Presentation control device and presentation control program

Abstract

To provide presentation control and others, capable of securing convenience related to routing for an automatic operation imposing no periphery monitoring obligation.SOLUTION: An HCU 100 functions as a presentation control device that controls presentation of information relating to an automatic operation function allowing an own vehicle to travel by autonomous travel control imposing no periphery monitoring obligation to a driver. The HCU 100, when a route to a destination is set to the own vehicle while the automatic operation function is allowing the own vehicle to travel by the autonomous travel control, grasps a state of the autonomous travel control implemented by the automatic operation function after the route has been set. Then, the HCU 100 notifies of the state of the autonomous travel control after the route has been set.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The disclosure in this specification relates to a control technology for the presentation of information related to an autonomous driving function, and a technology for enabling driving using the autonomous driving function. [Background technology]

[0002] Patent Document 1 describes a vehicle control device that starts automatic driving when a traffic jam of a length equal to or longer than a predetermined value occurs. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2005-324661 A Summary of the Invention [Problem to be solved by the invention]

[0004] In recent years, not only automated driving with the driver's obligation to monitor the surroundings, but also technology that enables automated driving without the driver's obligation to monitor the surroundings is being realized. During the implementation of such automated driving without the obligation to monitor the surroundings, if route setting occurs, such as setting a new destination, changing the destination, or updating the route to the destination, there is a possibility that the automated driving without the obligation to monitor the surroundings cannot be continued. Such changes in the state of automated driving related to route setting may impair the convenience of the driver, etc.

[0005] The present disclosure aims to provide a presentation control device, a presentation control program, an autonomous driving control device, and an autonomous driving control program that can ensure convenience related to route setting for autonomous driving with no obligation to monitor the surrounding area. [Means for solving the problem]

[0006] In order to achieve the above-mentioned objective, one disclosed embodiment is a presentation control device that controls the presentation of information related to an autonomous driving function that enables the driver to drive his / her own vehicle (Am) through autonomous driving control without the driver being obligated to monitor the surroundings, and when a route to a destination is set while the autonomous driving function is driving the own vehicle through autonomous driving control, the presentation control device is equipped with a control grasping unit (82) that grasps the state of autonomous driving control implemented by the autonomous driving function after the route is set, and a notification control unit (88) that notifies the state of the autonomous driving control after the route is set.

[0007] One aspect disclosed is a presentation control program that controls the presentation of information related to an automatic driving function that enables the vehicle (Am) to be driven by autonomous driving control without the driver having to monitor the surroundings, and when a route to a destination is set for the vehicle while the automatic driving function is driving the vehicle by autonomous driving control, the presentation control program causes at least one processing unit (11) to execute processing including grasping the state of the automatic driving control implemented by the automatic driving function after the route is set (S105, S106) and reporting the state of the automatic driving control after the route is set (S108, S110, S111, S152).

[0008] In these aspects, when a route to a destination is set for a vehicle traveling by autonomous driving control, the state of the autonomous driving control performed by the autonomous driving function after the route is set is notified. Therefore, when the autonomous driving control that does not have a duty to monitor the surroundings is terminated by route setting, the driver can know in advance that the autonomous driving control has been terminated. Therefore, the convenience of the autonomous driving related to the route setting can be ensured.

[0009] One aspect disclosed is an autonomous driving control device capable of driving a vehicle (Am) using autonomous driving control without the driver having to monitor the surroundings, the autonomous driving control device comprising: a route information grasping unit (74) that grasps changes to the route to a destination set in the vehicle; and a continuation judgment unit (77) that determines whether or not to allow continuation of autonomous driving control after the route has been changed, depending on the control mode of the autonomous driving control currently being implemented.

[0010] One aspect disclosed is an autonomous driving control program capable of driving a vehicle (Am) using autonomous driving control without the driver having to monitor the surroundings, the autonomous driving control program causing at least one processing unit (51) to execute processing including grasping changes to the route to a destination set in the vehicle (S11), and determining whether or not to allow continuation of autonomous driving control after the route has been changed depending on the control mode of the autonomous driving control currently being implemented (S14).

[0011] In these aspects, when the route to the destination set in the vehicle is changed, whether or not to permit continuation of autonomous driving control after the route change is determined according to the control mode of the autonomous driving control being performed. Therefore, if the control mode allows continuation of autonomous driving control even after the route is changed, the vehicle can continue to travel without the driver having to monitor the surroundings. As described above, if continuation of autonomous driving control is permitted even after the route is changed, the convenience of automatic driving related to route setting can be ensured.

[0012] Also, one disclosed aspect is an automatic driving control device capable of driving a vehicle (Am) by autonomous driving control without the driver having to monitor the surroundings, and includes a route information grasping unit (74) that grasps changes to the route to a destination set in the vehicle, and a continuation judgment unit (77) that decides whether to allow continuation of autonomous driving control after the route is changed when the route is changed while the vehicle is driving by autonomous driving control, wherein the route information grasping unit further grasps whether the route change is made by the vehicle's system (38) or by input by an occupant of the vehicle, and the continuation judgment unit allows continuation of autonomous driving control even after the route is changed if the route is changed by the system, and restricts continuation of autonomous driving control after the route is changed if the route is changed by input by the occupant.

[0013] Also, one disclosed aspect is an automatic driving control program capable of driving a vehicle (Am) by autonomous driving control without the driver having to monitor the surroundings, the automatic driving control program causing at least one processing unit (51) to execute processes including grasping changes to the route to a destination set in the vehicle, and further grasping whether the route change was made by the vehicle's system (38) or by input from the vehicle's occupant (S21, S23, S24), and, if the route is changed while the vehicle is driving by autonomous driving control, determining whether or not to allow continuation of autonomous driving control after the route is changed, and, if the route is changed by the system, allowing continuation of autonomous driving control even after the route is changed, and, if the route is changed by input from the occupant, restricting continuation of autonomous driving control after the route is changed (S26, S27).

[0014] In these aspects, when the route is changed by the driver's input while the vehicle is traveling by the autonomous driving control, the continuation of the autonomous driving control after the route change is restricted. On the other hand, when the route is changed by the system of the vehicle, the continuation of the autonomous driving control after the route change is permitted. As a result, it is possible to avoid a situation in which the driver is suddenly required to monitor the surroundings due to the automatic route change by the system. Therefore, it is possible to ensure the convenience of the autonomous driving related to route setting.

[0015] Also, one disclosed aspect is an automatic driving control device capable of driving a vehicle (Am) using autonomous driving control without the driver having to monitor the surroundings, and includes a route information grasping unit (74) that grasps changes to the route to a destination set in the vehicle and further grasps whether the route change involves a change to the destination, and a continuation judgment unit (77) that, when the route is changed while the vehicle is driving using autonomous driving control, decides whether to allow continuation of autonomous driving control after the route is changed, in which the continuation judgment unit permits continuation of autonomous driving control even after the route is changed if the route is changed while the destination is maintained, and restricts continuation of autonomous driving control after the route is changed if the route is changed accompanied by a change to the destination.

[0016] Also, one disclosed aspect is an autonomous driving control program capable of driving a vehicle (Am) by autonomous driving control without the driver having to monitor the surroundings, the autonomous driving control program causing at least one processing unit (51) to execute processes including: grasping changes to the route to a destination set in the vehicle, and further grasping whether the route change involves a change to the destination (S31, S33, S34); if the route is changed while the vehicle is driving by autonomous driving control, determining whether to allow continuation of autonomous driving control after the route is changed; if the route is changed while the destination is maintained, allowing continuation of autonomous driving control even after the route is changed; and if the route is changed accompanied by a change to the destination, restricting the continuation of autonomous driving control after the route is changed (S36, S37).

