not abnormal, the driving planning unit 43 generates a driving plan based on the driving lane plan, etc. (step S105). That is, the driving planning unit 43 generates a driving plan that represents a planned driving trajectory of the vehicle 10 until a predetermined time in the future (for example, 5 seconds) based on the driving lane plan, map information, the current position of the vehicle 10, surrounding environment information, and vehicle state information.

[0088] By the above-mentioned processing, when the driver has an abnormality, a driving plan of the vehicle is generated to move the vehicle 10 to the shoulder of the road and stop it only when the predetermined conditions are satisfied which are estimated to ensure the safety of the vehicle 10. Thus, even when the shoulder of the road which is generally not allowed to drive and is considered safe is not safe depending on the situation (because driving on the shoulder of the road is sometimes allowed at a predetermined time and under certain conditions depending on the road conditions of each country), a driving plan for safely stopping the vehicle can be generated.

[0089] Figure 4 This is an example of an operation flow chart for determining whether a predetermined condition is satisfied in the condition determination unit.

[0090] First, the condition determination unit 42 determines whether the vehicle 10 is traveling in a lane adjacent to a road shoulder based on the current position of the vehicle 10 and map information (step S201 ).

[0091] When it is determined that the vehicle 10 is traveling in a lane adjacent to the road shoulder (step S201 - yes), the condition determination unit 42 determines whether other objects traveling on the road shoulder and approaching the vehicle 10 from behind the vehicle 10 are detected based on the object detection information input from the object detection device 19 (step S202).

[0092] When the vehicle 10 is traveling in a lane adjacent to the road shoulder and another object traveling on the road shoulder and approaching the vehicle 10 from behind the vehicle 10 is not detected (step S202 —No), it is determined that the predetermined condition is satisfied.

[0093] On the other hand, when it is determined that the vehicle 10 is not traveling in a lane adjacent to the road shoulder (step S201-No), or when other objects traveling on the road shoulder and approaching the vehicle 10 from the rear of the vehicle 10 are detected (step S202-Yes), the condition determination unit 42 determines that the predetermined condition is not met (step S204).

[0094] exist Figure 4 In the example shown, for the establishment of the predetermined condition ( Figure 3 In step S102), the determination is made based on the environmental information about the surroundings of the vehicle 10, that is, (1) the vehicle 10 is traveling in a lane adjacent to the road shoulder, and (2) no other objects traveling on the road shoulder and approaching the vehicle 10 from behind the vehicle 10 are detected. However, when determining whether the predetermined condition is satisfied, in addition to the environmental information (1) and (2), other environmental information shown below and any one or more of (3) to (14) listed as vehicle information of the vehicle 10 may be used.

[0095] (Other environmental information)

[0096] (3) The vehicle 10 is not within a predetermined distance from a merging point where the road merging with another road is not approached;

[0097] (4) No obstacles are detected on the predetermined driving trajectory generated by the driving planning device 22;

[0098] (5) The current position of the vehicle 10 does not deviate from the area indicated by the high-precision map information stored in the map information storage device.

[0099] (Vehicle Information of Vehicle 10)

[0100] (6) The brake pedal (not shown) is operated;

[0101] (7) the driving mode in which the driving of the vehicle 10 is controlled by automatic control has been cancelled;

[0102] (8) a switch that is controlled so that the parking brake is activated in conjunction with the shift position being switched to the parking position is operated;

[0103] (9) The gear is moved to the neutral position;

[0104] (10) Braking control is performed based on the detection of other objects;

[0105] (11) An abnormality is detected in a device such as the radar sensors 12a to 12f and the camera 11 used in determining and operating the vehicle 10 to move toward the road shoulder;

[0106] (12) a period during which the vehicle 10 has continuously traveled a predetermined distance or the vehicle 10 has continuously traveled for a predetermined time;

[0107] (13) the current position of the vehicle 10 deviates from the pre-travel trajectory generated by the driving planning device 22 by a predetermined distance or more in a direction orthogonal to the travel direction;

[0108] (14) An abnormality is detected in the position estimating device 18.

[0109] Next, refer to Figure 5 (A) and Figure 5 (B) describes an example of the operation of the vehicle 10 based on the above-mentioned driving plan control. Figure 5 (A) corresponds to Figure 1 (A), Figure 5 (B) corresponds to Figure 1 (B). Figure 5 (A) and Figure 5 In (B), from Figure 1 (A) and Figure 1 (B) adds the flashing operation of the emergency flasher indicator light of the vehicle 10 .

