Determination device, computer program product for determination, and determination method

Abstract

The invention relates to a determination device, a computer program product for determination, and a determination method. The present disclosure provides a determination device capable of reducing the burden on a driver and determining whether the driver requests a prescribed operation of a vehicle by automatic control or a prescribed operation of the vehicle by manual control. The determination device is provided with a determination unit that determines whether or not a driver operates a first operation unit on the basis of operation information indicating an operation by the driver on the first operation unit, and operation information indicating a prescribed driver operation by the driver, environment information indicating a prescribed environment around the vehicle, and / or a navigation route of the vehicle. A determination is made as to whether the driver has requested to perform a vehicle action associated with the operation information by automatic control or the driver has requested to perform a vehicle action by manual control.

Description

Technical Field

[0001] This disclosure relates to a determination device, a computer program product for determination, and a determination method. Background Technology

[0002] Previously, vehicles were equipped with automatic control systems that assisted in lane changes. Drivers could use these systems to change lanes automatically. Alternatively, drivers could choose to change lanes manually without the assistance of the automatic control systems.

[0003] The driver communicates to the automatic control device whether he / she requests a lane change through automatic control or a manual lane change by changing the operation of the turn signal indicator (see, for example, Patent Document 1).

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2020-163927

[0007] However, in order to communicate requests to the automatic control unit, the driver has to change the way the turn signal indicator is operated, which becomes a burden for the driver. Summary of the Invention

[0008] Therefore, the purpose of this disclosure is to provide a determination device that reduces the driver's burden by determining whether the driver has requested a prescribed action of the vehicle through automatic control or a prescribed action of the vehicle through manual control.

[0009] (1) According to one embodiment, a determination device is provided. The determination device has a determination unit configured to: determine whether the driver has requested to perform a vehicle action associated with the operation information by automatic control or the driver has requested to perform a vehicle action by manual control, based on at least one of operation information indicating the driver's operation on a first operation unit, action information indicating a predetermined driver action of the driver, environmental information indicating a predetermined environment around the vehicle, and a navigation route of the vehicle.

[0010] (2) In the determination device of (1), preferably, the action information includes the driver's operation of a second operation unit that is different from the first operation unit, the driver's face is facing a predetermined direction, and the driver has made a sound.

[0011] (3) In the determination device of (1) or (2), it is preferable that the determination unit is configured to determine whether the driver has requested to perform vehicle actions by automatic control or the driver has requested to perform vehicle actions by manual control, based on the order in which operation information is generated and action information is generated.

[0012] (4) In the determination device of (1), preferably, the first operation unit is a direction indicator operation unit that inputs the direction of lane change of the vehicle, and the vehicle action is a lane change that is associated with the direction indicator operation unit. When the direction of lane change of the vehicle indicated by the operation information is consistent with the orientation of the driver's face indicated by the action information, the determination unit determines that the driver has requested to perform the vehicle action by manual control.

[0013] (5) In the determination device of (1), it is preferable that the environmental information represents other vehicles around the vehicle.

[0014] (6) In the determination device of (5), preferably, the first operation unit is a direction indicator operation unit that inputs the direction of lane change of the vehicle, and the vehicle action is a lane change that is associated with the direction indicator operation unit. When the environmental information indicates that other vehicles are located in the direction of lane change of the vehicle indicated by the operation information, the determination unit determines that the driver has requested to execute the vehicle action through automatic control.

[0015] (7) In the determination device of (1), preferably, the first operation unit is a direction indicator operation unit that inputs the direction of lane change of the vehicle, and the vehicle action is a lane change that is associated with the direction indicator operation unit. If the direction of lane change of the vehicle indicated by the operation information is different from the direction of movement of the vehicle to the target location of the vehicle indicated by the navigation route, the determination unit determines that the driver has requested to perform the vehicle action by manual control.

[0016] (8) According to another embodiment, a determination computer program product is provided. The determination computer program product causes a processor to execute: based on at least one of operation information indicating the driver's operation on a first operation unit, action information indicating a predetermined driver action, environmental information indicating a predetermined environment surrounding the vehicle, and a navigation route of the vehicle, to determine whether the driver has requested to perform a vehicle action associated with the operation information by automatic control or the driver has requested to perform a vehicle action by manual control.

[0017] (9) According to yet another embodiment, a determination method is provided. The determination method includes: a determination device determining, based on at least one of operation information indicating the driver's operation on a first operation unit, prescribed action information indicating a prescribed driver action, prescribed environmental information indicating a prescribed environment surrounding the vehicle, and a navigation route of the vehicle, whether the driver has requested to perform a vehicle action associated with the operation information by automatic control or the driver has requested to perform a vehicle action by manual control.

[0018] Invention Effects

[0019] The determination device disclosed herein determines whether the driver has requested automatic control or manual control of the vehicle, based on operational information and other prescribed information, thereby reducing the driver's burden. Attached Figure Description

[0020] Figure 1 (A) and Figure 1 (B) provides a summary description of the operation of the automatic control device according to the first embodiment. Figure 1 (A) is a diagram representing a vehicle. Figure 1 (B) is a diagram showing the interior of the carriage.

[0021] Figure 2 This is a hardware configuration diagram of a vehicle equipped with the automatic control device of the first embodiment.

[0022] Figure 3 This is an example of an action flowchart related to the decision processing of the automatic control device in the first embodiment.

[0023] Figure 4 This is an example of an action flowchart related to the decision processing of the automatic control device in the second embodiment.

[0024] Figure 5 This is an example of an action flowchart related to the decision processing of the automatic control device in the third embodiment.

[0025] Figure 6 This is an example of an action flowchart related to the decision processing of the automatic control device in the fourth embodiment.

[0026] Figure 7 This is an example of an action flowchart related to the decision processing of the automatic control device in the fifth embodiment. Detailed Implementation

[0027] Figure 1 (A) and Figure 1(B) provides an overview of the operation of the automatic control device according to the first embodiment. Figure 1 (A) is a diagram representing a vehicle. Figure 1 (B) is a diagram showing the interior of the carriage.

[0028] like Figure 1 As shown in (A), vehicle 10 has an automatic control device 12. The automatic control device 12 has an automatic driving mode (e.g., driving modes at levels three to five) and a manual driving mode (e.g., driving modes at levels zero to two), wherein the automatic driving mode is in which the automatic control device 12 acts as the driving entity for vehicle 10, and the manual driving mode is in which the driver 40 acts as the driving entity for vehicle 10. The automatic control device 12 is an example of a decision-making device. Vehicle 10 may also be an autonomous vehicle.