[0017] In these aspects, when the route is changed with a change in destination while the vehicle is traveling by autonomous driving control, the continuation of autonomous driving control after the route change is restricted. On the other hand, when the route is changed while the destination is maintained, the continuation of autonomous driving control is permitted even after the route change. As a result, it becomes possible to use autonomous driving without the obligation to monitor the surroundings for a long time, thereby ensuring the convenience of autonomous driving related to route setting.

[0018] One embodiment disclosed is a presentation control device that controls the presentation of information related to an autonomous driving function that enables the driver to drive his / her own vehicle (Am) through autonomous driving control without the driver having to monitor the surroundings, and is equipped with a control grasping unit (82) that, when the autonomous driving function is driving the vehicle through autonomous driving control using map data and a route to a destination is searched for, determines whether the route passes through an unupdated area that requires updating of the map data, and a notification control unit (88) that notifies the driver of the existence of an unupdated area when the route passes through an unupdated area.

[0019] One aspect disclosed is a presentation control program that controls the presentation of information related to an autonomous driving function that can drive a vehicle (Am) using autonomous driving control without the driver having to monitor the surroundings, and when the autonomous driving function is driving the vehicle using autonomous driving control using map data and a route to a destination is searched for, the presentation control program causes at least one processing unit (11) to execute processing including: determining whether the route passes through an unupdated area that requires updating of the map data (S147); and, if the route passes through an unupdated area, notifying the presence of an unupdated area (S148).

[0020] In these aspects, when a route that passes through an unupdated area that requires updating of map data is searched for, the presence of the unupdated area is notified. Therefore, the driver can recognize that there is a lack of information necessary to continue the autonomous driving control and that there is a risk of the autonomous driving control being interrupted. As described above, by indicating the possibility of changing the autonomous driving state in advance, the convenience of the autonomous driving related to route setting is easily ensured.

[0021] The reference numbers in parentheses above and in the claims merely indicate an example of a corresponding relationship with a specific configuration in an embodiment described later, and do not in any way limit the technical scope. [Brief description of the drawings]

[0022] [Figure 1] 1 is a diagram showing an overall view of an in-vehicle network including an HCU and an autonomous driving ECU according to a first embodiment of the present disclosure. FIG. [Diagram 2] FIG. 2 is a block diagram showing details of an autonomous driving ECU. [Diagram 3] FIG. 2 is a block diagram showing details of an HCU. [Figure 4] 6 is a flowchart showing details of an autonomous driving continuation determination process performed by an autonomous driving ECU. [Diagram 5] 7 is a flowchart showing details of a notification control process performed by the HCU, together with FIG. 6. [Figure 6] 6 is a flowchart showing details of a notification control process together with FIG. 5. [Figure 7] 10 is a flowchart showing details of a continuation determination process according to a second embodiment. [Figure 8] 13 is a flowchart showing details of a continuation determination process according to a third embodiment. [Figure 9] 13 is a flowchart showing details of a continuation determination process according to a fourth embodiment. [Figure 10] 6 is a flowchart showing details of a notification control process together with FIG. 5. [Figure 11] 13 is a flowchart showing details of an interruption notice process. [Figure 12] FIG. 13 is a timing diagram illustrating details of notification and control in a scene where route setting is performed in the fifth embodiment. [Figure 13] 10 is a flowchart showing details of a notification control process for implementing a pre-decision notification. [Figure 14] 13 is a flowchart showing details of a notification control process for implementing a post-determination notification. [Figure 15] FIG. 13 is a timing diagram for explaining details of notification and control in a scene where route setting is performed in the sixth embodiment. [Figure 16] 10 is a flowchart showing details of a control standby process for providing a standby period for vehicle control after a route is set. [Figure 17] FIG. 13 is a timing diagram illustrating details of notification and control in a scene in which a route is set on a road with no driving history in the seventh embodiment. [Figure 18] FIG. 11 is a timing diagram for explaining details of notification and control in a scene where a route is set on a road with a driving history. [Figure 19] 10 is a flowchart showing details of a standby control process for changing the start timing of vehicle control depending on the presence or absence of a driving history. [Figure 20] FIG. 23 is a timing diagram illustrating details of notification and control in a scene where route setting is performed in the eighth embodiment. [Figure 21] 10 is a flowchart showing details of a control start process for starting vehicle control before a decision operation. [Figure 22] 10 is a flowchart showing details of a notification control process for implementing a delay warning notification. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] Hereinafter, a number of embodiments will be described with reference to the drawings. In addition, by assigning the same reference numerals to corresponding components in each embodiment, duplicated descriptions may be omitted. When only a part of the configuration is described in each embodiment, the configuration of the other embodiment described above can be applied to the other parts of the configuration. In addition to the combination of configurations explicitly stated in the description of each embodiment, configurations of multiple embodiments can be partially combined together even if not explicitly stated, as long as there is no particular problem with the combination.

[0024] First embodiment 1 to 3, an HCU (Human Machine Interface Control Unit) according to a first embodiment of the present disclosure is an interface control device used in a vehicle (hereinafter, the host vehicle Am). The HCU 100 constitutes an HMI (Human Machine Interface) system 10 of the host vehicle Am together with a plurality of input / output devices. The HMI system 10 has an input interface function for accepting operations by a driver or other occupant of the host vehicle Am, and an output interface function for presenting information to the driver or other occupant.

[0025] The HCU 100 is communicatively connected to a communication bus 99 of an in-vehicle network 1 mounted on the vehicle Am. The HCU 100 is one of a plurality of nodes provided in the in-vehicle network 1. A surroundings monitoring sensor 30, a locator 35, a navigation ECU (Electronic Control Unit) 38, an in-vehicle communication device 39, a driving control ECU 40, and the like are connected to the communication bus 99 of the in-vehicle network 1. In addition, a driving assistance ECU 50a and an automatic driving ECU 50b, and the like are connected to the communication bus 99 of the in-vehicle network 1. These nodes connected to the communication bus 99 can communicate with each other. Specific nodes among these devices and ECUs may be directly electrically connected to each other and can communicate with each other without going through the communication bus 99.

[0026] The periphery monitoring sensor 30 is an autonomous sensor that monitors the surrounding environment of the host vehicle Am. The periphery monitoring sensor 30 includes, for example, one or more of a camera unit 31, a millimeter wave radar 32, a lidar 33, and a sonar 34. The periphery monitoring sensor 30 can detect moving objects and stationary objects within a detection range around the host vehicle. The periphery monitoring sensor 30 provides detection information of objects around the host vehicle to the driving assistance ECU 50a, the autonomous driving ECU 50b, etc.

[0027] Locator 35 includes a GNSS (Global Navigation Satellite System) receiver, an inertial sensor, etc. Locator 35 sequentially determines the position and traveling direction of vehicle Am by combining positioning signals received from multiple positioning satellites by the GNSS receiver, measurement results of the inertial sensor, and vehicle speed information output to communication bus 99, etc. Locator 35 sequentially outputs position information and direction information of vehicle Am based on the positioning results to communication bus 99 as locator information.