[0110] use Figure 5 (A) describes an example in which the vehicle 10 is automatically controlled based on a driving plan to move the vehicle 10 to the shoulder of the road and stop the vehicle 10. First, at time T101, the vehicle 10 is traveling on the lane 51 of the road 50, and the monitoring device 16 of the vehicle 10 determines that the driver is engaged in driving.

[0111] Next, at time T102, the monitoring device 16 determines that the driver's participation level in driving is low, and therefore gives the driver a warning to participate in driving through the UI 17. In addition, the monitoring device 16 outputs a signal indicating that the driver's participation level in driving is low to the driving planning device 22 through the in-vehicle network 23, and in response, the driving planning device 22 flashes the emergency flashing indicator and starts to decelerate. In this way, the surroundings of the vehicle 10 are notified so that the driver pays attention to the behavior of the vehicle 10.

[0112] Next, at time T103, the monitoring device 16 does not determine that the driver's participation level in driving is high within a predetermined time after the driver is warned, the touch sensor 162 does not detect that the driver is holding the steering wheel, the torque sensor 163 does not detect the driver's operation of the steering wheel, and the driver's operation of the accelerator pedal and the brake pedal is not detected, and therefore generates a non-participation driving signal indicating that the driver's action of participating in driving is not detected. The monitoring device 16 outputs the non-participation driving signal to the driving planning device 22 via the in-vehicle network 23. The driver determination unit 41 of the driving planning device 22 receives the non-participation driving signal from the monitoring device 16, and therefore determines that the driver is abnormal. Therefore, the driving planning device 22 continues to flash the emergency flashing indicator light of the vehicle 10.

[0113] The condition determination unit 42 of the driving planning device 22 determines that the vehicle 10 is traveling in the lane 51 adjacent to the road shoulder 53 based on the current position of the vehicle 10 and the map information. Furthermore, the condition determination unit 42 of the driving planning device 22 determines that no other object traveling on the road shoulder 53 and approaching the vehicle 10 from the rear of the vehicle 10 is detected. Through the above determination, the predetermined condition is established, and the driving planning unit 43 of the driving planning device 22 determines a target position on the road shoulder 53 where the vehicle 10 can be stopped based on the current position of the vehicle 10, the map information, and the vehicle speed of the vehicle 10. The driving planning unit 43 generates a driving plan so that the vehicle 10 is stopped while decelerating toward the target position. In addition, the driving planning unit 43 performs Figure 3 The determination process shown in the figure is performed until the vehicle control unit 21 starts controlling the vehicle 10 to travel to the target position on the road shoulder 53 based on the driving plan. In addition, even if an obstacle is detected on the predetermined driving trajectory before the vehicle control unit 21 starts controlling the vehicle 10 based on the driving plan after the driving plan unit 43 generates a driving plan for driving the vehicle 10 to the target position on the road shoulder 53 once, the target position is determined on the new road shoulder 53, and a driving plan is generated for driving the vehicle 10 to the new target position on the road shoulder 53. In addition, even if a determination is made after the driving plan unit 43 generates a driving plan for driving the vehicle 10 to the target position on the road shoulder 53 once, before the vehicle control unit 21 starts controlling the vehicle 10 based on the driving plan, in order to detect another object traveling on the road shoulder 53 and approaching the vehicle 10 from behind the vehicle 10, it is determined that the predetermined condition is not satisfied.

[0114] Next, at time T104, when the vehicle 10 reaches a position at a predetermined distance from the target position on the shoulder 53, the vehicle speed is decelerated to a predetermined speed (e.g., 10 km / h). In addition, the vehicle 10 moves to the shoulder 53 side and travels along the shoulder 53 in the lane 51 in which the vehicle 10 is traveling. For example, the driving planning unit 43 generates a driving plan so that the vehicle 10 travels at a position about 30 to 50 cm away from the dividing line that divides the lane and the shoulder. In this way, it is possible to inform other vehicles around the vehicle 10 that the vehicle 10 is moving toward the shoulder. The vehicle 10 drives a predetermined distance toward the target position on the shoulder 53 along the shoulder 53 in the lane 51 while flashing the direction indicator. In addition, the vehicle 10 does not flash the emergency flashing indicator when the direction indicator is flashing.

[0115] Next, at time T105, the vehicle 10 starts moving toward the road shoulder 53 toward the target position on the road shoulder 53 while maintaining a predetermined distance between the vehicle 10 and other vehicles. The vehicle 10 crosses the dividing line 55 from the lane 51 in which it was traveling and enters the road shoulder 53.

[0116] Finally, at time T106, the vehicle 10 stops at the target position on the road shoulder 53, and the emergency flashing indicator lights of the vehicle 10 are started to flash again by the driving planning device 22. In addition, the vehicle 10 may be automatically controlled to make an emergency stop when an obstacle is detected on the predetermined driving trajectory while moving toward the target position.