[0029] In manual driving mode, the automatic control device 12 controls the movement of the vehicle 10 based on the operation of the driver 40. The driver 40 is seated in the driver's seat 31 inside the passenger compartment 30, in a manner that allows him to operate the steering wheel 32, brake pedal 34, accelerator pedal 33, and gear shift control unit 35.

[0030] Even in autonomous driving mode, the driver 40 can still be the primary controller of the vehicle 10. For example, in autonomous driving mode, the driver 40 can operate the steering wheel 32 to change lanes. Operations performed by the driver 40 take precedence over operations by the automatic control device 12.

[0031] Furthermore, even in manual driving mode, the automatic control unit 12 can act as the primary controller to partially control the vehicle 10. For example, in manual driving mode, the automatic control unit 12 performs lane changes in response to a request from the driver 40.

[0032] The automatic control device 12 determines, based on the operation information indicating the driver 40's operation of the specified operating unit and other specified information, whether the driver 40 has requested to execute a vehicle action associated with the operation information through automatic control or has requested to execute a vehicle action through manual control.

[0033] Examples of prescribed driver actions, representing the driver 40, are listed as examples of other prescribed information. The automatic control device 12 acquires action information using a surveillance image, including the driver 40's face, obtained by the surveillance camera 3. The automatic control device 12 identifies the orientation of the driver 40's face as shown in the surveillance image. The orientation of the driver 40's face is an example of action information representing driver actions. Furthermore, environmental information representing the prescribed environment surrounding the vehicle 10 and the vehicle 10's navigation route are listed as other information.

[0034] The driver's operation of the turn signal indicator control unit 4 is indicated by operation information. Lane change is an example of a vehicle action that is associated with the operation information indicating the driver's operation of the turn signal indicator control unit 4.

[0035] When a lane change is desired, the driver 40 operates the turn signal indicator control unit 4. The driver 40 indicates the direction of the lane change by operating the turn signal indicator control unit 4 upwards or downwards. The lane change request can be executed in either automatic control mode or manual control mode.

[0036] If the direction of lane change of vehicle 10 indicated by the operation information of the direction indicator operation unit 4 is consistent with the orientation of driver 40’s face indicated by the action information, the automatic control device 12 determines that driver 40 has requested to perform lane change by manual control.

[0037] When the turn signal indicator control unit 4 is operated, the driver 40 is observing the direction in which the vehicle 10 will move, indicating that the driver 40 is actively confirming the direction in which the vehicle 10 will move. It is assumed that the driver 40 intends to manually operate the vehicle 10 to perform a lane change.

[0038] The automatic control device 12 causes the direction indicator (not shown) to flash according to the direction of the lane change of the vehicle 10, but the movement of the vehicle 10 is controlled based on the operation of the driver 40 regarding the lane change of the vehicle 10.

[0039] On the other hand, if the direction of lane change of vehicle 10 indicated by the operation information of the driver 40's direction indicator operation unit 4 is inconsistent with the orientation of the driver 40's face indicated by the action information, the automatic control device 12 determines that the driver 40 has requested to perform a lane change through automatic control.

[0040] When the turn signal indicator control unit 4 is operated, if the driver 40 does not observe the direction in which the vehicle 10 will move, it indicates that the driver 40 is not actively confirming the direction in which the vehicle 10 will move. It is assumed that the driver 40 does not intend to operate the vehicle 10 himself to perform a lane change.

[0041] The automatic control device 12 causes the direction indicator (not shown) to flash according to the direction of the lane change of the vehicle 10, and controls the movement of the vehicle 10 in relation to the lane change of the vehicle 10.

[0042] As explained above, the automatic control device 12 of this embodiment determines whether the driver 40 has requested to perform vehicle actions through automatic control or has requested to perform vehicle actions through manual control, based on both operation information and other prescribed information, thereby reducing the burden on the driver 40.

[0043] Figure 2 This is a hardware configuration diagram of a vehicle 10 equipped with the automatic control device 12 of the first embodiment. The vehicle 10 includes a front camera 2a, a rear camera 2b, a surveillance camera 3, a turn signal control unit 4, a hazard light switch 5, a microphone 6, a user interface (UI) 7, a position information receiver 8, a navigation device 9, the automatic control device 12, a steering wheel 32, a brake pedal 34, an accelerator pedal 33, and a gear shift control unit 35. The vehicle 10 may also include distance sensors such as a LiDAR (Light Detection and Ranging) sensor.

[0044] The front camera 2a, rear camera 2b, surveillance camera 3, turn signal control unit 4, hazard light switch 5, microphone 6, user interface (UI) 7, position information receiver 8, navigation device 9, automatic control device 12, steering wheel 32, brake pedal 34, accelerator pedal 33, and gear shift control unit 35 are connected in a communicable manner via an in-vehicle network 13 based on a standard controller area network or similar.

[0045] The front camera 2a and the rear camera 2b are examples of image acquisition units installed in the vehicle 10. The front camera 2a is mounted on the vehicle 10 facing forward. The rear camera 2b is mounted on the vehicle 10 facing backward.

[0046] The front camera 2a and the rear camera 2b acquire, for example, camera images of the environment within a defined field of view in front of and behind the vehicle 10 at camera image acquisition times set at a predetermined period. The camera images can show road features, such as lane markings, included within the defined areas in front of and behind the vehicle 10.

[0047] The front camera 2a and the rear camera 2b each have a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to visible light, such as a CCD (Charge-Coupled Device) or a C-MOS (Complementary Metal-Oxide-Semiconductor). Furthermore, the front camera 2a and the rear camera 2b each have an imaging optical system that images the area to be acquired onto the two-dimensional detector. The field of view of the front camera 2a and the rear camera 2b is an example of a defined range around the vehicle 10.

[0048] Whenever a camera image is acquired, the front camera 2a and the rear camera 2b output the camera image and the time of image acquisition to the object detection device 11 via the in-vehicle network 13. The camera image is used in the object detection device 11 to process and detect objects and road features around the vehicle 10.

[0049] The surveillance camera 3 is configured inside the passenger compartment 30 in a manner that allows it to capture surveillance images, including the face of the driver 40 who is driving the vehicle 10. The surveillance camera 3 may be configured, for example, on the dashboard.

[0050] Surveillance camera 3 is an example of an image acquisition unit. Surveillance camera 3 acquires, for example, surveillance images representing the vicinity of the driver's seat 31 at surveillance image acquisition times with a predetermined period. The face of the driver 40, seated in the driver's seat 31, is shown in the surveillance images.

[0051] The surveillance camera 3 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 infrared light; and an imaging optical system that images the area to be acquired onto the two-dimensional detector.