[0028] Locator 35 further includes a map database (hereinafter, map DB) 36 that stores map data. Map DB 36 is mainly composed of a large-capacity storage medium that stores a large amount of three-dimensional map data and two-dimensional map data. The three-dimensional map data is so-called HD (High Definition) map data and high-precision map data, and includes road information necessary for autonomous driving. Specifically, the three-dimensional map data includes three-dimensional shape information of roads and detailed information of each lane. Locator 35 can update the three-dimensional map data and two-dimensional map data to the latest information through external communication by in-vehicle communication device 39. Locator 35 reads map data of the current position from map DB 36, and provides it to driving assistance ECU 50a, autonomous driving ECU 50b, etc. together with locator information.

[0029] The navigation ECU 38 acquires information on a destination designated by a passenger such as a driver based on operation information acquired from the HCU 100. The navigation ECU 38 acquires vehicle position information and direction information from the locator 35, and sets a route from the current position to the destination. The navigation ECU 38 provides route information indicating the set route to the destination to the driving assistance ECU 50a, the autonomous driving ECU 50b, the HCU 100, etc. The navigation ECU 38 cooperates with the HMI system 10, and notifies the driver of the traveling direction of the vehicle Am at intersections, branching points, etc., by combining screen displays and voice messages as route guidance to the destination.

[0030] Here, a user terminal such as a smartphone may be connected to the in-vehicle network 1 or the HCU 100. Such a user terminal may provide vehicle position information, direction information, map data, etc. to the driving assistance ECU 50a and the autonomous driving ECU 50b, etc., instead of the locator 35. Furthermore, the user terminal may provide route information to a destination to the driving assistance ECU 50a, the autonomous driving ECU 50b, the HCU 100, etc., instead of the navigation ECU 38.

[0031] The in-vehicle communication device 39 is an external communication unit mounted on the vehicle Am and functions as a V2X (Vehicle to Everything) communication device. The in-vehicle communication device 39 transmits and receives information to and from roadside devices installed on the side of the road by wireless communication. As an example, the in-vehicle communication device 39 receives congestion information and road construction information around the current position and in the traveling direction of the vehicle Am from the roadside device. The congestion information and road construction information are VICS (registered trademark) information and the like. The in-vehicle communication device 39 provides the received congestion information and road construction information to the autonomous driving ECU 50b, the HCU 100, and the like.

[0032] The driving control ECU 40 is an electronic control device mainly including a microcontroller. The driving control ECU 40 has at least the functions of a brake control ECU, a drive control ECU, and a steering control ECU. The driving control ECU 40 continuously controls the brake force of each wheel, the output control of the in-vehicle power source, and the steering angle control based on one of an operation command based on the driver's driving operation, a control command from the driving assistance ECU 50a, and a control command from the automatic driving ECU 50b.

[0033] The driving assistance ECU 50a and the automatic driving ECU 50b configure an automatic driving system 50 of the host vehicle Am. By installing the automatic driving system 50, the host vehicle Am becomes an automatic driving vehicle equipped with an automatic driving function, and is capable of traveling by the automatic driving function.

[0034] The driving assistance ECU 50a realizes a driving assistance function that assists the driver in driving operations in the automated driving system 50. The driving assistance ECU 50a enables advanced driving assistance of about level 2 or partial automated driving in the automated driving levels defined by the Society of Automotive Engineers. The automated driving performed by the driving assistance ECU 50a is an automated driving with a surrounding monitoring obligation that requires the driver to visually monitor the surroundings of the vehicle.

[0035] The autonomous driving ECU 50b can take over driving operations from the driver and can perform autonomous driving at level 3 or higher, where the system is the main controller, according to the autonomous driving levels stipulated by the Society of Automotive Engineers. The autonomous driving performed by the autonomous driving ECU 50b does not require monitoring of the surroundings of the vehicle, that is, it is eyes-off autonomous driving where the driver is not required to monitor the surroundings.

[0036] In the above-described autonomous driving system 50, the driving control state of the autonomous driving function is switched among a plurality of states including at least autonomous driving control with an obligation to monitor the surroundings by the driving assistance ECU 50a and autonomous driving control without an obligation to monitor the surroundings by the autonomous driving ECU 50b. In the following description, autonomous driving control of level 2 or lower by the driving assistance ECU 50a is referred to as "driving assistance control," and autonomous driving control of level 3 or higher by the autonomous driving ECU 50b is referred to as "autonomous driving control."

[0037] During the autonomous driving period in which the host vehicle Am is driven by the autonomous driving control, the driver may be permitted to perform a specific action (hereinafter, a second task) other than driving that is prescribed in advance. The second task is legally permitted to the driver until a request for execution of a driving operation performed in cooperation with the autonomous driving ECU 50b and the HCU 100, that is, a request for a driver handover occurs. For example, actions such as watching entertainment content such as video content, operating a device such as a smartphone, and eating are assumed as the second task.

[0038] The driving assistance ECU 50a is a computer mainly including a control circuit equipped with a processing unit, RAM, a storage unit, an input / output interface, and a bus connecting these. The driving assistance ECU 50a realizes driving assistance functions such as ACC (Adaptive Cruise Control) and LTC (Lane Trace Control) by executing a program in the processing unit. The driving assistance ECU 50a performs driving assistance control to drive the host vehicle Am along the host vehicle lane by coordinating the ACC and LTC functions. In addition, the driving assistance ECU 50a provides the autonomous driving ECU 50b with control status information indicating the state of the driving assistance control.

[0039] The autonomous driving ECU 50b has a higher computing power than the driving assistance ECU 50a and can at least perform driving control equivalent to ACC and LTC. The autonomous driving ECU 50b may be capable of performing driving assistance control in which the driver is responsible for monitoring the surroundings, in place of the driving assistance ECU 50a, in a scene in which the autonomous driving control is temporarily suspended. The autonomous driving ECU 50b is a computer that mainly includes a processing unit 51, a RAM 52, a storage unit 53, an input / output interface 54, and a control circuit including a bus connecting these. The processing unit 51 executes various processes for realizing the autonomous driving control method of the present disclosure by accessing the RAM 52. The storage unit 53 stores various programs (autonomous driving control program, etc.) executed by the processing unit 51. By executing the programs by the processing unit 51, the autonomous driving ECU 50b is configured with an information linking unit 61, an environment recognition unit 62, an action determination unit 63, a control execution unit 64, etc. as multiple functional units for realizing the autonomous driving function (see FIG. 2).

[0040] The information linking unit 61 provides information to the information linking unit 82 of the HCU 100 and acquires information from the information linking unit 82. Through the cooperation of the information linking units 61 and 82, the autonomous driving ECU 50b and the HCU 100 share the information acquired by them. The information linking unit 61 generates control status information indicating the operation state of the autonomous driving function and provides the generated control status information to the information linking unit 82. In addition, the information linking unit 61 enables the HCU 100 to make an announcement synchronized with the operation state of the autonomous driving function by outputting an execution request for an announcement to the information linking unit 82. Meanwhile, the information linking unit 61 acquires driver operation information and the like from the information linking unit 82. The information linking unit 61 grasps the contents of the user operation input to the HMI system 10 and the like based on the operation information.

[0041] The environment recognition unit 62 recognizes the traveling environment of the host vehicle Am by combining locator information acquired from the locator 35 and detection information acquired from the surrounding monitoring sensor 30. Specifically, the environment recognition unit 62 grasps information about the road on which the host vehicle Am is traveling, and the relative positions and relative speeds of dynamic targets (other vehicles, etc.) around the host vehicle. In addition, the environment recognition unit 62 acquires vehicle information indicating the state of the host vehicle Am from the communication bus 99. As an example, the environment recognition unit 62 acquires vehicle speed information indicating the current traveling speed of the host vehicle Am.