[0117] use Figure 5 (B) describes an example in which the vehicle 10 is automatically controlled based on a driving plan to stop the vehicle 10 in the lane in which the vehicle 10 is traveling. The actions of the vehicle 10 at time T201 and time T202 and the actions until the non-participation driving signal is output from the monitoring device 16 to the driving plan device 22 at time T203 are the same as Figure 5 The example shown at time T101 to time T103 in (A) is the same.

[0118] At time T203, the condition determination unit 42 of the driving planning device 22 determines that the vehicle 10 is traveling in the lane 51 adjacent to the road shoulder 53 based on the current position of the vehicle 10 and the map information. Furthermore, because another vehicle 60 is traveling on the road shoulder 53 and is approaching the vehicle 10 from the rear, the condition determination unit 42 of the driving planning device 22 determines that another object traveling on the road shoulder 53 from the rear of the vehicle 10 and approaching the vehicle 10 is detected. Through the above determination, it is considered that the predetermined condition is not satisfied, and the driving planning unit 43 of the driving planning device 22 determines the target position for parking the vehicle 10 on the lane 51 based on the current position of the vehicle 10, the map information, and the vehicle speed of the vehicle 10. The driving planning unit 43 generates a driving plan so as to stop the vehicle while decelerating toward the target position. The driving planning unit 43 performs Figure 3 The determination process shown in the figure is performed until the vehicle control unit 21 starts controlling the vehicle 10 to move to the target position on the road shoulder 53 based on the driving plan. Even after the driving plan unit 43 generates a driving plan to stop the vehicle 10 in the lane in which the vehicle 10 is traveling, there is a case where another object passes by the side of the vehicle 10 before the vehicle control unit 21 starts controlling the vehicle 10 based on the driving plan. In this case, since another object that moves on the road shoulder 53 from the rear of the vehicle 10 and approaches the vehicle 10 is not detected, the driving plan unit 43 determines that the predetermined condition is satisfied. Then, the target position for stopping the vehicle 10 is determined to be on the road shoulder 53, and a driving plan is generated to move to the road shoulder 53 toward the target position.

[0119] Next, at time T204 and time T205 , when the vehicle 10 reaches a position at a predetermined distance from the target position on the lane 51 , it decelerates to a predetermined speed (eg, 10 km / h) and moves toward the target position on the lane 51 .

[0120] Finally, at time T206, the vehicle 10 stops at the target position on the lane 51. If even one other vehicle is detected that is traveling on the shoulder 53 and approaching from the rear of the vehicle 10, there is a possibility that other vehicles will further travel on the shoulder 53, and therefore, a driving plan is not generated to retreat to the shoulder 53 again after stopping at the target position on the lane 51. In addition, the driving planning device 22 continues to flash the emergency flashing indicator light of the vehicle 10 during the period from time T202 to time T206.

[0121] As described above, the driving plan device determines whether the driver has an abnormality, determines whether the predetermined condition is satisfied based on the environmental information around the vehicle, generates a first driving plan for moving the vehicle to the shoulder of the road and stopping it when it is determined that the driver has an abnormality and the predetermined condition is satisfied, and generates a second driving plan for stopping the vehicle in the lane where the vehicle is traveling when it is determined that the driver has an abnormality and the predetermined condition is not satisfied. Thus, the driving plan device can generate a driving plan for the vehicle to move the vehicle 10 to the shoulder of the road and stop it only when the predetermined condition estimated to ensure the safety of the vehicle 10 is satisfied when the driver has an abnormality.

[0122] Next, refer to Figure 6 and Figure 7 A second embodiment of the driving planning device described above will be described. In the second embodiment, the same components as those of the first embodiment described above are denoted by the same reference numerals, and description thereof will be omitted.

[0123] Figure 6 This is an example of an operation flow chart of the driving planning device according to the second embodiment. Figure 6 The action flow chart shown in the figure explains the action of the driving planning device of the second embodiment. In addition, in the second embodiment, the following action is added to the action of the first embodiment: in any case of moving to the shoulder and stopping or stopping in the driving lane, temporarily moving the vehicle to the shoulder side in the driving lane.

[0124] First, the processing of step S301 is Figure 3 The process is the same as step S101, and therefore the description is omitted.