[0052] Whenever a surveillance image is acquired, the surveillance camera 3 outputs the surveillance image and the moment the image was acquired to the automatic control unit 12 via the in-vehicle network 13. The surveillance image is used in the automatic control unit 12 to detect the orientation of the driver 40's face.

[0053] The turn signal indicator control unit 4 is located on the steering column. The turn signal indicator control unit 4 inputs the direction of lane change for the vehicle 10. The driver 40 indicates the direction of lane change for the vehicle 10 by operating the turn signal indicator control unit 4 upwards or downwards. The turn signal indicator control unit 4 outputs the turn signal indicator operation signal, indicating the direction of lane change for the vehicle 10, to the automatic control device 12, etc., via the in-vehicle network 13. The turn signal indicator operation signal is an example of operation information indicating the driver 40's operation of the turn signal indicator control unit 4. The turn signal indicator operation signal is associated with lane change for the vehicle 10.

[0054] The hazard light switch 5 is an operating unit associated with the emergency actions of the vehicle 10. When the hazard light switch 5 is operated by the driver 40, it outputs a hazard light operation signal indicating an emergency action of the vehicle 10 to the automatic control device 12 via the in-vehicle network 13. The automatic control device 12 then causes the hazard lights (not shown) to flash. The hazard light operation signal is an example of the operating information indicating the driver 40's operation of the hazard light switch 5. The hazard light operation signal is associated with the emergency actions of the vehicle 10.

[0055] Microphone 6 inputs sounds from inside the passenger compartment 30 and outputs the sound signals to the automatic control device 12, etc., via the in-vehicle network 13. For example, microphone 6 inputs the voice of the driver 40 to generate a sound signal.

[0056] The steering wheel 32 generates a steering signal corresponding to the steering angle generated by the driver 40, and outputs this steering signal to the automatic control unit 12 via the in-vehicle network 13. The steering signal is an example of operational information representing the driver 40's operation of the steering wheel 32. The steering signal is associated with actions that change the direction of travel of the vehicle 10.

[0057] The accelerator pedal 33 generates an acceleration signal corresponding to the accelerator opening degree generated by the driver, and outputs this acceleration signal to the automatic control unit 12 via the in-vehicle network 13. The acceleration signal is an example of operational information representing the driver 40's operation of the accelerator pedal 33. The acceleration signal is associated with the acceleration action of the vehicle 10.

[0058] The brake pedal 34 generates a braking signal corresponding to the braking amount generated by the driver and outputs this braking signal to the automatic control unit 12 via the in-vehicle network 13. The braking signal is an example of operational information representing the driver 40's operation of the brake pedal 34. The braking signal is associated with the braking action of the vehicle 10.

[0059] The shift control unit 35 generates a shift signal corresponding to the shift position based on the driver's operation, and outputs the shift signal to the automatic control device 12 via the in-vehicle network 13. The shift signal is an example of operation information representing the driver 40's operation on the shift control unit 35. The shift signal is associated with the gear shifting action of the vehicle 10.

[0060] UI7 is an example of a notification unit. UI7 is controlled by the automatic control unit 12 and notifies the driver 40 of information related to the vehicle 10. For displaying information, UI7 has a display device 7a such as an LCD or touch panel. Furthermore, UI7 may also have an audio output device (not shown) for notifying the driver 40 of information. Additionally, UI7 may have, for example, a touch panel or operation buttons as input devices for inputting operational information from the driver 40 to the vehicle 10. UI7 outputs the input information to the automatic control unit 12, etc., via the in-vehicle network 13.

[0061] The positioning information receiver 8 outputs positioning information indicating the current position of the vehicle 10. For example, the positioning information receiver 8 can be a GNSS (Global Navigation Satellite System) receiver. Whenever positioning information is acquired at a predetermined reception period, the positioning information receiver 8 outputs the positioning information and the acquisition time to the navigation device 9, etc.

[0062] The navigation device 9 generates a navigation route from the current position of the vehicle 10 to the target position based on navigation map information, the target position of the vehicle 10 input from the UI7, and positioning information indicating the current position of the vehicle 10 input from the positioning information receiver 8. The navigation route includes position-related information such as right turns, left turns, merging, and branching. The navigation device 9 regenerates the navigation route if a new target position is set or if the current position of the vehicle 10 deviates from the navigation route. Whenever a navigation route is generated, the navigation device 9 outputs the navigation route to the automatic control device 12, etc., via the in-vehicle network 13.

[0063] The object detection device 11 detects objects and their types (e.g., vehicles) around the vehicle 10 based on camera images. These objects include other vehicles traveling around the vehicle 10. The object detection device 11 has a classifier that detects objects represented in an input camera image. The object detection device 11 can, for example, use a deep neural network (DNN) pre-learned to detect objects represented in an input camera image as such a classifier. Preferably, the classifier can distinguish between large and small vehicles.

[0064] The object detection device 11 estimates the position of the object based on the position of the object within the camera image, internal parameters such as the focal length of the front camera 2a and the rear camera 2b, and external parameters such as the setting position and orientation of the front camera 2a and the rear camera 2b. It should be noted that when a ranging sensor such as a LiDAR sensor is installed in the vehicle 10, the object detection device 11 can also estimate the position of the object using both the camera image and the measurement results from the ranging sensor.

[0065] The object detection device 11 determines the driving lane in which the object is traveling based on the lane markings shown in the map information and the position of the object. Furthermore, the object detection device 11 outputs object detection information, including the type of detected object, the object's position, and the driving lane, to the automatic control device 12, etc. The object detection information is an example of environmental information.

[0066] The automatic control device 12 performs control processing, generation processing, and decision processing. For this purpose, the automatic control device 12 has a communication interface (IF) 21, a memory 22, and a processor 23. The communication interface 21, memory 22, and processor 23 are connected via signal lines 24. The communication interface 21 has interface circuitry for connecting the automatic control device 12 to the vehicle network 13.

[0067] Memory 22 is an example of a storage unit, such as a volatile semiconductor memory and a non-volatile semiconductor memory. Furthermore, memory 22 stores computer program products and various data used in information processing executed by processor 23.

[0068] All or some of the functions of the automatic control device 12 are implemented, for example, by functional modules that operate on a computer program running on the processor 23. The processor 23 has a control unit 231, a generation unit 232, and a determination unit 233. Alternatively, the functional modules of the processor 23 may also be dedicated arithmetic circuits provided on the processor 23. The processor 23 has one or more CPUs (Central Processing Units) and their peripheral circuits. The processor 23 may also have other arithmetic circuits such as logic operation units, numerical operation units, or graphics processing units.

