Vehicular control device and vehicular control method

Abstract

To make it possible to improve convenience for an occupant when traveling by automated driving is performed from a time when the occupant rides in a vehicle.SOLUTION: An automated driving ECU 10 capable of being used in a vehicle allowing a start of automated driving which assists both steering and acceleration / deceleration, from a time when the vehicle starts, includes: a starting-time state identification section 104 for identifying a starting-time state which is a state related to the automated driving started when the vehicle starts; and a notification processing section 151 for causing a notification to be given from a notification device for giving the notification to an occupant in the vehicle. The notification processing section 151 changes contents of the notification given from the notification device, according to the starting-time state identified by the starting-time state identification section 104.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a vehicle control device and a vehicle control method. [Background technology]

[0002] For example, Patent Document 1 discloses a technology for switching between manual driving and automatic driving in a vehicle equipped with an automatic driving function. Patent Document 1 discloses a technology for starting operation of the automatic driving function by detecting an operation to switch to automatic driving by the driver in an area where automatic driving is possible. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2017 / 154396 Summary of the Invention [Problem to be solved by the invention]

[0004] Although Patent Document 1 assumes a case where the vehicle switches from manual driving to automatic driving, there may also be cases where the vehicle starts driving automatically from the moment it starts moving. Even in such cases where the vehicle starts driving automatically, it is necessary to improve the convenience for the occupants.

[0005] One object of this disclosure is to provide a vehicle control device and a vehicle control method that can improve convenience for occupants when the vehicle is driven automatically from the time the occupants get in the vehicle. [Means for solving the problem]

[0006] The above object is achieved by the combination of features recited in the independent claims, and the subclaims define further advantageous embodiments of the disclosure. The reference numerals in parentheses in the claims correspond to specific means described in the following embodiment as one aspect, and do not limit the technical scope of the present disclosure.

[0007] In order to achieve the above object, the vehicle control device of the present disclosure is a vehicle control device that can be used in a vehicle that can start automatic driving, which assists both steering and acceleration / deceleration, from the time of starting, and is equipped with a start-up state identification unit (104) that identifies the start-up state, which is the state related to the automatic driving that starts at the time of starting, and an alarm processing unit (151, 151a) that causes an alarm device (17) that issues an alarm to the vehicle occupants, and the alarm processing unit changes the content of the alarm to be issued from the alarm device depending on the start-up state identified by the start-up state identification unit.

[0008] In order to achieve the above object, the vehicle control method disclosed herein is a vehicle control method that can be used in a vehicle that can start automatic driving, which assists both steering and acceleration / deceleration, from the time of starting, and includes a start-up state identification step executed by at least one processor that identifies a start-up state, which is a state related to automatic driving that starts at the time of starting, and an alarm processing step that causes an alarm device (17) to issue an alarm to vehicle occupants, and in the alarm processing step, the content of the alarm issued by the alarm device is changed depending on the start-up state identified in the start-up state identification step.

[0009] With the above configuration, it is possible to provide notifications according to the status of the autonomous driving that starts when the vehicle starts, in a vehicle that can start autonomous driving that assists both steering and acceleration / deceleration from the time of starting. Therefore, it is possible to provide useful notifications to occupants according to the status of the autonomous driving that starts when the vehicle starts. As a result, it is possible to improve convenience for occupants when the vehicle is traveling in autonomous driving mode from the time the occupants get in the vehicle. [Brief explanation of the drawings]

[0010] [Figure 1]1 is a diagram illustrating an example of a schematic configuration of a vehicle system 1. FIG. [Figure 2] FIG. 2 is a diagram illustrating an example of a schematic configuration of an autonomous driving ECU 10. [Figure 3] 10 is a flowchart showing an example of a flow of start-related processing in the autonomous driving ECU 10. [Figure 4] 10 is a flowchart showing an example of a flow of a start-required process in the autonomous driving ECU 10. [Figure 5] 10 is a flowchart showing an example of a flow of processing performed by the autonomous driving ECU 10 when starting is not required. [Figure 6] 10 is a flowchart showing an example of the flow of last-mile related processing in the autonomous driving ECU 10. [Figure 7] 1 is a diagram illustrating an example of a schematic configuration of a vehicle system 1a. [Figure 8] FIG. 2 is a diagram illustrating an example of a schematic configuration of an autonomous driving ECU 10a. DETAILED DESCRIPTION OF THE INVENTION

[0011] A number of embodiments for the purpose of disclosure will be described with reference to the drawings. For the sake of convenience, parts having the same functions as parts shown in the drawings used in the previous explanations in the number of embodiments will be given the same reference numerals, and their description may be omitted. For parts given the same reference numerals, the explanations in other embodiments may be referred to.

[0012] (Embodiment 1) <General configuration of vehicle system 1> A first embodiment of the present disclosure will be described below with reference to the drawings. A vehicle system 1 shown in FIG. 1 can be used in a vehicle capable of autonomous driving (hereinafter, referred to as an autonomous vehicle). As shown in FIG. 1, the vehicle system 1 includes an autonomous driving ECU 10, a communication module 11, a locator 12, a map database (hereinafter, referred to as a map DB) 13, a vehicle state sensor 14, a periphery monitoring sensor 15, a vehicle control ECU 16, an alarm device 17, an interior camera 18, a user input device 19, and an HCU (Human Machine Interface Control Unit) 20. For example, the autonomous driving ECU 10, the communication module 11, the locator 12, the map DB 13, the vehicle state sensor 14, the periphery monitoring sensor 15, the vehicle control ECU 16, and the HCU 20 may be configured to be connected to an in-vehicle LAN (see the LAN in FIG. 1). While a vehicle using the vehicle system 1 is not necessarily limited to an automobile, the following description will be given taking an example in which the vehicle system 1 is used in an automobile.

[0013] There can be multiple levels of autonomous driving for autonomous vehicles (hereinafter referred to as "automation levels"), as defined by, for example, the SAE. Automation levels are categorized into LV0 to LV5, for example, as follows:

[0014] LV0 is the level at which the driver performs all driving tasks without system intervention. The driving task may also be referred to as a dynamic driving task. Examples of driving tasks include steering, acceleration / deceleration, and surrounding monitoring. LV0 corresponds to so-called manual driving. LV1 is the level at which the system assists with either steering or acceleration / deceleration. LV1 corresponds to so-called driving assistance. LV2 is the level at which the system assists with both steering and acceleration / deceleration. LV2 corresponds to so-called partial driving automation. Note that LV1 to LV2 are also considered to be part of automated driving.

[0015] For example, automated driving at levels 1 to 2 is automated driving in which the driver has a supervisory obligation (hereinafter simply referred to as supervisory obligation) regarding safe driving. In other words, it corresponds to automated driving with supervisory obligation. Driving at levels 0 to 2 corresponds to driving with supervisory obligation. The supervisory obligation includes visual monitoring of the surroundings. Autonomous driving at levels 1 to 2 can be rephrased as automated driving in which a second task is not permitted. A second task is an act other than driving that is permitted to the driver and is a specific act that has been specified in advance. A second task can also be rephrased as a secondary activity, other activity, etc. A second task must not prevent the driver from responding to a request from the automated driving system to take over driving operations. As examples, activities such as watching content such as videos, operating a smartphone, reading, and eating are considered as second tasks.