[0042] The environment recognition unit 62 grasps the congestion around the host vehicle Am by combining information on other vehicles around the host vehicle with vehicle speed information, etc. When the current traveling speed of the host vehicle Am is equal to or lower than the congestion speed (for example, about 30 km / h) and there are both a vehicle ahead and a vehicle behind the host vehicle traveling in the host vehicle lane, the environment recognition unit 62 determines that the area around the host vehicle is in a congestion state.

[0043] The environment recognition unit 62 determines whether the road on which the vehicle Am is traveling or the road on which the vehicle Am is scheduled to travel is a preset automatic driving area (hereinafter, AD area) or a restricted AD area. Information indicating whether the road is an AD area or a restricted AD area may be recorded in the map data stored in the map DB 36, or may be included in the received information received by the in-vehicle communication device 39.

[0044] The AD area and the restricted AD area may correspond to an operational design domain where autonomous driving without the driver's obligation to monitor the surroundings is legally permitted. The autonomous driving without the obligation to monitor the surroundings includes, as a plurality of control modes, a congestion-limited control (hereinafter, congestion level 3) that is implemented only during driving in a congestion, and an area-limited control (hereinafter, area level 3) that is implemented only within a specific area (AD area). On roads within an AD area, both congestion level 3 and area level 3 are permitted to be implemented, and on roads within a restricted AD area, only congestion level 3 is permitted to be implemented. In a manual driving area (hereinafter, MD area) that is not included in either an AD area or a restricted AD area, driving with level 3 autonomous driving control is prohibited in principle. In an MD area, driving with level 2 or higher autonomous driving may be prohibited. An AD area or a restricted AD area is set on a highway, including, for example, a motorway.

[0045] The behavior determination unit 63 cooperates with the driving assistance ECU 50a and the HCU 100 to control the automatic driving system 50 and the driving changeover between the driver. In addition, when the automatic driving ECU 50b has the control right of the driving operation, the behavior determination unit 63 generates a planned driving line for the host vehicle Am to travel based on the recognition result of the driving environment by the environment recognition unit 62, and outputs the generated planned driving line to the control execution unit 64.

[0046] The behavior determination unit 63 has a control switching unit 77 as a sub-functional unit for controlling the operation state of the automatic driving function. The control switching unit 77 cooperates with the driving assistance ECU 50a to switch between driving assistance control in which the driver is obligated to monitor the surroundings and autonomous driving control in which the driver is not obligated to monitor the surroundings. In addition, when the host vehicle Am is driven by the autonomous driving control, the control switching unit 77 switches the control mode of the autonomous driving control among a plurality of control modes including the congestion level 3 and the area level 3.

[0047] When the autonomous driving ECU 50b has control of driving operations, the control execution unit 64 cooperates with the cruise control ECU 40 to execute acceleration / deceleration control, steering control, and the like of the host vehicle Am according to the planned driving line generated by the action determination unit 63. Specifically, the control execution unit 64 generates control commands based on the planned driving line and sequentially outputs the generated control commands to the cruise control ECU 40.

[0048] Next, the multiple display devices, the audio device 24, the ambient light 25, the operation device 26, and the HCU 100 included in the HMI system 10 will be described in detail in turn.

[0049] The display device presents information to the driver's vision by displaying images, etc. The display device includes a meter display 21, a center information display (hereinafter, CID) 22, and a head-up display (hereinafter, HUD) 23, etc. The CID 22 has a touch panel function and detects touch operations on the display screen by the driver, etc.

[0050] The audio device 24 has multiple speakers arranged in the vehicle cabin surrounding the driver's seat, and reproduces notification sounds, voice messages, etc., through the speakers into the vehicle cabin. The ambient light 25 is provided on the instrument panel, steering wheel, etc. The ambient light 25 presents information to the driver using the peripheral vision by changing the light emission color as an ambient display.

[0051] The operation device 26 is an input unit that accepts user operations by the driver, etc. For example, user operations related to activation and deactivation of an automatic driving function, user operations related to setting a destination for route guidance, etc. are input to the operation device 26. The operation device 26 includes a steering switch provided on the spokes of the steering wheel, an operation lever provided on the steering column, and a voice input device that recognizes the contents of the driver's speech, etc.

[0052] The HCU 100 is an information presentation device that comprehensively controls information presentation using a plurality of display devices, an audio device 24, and an ambient light 25. The HCU 100 controls presentation of information related to autonomous driving in cooperation with an autonomous driving system 50. The HCU 100 is a computer that mainly includes a processing unit 11, a RAM 12, a storage unit 13, an input / output interface 14, and a control circuit including a bus connecting these. The processing unit 11 executes various processes for presentation control processing by accessing the RAM 12. The RAM 12 may be configured to include a video RAM for generating video data. The storage unit 13 is configured to include a non-volatile storage medium. The storage unit 13 stores various programs (such as a presentation control program) executed by the processing unit 11. The HCU 100 configures a plurality of functional units by executing the programs stored in the storage unit 13 by the processing unit 11. The HCU 100 configures functional units such as an information control unit 81, an information linking unit 82, and a presentation control unit 88 (see FIG. 3).

[0053] The information control unit 81 acquires operation information indicating the content of a user operation from the CID 22, the operation device 26, etc. The information control unit 81 provides operation information of a user operation related to an automatic driving function to the information linking unit 82. The information control unit 81 provides operation information of a user operation for setting a destination of the host vehicle Am to the navigation ECU 38. In addition, the information control unit 81 acquires route information to the destination, a guidance image based on map data, a request for implementing guidance, etc. from the navigation ECU 38 and provides them to the presentation control unit 88. The information control unit 81 cooperates with the navigation ECU 38 to enable route guidance by the HMI system 10.

[0054] The information linking unit 82 links with the autonomous driving ECU 50b to enable information sharing between the autonomous driving system 50 and the HCU 100. The information linking unit 82 provides the autonomous driving ECU 50b with operation information grasped by the information control unit 81. In addition, the information linking unit 82 acquires, from the autonomous driving ECU 50b, a request to present information related to the autonomous driving function and control status information indicating the state of the autonomous driving function.

[0055] The information linking unit 82 grasps the operation state of the autonomous driving by the autonomous driving system 50 based on the control status information. Specifically, the information linking unit 82 grasps whether the driving control being performed is driving assistance control or autonomous driving control, that is, whether the autonomous driving control in which the driver has no obligation to monitor the surroundings is being executed by the autonomous driving function. When the host vehicle Am is traveling in a state in which the driver has no obligation to monitor the surroundings, the information linking unit 82 further grasps the control mode of the autonomous driving control.

[0056] The presentation control unit 88 performs the provision of information to the driver using each display device, the audio device 24, the ambient light 25, etc. in an integrated manner. As an example, the presentation control unit 88 performs guidance of a route to a destination based on route information and a guide image, etc. acquired by the information control unit 81. The presentation control unit 88 also performs content provision and information presentation according to the operating state of the autonomous driving based on the control status information and an implementation request acquired by the information linking unit 82. When the information linking unit 82 grasps that the autonomous driving control is being performed with eyes off, the presentation control unit 88 enables the playback of video content, etc. In addition, the presentation control unit 88 performs a request for the driver to take over driving, etc., based on the implementation request acquired by the information linking unit 82.

[0057] When the navigation ECU 38 sets a route during the period when the host vehicle Am is driven by the autonomous driving control, the autonomous driving ECU 50b described above judges whether or not to continue the autonomous driving without the obligation to monitor the surroundings based on the continuation judgment process (see FIG. 4). Below, the details of the functions related to the judgment on whether or not to continue the autonomous driving associated with the route setting will be described.