[0069] The object detection device 11 and the automatic control device 12 are, for example, electronic control units (ECUs). Figure 2In this description, the object detection device 11 and the automatic control device 12 are described as separate devices (e.g., electronic control unit: ECU), but these devices can also be configured as a single device. Furthermore, the processor 23 has a control unit 231, a generation unit 232, and a determination unit 233, but the control unit 231, the generation unit 232, and the determination unit 233 can also be included in different processors.

[0070] The control unit 231 controls the actions of the vehicle 10. The control unit 231 has an automatic driving mode and a manual driving mode. The automatic driving mode drives the vehicle 10 automatically, while the manual driving mode controls the actions of the vehicle 10 based on the driver 40's input. In automatic driving mode, the control unit 231 becomes the primary driver of the vehicle 10. In automatic driving mode, the control unit 231 controls steering, driving, braking, and other actions based on the vehicle 10's current position, map information, and camera images from the front camera 2a and rear camera 2b mounted on the vehicle 10.

[0071] Furthermore, in manual driving mode, the control unit 231 controls the vehicle 10's movements, such as steering, driving, and braking, based on the driver 40's operations. In manual driving mode, the driver 40 becomes the primary driver of the vehicle 10. In manual driving mode, the control unit 231 controls the vehicle 10's movements based on the driver 40's operations on at least one of the components: the steering wheel 32, the brake pedal 34, or the accelerator pedal 33.

[0072] Even in autonomous driving mode, the driver 40 can still be the primary controller of the vehicle 10. For example, in autonomous driving mode, the driver 40 can operate the steering wheel 32 to change lanes. Operations performed by the driver 40 take precedence over operations by the automatic control device 12.

[0073] Furthermore, even in manual driving mode, the automatic control unit 12 can act as the primary controller to partially control the vehicle 10. For example, in manual driving mode, the automatic control unit 12 performs lane changes in response to a request from the driver 40.

[0074] The generation unit 232 generates motion information representing the prescribed driver actions of the driver 40. The motion information includes the driver 40's operation of a different operating unit associated with the prescribed vehicle actions of the vehicle 10, the driver 40's face being turned in a prescribed direction, or the driver 40 making a sound. Here, in the case of a lane change, the motion information refers to the driver 40's operation of a different operating unit than the turn signal indicator operating unit 4. The generation unit 232 notifies the determination unit 233 of the motion information.

[0075] When a turn signal is input, the generation unit 232 generates action information indicating the driver 40's operation of the turn signal control unit 4. When a hazard light operation signal is input, the generation unit 232 generates action information indicating the driver 40's operation of the hazard light switch 5. When a turn signal is input, the generation unit 232 generates action information indicating the driver 40's operation of the steering wheel 32. When an acceleration signal is input, the generation unit 232 generates action information indicating the driver 40's operation of the accelerator pedal 33. When a braking signal is input, the generation unit 232 generates action information indicating the driver 40's operation of the brake pedal 34. When a gear shift signal is input, the generation unit 232 generates action information indicating the driver 40's operation of the gear shift control unit 35.

[0076] The generation unit 232 estimates the orientation of the driver 40's face based on the surveillance image. The angle representing the orientation of the face is expressed as the horizontal angle between the vehicle 10's direction of travel and the direction in which the driver 40 is turning their face. The generation unit 232 determines the positions of specified facial features included in the surveillance image by inputting the acquired surveillance image into a classifier that has been trained to detect specified facial features such as the outer corners of the eyes, the inner corners of the eyes, and the corners of the mouth. Then, the generation unit 232 compares the positions of the specified facial features detected from the surveillance image with a standard three-dimensional model of the face. Then, it detects the facial orientation angle in the three-dimensional model when the position of each feature best matches the position of the feature detected from the surveillance image, and uses this as the facial orientation angle in the surveillance image.

[0077] The classifier can, for example, employ a multi-layered convolutional deep neural network (DNN) with cascaded connections from the input side to the output side. A DNN pre-trained on facial images including specified facial features acts as a classifier to determine the location of these specified facial features.

[0078] Next, the generation unit 232 calculates the positions of the pupil center and the eyeball center based on the positions of the outer corner and inner corner of the eye, and estimates the direction connecting the positions of the eyeball center and the pupil center as the driver 40's line of sight. The generation unit 232 generates an angle in the horizontal direction representing the orientation of the face as motion information.

[0079] When an audio signal is input from microphone 6, generation unit 232 inputs the audio signal to a classifier that has been trained to recognize human voices. If the audio signal is identified as including a human voice, generation unit 232 generates action information indicating that driver 40 has made a sound.

[0080] Figure 3This is an example of an operation flowchart related to the decision processing of the automatic control device 12 in the first embodiment. In this embodiment, the decision unit 233 makes a decision based on operation information and action information. When the automatic control device 12 is in automatic driving mode, the automatic control device 12 makes a decision at a predetermined periodic time according to... Figure 3 The action flowchart shown executes the decision-making process. The period for the decision-making time can be set to, for example, 0.1 seconds to 0.5 seconds. It should be noted that, the automatic control device 12 can also execute the decision-making process when it is in manual driving mode.

[0081] First, the determination unit 233 determines whether operation information has been input to a specified operation unit (step S101). The operation information indicates the operation performed by the driver 40 on a specified operation unit that is associated with the vehicle action determined by the determination unit 233. Vehicle actions include, for example, lane changing, stopping, parking, changing the direction of travel, accelerating, and decelerating.

[0082] When operation information is input (step S101 - Yes), the determination unit 233 determines that the driver 40 has requested the specified vehicle action (step S102). The vehicle action is associated with the operation information.

[0083] Next, the determination unit 233 determines whether motion information representing a prescribed driver action of the driver 40 has been input (step S103). The motion information includes the driver's operation of an operation unit different from those associated with vehicle actions, the driver's face being turned in a prescribed direction, or the driver making a sound. Prescribed operation units different from those associated with vehicle actions include, for example, the hazard light switch 5.

[0084] When action information is input (step S103 - Yes), the determination unit 233 determines that the driver 40 has requested to perform vehicle actions through manual control (step S104) and ends a series of processes.

[0085] On the other hand, if no action information is input (step S103 - No), the determination unit 233 determines that the driver 40 has requested to perform vehicle actions through automatic control (step S105) and ends a series of processes. Furthermore, if no operation information is input (step S101 - No), a series of processes ends. Hereinafter, the above-mentioned determination process will be explained according to specific vehicle actions.