[0016] Level 3 autonomous driving is a level where the system can perform all driving tasks under certain conditions, with the driver taking over in emergencies. Level 3 autonomous driving requires the driver to be able to respond quickly when the system requests a handover. This handover can also be described as the transfer of the responsibility for monitoring the surroundings from the vehicle's system to the driver. Level 3 corresponds to so-called conditional automated driving. Level 4 autonomous driving is a level where the system can perform all driving tasks except under certain circumstances, such as on inoperable roads or in extreme environments. Level 4 corresponds to so-called high automated driving. Level 5 autonomous driving is a level where the system can perform all driving tasks in any environment. Level 5 corresponds to so-called full automated driving. Level 4 and LV5 autonomous driving can be implemented, for example, on driving sections where high-precision map data is available. High-precision map data will be discussed later.

[0017] For example, autonomous driving at level 3 or higher is autonomous driving in which the driver has no monitoring obligation. In other words, it corresponds to autonomous driving without monitoring obligation. Autonomous driving at level 3 or higher can be rephrased as autonomous driving in which a second task is permitted. For example, autonomous driving at level 4 or higher is autonomous driving in which the driver is permitted to sleep. In other words, it corresponds to sleep-permitted autonomous driving. The autonomous vehicle of this embodiment may be configured, for example, to have switchable automation levels. The automation level may be configured to be switchable only between some of levels 0 to 5. In this embodiment, it is assumed that the autonomous vehicle is capable of performing autonomous driving of at least level 2 or higher from the time of departure. "At departure" refers to when an occupant gets into an unmanned autonomous vehicle and starts driving.

[0018] The communication module 11 transmits and receives information to and from a center external to the vehicle via wireless communication. That is, it performs wide-area communication. The communication module 11 receives traffic congestion information and the like from the center via wide-area communication. The communication module 11 may transmit and receive information to and from other vehicles via wireless communication. That is, it may perform vehicle-to-vehicle communication. The communication module 11 may transmit and receive information to and from a roadside device installed on the roadside via wireless communication. That is, it may perform road-to-vehicle communication. When performing road-to-vehicle communication, the communication module 11 may receive information about surrounding vehicles transmitted from surrounding vehicles of the vehicle via the roadside device. Furthermore, the communication module 11 may receive information about surrounding vehicles transmitted from surrounding vehicles of the vehicle via wide-area communication via the center.

[0019] Locator 12 includes a GNSS (Global Navigation Satellite System) receiver and an inertial sensor. The GNSS receiver receives positioning signals from multiple positioning satellites. The inertial sensor includes, for example, a gyro sensor and an acceleration sensor. Locator 12 sequentially determines the vehicle position of the vehicle (hereinafter referred to as the vehicle position) by combining the positioning signals received by the GNSS receiver with the measurement results of the inertial sensor. The vehicle position may be expressed, for example, in latitude and longitude coordinates. Note that the vehicle position may also be determined using a travel distance calculated from signals sequentially output from a vehicle speed sensor mounted on the vehicle.

[0020] The map DB 13 is a non-volatile memory that stores high-precision map data. The high-precision map data is map data with higher precision than the map data used for route guidance in the navigation function. The high-precision map data includes information usable for automated driving, such as three-dimensional road shape information, information on the number of lanes, and information indicating the permitted travel direction for each lane. The high-precision map data may also include node point information indicating the positions of both ends of road markings such as lane markings. The map DB 13 may also store map data used for route guidance. Note that the locator 12 may be configured to use the three-dimensional road shape information without using a GNSS receiver. For example, the locator 12 may be configured to identify the vehicle position using the three-dimensional road shape information and the detection results of the perimeter monitoring sensor 15. The three-dimensional road shape information may be generated based on captured images using REM (Road Experience Management).

[0021] Map data distributed from an external server may be received by wide area communication via the communication module 11 and stored in the map DB 13. In this case, the map DB 13 may be a volatile memory, and the communication module 11 may successively acquire map data for an area corresponding to the vehicle position.

[0022] The vehicle state sensor 14 is a group of sensors for detecting various states of the vehicle. The vehicle state sensor 14 includes a vehicle speed sensor, an accelerator stroke sensor, a seat belt sensor, etc. The vehicle speed sensor detects the speed of the vehicle. The accelerator stroke sensor detects the amount of depression of the accelerator pedal. The seat belt sensor outputs a signal according to the state of fastening of the seat belt of the occupant. In other words, the seat belt sensor detects whether or not the occupant is fastening the seat belt. The vehicle state sensor 14 outputs the detected sensing information to an in-vehicle LAN. Note that the sensing information detected by the vehicle state sensor 14 may be configured to be output to the in-vehicle LAN via an ECU installed in the vehicle.

[0023] The perimeter monitoring sensor 15 monitors the environment around the vehicle. As an example, the perimeter monitoring sensor 15 detects obstacles around the vehicle, such as moving objects such as pedestrians and other vehicles, and stationary objects such as fallen objects on the road. It also detects road markings such as lane markings around the vehicle. The perimeter monitoring sensor 15 is, for example, a perimeter monitoring camera that captures an image of a predetermined range around the vehicle, or a search wave sensor that transmits search waves to a predetermined range around the vehicle. Examples of search wave sensors include millimeter-wave radar, sonar, and LIDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging). The predetermined range may be a range that at least partially includes the front, rear, left, and right sides of the vehicle. The perimeter monitoring camera sequentially outputs captured images to the autonomous driving ECU 10 as sensing information. The search wave sensor sequentially outputs scanning results based on received signals obtained when receiving waves reflected by obstacles to the autonomous driving ECU 10 as sensing information.

[0024] The vehicle control ECU 16 is an electronic control device that controls the driving of the vehicle. Examples of driving control include acceleration / deceleration control and / or steering control. The vehicle control ECU 16 includes a steering ECU that controls steering, a power unit control ECU that controls acceleration / deceleration, and a brake ECU. The vehicle control ECU 16 controls driving by outputting control signals to each driving control device mounted on the vehicle. Examples of driving control devices include an electronically controlled throttle, a brake actuator, and an EPS (Electric Power Steering) motor.

[0025] The notification device 17 is provided in the vehicle and issues a notification to the passengers in the vehicle. That is, the notification device 17 issues a notification to the passengers in the vehicle. The notification device 17 issues a notification in accordance with an instruction from the HCU 19. The notification device 17 may be, for example, a display device, an audio output device, or the like.

[0026] The display device notifies the driver by displaying information. Examples of the display device that can be used include a meter MID (Multi Information Display), a CID (Center Information Display), and a HUD (Head-Up Display). The meter MID is a display device provided in front of the driver's seat inside the vehicle. As an example, the meter MID may be provided on a meter panel. The CID is a display device located in the center of the vehicle's instrument panel. The HUD is provided in the vehicle interior, for example, on the instrument panel. The HUD projects a display image formed by a projector onto a predetermined projection area on the front windshield as a projection member. The light of the image reflected by the front windshield toward the interior of the vehicle is perceived by the driver sitting in the driver's seat. This allows the driver to view a virtual image of the display image formed in front of the front windshield superimposed on part of the foreground. The HUD may be configured to project a display image onto a combiner provided in front of the driver's seat instead of the front windshield. The audio output device notifies the user by outputting audio, and examples of the audio output device include a speaker.