[0058] The environment recognition unit 62 has a route information ascertaining unit 74 as a sub-functional unit for realizing cooperation between the navigation ECU 38 and the autonomous driving ECU 50b. The route information ascertaining unit 74 acquires route information from the navigation ECU 38. The route information ascertaining unit 74 ascertains, based on the route information, whether or not a route to the destination is set in the navigation ECU 38 of the host vehicle Am.

[0059] In addition, the route information grasping unit 74 grasps a change in the route to the destination set in the navigation ECU 38 based on the route information. A route change occurs when the driver or the like changes the destination, when a waypoint is added, when a route search condition is changed, etc. Furthermore, a route change is also performed when the navigation ECU 38 searches for a new route that can arrive at the destination faster based on congestion information and road construction information acquired by the in-vehicle communication device 39. When such a route change occurs, the route information grasping unit 74 further grasps whether the route change is accompanied by a change in the destination, and whether the route change is due to a driver's operation or based on a proposal by the navigation ECU 38. The route information grasping unit 74 may be capable of grasping, based on the route information, that a destination set in the navigation ECU 38 has been deleted.

[0060] When the route setting in the navigation ECU 38 is recognized by the route information ascertaining unit 74 during the implementation of autonomous driving without the obligation to monitor the surroundings, the control switching unit 77 determines whether or not to permit continuation of autonomous driving without the obligation to monitor the surroundings even after the route is set. In addition, when the route change in the navigation ECU 38 is recognized by the route information ascertaining unit 74 during the implementation of autonomous driving without the obligation to monitor the surroundings, the control switching unit 77 determines whether or not to permit continuation of autonomous driving without the obligation to monitor the surroundings even after the route is changed.

[0061] In detail, when the route information grasping unit 74 grasps a newly set route or a changed route, the behavior judgment unit 63 updates the planned driving line along which the host vehicle Am will travel based on the grasped route, i.e., the latest route set in the navigation ECU 38. The control switching unit 77 refers to the updated planned driving line and determines whether or not the automatic driving without the need for peripheral awareness, i.e., the autonomous driving control, can be continued. As an example, when a planned driving line for lane change is generated and the host vehicle Am is scheduled to change lanes within a predetermined time or a predetermined distance after the route is set, the control switching unit 77 does not permit the continuation of the autonomous driving control.

[0062] Furthermore, when the route is changed, the control switching unit 77 determines whether or not to permit continuation of autonomous driving control after the route change, depending on the control mode of the autonomous driving control currently being performed. Specifically, when the control mode of the autonomous driving control currently being performed is congestion level 3, the control switching unit 77 permits continuation of autonomous driving control even after the route is changed. On the other hand, when the control mode of the autonomous driving control currently being performed is area level 3, the control switching unit 77 restricts continuation of autonomous driving control after the route is changed.

[0063] When the control switching unit 77 determines not to continue the autonomous driving control after setting the route or changing the route, it changes the state of the autonomous driving control, in other words, the autonomous driving level. Specifically, the control switching unit 77 switches from level 3 autonomous driving (autonomous driving control) to level 2 or lower, that is, hands-off or hands-on autonomous driving (driving assistance control), manual driving, or the like.

[0064] The behavior determination unit 63 generates a driving plan for the host vehicle Am, which includes a determination result of whether or not to continue the autonomous driving control after the route is set, and a transition schedule of the control state when the autonomous driving control is not continued, together with the planned driving line. The driving plan generated by the behavior determination unit 63 is provided to the HCU 100 through the information linking unit 61.

[0065] The details of the continuation determination process for determining whether or not to continue the autonomous driving control as described above will be further described based on Fig. 4 with reference to Fig. 1 and Fig. 2. The continuation determination process is started by the autonomous driving ECU 50b based on the route information grasping unit 74 grasping that a route has been set by the navigation ECU 38.

[0066] In S11 of the continuation determination process, the route information grasping unit 74 acquires the latest route information and grasps the contents of the latest route set in the navigation ECU 38. In S12, the control switching unit 77 judges whether or not level 3 autonomous driving (autonomous driving control) with no obligation to monitor the surroundings is being performed. If it is determined in S12 that autonomous driving control is not being performed, the continuation determination process is terminated. On the other hand, if it is determined in S12 that autonomous driving control is being performed, the process proceeds to S13.

[0067] In S13, it is determined whether the current route setting of the navigation ECU 38 is a new route setting. A new route setting is when a route is not set, in other words, when a new destination and route are set in a state where a destination has not been set and route guidance is not in progress. On the other hand, a route setting that is not a new one is a so-called reroute, and is when a destination is set and route guidance is in progress, but the destination or route is changed. If the route information grasping unit 74 determines in S13 that the route setting is a reroute and not a new route setting, the process proceeds to S14.

[0068] In S14, the control mode of the autonomous driving control currently being performed is determined. If it is determined in S14 that Level 3 congestion is being performed, the process proceeds to S16, where continuation of Level 3 autonomous driving is permitted, and the current continuation determination process is terminated. As described above, when a reroute is performed, if Level 3 congestion is being performed, autonomous driving without the obligation to monitor the surroundings due to Level 3 congestion is continued. This makes it possible to perform a reroute during autonomous driving without the obligation to monitor the surroundings.

[0069] If it is determined in S14 that area level 3 is being implemented rather than congestion level 3, the process proceeds to S17, where a decision is made to temporarily suspend or cancel level 3 autonomous driving, and the current continuation decision process is terminated. As an example, in S17, a decision is made to transition to level 2 hands-on driving assistance control. If a temporary transition to level 2 is made in S17, a return to level 3 may be made after a predetermined time has elapsed or after driving a predetermined distance. As described above, when a reroute is performed, whether to permit continuation of level 3 autonomous driving is determined depending on whether congestion level 3 or area level 3 is in effect.

[0070] On the other hand, if the route information grasping unit 74 determines in S13 that the route is a new route setting, the process proceeds to S15. In S15, it is determined whether or not to continue the automated driving without the obligation to monitor the surroundings, based on whether or not a lane change occurs after the route is set. If it is determined in S15 that a lane change is scheduled within a predetermined time or distance after the route is set, the process proceeds to S17, and it is determined that the level 3 automated driving is suspended. In this case, S17 also determines that the transition to the level 2 hands-on driving assistance control is to be made. On the other hand, if it is determined in S15 that a lane change is not scheduled after the route is set, the process proceeds to S16, where the continuation of the level 3 automated driving is permitted, and the current continuation determination process is terminated. As a result, it is possible to set a new route during automated driving without the obligation to monitor the surroundings.

[0071] Here, even if the destination setting is cancelled, the autonomous driving ECU 50b may determine whether or not to continue the autonomous driving control according to the control mode of the autonomous driving control, in the same way as when the route is changed. Specifically, if congestion level 3 is being implemented, the autonomous driving control continues even after the destination setting is cancelled. On the other hand, if area level 3 is being implemented, a temporary interruption or cancellation of the autonomous driving control is determined based on the cancellation of the destination setting.

[0072] As described above, when a route is set or changed while autonomous driving level 3 is being implemented, the driver may be required to monitor the surroundings. Therefore, when a route is set in the navigation ECU 38, the HCU 100 notifies the state of autonomous driving control of the autonomous driving ECU 50b after the route is set. Details of the notification of the state of autonomous driving control associated with route setting are described below.