[0086] (1) Vehicle movement is a lane change determination process. The operation information is the turn indicator operation signal indicating the driver 40's operation of the turn indicator operation unit 4. The turn indicator operation signal is associated with the lane change of vehicle 10. When the turn indicator operation signal is input, the determination unit 233 determines that the driver 40 has requested a lane change of vehicle 10. The movement information is the orientation of the driver 40's face, which is consistent with the direction of the lane change of vehicle 10 indicated by the operation information.

[0087] The action information indicating the prescribed driver action of driver 40 is the orientation of the driver 40's face, which is consistent with the direction of lane change of vehicle 10 indicated by the turn signal operation signal. The determination unit 233 determines whether the angle of the driver 40's face orientation, as indicated by the action information, is consistent with the direction of lane change of vehicle 10 indicated by the turn signal operation signal. If the direction of lane change of vehicle 10 indicated by the turn signal operation signal is consistent with the orientation of the driver's face, the determination unit 233 determines that driver 40 has requested to perform a lane change through manual control.

[0088] When the lane change direction of vehicle 10, as indicated by the turn signal, is to the right, and the angle indicating the driver 40's face is turned clockwise between 30 and 90 degrees relative to the vehicle 10's direction of travel, the lane change direction is consistent with the driver's face orientation. Furthermore, when the lane change direction of vehicle 10, as indicated by the turn signal, is to the left, and the angle indicating the driver 40's face is turned counterclockwise between 30 and 90 degrees relative to the vehicle 10's direction of travel, the lane change direction is consistent with the driver's face orientation.

[0089] When the turn signal indicator control unit 4 is operated, the driver 40 is observing the direction in which the vehicle 10 will move, indicating that the driver 40 is actively confirming the direction in which the vehicle 10 will move. It is assumed that the driver 40 intends to manually operate the vehicle 10 to perform a lane change.

[0090] The automatic control device 12 causes the direction indicator (not shown) to flash according to the direction of the lane change of the vehicle 10, but the movement of the vehicle 10 is controlled based on the operation of the driver 40 regarding the lane change of the vehicle 10.

[0091] On the other hand, if the direction of lane change of vehicle 10 indicated by the turn signal is inconsistent with the direction of the driver's face, the determination unit 233 determines that the driver 40 has requested to perform a lane change through automatic control.

[0092] When the turn signal indicator control unit 4 is operated, if the driver 40 does not observe the direction in which the vehicle 10 will move, it indicates that the driver 40 is not actively confirming the direction in which the vehicle 10 will move. It is assumed that the driver 40 does not intend to operate the vehicle 10 himself to perform a lane change.

[0093] The automatic control device 12 causes the direction indicator (not shown) to flash according to the direction of the lane change of the vehicle 10, and controls the movement of the vehicle 10 in relation to the lane change of the vehicle 10.

[0094] It should be noted that the action information does not necessarily have to be the direction the driver's face is facing. For example, the action information could also be the driver's operation of an operating unit different from the turn signal control unit 4, the driver's face being turned in a specified direction, or the driver making a sound.

[0095] (2) Vehicle action refers to the determination and processing of parking of vehicle 10 in a parking space. The determination unit 233 determines that vehicle 10 is located in the parking lot based on the current position of vehicle 10 and map information. Operation information is a shift operation signal indicating that the driver 40 has moved the shift position to reverse gear by the shift operation unit 35. When vehicle 10 is located in the parking lot, the shift operation signal indicating reverse gear position is associated with the parking action of vehicle 10 towards the parking space. When the shift operation signal indicating reverse gear position is input, the determination unit 233 determines that the driver 40 has requested vehicle 10 to park in the parking space.

[0096] The action information indicating the prescribed driver action of driver 40 is the operation signal indicating driver 40's operation of hazard light switch 5. When a shift operation signal indicating reverse gear position is input and action information indicating driver 40's operation of hazard light switch 5 is input, the determination unit 233 determines that driver 40 has requested to manually control the vehicle 10 to park in the parking space.

[0097] The shift control unit 35 was operated to reverse gear, and the driver 40 operated the hazard light switch 5, indicating that the driver 40 was manually controlling the vehicle 10 to park in the parking space. The automatic control device 12 controls the movement of the vehicle 10 based on the driver 40's operation.

[0098] On the other hand, if a shift operation signal indicating the reverse gear position is input but no action information indicating the driver 40's operation of the hazard light switch 5 is input, the determination unit 233 determines that the driver 40 has requested that the vehicle 10 be parked in the parking space through automatic control.

[0099] When the gear shifting unit 35 is operated to reverse gear, for example, if the driver 40 does not operate other operating units, it indicates that the driver 40 does not intend to manually control the vehicle 10 to park in the parking space. The automatic control device 12 then executes the parking maneuver of the vehicle 10 into the parking space.

[0100] As described in detail above, the automatic control device of this embodiment determines whether the driver has requested automatic control to perform vehicle actions or manual control to perform vehicle actions based on operational information and other prescribed information, thereby reducing the driver's burden.

[0101] Next, refer to the following Figures 4 to 7 Other embodiments of the automatic control device 12 will be described. Regarding other embodiments, for points not specifically described, the description of the first embodiment described above will be appropriately applied.

[0102] Figure 4 This is an example of an operation flowchart related to the decision processing of the automatic control device 12 in the second embodiment. In this embodiment, the decision unit 233 makes a decision based on operation information and environmental information.

[0103] exist Figure 4 In the flowchart shown, step S203 is different from step S103 described above. The processing of steps S201, S202, S204, and S205 is the same as that of steps S101, S102, S104, and S105 described above.

[0104] First, the determination unit 233 determines whether the prescribed operation information has been input (step S201).

[0105] When operation information is input (step S201 - Yes), the determination unit 233 determines that the driver 40 has requested the prescribed vehicle action (step S202).

[0106] Next, the determination unit 233 determines whether environmental information representing the specified environment around the vehicle 10 has been input (step S203).

[0107] When environmental information is input (step S203 - Yes), the determination unit 233 determines that the driver 40 has requested to perform vehicle actions through manual control (step S204) and ends a series of processes. The environmental information, for example, indicates the location of other vehicles.

[0108] On the other hand, if no environmental information is input (step S203 - No), the determination unit 233 determines that the driver 40 has requested to execute vehicle actions through automatic control (step S205) and ends a series of processes. Furthermore, if no operation information is input (step S201 - No), a series of processes ends. Hereinafter, the above-mentioned determination process will be explained according to specific vehicle actions.