[0027] The interior camera 18 is an imaging device that captures an image of a predetermined range within the cabin of the vehicle. The interior camera 18 preferably captures an image of an area that includes at least the driver's seat of the vehicle. The interior camera 18 may capture an image of an area that includes the passenger seat and rear seats in addition to the driver's seat of the vehicle. The interior camera 18 is composed of, for example, a near-infrared light source and a near-infrared camera, and a control unit that controls these. The interior camera 18 uses the near-infrared camera to capture an image of the occupant of the vehicle who is irradiated with near-infrared light by the near-infrared light source.

[0028] The user input device 19 accepts input from an occupant of the vehicle. The user input device 19 may be an operation device that accepts operation input from the occupant. The operation device may be a mechanical switch or a touch switch integrated with a display device. Note that the user input device 19 is not limited to an operation device that accepts operation input, as long as it is a device that accepts input from the occupant. For example, the user input device 19 may be a voice input device that accepts voice command input from the occupant.

[0029] The HCU 20 is mainly composed of a computer equipped with a processor, volatile memory, nonvolatile memory, I / O, and a bus connecting these. The HCU 20 executes various processes related to the interaction between the occupant and the vehicle's system by executing a control program stored in the nonvolatile memory. The HCU 20 acquires input information received from the occupant via the user input device 19. The HCU 20 causes the alarm device 17 to issue an alarm. The HCU 20 acquires captured images taken by the interior camera 18. The HCU 20 identifies the state of the occupant of the vehicle from the captured images taken by the interior camera 18. The HCU 20 may detect the presence, facial orientation, and gaze direction of the occupant of the vehicle using image recognition technology. The HCU 20 may detect the presence of the occupant by recognizing the face of the occupant from the captured images. The state of the occupant of the vehicle may be identified by a control unit of the interior camera 18.

[0030] The autonomous driving ECU 10 is mainly configured with a computer including, for example, a processor, volatile memory, non-volatile memory, I / O, and a bus connecting these. The autonomous driving ECU 10 executes control programs stored in the non-volatile memory to perform processing related to autonomous driving. This autonomous driving ECU 10 corresponds to a vehicle control device. The configuration of the autonomous driving ECU 10 will be described in detail below.

[0031] <Outline of the Autonomous Driving ECU 10> Next, the schematic configuration of the autonomous driving ECU 10 will be described with reference to Figure 2. As shown in Figure 2, the autonomous driving ECU 10 includes functional blocks, such as a driving environment recognition unit 101, an action determination unit 102, a control execution unit 103, a start-up state identification unit 104, an HCU communication unit 105, and an occupant state identification unit 106. Execution of processing by each functional block of the autonomous driving ECU 10 by a computer corresponds to execution of a vehicle control method. Some or all of the functions executed by the autonomous driving ECU 10 may be configured as hardware using one or more ICs or the like. Some or all of the functional blocks included in the autonomous driving ECU 10 may be realized by a combination of software execution by a processor and hardware components.

[0032] The driving environment recognition unit 101 recognizes the driving environment of the vehicle from the vehicle position, map data, and sensing information acquired from the surrounding monitoring sensor 15. The vehicle position may be acquired from the locator 12. The map data may be acquired from the map DB 13. As an example, the driving environment recognition unit 101 uses this information to recognize the positions, shapes, and movement states of objects around the vehicle, and generates a virtual space that reproduces the actual driving environment. The driving environment recognition unit 101 may also recognize the existence, relative position, relative speed, etc. of vehicles surrounding the vehicle as the driving environment from the sensing information.

[0033] Furthermore, the driving environment recognition unit 101 may recognize the vehicle's position on the map from the vehicle's position and map data. If the driving environment recognition unit 101 can acquire position information, speed information, and the like of surrounding vehicles via the communication module 11, the driving environment recognition unit 101 may also use this information to recognize the driving environment. The driving environment recognition unit 101 includes an area identification unit 111 as a sub-functional block. The area identification unit 111 divides and identifies the area in which the vehicle is traveling into at least two types of areas depending on the necessity for occupants to monitor the surroundings. Specifically, the area identification unit 111 divides and identifies the area into a first area where the necessity for monitoring the surroundings is higher and a second area where the necessity for monitoring the surroundings is lower. Examples of the first area include parking lots and congested areas with many pedestrians. Examples of the second area include public roads other than the first area. The area identification unit 111 may divide and identify the first area and the second area based on the map data.

[0034] The behavior determination unit 102 switches the control entity of the driving operation between the driver and the system of the host vehicle. In this embodiment, the host vehicle transitions to automated driving of LV2 or higher when it starts moving. The setting of whether to transition to automated driving when it starts moving and the automation level at that time may be set in advance. This setting may be configured to be performed according to input received by the user input device 19. When the system has control of the driving operation, the behavior determination unit 102 determines a driving plan for driving the host vehicle based on the recognition result of the driving environment by the driving environment recognition unit 101. The behavior determination unit 102 has a driving plan unit 121 and a mode determination unit 122 as sub-functional blocks.

[0035] The driving planner 121 determines a driving plan for driving the vehicle in autonomous driving mode. The driving planner 121 determines a long-term / mid-term driving plan and a short-term driving plan as driving plans. In the long-term / mid-term driving plan, a planned route for driving the vehicle to a set destination is determined. The driving planner 121 may determine this planned route in a manner similar to route search by a navigation function. The driving planner 121 may also determine a set vehicle speed for driving the planned route. The driving planner 121 determines a short-term driving plan for realizing driving in accordance with the long-term / mid-term driving plan, using a virtual space around the vehicle generated by the driving environment recognition unit 101. Specifically, the short-term driving plan determines the execution of steering for lane changes, acceleration / deceleration for speed adjustment, steering and braking for obstacle avoidance, etc.

[0036] The mode determination unit 122 determines a mode related to autonomous driving. This mode related to autonomous driving will be referred to hereinafter as an autonomous driving-related mode. Examples of the autonomous driving-related mode include a mode based on an autonomous driving start condition and a mode based on the type of autonomous driving. Examples of the mode based on an autonomous driving start condition include a start operation-free mode and a start operation-required mode. The start operation-free mode is a mode in which a start operation by the occupant is not required to start the host vehicle in autonomous driving mode from the start of the host vehicle. In the start operation-free mode, the host vehicle starts autonomous driving when an operation input to activate a driving source is made. Examples of the driving source include an internal combustion engine or a motor generator. The switch operation input to start the internal combustion engine is turning on the ignition power supply. The switch operation input to start the motor generator is turning on the system main relay power supply. The ignition power supply and the system main relay power supply may be turned on by, for example, turning on a power switch. In the following description, the ignition power supply and the system main relay power supply are turned on by turning on the power switch. The start operation required mode is a mode in which a start operation by the occupant is required to start the host vehicle in autonomous driving mode from the time the host vehicle starts. In the start operation required mode, the host vehicle will not start traveling in autonomous driving mode unless a specific start operation is performed by the occupant, even if the driving source for traveling is activated. An example of the specific start operation is depressing the accelerator pedal.

[0037] Modes for different types of autonomous driving include last-mile mode and normal driving mode. Last-mile mode is a mode in which last-mile autonomous driving is performed. Last-mile autonomous driving is autonomous driving in which the vehicle travels by autonomous driving within a limited range to a destination. The limited range may be, for example, about 1 mile (approximately 1.6 km). Normal driving mode is a mode in which default autonomous driving is performed. In other words, it is a mode in which autonomous driving other than last-mile autonomous driving is performed. Note that autonomous driving-related modes may include modes other than those described above. For example, modes for different types of autonomous driving may include an automatic parking mode in which automatic parking is performed. In this case, the normal driving mode may be a mode in which autonomous driving other than last-mile autonomous driving and automatic parking is performed.