[0073] When the autonomous driving ECU 50b is driving the host vehicle Am under autonomous driving control and a route to a destination is set in the navigation ECU 38, the information linking unit 82 grasps the state of the autonomous driving control that is implemented after the route is set. Specifically, the information linking unit 82 acquires from the autonomous driving ECU 50b a driving plan that is generated based on the result of the determination of whether or not the autonomous driving control can be continued by the continuation determination process (see FIG. 4) as information indicating the "state of the autonomous driving control that is implemented after the route is set." When the autonomous driving control is terminated by the autonomous driving ECU 50b, the information linking unit 82 acquires the driving plan before the autonomous driving control is terminated.

[0074] The information linking unit 82 grasps the autonomous driving level of the autonomous driving control implemented after the route is set based on the driving plan during the duration of the autonomous driving control. Specifically, the information linking unit 82 grasps whether or not a handover to the driver is scheduled within a predetermined time or a predetermined distance after the route is set. Furthermore, when there is no plan for a handover to the driver and the driving under the autonomous driving control is continued after the route is set, the information linking unit 82 further grasps whether or not the driver needs to monitor the surroundings, whether or not the driver needs to hold the steering wheel, etc.

[0075] The presentation control unit 88 notifies the state of the autonomous driving control that is implemented after the route is set. The presentation control unit 88 starts notifying the state of the autonomous driving control (hereinafter, continuation possibility notification) before the state of the autonomous driving control is changed by the autonomous driving ECU 50b. The continuation possibility notification may be ended based on the passage of a predetermined time, or may be ended based on the completion of the change in the state of the autonomous driving control. The presentation control unit 88 implements, as the continuation possibility notification, a level 3 continuation notification (see S108 in FIG. 6), a level 3 interruption notification (see S110 in FIG. 6), a driver change notice (see S111 in FIG. 6), and the like.

[0076] The level 3 continuation notification is a notification to inform the driver that autonomous driving control will continue when the autonomous driving ECU 50b continues the autonomous driving control after the route is set. In the level 3 continuation notification, for example, a message such as "Autonomous driving can continue" is displayed on the meter display 21 and the CID 22 together with a message notifying the completion of the route setting. In the level 3 continuation notification, voice guidance does not have to be provided.

[0077] The level 3 interruption notification is a notification to inform the driver of the interruption of the autonomous driving control and the change in the state of the autonomous driving control when the autonomous driving ECU 50b interrupts or cancels the autonomous driving control after the route is set. In the level 3 interruption notification, for example, a message such as "Please hold the steering wheel" or "Please check the surroundings of your vehicle" is displayed on the meter display 21 and the CID 22 together with a message notifying the completion of the route setting. In the level 3 interruption notification, a voice alert may be issued.

[0078] The driver change notice is a notification to notify the driver of the occurrence of a driver change when a driver change is scheduled after the route is set. The driver change notice notifies the driver that the autonomous driving control will not continue and that the control right of the driving operation will be transferred to the driver. Specifically, in the driver change notice, a message such as "Automatic driving will end soon" is displayed on the meter display 21 and the CID 22, etc., and is also played in the vehicle cabin by the audio device 24.

[0079] Next, the notification control process for realizing the continuation / non-continuation notification explained so far will be explained in detail based on Fig. 5 and Fig. 6 and with reference to Fig. 1 to Fig. 3. The notification control process is started by the HCU 100 based on the fact that the information control unit 81 has grasped that the navigation ECU 38 has set a route.

[0080] In S101 of the notification control process, the information linking unit 82 acquires control status information from the autonomous driving ECU 50b, and proceeds to S102. In S102, it is determined whether or not level 3 autonomous driving (autonomous driving control) with no obligation to monitor the surroundings is being performed, based on the control status information acquired in S101.

[0081] If it is determined in S102 that the autonomous driving control is not being performed, the process proceeds to S103. In S103, the presentation control unit 88 notifies the completion of the route setting. Then, the notification control process is terminated. On the other hand, if it is determined in S102 that the autonomous driving control is being performed, the process proceeds to S104.

[0082] In S104, it is determined whether the route setting of the navigation ECU 38 this time is a new route setting. If it is determined in S104 that the route setting is a new route setting, the process proceeds to S105, where the travel plan of the host vehicle Am after the route setting is grasped. If it is determined in S104 that the route setting is not a new route setting but a reroute, the process proceeds to S106, where the travel plan of the host vehicle Am after the reroute is grasped.

[0083] In S107, the driving plan grasped in S105 or S106 is referred to, and it is determined whether or not the level 3 autonomous driving (autonomous driving control) is to be continued after the route is set. If it is determined in S107 that the autonomous driving control is to be continued, the process proceeds to S108. In S108, the presentation control unit 88 performs a level 3 continuation notification, and notifies the driver that the autonomous driving control is to be continued. This ends the notification control process this time.

[0084] On the other hand, if it is determined in S107 that the autonomous driving control will not be continued, the process proceeds to S109. In the process from S109 onwards, a notification is made to inform the driver that the autonomous driving level will be changed. Specifically, in S109, the driving plan grasped in S105 or S106 is referenced to determine whether or not there will be a driver change within a predetermined time after the route is set. If it is determined in S109 that there is no plan for a driver change, the process proceeds to S110. In S110, the presentation control unit 88 issues a level 3 interruption notification, and notifies the driver of the autonomous driving level of the autonomous driving control to be implemented after the route is set. With the above, the notification control process this time is terminated.

[0085] On the other hand, if it is determined in S109 that a driver change is planned, the process proceeds to S111. In S111, the presentation control unit 88 issues a driver change notice and requests the driver to make a driver change after the route is set. Furthermore, the presentation control unit 88 issues a notice for a driver change in accordance with the end of the autonomous driving control in the autonomous driving ECU 50b. With the above, the current notification control process is terminated.

[0086] In the first embodiment described above, when a route to a destination is set for the vehicle Am traveling by autonomous driving control, the state of the autonomous driving control implemented by the autonomous driving system 50 after the route is set, i.e., the autonomous driving level, is notified. Therefore, when the autonomous driving control without the obligation to monitor the surroundings is ended by route setting, the driver can know in advance that the autonomous driving control has ended. Therefore, the convenience of the autonomous driving related to the route setting can be ensured.

[0087] In addition, in the first embodiment, when a new route is set in a host vehicle Am that travels by autonomous driving control in a state where a route to a destination has not been set, the state of the automatic driving control after the route is set is notified. When a new route is set, the automatic driving level is more likely to decrease after the route is set than when the route is reset (rerouted). Therefore, the notification of continuation or non-continuation when a new destination is set from an unset state is particularly effective in allowing the driver to grasp the control status of the automatic driving.

[0088] In the first embodiment, when the autonomous driving control is continued after the route is set, the continuation of the autonomous driving control is notified. In this way, if the continuation of the autonomous driving control is notified, the driver can continue driving by the autonomous driving control with peace of mind even after the route is set. Therefore, the convenience of the autonomous driving can be further ensured.

[0089] Furthermore, in the first embodiment, if the autonomous driving control is not continued after the route is set, a change in the autonomous driving control, i.e., a decrease in the autonomous driving level, is notified. In this way, if the change in the autonomous driving control is notified, the driver can start monitoring the surroundings and gripping the steering wheel with plenty of time. Therefore, the convenience of the autonomous driving is less likely to be impaired even in a scene where the autonomous driving control is interrupted due to the route setting.

[0090] In addition, in the first embodiment, after the route is set, if a schedule for a driver change within a predetermined time or distance is grasped, the driver is notified of the occurrence of the driver change. In this way, if the driver is notified of the occurrence of the driver change, the driver can resume driving operation with plenty of time. Therefore, even if the automatic driving control is terminated due to the route setting, the convenience of the automatic driving is unlikely to be impaired.