[0109] (1) Vehicle movement is the determination and processing for lane change. Operation information is the turn indicator operation signal indicating the driver's operation of the turn indicator operation unit 4. The turn indicator operation signal is associated with the lane change of vehicle 10. When the turn indicator operation signal is input, the determination unit 233 determines that the driver 40 has requested a lane change for vehicle 10. Environmental information indicates the positions of other vehicles around vehicle 10. The area around vehicle 10 corresponds to the detection range of the front camera 2a and the rear camera 2b.

[0110] The environmental information indicating the defined environment surrounding vehicle 10 is that other vehicles are located in the direction of lane change indicated by the turn signal operation signal. The determination unit 233 determines whether other vehicles are located in the direction of lane change indicated by the turn signal operation signal based on object detection information, which is part of the environmental information. If other vehicles are not located in the direction of lane change indicated by the turn signal operation signal, the determination unit 233 determines that the driver 40 has requested a lane change via manual control.

[0111] When the turn signal indicator operation unit 4 is operated, other vehicles are not located in the direction in which the driver 40 intends to move the vehicle 10, and are therefore considered to be the driver 40 intending to operate the vehicle 10 to perform a lane change.

[0112] The automatic control device 12 causes the direction indicator (not shown) to flash according to the direction of the lane change of the vehicle 10, but the movement of the vehicle 10 is controlled based on the operation of the driver 40 regarding the lane change of the vehicle 10.

[0113] On the other hand, if other vehicles are in the direction of lane change indicated by the turn signal, the determination unit 233 determines that the driver 40 has requested to perform a lane change through automatic control.

[0114] When the turn signal indicator operation unit 4 is operated, other vehicles are located in the direction in which the driver 40 intends to move the vehicle 10, and are therefore considered not to be intended to operate the vehicle 10 to perform a lane change.

[0115] The automatic control device 12 causes the direction indicator (not shown) to flash according to the direction of the lane change of the vehicle 10, and controls the movement of the vehicle 10 in relation to the lane change of the vehicle 10.

[0116] (2) Determination and processing of vehicle actions as emergency actions. The operation information is the hazard light operation signal indicating the driver's operation of the hazard light switch 5. The hazard light operation signal is associated with the emergency actions of vehicle 10. When the hazard light operation signal is input, the determination unit 233 determines that the driver 40 has requested an emergency action of vehicle 10. The emergency action of vehicle 10 is to decelerate and stop.

[0117] The environmental information indicating the defined environment around vehicle 10 is that there is no congestion around vehicle 10. If the object detection information indicates that the number of vehicles around vehicle 10 is less than or equal to a reference number, the determination unit 233 determines that there is no congestion around vehicle 10.

[0118] If there is no congestion around vehicle 10, the determination unit 233 determines that driver 40 has requested to perform emergency actions of vehicle 10 through manual control.

[0119] When the hazard light switch 5 is activated, and there is no congestion around the vehicle 10, it is assumed that the driver 40 intends to manually operate the vehicle 10 to slow down and stop. The automatic control device 12 flashes the hazard lights (not shown) and controls the movement of the vehicle 10 based on the driver 40's operation.

[0120] On the other hand, in the case of traffic congestion around vehicle 10, determination unit 233 determines that driver 40 has requested emergency actions of vehicle 10 to be performed through automatic control.

[0121] When the hazard light switch 5 is activated, and there is congestion around the vehicle 10, it is assumed that the driver 40 does not intend to manually slow down and stop the vehicle 10. The automatic control device 12 controls the movement of the vehicle 10 by flashing the hazard lights (not shown) and slowing down and stopping the vehicle 10.

[0122] (3) Vehicle movement is the determination and processing of changes in driving position during lane tracing. During lane tracing, the control unit 231 controls the vehicle 10 to travel along the center of the lane. Operation information is a steering operation signal indicating the driver's operation of the steering wheel 32. A steering operation signal indicating that the steering wheel 32 has returned to the center after being turned to the left or right during lane tracing indicates a change in the driving position of the vehicle 10. When a steering operation signal indicating that the steering wheel 32 has returned to the center after being turned to the left or right is input, the determination unit 233 determines that the driver 40 has requested a change in the driving position of the vehicle 10.

[0123] The environmental information indicating the defined environment surrounding vehicle 10 is that large vehicles are not traveling to the side of vehicle 10. The determination unit 233 determines whether a large vehicle is traveling to the side of vehicle 10 based on object detection information, which serves as environmental information.

[0124] If the object detection information indicates that the large vehicle is not traveling to the side of vehicle 10, the determination unit 233 determines that the driver 40 has requested a change in the driving position of vehicle 10 through manual control.

[0125] The automatic control device 12 controls the changes in the driving position of the vehicle 10 based on the operation of the steering wheel 32 by the driver 40.

[0126] On the other hand, when the object detection information indicates that a large vehicle is traveling to the side of vehicle 10, the determination unit 233 determines that the driver 40 has requested a change in the driving position of vehicle 10 through automatic control.

[0127] The automatic control device 12 changes the driving position of the vehicle 10 from the center of the lane to a predetermined distance away from large vehicles traveling to the side of the vehicle 10.

[0128] The automatic control device according to the detailed description of this embodiment achieves the same effect as the first embodiment.

[0129] Figure 5 This is an example of an operation flowchart related to the decision processing of the automatic control device in the third embodiment. In this embodiment, the decision unit 233 makes a decision based on the operation information and the navigation route of the vehicle 10.

[0130] exist Figure 5 In the flowchart shown, step S303 is different from step S103 described above. The processing of steps S301, S302, S304 and S305 is the same as that of steps S101, S102, S104 and S105 described above.

[0131] First, the determination unit 233 determines whether the prescribed operation information has been input (step S301).

[0132] When operation information is input (step S301 - Yes), the determination unit 233 determines that the driver 40 has requested the prescribed vehicle action (step S302).

[0133] Next, the determination unit 233 determines whether the relationship between the vehicle action represented by the operation information and the navigation route meets the prescribed relationship (step S303).

[0134] If the specified relationship is met (step S303 - Yes), the determination unit 233 determines that the driver 40 has requested to perform vehicle actions through manual control (step S304) and ends a series of processes.

[0135] On the other hand, if the prescribed relationship is not met (step S303 - No), the determination unit 233 determines that the driver 40 has requested to execute vehicle actions through automatic control (step S305) and ends a series of processes. Furthermore, if no operation information is input (step S301 - No), the series of processes ends. Hereinafter, the above-mentioned determination process will be explained according to specific vehicle actions.

[0136] Vehicle movement is the determination and processing of lane changes. The operation information is the turn indicator operation signal indicating the driver's operation of the turn indicator operation unit 4. The turn indicator operation signal is associated with the lane change of vehicle 10. When the turn indicator operation signal is input, the determination unit 233 determines that the driver 40 has requested a lane change for vehicle 10.