[0038] The mode determination unit 122 may determine the autonomous driving-related mode to be implemented based on the setting of the autonomous driving-related mode performed in advance in response to input received by the user input device 19. The driving planner 121 may determine a driving plan according to the autonomous driving-related mode determined by the mode determination unit 122. For example, in the last mile mode, the driving plan may be determined so as to keep the set vehicle speed lower than in the normal driving mode. In the normal driving mode, for example, the set vehicle speed may be set to the speed limit for each driving section.

[0039] When the control authority for driving operation is on the system side of the host vehicle, the control execution unit 103 executes driving control in cooperation with the vehicle control ECU 16. The control execution unit 103 executes driving control such as acceleration / deceleration control and steering control of the host vehicle in accordance with the driving plan determined by the action determination unit 102. In other words, the control execution unit 103 causes the host vehicle to perform automatic driving.

[0040] The start-up state identification unit 104 identifies a state related to autonomous driving that starts when the host vehicle starts (hereinafter referred to as the start-up state). The processing by the start-up state identification unit 104 corresponds to a start-up state identification step. The start-up state identification unit 104 may determine that the host vehicle is starting from a state in which the host vehicle transitions from an occupant-free state to an occupant-present state. Whether or not an occupant is present in the host vehicle may be identified from the detection result of the presence of an occupant in the host vehicle performed by the HCU 20. Alternatively, the presence or absence of an occupant may be determined from the power switch of the host vehicle being turned on. The start-up state identification unit 104 identifies the autonomous driving-related mode determined by the mode determination unit 122 as the start-up state. For a vehicle that starts traveling in autonomous driving mode in response to an operation input to activate the host vehicle's driving source, the start-up state identification unit 104 may determine that a start operation by the occupant of the host vehicle is not required to start traveling in autonomous driving mode. In other words, a vehicle that has been set to the no-start operation mode is identified as no-start operation required. Hereinafter, a state in which a start operation by the vehicle's occupant is required to start autonomous driving will be referred to as "start operation required." Also, a state in which a start operation by the vehicle's occupant is not required to start autonomous driving will be referred to as "no-start operation required."

[0041] The start-time state identification unit 104 may identify the state of occupant's surroundings monitoring as the start-time state. The start-time state identification unit 104 may identify the state of occupant's surroundings monitoring from the detection results of the facial orientation and gaze direction of the occupant of the host vehicle performed by the HCU 20. The start-time state identification unit 104 may identify that periphery monitoring is being performed, for example, when the amount of movement of the facial orientation or gaze direction per unit time is equal to or greater than a threshold. On the other hand, the start-time state identification unit 104 may identify that periphery monitoring is not being performed, for example, when the amount of movement of the facial orientation or gaze direction per unit time is less than a threshold. The start-time state identification unit 104 may also identify the seat belt fastening state of the occupant of the host vehicle as the start-time state. The start-time state identification unit 104 may identify the seat belt fastening state of the occupant of the host vehicle from the detection results of a seat belt sensor, for example.

[0042] The HCU communication unit 105 performs processing for outputting information to the HCU 20 and processing for acquiring information from the HCU 20. The HCU communication unit 105 acquires information of input received by the user input device 19. The HCU communication unit 105 acquires information such as image information captured by the indoor camera 18. The HCU communication unit 105 includes a notification processing unit 151 as a sub-functional block. The notification processing unit 151 indirectly controls notifications by the notification device 17 by sending instructions to the HCU 20. In other words, the notification processing unit 151 causes a notification to be issued to the occupants of the vehicle.

[0043] The notification processing unit 151 changes the content of the notification to be made by the notification device 17 depending on the start-up state identified by the start-up state identification unit 104. With the above configuration, it is possible to make a notification according to the state related to the autonomous driving that starts at the time of starting for a vehicle that can start autonomous driving of LV2 or higher at the time of starting. Therefore, it is possible to make a useful notification to the occupant depending on the state related to the autonomous driving that starts at the time of starting. As a result, it is possible to improve convenience for the occupant when traveling in autonomous driving from the time the occupant gets in the vehicle. The processing by the notification processing unit 151 corresponds to a notification processing step.

[0044] When the start-time state identification unit 104 determines that a start operation is required, the notification processing unit 151 preferably causes the notification device 17 to issue a monitoring promotion notification. The monitoring promotion notification is a notification that prompts the occupant to monitor the surroundings of the vehicle. When the start-time state identification unit 104 determines that a start operation is not required, the notification processing unit 151 does not cause the notification device 17 to issue a monitoring promotion notification. Furthermore, when the action determination unit 102 determines that a start operation has been performed and that the occupant is monitoring the surroundings, the action determination unit 102 may start traveling in autonomous driving mode. In other words, when the control execution unit 103 determines that a start operation has been performed and that the occupant is monitoring the surroundings, the action determination unit 102 may start traveling in autonomous driving mode. The action determination unit 102 may determine that a start operation has been performed, for example, from sensing information of an accelerator stroke sensor. The start-time state identification unit 104 determines that the occupant is monitoring the surroundings.

[0045] In the case where a start operation is required, it is estimated that the occupant must bear responsibility for the start of autonomous driving to the extent that a start operation by the occupant is required to start autonomous driving. Therefore, in the case where a start operation is required, it is considered that the occupant must pay more attention to the start of autonomous driving. In contrast, with the above configuration, it is possible to encourage the occupant to monitor their surroundings when they must pay more attention to the start of autonomous driving. Furthermore, it is possible to start autonomous driving on the condition that the occupant has monitored their surroundings. As a result, it is possible for the occupant to start autonomous driving with greater peace of mind.

[0046] The notification processing unit 151 preferably issues a monitoring promotion notification when it determines that the occupant has discontinued periphery monitoring within a predetermined period of time after autonomous driving has started. The predetermined period may be a period during which it is estimated that it would be preferable to continue periphery monitoring after autonomous driving has started. The predetermined period may be a period until a certain distance has been traveled, or a period until a certain amount of travel has been completed. The predetermined period may be set arbitrarily. The predetermined period after autonomous driving has started is hereinafter referred to as the start period. The occupant's discontinuation of periphery monitoring is determined by the start state determination unit 104. The monitoring promotion notification is issued by the notification device 17, as described above. Furthermore, when the behavior determination unit 102 determines that the occupant has discontinued periphery monitoring within the start period, it may continue the autonomous driving that has started without stopping it. In other words, if the control execution unit 103 determines that the occupant has stopped monitoring the surroundings during the start period, it may continue the autonomous driving that has started without stopping it.

[0047] With the above configuration, it is possible to encourage the occupants to continue monitoring the surroundings during a period when it is preferable to continue monitoring the surroundings immediately after the start of driving. Furthermore, with the above configuration, the comfort of the occupants is not impaired because the automatic driving is not stopped even if the periphery monitoring is interrupted.