[0091] In the first embodiment, if a lane change is scheduled within a predetermined time or distance after the route is set, the driver is notified of the suspension of autonomous driving control. Changing lanes while continuing autonomous driving control may not be permitted by law. Therefore, if the suspension of autonomous driving control is notified based on the understanding of the lane change schedule, the driver can smoothly start surrounding monitoring, etc. before the lane change is started. As a result, even if the autonomous driving control is suspended due to route setting, the convenience of automatic driving is less likely to be impaired.

[0092] Furthermore, in the first embodiment, when the route to the destination set in the navigation ECU 38 is changed, whether or not to permit continuation of autonomous driving control after the route change is determined according to the control mode of the autonomous driving control being performed. Therefore, if the control mode allows continuation of autonomous driving control even after the route is changed, driving can be continued without the driver having to monitor the surroundings. As described above, if continuation of autonomous driving control is permitted even after the route is changed, the convenience of automatic driving related to route setting can be ensured.

[0093] Additionally, in the first embodiment, when the autonomous driving control currently being performed is at congestion level 3, which is performed only when driving in congestion, the autonomous driving control is permitted to continue even after the route is changed. In this way, when driving in congestion, the driving speed of the host vehicle Am, etc. is low, so that the autonomous driving control may be permitted to continue driving. As a result, the period during which the autonomous driving control is available is increased, making it easier to ensure the convenience of automated driving.

[0094] In the first embodiment, when the autonomous driving control being performed is in area level 3, which is limited to the AD area, the continuation of the autonomous driving control after the route is changed is restricted. As described above, when area level 3 is being performed, the traveling speed of the host vehicle Am etc. is likely to increase. Therefore, it is desirable to restrict the continuation of the autonomous driving control when area level 3 is being performed.

[0095] In the first embodiment, the control switching unit 77 corresponds to a "continuation determination unit", the information linking unit 82 corresponds to a "control grasping unit", and the presentation control unit 88 corresponds to an "announcement control unit". Furthermore, the HCU 100 corresponds to a "presentation control device", and the autonomous driving ECU 50b corresponds to an "autonomous driving control device".

[0096] Second Embodiment The second embodiment of the present disclosure is a modified example of the first embodiment. When the route set in the navigation ECU 38 is changed, the autonomous driving ECU 50b according to the second embodiment determines whether or not the autonomous driving control can be continued after the route change, based on whether or not the route change is a system-proposed route change. Details of the continuation determination process according to the second embodiment will be described below based on FIG. 7 and with reference to FIG. 1 to FIG. 3. Note that S21 to S23 and S25 of the continuation determination process are substantially the same as S11 to S13 and S15 (see FIG. 4) of the first embodiment, and therefore description thereof will be omitted.

[0097] In S24, when it is determined in S23 of the continuation determination process that the current route setting is a reroute, the route information grasping unit 74 determines whether the current route change is a route change proposed by the system. If the route change is based on a route newly searched for by the navigation ECU 38 being approved by the driver, it is determined in S24 that the route change is a system proposed route change. In this case, the process proceeds to S26, where continuation of level 3 autonomous driving is permitted, and the current continuation determination process is terminated. If the route change is a system proposed route change and continuation of level 3 autonomous driving is permitted, the presentation control unit 88 may omit the level 3 continuation notification (see S108 in FIG. 6).

[0098] Here, the navigation ECU 38 preferentially searches for a route that does not involve lane changes within a predetermined time or distance from the current position. The navigation ECU 38 may suggest a route change only when a route that does not involve an upcoming lane change is found. In addition, the control switching unit 77 of the HCU 100 may select a route that does not involve an upcoming lane change as a route to be suggested to the driver from among a plurality of candidate routes searched by the navigation ECU 38.

[0099] In addition, the system of the host vehicle Am that proposes a route change is not limited to the navigation ECU 38. For example, a user terminal connected to the in-vehicle network 1 may propose an optimal route, similar to the navigation ECU 38. Furthermore, an energy manager of the host vehicle Am may propose a new route with less energy consumption, taking into account a decrease in the remaining fuel level or the remaining battery level.

[0100] On the other hand, if the route change is due to a change in destination, addition of a waypoint, or change in route search conditions by an occupant (driver, etc.) of the vehicle Am, S24 determines that the route change is not a system-suggested route change but is due to the driver. In this case, the process proceeds to S27, where it is determined to temporarily suspend or cancel level 3 autonomous driving and transition to level 2 hands-on driving assistance control, and the continuation determination process is terminated.

[0101] The second embodiment described so far also has the same effect as the first embodiment, and the convenience of the automatic driving related to route setting can be ensured. Specifically, in the second embodiment, when the route is changed by the input of the driver or other occupant while the host vehicle Am is traveling by the autonomous driving control, the continuation of the autonomous driving control after the route change is restricted. On the other hand, when the route is changed by the system of the host vehicle Am such as the navigation ECU 38, the continuation of the autonomous driving control after the route change is permitted. According to the above, it is possible to avoid a situation in which the driver is suddenly obligated to monitor the surroundings due to the automatic route change by the system. Therefore, the convenience of the automatic driving related to route setting can be ensured.

[0102] In the second embodiment, the navigation ECU 38 corresponds to the "system" of the host vehicle Am.

[0103] Third embodiment The third embodiment of the present disclosure is another modified example of the first embodiment. When the route set in the navigation ECU 38 is changed, the autonomous driving ECU 50b according to the third embodiment determines whether or not the autonomous driving control can be continued after the route change based on whether the route change involves a change of destination. Details of the continuation determination process according to the third embodiment will be described below based on Fig. 8 and with reference to Figs. 1 to 3. Note that S31 to S33 and S35 of the continuation determination process are substantially the same as S11 to S13 and S15 (see Fig. 4) of the first embodiment, and therefore description thereof will be omitted.

[0104] In S33 of the continuation determination process, if it is determined that the current route setting is a reroute, then in S34, the route information understanding unit 74 determines whether or not the destination has been changed in the current route change. If it is determined in S34 that the destination has not been changed, the process proceeds to S36. In this way, if the destination has been maintained and only the route has been changed, then in S36, continuation of level 3 automated driving after the route change is permitted, and the current continuation determination process is terminated.

[0105] On the other hand, if it is determined in S34 that the destination has been changed, the changed destination and the route to this destination are identified, and the process proceeds to S37. In this way, if the route is changed along with the change in destination, the continuation of level 3 autonomous driving after the route change is restricted in S37. Specifically, in S37, it is determined to temporarily suspend or cancel level 3 autonomous driving and to transition to level 2 hands-on driving assistance control, and the current continuation determination process is terminated.

[0106] The third embodiment described so far also has the same effect as the first embodiment, and the convenience of the autonomous driving related to route setting can be ensured. Specifically, in the third embodiment, when the route is changed with a change in destination while the vehicle Am is traveling by the autonomous driving control, the continuation of the autonomous driving control after the route change is restricted. On the other hand, when the route is changed while the destination is maintained, the continuation of the autonomous driving control is permitted even after the route change. As a result of the above, the autonomous driving without the obligation to monitor the surroundings can be used for a long time, and the convenience of the autonomous driving related to route setting can be ensured.

[0107] Fourth embodiment The fourth embodiment of the present disclosure is yet another modified example of the first embodiment. The autonomous driving ECU 50b according to the fourth embodiment determines whether or not the 3D map data used for the autonomous driving control is the latest information. The autonomous driving ECU 50b determines that the 3D map data for which update data exists in a map data distribution server provided on a network, or the 3D map data that has not been updated for a preset period of time, is not the latest information. The autonomous driving ECU 50b avoids driving by the autonomous driving control in an area where the 3D map data stored in the map DB 36 is not the latest information (hereinafter, an unupdated area).