[0137] The determination unit 233 determines whether the direction of lane change of vehicle 10 indicated by the turn indicator operation signal is different from the direction of movement of vehicle 10 to the target location of vehicle 10 indicated by the navigation route.

[0138] For example, if the turn signal indicates that vehicle 10 is changing lanes to the right, and the navigation route indicates that vehicle 10 will turn left at the intersection ahead, the determination unit 233 determines that the direction of lane change of vehicle 10 indicated by the turn signal is different from the direction of movement of vehicle 10 to the target location of vehicle 10 indicated by the navigation route.

[0139] If the direction of lane change of vehicle 10 indicated by the turn indicator operation signal is different from the direction of movement of vehicle 10 to the target location of vehicle 10 indicated by the navigation route, the determination unit 233 determines that the driver 40 has requested to perform a lane change by manual control.

[0140] The direction of lane change of vehicle 10 indicated by the turn signal is different from the direction of movement of vehicle 10 to the target location indicated by the navigation route, and is therefore considered to be the driver 40's intention to operate vehicle 10 to perform the lane change.

[0141] The automatic control device 12 causes the direction indicator (not shown) to flash according to the direction of the lane change of the vehicle 10, but the movement of the vehicle 10 is controlled based on the operation of the driver 40 regarding the lane change of the vehicle 10.

[0142] On the other hand, if the direction of lane change of vehicle 10 indicated by the turn indicator operation signal is not different from the direction of movement of vehicle 10 to the target location of vehicle 10 indicated by the navigation route, the determination unit 233 determines that the driver 40 has requested to perform lane change through automatic control.

[0143] The direction of lane change of vehicle 10 indicated by the turn indicator operation signal is the same as the direction of movement of vehicle 10 to the target location of vehicle 10 indicated by the navigation route, and it is considered that driver 40 does not intend to operate vehicle 10 to perform lane change.

[0144] The automatic control device 12 causes the direction indicator (not shown) to flash according to the direction of the lane change of the vehicle 10, and controls the movement of the vehicle 10 in relation to the lane change of the vehicle 10.

[0145] The automatic control device according to the detailed description of this embodiment achieves the same effect as the first embodiment.

[0146] Figure 6 This is an example of an action flow diagram related to the decision processing of the automatic control device in the fourth embodiment. In this embodiment, the decision unit 233 makes a decision based on operation information, action information, environmental information, and the navigation route of the vehicle 10.

[0147] exist Figure 6 The flowchart shown has added steps S405 and S406, which is consistent with the above. Figure 3 The flowchart shown is different. The processing of steps S401 to S404 and step S407 is the same as that of steps S101 to S105 above.

[0148] First, the determination unit 233 determines whether the prescribed operation information has been input (step S401).

[0149] When operation information is input (step S401 - Yes), the determination unit 233 determines that the driver 40 has requested the prescribed vehicle action (step S402).

[0150] Next, the determination unit 233 determines whether motion information representing the driver's prescribed actions has been input (step S403).

[0151] When action information is input (step S403 - Yes), the determination unit 233 determines that the driver 40 has requested to perform vehicle actions through manual control (step S404) and ends a series of processes.

[0152] On the other hand, if no action information is input (step S403 - No), the determination unit 233 determines whether environmental information indicating the specified environment around the vehicle 10 has been input (step S405).

[0153] When environmental information is input (step S405 - Yes), the determination unit 233 determines that the driver 40 has requested to perform vehicle actions through manual control (step S404) and ends a series of processes.

[0154] On the other hand, if no environmental information is input (step S405 - No), it is determined whether the relationship with the navigation route meets the prescribed relationship (step S406).

[0155] If the specified relationship is met (step S406 - Yes), the determination unit 233 determines that the driver 40 has requested to perform vehicle actions through manual control (step S404) and ends a series of processes.

[0156] On the other hand, if the prescribed relationship is not met (step S406 - No), the determination unit 233 determines that the driver 40 has requested to perform vehicle actions through automatic control (step S407) and ends a series of processes. Furthermore, if no operation information is input (step S401 - No), the series of processes ends.

[0157] As described above, the automatic control device of this embodiment, based on operation information, motion information, environmental information, and the navigation route of the vehicle 10, makes a determination, thus easily reducing the driver's workload. Furthermore, the automatic control device of this embodiment achieves the same effects as the first embodiment.

[0158] Figure 7 This is an example of an action flow diagram related to the decision processing of the automatic control device in the fifth embodiment. In this embodiment, the decision unit 233 performs a decision based on the order in which operation information is generated and action information is generated.

[0159] First, the determination unit 233 determines whether the prescribed operation information has been input (step S501).

[0160] When operation information is input (step S501 - Yes), the determination unit 233 determines that the driver 40 has requested the prescribed vehicle action (step S502).

[0161] Next, the determination unit 233 determines whether motion information representing the driver's prescribed actions has been input (step S503).

[0162] When motion information is input (step S503 - Yes), the determination unit 233 determines whether the generation of operation information and the generation of motion information are in a predetermined order (step S504). The determination unit 233 may also consider the first moment when operation information is input to the automatic control device 12 as the moment when operation information is generated. Furthermore, the determination unit 233 may also consider the second moment when motion information is notified to the determination unit 233 as the moment when motion information is generated.

[0163] As the order in which operation information and action information are generated, there are instances where the second moment is the same as the first moment, the second moment is earlier than the first moment, and the second moment is later than the first moment.

[0164] If the difference between the second time and the first time is within the specified reference time, the second time is determined to be the same as the first time. If the second time is earlier than the first time by more than the reference time, the second time is determined to be earlier than the first time. If the second time is later than the first time by more than the reference time, the second time is determined to be later than the first time.

[0165] For example, if the second time point is the same as the first time point, the determination unit 233 determines that the operation information and the motion information are generated in a predetermined order. On the other hand, if the second time point is earlier than the first time point or later than the first time point, the determination unit 233 determines that the operation information and the motion information are generated in a predetermined order.

[0166] Alternatively, if the second time point is earlier than the first time point, the determination unit 233 may determine that the operation information and the motion information are generated in a predetermined order. On the other hand, if the second time point is the same as the first time point or the second time point is later than the first time point, the determination unit 233 may determine that the operation information and the motion information are generated in a non-predetermined order.

[0167] Alternatively, if the second time point is later than the first time point, the determination unit 233 may determine that the operation information and the motion information are generated in a predetermined order. On the other hand, if the second time point is earlier than the first time point or the second time point is the same as the first time point, the determination unit 233 may determine that the operation information and the motion information are generated in a non-predetermined order.