[0048] When the behavior determination unit 102 determines that the occupant has discontinued periphery monitoring during the start period, it is preferable that the behavior determination unit 102 drives the vehicle at a speed lower than the set vehicle speed for the started autonomous driving. In other words, when the control execution unit 103 determines that the occupant has discontinued periphery monitoring during the start period, it is sufficient to drive the vehicle at a speed lower than the set vehicle speed for the started autonomous driving. Driving at a speed lower than the set vehicle speed may mean driving slowly. Driving slowly may mean driving at a speed of 10 km / h or less, for example. The lower the vehicle speed, the easier it is for the autonomous driving to avoid a sudden approaching obstacle. With the above configuration, it becomes easier for the autonomous driving to avoid an obstacle when the occupant has discontinued periphery monitoring, even if the autonomous driving does not stop driving.

[0049] When the start state identification unit 104 identifies that a start operation is required, the notification processing unit 151 preferably causes the notification device 17 to issue a start operation notification. The start operation notification is a notification that informs the occupant what operation should be performed as a start operation. For example, when the accelerator pedal should be depressed as a start operation, a notification indicating that the accelerator pedal should be depressed is issued. This makes it easier to understand what operation the occupant should perform to start driving when a start operation by the occupant is required to start driving under automated driving.

[0050] When the start state identification unit 104 identifies that a start operation is not required, the notification processing unit 151 preferably causes the notification device 17 to issue a start mode notification. The start mode notification is a notification that informs the occupant of how the host vehicle will start by autonomous driving. The start mode notification may be, for example, a notification indicating the direction in which the host vehicle will start. For example, the direction in which the host vehicle will start may be forward, backward, a right turn, a left turn, etc. When a start operation by the occupant is not required to start traveling under autonomous driving, traveling under autonomous driving begins without a start operation by the occupant. In such cases, by informing the occupant of how the host vehicle will start by autonomous driving, it is possible to increase the sense of security of the occupant.

[0051] When the start-time state identification unit 104 identifies the autonomous driving to be initiated upon departure as last-mile autonomous driving, the notification processing unit 151 preferably performs the following. The notification processing unit 151 causes the notification device 17 to issue a monitoring prompt notification while the host vehicle is traveling in an area identified as a first area by the area identification unit 111. On the other hand, the notification processing unit 151 causes the notification device 17 to issue a second task permission notification while the host vehicle is traveling in an area identified as a second area by the area identification unit 111. The second task permission notification is a notification that informs the occupant that the second task is permitted. This process may be configured not to be performed when the automation level of the host vehicle is lower than LV2. The start-time state identification unit 104 may identify the autonomous driving to be initiated upon departure as last-mile autonomous driving when the mode determination unit 122 determines the last-mile mode.

[0052] According to the above configuration, in last-mile autonomous driving, in areas where it is preferable for the occupant to monitor the surroundings, it is possible to encourage the occupant to monitor the surroundings. On the other hand, in areas where the need for monitoring the surroundings is low, it is possible to allow the second task. Therefore, in last-mile autonomous driving, it is possible to make notifications as needed. Note that, in order to reduce the processing load, the area identification unit 111 may be configured not to perform processing unless the mode determination unit 122 determines the last-mile mode.

[0053] The behavior determination unit 102 may stop the started autonomous driving if it is determined that the occupant is not fastening a seat belt within the start period. In other words, the control execution unit 103 may stop the started autonomous driving if it is determined that the occupant is not fastening a seat belt within the start period. The fact that the occupant is not fastening a seat belt is determined by the start-time state determination unit 104. With the above configuration, it is possible to prevent the autonomous driving from continuing if the occupant is not fastening a seat belt. As a result, it is easier to protect the occupant from impact.

[0054] <Start-up related processing in the autonomous driving ECU 10> Here, an example of the flow of processing related to starting in the autonomous driving ECU 10 (hereinafter referred to as start-up related processing) will be described using the flowchart in Figure 3. The flowchart in Figure 3 may be configured to start when the power switch of the host vehicle is turned on. Note that if the host vehicle is capable of switching the setting to switch to autonomous driving when starting, the setting to switch to autonomous driving when starting may also be configured to be a condition.

[0055] First, in step S1, if the start-up state identification unit 104 identifies that a start-up operation is required (YES in S1), the process proceeds to step S3. On the other hand, if the start-up state identification unit 104 identifies that a start-up operation is not required (NO in S1), the process proceeds to step S5.

[0056] In step S3, a start operation required process is performed, and the start-related process is terminated. Here, an example of the flow of the start operation required process will be described with reference to the flowchart of FIG.

[0057] In step S31, the notification processing unit 151 causes the notification device 17 to issue a monitoring prompt notification. In step S32, the notification processing unit 151 causes the notification device 17 to issue a starting operation notification. Note that the order of the processing of S31 and the processing of S32 may be reversed, or they may be executed in parallel.

[0058] In step S33, if the behavior determination unit 102 determines that a starting operation has been performed (YES in S33), the process proceeds to step S34. On the other hand, if the behavior determination unit 102 does not determine that a starting operation has been performed (NO in S33), the process proceeds to step S35.

[0059] In step S34, if the start-time state identification unit 104 identifies that the occupant is monitoring the surroundings (YES in S34), the process proceeds to step S36. On the other hand, if the start-time state identification unit 104 identifies that the occupant is not monitoring the surroundings (NO in S34), the process proceeds to step S35.

[0060] In step S35, if it is time to end the start-related processing (YES in S35), the start-related processing is ended. On the other hand, if it is not time to end the start-related processing (NO in S35), the process returns to S33 and is repeated. The start-related processing can be ended when the power switch of the vehicle is turned off, for example.

[0061] In step S36, the control execution unit 103 starts autonomous driving. In step S37, the notification processing unit 151 determines whether or not it is within the start period. If it is determined that it is within the start period (YES in S37), the process proceeds to step S38. On the other hand, if it is determined that the start period has expired (NO in S37), the process proceeds to step S43.

[0062] In step S38, if the start-time state identification unit 104 identifies that the occupant is monitoring the surroundings (YES in S38), the process proceeds to step S41. On the other hand, if the start-time state identification unit 104 identifies that the occupant is not monitoring the surroundings (NO in S38), the process proceeds to step S39.

[0063] In step S39, the notification processing unit 151 causes the notification device 17 to issue a monitoring prompt notification. In step S40, the control execution unit 103 causes the host vehicle to move slowly, and returns to S37 to repeat the process. The monitoring prompt notification and slow movement may be continued, for example, until it is determined in S37 that the departure period has expired, or until it is determined in S38 that the occupant is monitoring the surroundings. The processing of S39 and the processing of S40 may be reversed in order, or may be performed in parallel.

[0064] In step S41, if it is determined that the occupant is wearing a seat belt (YES in S41), the process returns to S37 and repeats. On the other hand, if it is determined that the occupant is not wearing a seat belt (NO in S41), the process proceeds to step S42. In step S42, the control execution unit 103 stops the host vehicle, and the process returns to S37 and repeats the process. The host vehicle may be stopped until, for example, it is determined in S37 that the start period has expired or it is determined in S41 that the occupant is wearing a seat belt.

[0065] In step S43, if it is time to end the start-related processing (YES in S43), the start-related processing is ended. On the other hand, if it is not time to end the start-related processing (NO in S43), the processing of S43 is repeated.

[0066] 3, in step S5, the process for when no starting operation is required is performed, and the starting-related process ends. Here, an example of the flow of the process for when no starting operation is required will be described with reference to the flowchart in FIG.