[0125] When it is determined that the driver is abnormal (step S301-yes), the driving planning unit 43 of the processor 33 of the driving planning device 22 generates a driving plan to move the vehicle to the shoulder side in the lane where the vehicle 10 is traveling (step S302). The driving planning unit 43 generates a driving plan so that the vehicle 10 travels in the center of the lane where the vehicle 10 is traveling in principle. However, when it is determined that the driver is abnormal, the driving planning unit 43 generates a driving plan so that the vehicle 10 travels along the shoulder side compared to the center of the lane where the vehicle 10 is traveling. For example, the driving planning unit 43 generates a driving plan so that the vehicle 10 travels at a position about 30 to 50 cm away from the dividing line that divides the lane and the shoulder. In this way, other vehicles around the vehicle 10 can be informed that the vehicle 10 may move to the shoulder.

[0126] The processing of steps S303 to S306 is Figure 3The processing from step S102 to step S105 is the same as that of step S103, and therefore, the description thereof is omitted.

[0127] Next, refer to Figure 7 (A) and Figure 7 (B) describes an example of the behavior of the vehicle controlled based on the above-mentioned driving plan. Figure 7 (A) corresponds to Figure 5 (A), Figure 7 (B) corresponds to Figure 5 (B).

[0128] use Figure 7 (A) describes an example in which the vehicle 10 is automatically controlled based on a driving plan to move the vehicle 10 to the shoulder of the road and stop the vehicle 10.

[0129] The actions of the vehicle 10 at time T301 and time T302 and the actions until the non-participation driving signal is output from the monitoring device 16 to the driving planning device 22 at time T303 are the same as Figure 5 The example shown at time T101 to time T103 in (A) is the same.

[0130] At time T303, the driver determination unit 41 of the driving planning device 22 receives a non-participation driving signal from the monitoring device 16, and therefore determines that the driver is abnormal. Therefore, the driving planning device 22 continues flashing the emergency flashing indicator light of the vehicle 10, and notifies the surroundings of the vehicle 10 to pay attention to the behavior of the vehicle 10. Furthermore, the driving planning unit 43 of the driving planning device 22 generates a driving plan for moving the vehicle 10 to the side of the road shoulder 53 in the lane 51 where the vehicle 10 is traveling.

[0131] Next, at time T304, the vehicle 10 flashes the direction indicator of the vehicle 10, and while maintaining a predetermined distance between the vehicle 10 and other vehicles, the vehicle 10 moves toward the shoulder 53 in the lane 51, decelerating while traveling in the lane 51. In addition, when the direction indicator is flashing, the emergency flashing display light is not flashed.

[0132] Furthermore, the condition determination unit 42 of the driving planning device 22 determines that the vehicle 10 is traveling in the lane 51 adjacent to the road shoulder 53 based on the current position of the vehicle 10 and the map information. Furthermore, the condition determination unit 42 of the driving planning device 22 determines that no other object traveling on the road shoulder 53 and approaching the vehicle 10 from behind the vehicle 10 is detected. Through the above determination, it is considered that the predetermined condition is satisfied, and the driving planning unit 43 of the driving planning device 22 determines a target position on the road shoulder 53 where the vehicle 10 can stop based on the current position of the vehicle 10, the map information, and the vehicle speed of the vehicle 10. The driving planning unit 43 generates a driving plan so that the vehicle 10 stops while decelerating toward the target position.

[0133] The operation of the vehicle 10 from time T305 to time T306 is Figure 5 The time T105 and the time T106 of (A) are the same, and therefore, detailed description is omitted.

[0134] use Figure 7 (B) describes an example in which the vehicle 10 is automatically controlled based on a driving plan to stop the vehicle 10 in the lane in which the vehicle 10 is traveling.

[0135] The operation of the vehicle 10 from time T401 to time T403 is Figure 7 The example shown at time T301 to time T303 in (A) is the same.

[0136] At time T404, the vehicle 10 flashes the direction indicator of the vehicle 10, and while ensuring a predetermined distance between the vehicle 10 and other vehicles, the vehicle 10 moves toward the shoulder 53 in the lane 51, decelerating while traveling in the lane 51. In addition, when the direction indicator is flashing, the emergency flashing indicator light is not flashed.

[0137] The condition determination unit 42 of the driving planning device 22 determines that the vehicle 10 is traveling in the lane 51 adjacent to the road shoulder 53 based on the current position of the vehicle 10 and the map information. Furthermore, the condition determination unit 42 of the driving planning device 22 determines that the other object traveling on the road shoulder 53 and approaching the vehicle 10 from the rear of the vehicle 10 is detected because the other vehicle 60 is traveling on the road shoulder 53 and approaching the vehicle 10 from the rear of the vehicle 10. Through the above determination, it is considered that the predetermined condition is not satisfied, and the driving planning unit 43 of the driving planning device 22 generates a driving plan for stopping the vehicle 10 in the lane 51 where the vehicle 10 is traveling. The driving planning unit 43 determines the target position for stopping the vehicle 10 on the lane 51 based on the current position of the vehicle 10, the map information, the vehicle speed of the vehicle 10, and the like, and generates a driving plan for stopping the vehicle 10 while decelerating toward the target position.