[0168] When the operation information and action information are generated in a prescribed order (step S504 - Yes), the determination unit 233 determines that the driver 40 has requested to perform vehicle actions through manual control (step S505) and ends a series of processes.

[0169] On the other hand, if no action information is input (step S503 - No), or if the generation of operation information and action information is not in the prescribed order (step S504 - No), the determination unit 233 determines that the driver 40 has requested to perform vehicle actions through automatic control (step S506) and ends a series of processes. Furthermore, if no operation information is input (step S501 - No), the series of processes ends. Hereinafter, the above-described determination process will be explained according to specific vehicle actions.

[0170] (1) The operation information is the turn indicator operation signal indicating the driver's operation of the turn indicator operation unit 4. The turn indicator operation signal is associated with lane change of vehicle 10. When the turn indicator operation signal is input, the determination unit 233 determines that the driver 40 has requested a lane change of vehicle 10. The prescribed action information is the action information indicating the driver 40's operation of the hazard light switch 5.

[0171] If the first moment when the turn signal operation signal is input to the automatic control device 12 coincides with the second moment when the action information indicating the driver 40's operation of the hazard light switch 5 is notified to the determination unit 233, the determination unit 233 determines that the operation information and the action information are generated in a predetermined order.

[0172] On the other hand, if the second moment is earlier than the first moment or later than the first moment, the determination unit 233 determines that the generation of operation information and the generation of action information are not in the prescribed order.

[0173] (2) The operation information is the turn indicator operation signal indicating the driver's operation of the turn indicator operation unit 4. The turn indicator operation signal is associated with lane change of vehicle 10. When the turn indicator operation signal is input, the determination unit 233 determines that the driver 40 has requested a lane change of vehicle 10. The prescribed action information is the orientation of the driver 40's face, which is consistent with the direction of lane change of vehicle 10 indicated by the operation information.

[0174] If the first moment when the turn signal operation signal is input to the automatic control device 12 coincides with the second moment when the action information is notified to the determination unit 233, the determination unit 233 determines that the operation information is generated and the action information is generated in a predetermined order, wherein the action information indicates the orientation of the driver 40’s face, which is consistent with the direction of lane change of the vehicle 10 indicated by the turn signal operation signal.

[0175] On the other hand, if the second moment is earlier than the first moment or later than the first moment, the determination unit 233 determines that the generation of operation information and the generation of action information are not in the prescribed order.

[0176] According to the automatic control device of the fifth embodiment described in detail above, it can notify the driver whether a predetermined action of the vehicle has been requested by automatic control or by manual control, based solely on the driver's operation of a predetermined operating unit at a predetermined time. Furthermore, it achieves the same effect as the first embodiment described above.

[0177] In this disclosure, the determination apparatus, computer program product for determination, and determination method of the above-described embodiments can be appropriately modified without departing from the spirit of this disclosure. Furthermore, the technical scope of this disclosure is not limited to these embodiments, but covers the invention as described in the claims and its equivalents.

[0178] For example, the operation information, action information, and environmental information in the above embodiments are just one example, and are not limited thereto. Furthermore, a determination method in which the determination unit makes a determination based on operation information, and at least one of action information, environmental information, and navigation route, is also an example, and is not limited thereto.

[0179] For example, the determination unit may also determine an acceleration action based on an acceleration signal as operating information, and at least one of motion information, environmental information, and navigation route. Furthermore, the determination unit may also determine a braking action based on a braking signal as operating information, and at least one of motion information, environmental information, and navigation route.

[0180] Alternatively, it can be set up so that the automatic control device learns the relationship between the judgment result of the specified operation information and the judgment result of the specified action information when the driver is driving the vehicle.

Claims

1. A determination device having a determination unit configured to: determine, based on at least one of operation information representing a driver's operation on a first operation unit, action information representing a predetermined driver action, environmental information representing a predetermined environment surrounding the vehicle, and a navigation route of the vehicle, whether the driver has requested to perform a vehicle action associated with the operation information via automatic control or has requested to perform the vehicle action via manual control.

2. The determining device according to claim 1, wherein, The action information includes the driver's operation of a second operating unit that is different from the first operating unit, the driver's face being turned in a specified direction, and the driver making a sound.

3. The determining device according to claim 1 or 2, wherein, The determination unit is configured to determine, based on the order in which the operation information is generated and the action information is generated, whether the driver requests to execute the vehicle action through automatic control or the driver requests to execute the vehicle action through manual control.

4. The determining device according to claim 1, wherein, The first operation unit is a direction indicator operation unit that inputs the direction of lane change of the vehicle. The vehicle action is a lane change that is associated with the direction indicator operation unit. When the direction of lane change of the vehicle indicated by the operation information is consistent with the direction of the driver's face indicated by the action information, the determination unit determines that the driver has requested to perform the vehicle action by manual control.

5. The determining device according to claim 1, wherein, The environmental information refers to other vehicles in the vicinity of the vehicle.

6. The determining device according to claim 5, wherein, The first operation unit is a direction indicator operation unit that inputs the direction of lane change of the vehicle. The vehicle action is a lane change that is associated with the direction indicator operation unit. When the environmental information indicates that other vehicles are located in the direction of lane change of the vehicle indicated by the operation information, the determination unit determines that the driver has requested to execute the vehicle action through automatic control.

7. The determining device according to claim 1, wherein, The first operation unit is a direction indicator operation unit that inputs the direction of lane change of the vehicle. The vehicle action is a lane change that is associated with the direction indicator operation unit. If the direction of lane change of the vehicle indicated by the operation information is different from the direction of movement of the vehicle to the target location of the vehicle indicated by the navigation route, the determination unit determines that the driver has requested to perform the vehicle action by manual control.

8. A computer program product for determining whether a processor executes: based on at least one of operation information representing a driver's operation on a first operating unit, action information representing a predetermined driver action, environmental information representing a predetermined environment surrounding the vehicle, and a navigation route for the vehicle, determining whether the driver has requested to perform a vehicle action associated with the operation information via automatic control or the driver has requested to perform the vehicle action via manual control.

9. A determination method, comprising: The determination device determines, based on at least one of the following: operation information indicating the driver's operation on the first operating unit, prescribed action information indicating the driver's prescribed driver action, prescribed environmental information indicating the prescribed environment around the vehicle, and the vehicle's navigation route, whether the driver has requested to perform a vehicle action associated with the operation information through automatic control or the driver has requested to perform the vehicle action through manual control.

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