[0067] In step S51, the notification processing unit 151 causes the notification device 17 to notify the start mode. In step S52, the control execution unit 103 causes the vehicle to start traveling in autonomous driving. In step S53, the notification processing unit 151 determines whether or not the vehicle is within the start period. If it is determined that the vehicle is within the start period (YES in S53), the process proceeds to step S54. On the other hand, if it is determined that the start period has expired (NO in S53), the process proceeds to step S56.

[0068] In step S54, if it is determined that the occupant is wearing a seat belt (YES in S54), the process returns to S53 and repeats. On the other hand, if it is determined that the occupant is not wearing a seat belt (NO in S54), the process proceeds to step S55. In step S55, the control execution unit 103 stops the host vehicle, and the process returns to S53 and repeats. The host vehicle may be stopped until, for example, it is determined in S53 that the start period has expired or it is determined in S54 that the occupant is wearing a seat belt.

[0069] In step S56, if it is time to end the start-related processing (YES in S56), the start-related processing is ended. On the other hand, if it is not time to end the start-related processing (NO in S56), the processing of S56 is repeated.

[0070] <Last-mile related processing in autonomous driving ECU10> Next, an example of the flow of processing related to driving in last-mile mode in the autonomous driving ECU 10 (hereinafter referred to as last-mile-related processing) will be described using the flowchart in Fig. 6. The flowchart in Fig. 6 may be configured to be started when autonomous driving of the host vehicle is started in the start-related processing. Note that the flowchart in Fig. 6 will be described using an example in which the host vehicle performs autonomous driving at LV3 or higher.

[0071] First, in step S71, if the start-time state identification unit 104 identifies that the autonomous driving that starts at start-up is last-mile autonomous driving (YES in S71), the process proceeds to step S72. On the other hand, if the start-time state identification unit 104 identifies that the autonomous driving that starts at start-up is not last-mile autonomous driving (NO in S71), the process proceeds to step S75.

[0072] In step S72, if the region identification unit 111 identifies the first region as the region in which the host vehicle is traveling (YES in S72), the process proceeds to step S73. On the other hand, if the region identification unit 111 identifies the second region as the region in which the host vehicle is traveling (NO in S72), the process proceeds to step S74.

[0073] In step S73, the notification processing unit 151 causes the notification device 17 to issue a monitoring promotion notification, and the process proceeds to step S75. In step S74, the notification processing unit 151 causes the notification device 17 to issue a second task permission notification, and the process proceeds to step S75.

[0074] In step S75, if it is time to end the last-mile related processing (YES in S75), the last-mile related processing is ended. On the other hand, if it is not time to end the last-mile related processing (NO in S75), the process returns to S71 and is repeated. Timings for ending the last-mile related processing include turning off the power switch of the vehicle, arriving at the destination, etc.

[0075] (Embodiment 2) The configuration is not limited to that of the above-described embodiment, and may be that of the following embodiment 2. An example of the configuration of embodiment 2 will be described below with reference to the drawings.

[0076] <General Configuration of Vehicle System 1a> 7 includes an autonomous driving ECU 10a, a communication module 11, a locator 12, a map DB 13, a vehicle state sensor 14, a periphery monitoring sensor 15, a vehicle control ECU 16, an alarm device 17, an interior camera 18, a user input device 19, and an HCU 20. The vehicle system 1a is similar to the vehicle system 1 of the first embodiment except that the vehicle system 1a includes an autonomous driving ECU 10a instead of the autonomous driving ECU 10.

[0077] <Outline of the autonomous driving ECU 10a> Next, the schematic configuration of the autonomous driving ECU 10a will be described with reference to FIG. 8. The autonomous driving ECU 10a is similar to the autonomous driving ECU 10 of the first embodiment except for some differences in processing. The autonomous driving ECU 10a includes a driving environment recognition unit 101, a behavior determination unit 102a, a control execution unit 103a, a start-up state identification unit 104, an HCU communication unit 105a, and an occupant state identification unit 106 as functional blocks. The autonomous driving ECU 10a includes the behavior determination unit 102a instead of the behavior determination unit 102. The autonomous driving ECU 10a includes the control execution unit 103a instead of the control execution unit 103. The autonomous driving ECU 10a includes the HCU communication unit 105a instead of the HCU communication unit 105. Except for these differences, the autonomous driving ECU 10a is similar to the autonomous driving ECU 10 of the first embodiment. This autonomous driving ECU 10a also corresponds to a vehicle control device. Furthermore, the execution of the processing of each functional block of the autonomous driving ECU 10a by the computer corresponds to the execution of a vehicle control method.

[0078] The behavior determination unit 102a, like the behavior determination unit 102 of the first embodiment, has a travel plan unit 121 and a mode determination unit 122 as sub-functional blocks. The behavior determination unit 102a is similar to the behavior determination unit 102 of the first embodiment except for some different processing. This difference will be explained below. The control execution unit 103a is similar to the control execution unit 103 of the first embodiment except for the fact that it follows the travel plan determined by the behavior determination unit 102a. The notification processing unit 151a is similar to the notification processing unit 151 of the first embodiment except for some different processing. This difference will be explained below. The processing in the notification processing unit 151a also corresponds to a notification processing step.

[0079] When the behavior determination unit 102a determines that the occupant is not fastening a seat belt within the start period, the behavior determination unit 102a does not stop the started autonomous driving and temporarily continues the driving. In other words, when the control execution unit 103a determines that the occupant is not fastening a seat belt within the start period, the behavior determination unit 102a does not stop the started autonomous driving and temporarily continues the driving. The fact that the occupant is not fastening a seat belt is determined by the start-up state determination unit 104. The temporary period may be set arbitrarily. Furthermore, when the notification processing unit 151a determines that the occupant is not fastening a seat belt within the start period, the notification processing unit 151a causes the notification device 17 to continue issuing a monitoring prompt notification.

[0080] With the above configuration, automatic driving is not immediately stopped even if the occupant is not fastening the seat belt, and the comfort of the occupant is not impaired. In addition, by continuing the monitoring prompt notification, it is possible to reduce the possibility of the occupant receiving an impact when the seat belt is not fastened.

[0081] (Embodiment 3) In the above-described embodiment, the autonomous driving ECUs 10 and 10a are configured to correspond to the vehicle control device, but this is not necessarily limited to this. For example, an ECU other than the autonomous driving ECUs 10 and 10a may be configured to correspond to the vehicle control device.

[0082] (Disclosed technical idea) This specification discloses multiple technical ideas described in the following multiple clauses. Some clauses may be written in a multiple dependent form, with subsequent clauses alternatively referencing preceding clauses. Furthermore, some clauses may be written in a multiple dependent form, with subsequent clauses alternatively referencing preceding clauses. These multiple dependent clauses define multiple technical ideas.

[0083] (Technical thought 1) A vehicle control device that can be used in a vehicle that can start automatic driving that assists both steering and acceleration / deceleration from the time of starting, a start-up state specification unit (104) that specifies a start-up state, which is a state related to the automatic driving that starts at the time of the start-up; a notification processor (151, 151a) for causing a notification device (17) that notifies a vehicle occupant, The notification processing unit changes the content of the notification made by the notification device in accordance with the starting state identified by the starting state identifying unit.