[0138] Next, at time T405, the vehicle 10 stops flashing the direction indicator and flashes the emergency flashing display light. At time T405, the vehicle 10 moves toward the target position on the lane 51 while decelerating while maintaining a predetermined distance between the vehicle 10 and other vehicles in the lane 51. The vehicle 10 further decelerates to a speed at which the vehicle 10 can stop before stopping at the target position on the lane 51.

[0139] Finally, at time T406 , the vehicle 10 stops at the target position on the lane 51 .

[0140] In the second embodiment described above, the following action is added to the action of the first embodiment: in either the case of moving to the shoulder and stopping or the case of stopping in the driving lane, the vehicle is temporarily moved to the shoulder side in the driving lane. Therefore, by making the surrounding vehicles aware of the abnormality of the target vehicle, etc., it is possible to make them take evasive actions.

[0141] In the present invention, the driving planning device and the driving planning computer program of the above-mentioned embodiments may be appropriately changed without departing from the purpose of the present invention. In addition, the technical scope of the present invention is not limited to those embodiments, but relates to the invention described in the claims and their equivalents.

Claims

1. A driving planning device, characterized in that: have: a driver determination unit that determines whether the driver has an abnormality; a condition determination unit that determines whether a predetermined condition is satisfied based on environmental information about the vehicle; as well as a driving plan unit that generates a first driving plan for moving the vehicle to a road shoulder and stopping the vehicle when the driver determination unit determines that the driver is abnormal and the condition determination unit determines that the predetermined condition is satisfied, and generates a second driving plan for stopping the vehicle in a lane in which the vehicle is traveling when the driver determination unit determines that the driver is abnormal and the condition determination unit determines that the predetermined condition is not satisfied, The condition determination unit determines that the predetermined condition is satisfied when the vehicle continuously travels a predetermined distance in the lane in which the vehicle is traveling or when the vehicle continuously travels a predetermined time in the lane in which the vehicle is traveling.

2. The driving planning device according to claim 1, The condition determination unit determines that the predetermined condition is not satisfied when at least another object traveling on a road shoulder and approaching the vehicle from behind the vehicle is detected.

3. The driving planning device according to claim 1 or 2, The driving planning unit generates the first driving plan so that, after the vehicle is moved toward a road shoulder in a lane in which the vehicle is traveling and travels along the road shoulder for a predetermined distance, the vehicle is moved toward the road shoulder and stops.

4. The driving planning device according to any one of claims 1 to 3, The driving planning unit generates a third driving plan for moving the vehicle toward a road shoulder in a lane in which the vehicle is traveling and driving the vehicle when the driver determination unit determines that the driver is abnormal. After generating the third driving plan, the driving planning unit generates the first driving plan or the second driving plan based on a determination made by the condition determination unit as to whether the predetermined condition is satisfied.

5. A computer program product for driving planning, causing a processor to execute: Determine whether the driver has any abnormality. Based on the environmental information around the vehicle, determine whether the predetermined condition is met, If it is determined that the driver has an abnormality and the predetermined condition is satisfied, a first driving plan is generated to move the vehicle to a road shoulder and stop the vehicle. If it is determined that the driver has an abnormality and it is determined that the predetermined condition is not satisfied, a second driving plan is generated to stop the vehicle in a lane in which the vehicle is traveling. It is determined that the predetermined condition is satisfied when the vehicle has continuously traveled a predetermined distance in the lane in which the vehicle is traveling or when the vehicle has continuously traveled a predetermined time in the lane in which the vehicle is traveling.

6. A driving planning method, performed by a driving planning device: Determine whether the driver has any abnormality. Based on the environmental information around the vehicle, determine whether the predetermined condition is met, If it is determined that the driver has an abnormality and the predetermined condition is satisfied, a first driving plan is generated to move the vehicle to a road shoulder and stop the vehicle. If it is determined that the driver has an abnormality and it is determined that the predetermined condition is not satisfied, a second driving plan is generated to stop the vehicle in a lane in which the vehicle is traveling. It is determined that the predetermined condition is satisfied when the vehicle has continuously traveled a predetermined distance in the lane in which the vehicle is traveling or when the vehicle has continuously traveled a predetermined time in the lane in which the vehicle is traveling.

Images