[0084] (Technical thought 2) A vehicle control device according to Technical Idea 1, A control execution unit (103, 103a) that performs the automatic operation, the start-up state identification unit identifies, as the start-up state, at least whether a start operation by the occupant is necessary for starting the autonomous driving, and a state of surrounding monitoring by the occupant; When the start state specification unit specifies that a start operation by the occupant is necessary to start traveling under the automatic driving, the notification processing unit causes the notification device to issue a notification urging the occupant to monitor the periphery of the vehicle, The control execution unit is a vehicle control device that starts driving in the autonomous driving mode when the starting operation is performed and the starting state identification unit identifies that the occupant is monitoring the surroundings.

[0085] (Technical Thought 3) A vehicle control device according to Technical Concept 2, When the start state identification unit identifies that the occupant has stopped monitoring the surroundings within a predetermined period after the start of the autonomous driving, the notification processing unit causes the notification device to issue a notification urging the occupant to monitor the surroundings of the vehicle, The control execution unit is a vehicle control device that continues autonomous driving without stopping the vehicle if the start-up state identification unit identifies that the occupant has discontinued surrounding monitoring within a predetermined period after the vehicle has begun driving in autonomous driving mode.

[0086] (Technical Thought 4) A vehicle control device according to Technical Concept 3, The control execution unit is a vehicle control device that causes the vehicle to travel at a speed lower than the set vehicle speed for autonomous driving when the start-up state identification unit identifies that the occupant has discontinued surrounding monitoring within a predetermined period after the autonomous driving has begun.

[0087] (Technical Thought 5) A vehicle control device according to any one of Technical Ideas 2 to 4, the start-up state specifying unit also specifies a seat belt fastening state of the occupant as the start-up state, The control execution unit (103) is a vehicle control device that stops the autonomous driving when the start-up state identification unit identifies that the occupant is not wearing a seat belt within a predetermined period after the autonomous driving has begun.

[0088] (Technical Thought 6) A vehicle control device according to any one of Technical Ideas 2 to 4, the start-up state specifying unit also specifies a seat belt fastening state of the occupant as the start-up state, When the start state identification unit identifies that the occupant is not wearing a seat belt within a predetermined period after the start of the automatic driving, the control execution unit (103a) does not stop the automatic driving but temporarily continues the driving, The notification processing unit (151a) is a vehicle control device that, if it determines that the occupant is not wearing a seat belt within a predetermined period after the start of the autonomous driving, continues to issue a notification from the notification device urging the occupant to monitor the area around the vehicle.

[0089] (Technical Thought 7) A vehicle control device according to any one of Technical Ideas 1 to 6, the start-up state identification unit is configured to identify, as the start-up state, at least whether a start operation by the occupant is necessary for starting the autonomous driving; The notification processing unit is a vehicle control device that, when the start-up state identification unit determines that a start-up operation by the occupant is necessary to start the automatic driving, causes the notification device to issue a notification informing the occupant of what operation should be performed as the start-up operation.

[0090] (Technical Thought 8) A vehicle control device according to any one of Technical Ideas 1 to 7, The start-up state identification unit is a vehicle control device that at least identifies, as the start-up state, whether a start-up operation by the occupant is necessary for the automatic driving to begin, and identifies that a start-up operation by the occupant is not necessary for the automatic driving to begin for the vehicle that begins automatic driving in response to an operation input that activates the vehicle's driving source.

[0091] (Technical Thought 9) A vehicle control device according to Technical Concept 8, The notification processing unit is a vehicle control device that, when the start-up state identification unit determines that a start-up operation by the occupant is not necessary for the automatic driving to begin, causes the notification device to issue a notification to the occupant informing them of how the vehicle will start under the automatic driving.

[0092] (Technical Thought 10) A vehicle control device according to any one of Technical Ideas 1 to 9, the start-time state identification unit identifies, as the start-time state, at least a type of the autonomous driving including last-mile autonomous driving in which the vehicle moves by autonomous driving within a limited range that is a limited range to a destination, a region specifying unit (111) that specifies a region in which the vehicle travels by dividing the region into a first region where the necessity of periphery monitoring is higher and a second region where the necessity of periphery monitoring is lower, The notification processing unit, when the start-up state identification unit identifies the autonomous driving that begins at the time of departure as last-mile autonomous driving, causes the notification device to issue a notification urging the occupant to monitor the vehicle's surroundings while the vehicle is traveling in an area identified by the area identification unit as the first area, and causes the notification processing unit to issue a notification to the occupant informing the driver of the vehicle that a second task, which is an act other than driving, is permitted.

[0093] The present disclosure is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also within the technical scope of the present disclosure. The control unit and method described in the present disclosure may be implemented by a special-purpose computer comprising a processor programmed to execute one or more functions embodied in a computer program. Alternatively, the apparatus and method described in the present disclosure may be implemented by a special-purpose hardware logic circuit. Alternatively, the apparatus and method described in the present disclosure may be implemented by one or more special-purpose computers configured by combining a processor executing a computer program with one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by a computer on a computer-readable non-transitory tangible recording medium. [Explanation of symbols]

[0094] 1, 1a Vehicle system, 10, 10a Autonomous driving ECU (vehicle control device), 101 Driving environment recognition unit, 111 Area identification unit, 17 Notification device, 102, 102a Action determination unit, 103, 103a Control execution unit, 104 Start state identification unit, 105, 105a HCU communication unit, 151, 151a Notification processing unit

Claims

1. A vehicle control device that can be used in a vehicle in which automatic driving that supports both steering and acceleration / deceleration can be started from the time when an occupant gets on an unmanned vehicle and starts moving, A start-time state specification unit (104) that specifies a start-time state, which is a state related to the automatic driving that starts when an occupant gets in an unmanned vehicle and starts; a notification processing unit (151, 151a) for causing a notification device (17) for notifying an occupant of the vehicle to give a notification; The notification processing unit changes the content of the notification made by the notification device depending on the starting state identified by the starting state identifying unit.

2. The vehicle control device according to claim 1, A control execution unit (103, 103a) that performs the automatic driving, The start-time state identification unit is configured to identify, as the start-time state, at least whether a start operation by the occupant is necessary for starting the autonomous driving and a state of surrounding monitoring by the occupant, When the start state specification unit specifies that a start operation by the occupant is necessary to start traveling under the automatic driving, the notification processing unit causes the notification device to issue a notification urging the occupant to monitor the periphery of the vehicle, The control execution unit is a vehicle control device that starts driving in the autonomous driving mode when the starting operation is performed and the starting state determination unit determines that the occupant is monitoring the surroundings.

3. 3. The vehicle control device according to claim 2, When the start state identification unit identifies that the occupant has stopped the surroundings monitoring within a predetermined period after the autonomous driving has started, the notification processing unit causes the notification device to issue a notification urging the occupant to monitor the surroundings of the vehicle; The control execution unit is a vehicle control device that continues autonomous driving without stopping the autonomous driving when the start-up state identification unit determines that the occupant has discontinued surrounding monitoring within a predetermined period of time after the autonomous driving has begun.

4. A vehicle control device that can be used in a vehicle that can start automatic driving that assists both steering and acceleration / deceleration from the time of starting, a start-time state specification unit (104) for specifying a start-time state which is a state related to the automatic driving that starts at the time of starting; a notification processing unit (151, 151a) for causing a notification device (17) for notifying an occupant of the vehicle to give a notification; the notification processing unit changes content of a notification to be made by the notification device in accordance with the starting state identified by the starting state identification unit, A control execution unit (103, 103a) that performs the automatic driving, The start-time state identification unit is configured to identify, as the start-time state, at least whether a start operation by the occupant is necessary for starting the autonomous driving and a state of surrounding monitoring by the occupant, When the start state specification unit specifies that a start operation by the occupant is necessary to start traveling under the automatic driving, the notification processing unit causes the notification device to issue a notification urging the occupant to monitor the periphery of the vehicle, the control execution unit starts traveling in the autonomous driving mode when the start operation is performed and the start state identification unit identifies that the occupant is monitoring a surrounding area, When the start state identification unit identifies that the occupant has stopped the surroundings monitoring within a predetermined period after the autonomous driving has started, the notification processing unit causes the notification device to issue a notification urging the occupant to monitor the surroundings of the vehicle; The control execution unit is a vehicle control device that continues autonomous driving without stopping the autonomous driving when the start-up state identification unit determines that the occupant has discontinued surrounding monitoring within a predetermined period of time after the autonomous driving has begun.

5. The vehicle control device according to claim 3 or 4, The control execution unit is a vehicle control device that causes the vehicle to travel at a speed lower than the set vehicle speed for autonomous driving when the start-up state determination unit determines that the occupant has discontinued monitoring of the surroundings within a predetermined period of time after the autonomous driving has begun.

6. The vehicle control device according to claim 2 or 4, the departure state specification unit specifies a seat belt fastening state of the occupant as the departure state, The control execution unit (103) is a vehicle control device that stops the autonomous driving mode when the start-up state determination unit determines that the occupant is not wearing a seat belt within a predetermined period of time after the autonomous driving mode has begun.

7. The vehicle control device according to claim 2 or 4, the departure state specification unit specifies a seat belt fastening state of the occupant as the departure state, When the start state identification unit identifies that the occupant is not wearing a seat belt within a predetermined period of time after the start of the autonomous driving, the control execution unit (103a) does not stop the autonomous driving but temporarily continues the driving, The vehicle control device, wherein the notification processing unit (151a) continues to issue a notification from the notification device urging the occupant to monitor the surroundings of the vehicle if it determines that the occupant is not wearing a seat belt within a predetermined period after the start of the autonomous driving.

8. A vehicle control device that can be used in a vehicle that can start automatic driving that assists both steering and acceleration / deceleration from the time of starting, a start-time state specification unit (104) for specifying a start-time state which is a state related to the automatic driving that starts at the time of starting; a notification processing unit (151, 151a) for causing a notification device (17) for notifying an occupant of the vehicle to give a notification; the notification processing unit changes content of a notification to be made by the notification device in accordance with the starting state identified by the starting state identification unit, A control execution unit (103, 103a) that performs the automatic driving, The start-time state identification unit is configured to identify, as the start-time state, at least whether a start operation by the occupant is necessary for starting the autonomous driving and a state of surrounding monitoring by the occupant, When the start state specification unit specifies that a start operation by the occupant is necessary to start traveling under the automatic driving, the notification processing unit causes the notification device to issue a notification urging the occupant to monitor the periphery of the vehicle, the control execution unit starts traveling in the autonomous driving mode when the start operation is performed and the start state identification unit identifies that the occupant is monitoring a surrounding area, the departure state specification unit specifies a seat belt fastening state of the occupant as the departure state, When the start state identification unit identifies that the occupant is not wearing a seat belt within a predetermined period of time after the start of the autonomous driving, the control execution unit (103a) does not stop the autonomous driving but temporarily continues the driving, The vehicle control device, wherein the notification processing unit (151a) continues to issue a notification from the notification device urging the occupant to monitor the surroundings of the vehicle if it determines that the occupant is not wearing a seat belt within a predetermined period after the start of the autonomous driving.

9. 9. A vehicle control device according to claim 1, wherein the start-time state identification unit is configured to identify, as the start-time state, at least whether or not a start operation by the occupant is necessary for starting traveling under the automated driving mode, The notification processing unit is a vehicle control device that, when the start-up state identification unit determines that a start-up operation by the occupant is necessary to start the autonomous driving, causes the notification device to issue a notification to the occupant informing them of what operation should be performed as the start-up operation.

10. 9. A vehicle control device according to claim 1, wherein The start-up state identification unit at least identifies, as the start-up state, whether or not a start-up operation by the occupant is necessary for the automatic driving to begin, and for a vehicle that begins automatic driving in response to an operational input that activates the vehicle's driving source, identifies that a start-up operation by the occupant is not necessary for the automatic driving to begin.

11. The vehicle control device according to claim 10, The notification processing unit is a vehicle control device that, when the start-up state determination unit determines that a start-up operation by the occupant is not necessary for the automatic driving to begin, causes the notification device to issue a notification to the occupant informing them of how the vehicle will start under the automatic driving mode.

12. 9. A vehicle control device according to claim 1, wherein the start-time state identification unit is configured to identify, as the start-time state, at least a type of the autonomous driving including last-mile autonomous driving in which the vehicle moves by autonomous driving within a limited range that is a limited range to a destination, A region specifying unit (111) is provided for dividing and specifying a region in which the vehicle travels into a first region in which the necessity for peripheral monitoring is higher and a second region in which the necessity for peripheral monitoring is lower, The notification processing unit, when the autonomous driving that begins at the time of starting is identified by the start-up state identification unit as last-mile autonomous driving, causes the notification device to issue a notification urging the occupant to monitor the vehicle's surroundings while the vehicle is traveling in an area identified by the area identification unit as the first area, and, when the vehicle is traveling in an area identified by the area identification unit as the second area, causes the notification processing unit to issue a notification to the occupant informing the driver of the vehicle of permission to perform a second task, which is an action other than driving.

13. A vehicle control device that can be used in a vehicle that can start automatic driving that assists both steering and acceleration / deceleration from the time of starting, a start-time state specification unit (104) for specifying a start-time state which is a state related to the automatic driving that starts at the time of starting; a notification processing unit (151, 151a) for causing a notification device (17) for notifying an occupant of the vehicle to give a notification; the notification processing unit changes content of a notification to be made by the notification device in accordance with the starting state identified by the starting state identification unit, the start-time state identification unit is configured to identify, as the start-time state, at least a type of the autonomous driving including last-mile autonomous driving in which the vehicle moves by autonomous driving within a limited range that is a limited range to a destination, A region specifying unit (111) is provided for dividing and specifying a region in which the vehicle travels into a first region in which the necessity for peripheral monitoring is higher and a second region in which the necessity for peripheral monitoring is lower, The notification processing unit, when the autonomous driving that begins at the time of starting is identified by the start-up state identification unit as last-mile autonomous driving, causes the notification device to issue a notification urging the occupant to monitor the vehicle's surroundings while the vehicle is traveling in an area identified by the area identification unit as the first area, and, when the vehicle is traveling in an area identified by the area identification unit as the second area, causes the notification processing unit to issue a notification to the occupant informing the driver of the vehicle of permission to perform a second task, which is an action other than driving.

14. A vehicle control method that can be used in a vehicle that can start automatic driving that supports both steering and acceleration / deceleration from the time an occupant gets on an unmanned vehicle and starts moving, Executed by at least one processor, A start-time state identification process for identifying a start-time state, which is a state related to the automatic driving that starts when an occupant gets on an unmanned vehicle and starts; and a notification processing step of causing a notification device (17) that notifies an occupant of the vehicle to issue a notification, In the notification processing step, content of the notification made by the notification device is changed depending on the starting state identified in the starting state identifying step.

Images