[0108] When a new route is searched for by the navigation ECU 38 during autonomous driving control, the autonomous driving ECU 50b checks whether all 3D map data related to the searched route is the latest information. The autonomous driving ECU 50b checks the update status of the 3D map data regardless of whether a new route is set or a reroute is performed. If at least a part of the searched route passes through an unupdated area, the autonomous driving ECU 50b restricts the continuation of the autonomous driving control. Below, the details of the continuation determination process performed by the autonomous driving ECU 50b of the fourth embodiment, and the notification control process and interruption notice process performed by the HCU 100 will be described based on Figs. 9 to 11 and with reference to Figs. 1 to 3 and 5.

[0109] 9 is started by the autonomous driving ECU 50b, which has recognized that a route search is being performed, when the navigation ECU 38 searches for a route to a destination while the host vehicle Am is traveling under autonomous driving control or driving assistance control. The newly searched route to the destination may be immediately set in the navigation ECU 38, or the setting may be withheld until the end of the continuation determination process.

[0110] In S41 of the continuation determination process, the route information grasping unit 74 acquires route information indicating the latest route searched by the navigation ECU 38. In S42, the control switching unit 77 determines whether or not there is a periphery monitoring obligation in the driving control being executed. If it is determined in S42 that driving assistance control with a periphery monitoring obligation is being executed, the continuation determination process is terminated. On the other hand, if it is determined in S42 that autonomous driving control (level 3 autonomous driving) with a periphery monitoring obligation is being executed, the process proceeds to S43.

[0111] In S43, the route information understanding unit 74 obtains 3D map data related to the newly searched route from the map DB 36 based on the route information obtained in S41. The route information understanding unit 74 verifies whether or not the obtained 3D map data includes 3D map data that needs to be updated to the latest information. If it is determined in S43 that there is no 3D map data that needs to be updated and that the searched route does not pass through an unupdated area, the behavior determination unit 63 permits continuation of level 3 autonomous driving in S47. As a result, autonomous driving control according to the new route information is started. On the other hand, if it is determined in S43 that there is 3D map data that needs to be updated and that the searched route passes through an unupdated area, the process proceeds to S44.

[0112] In S44, the route information ascertaining unit 74, in cooperation with the locator 35, determines whether or not the update of the 3D map data of the unupdated area recognized in S43 can be completed before the host vehicle Am reaches the unupdated area. As an example, the locator 35 calculates the time required to download the 3D map data (hereinafter, the reception time) based on the communication speed of the in-vehicle communication device 39, and creates a download schedule for the 3D map data of the unupdated area. Furthermore, the locator 35 estimates the travel distance of the host vehicle Am until reception is completed based on the reception time and the vehicle speed information of the host vehicle Am. If the travel distance until reception is completed is shorter than the distance from the current position to the unupdated area, the route information ascertaining unit 74 determines that the update of the 3D map data can be completed.

[0113] If it is determined in S44 that the update of the 3D map data can be completed before the host vehicle Am reaches an unupdated area, continuation of level 3 autonomous driving is permitted in S47. If there are multiple unupdated areas on the route, continuation of level 3 autonomous driving is permitted if data reception can be completed for all unupdated areas before the host vehicle Am reaches the unupdated area.

[0114] On the other hand, if it is determined in S44 that the update of the 3D map data cannot be completed by the time the host vehicle Am reaches the unupdated area, in S45, the information linking unit 61 outputs an implementation request for an action proposal notification (FIG. 10, S150) to the HCU 100. The action proposal notification is a notification that suggests to the driver an action to make the download of the 3D map data of the unupdated area in time, in other words, an action to delay the arrival at the unupdated area. For example, the action proposal notification suggests to the driver an action such as slowing down the set vehicle speed of the host vehicle Am in the autonomous driving control or stopping for a predetermined time at a service area or the like just before the unupdated area.

[0115] In S46, the information linking unit 61 judges whether or not the implementation of the action proposed in S45 has been approved by the driver. If it is judged in S46 that the proposal has been approved, it is assumed that the update of the 3D map data can be completed before arriving at the unupdated area, and continuation of level 3 autonomous driving is permitted in S47. On the other hand, if it is judged in S46 that the proposal has not been approved, a temporary interruption or cancellation of level 3 autonomous driving is determined in S48. In this case, after starting to travel along the new route, the driving control state of the host vehicle Am is shifted from autonomous driving control to driving assistance control.

[0116] 10 is started by the HCU 100 that has recognized that a route search is to be performed when the navigation ECU 38 searches for a route to a destination while the host vehicle Am is traveling under the autonomous travel control or the driving assistance control. In the fourth embodiment, the process contents of S101 to S106 (see FIG. 5) are substantially the same as those in the first embodiment.

[0117] In S147 of the notification control process, the information linking unit 82 refers to the driving plan of the autonomous driving control grasped in S106 or S107 (see FIG. 5) and determines whether the newly searched route is a route that passes through an unupdated area. If it is determined in S147 that the newly searched route is not a route that passes through an unupdated area, the presentation control unit 88 performs a level 3 interruption notification or a driver change notice based on S109 to S111.

[0118] On the other hand, if it is determined in S147 that the route passes through an unupdated area, the presentation control unit 88 performs an unupdated area notification in S148. The unupdated area notification is a notification to the driver that an unupdated area exists on the route of the host vehicle Am. In the unupdated area notification, for example, a message such as "Map data needs to be updated" is displayed on the meter display 21 and the HUD 23. In the unupdated area notification, the display color of the route section corresponding to the unupdated area may be highlighted in a different display color from the route sections that are not unupdated areas in the map image displayed on the CID 22. Furthermore, in the unupdated area notification, an inquiry such as "Do you want to update the map data?" may be issued.

[0119] In S149, it is determined whether the autonomous driving control is to be continued. In the continuation determination process, if the update of the 3D map data can be completed before reaching the unupdated area and the continuation of the autonomous driving control is permitted (see S44 and S47 in FIG. 9), it is determined in S149 that the autonomous driving control is to be continued. Then, in S152, the presentation control unit 88 performs a route setting possible notification using the meter display 21 or the HUD 23. The route setting possible notification may be a notification that also serves as a level 3 continuation notification (see S108 in FIG. 6). In the route setting possible notification, the driver is notified that even a route that passes through an unupdated area can be set as a new route without interrupting the autonomous driving control. On the other hand, if it is determined in S149 that the autonomous driving control is not to be continued, the process proceeds to S150.

[0120] In S150, the presentation control unit 88 performs an action suggestion notification based on an implementation request (see S45 in FIG. 9 ) acquired from the autonomous driving ECU 50b. In the action suggestion notification, an action to delay arrival at the unupdated area is presented, for example, on the meter display 21 or the CID 22. The action to be presented may be one or multiple. The driver can cause the autonomous driving ECU 50b to implement the action to delay arrival by a user operation to select a presented action.

[0121] In S151, the information linking unit 82 determines whether the proposal has been approved based on the presence or absence of a user operation to select an action. If the information control unit 81 has determined in S151 that a user operation to select an action has been performed, the information linking unit 82 determines that the action has been approved, and notifies the autonomous driving ECU 50b of the approval of the proposal. This makes it possible to continue autonomous driving control. As a result, in S152, the presentation control unit 88 issues a notification that a route can be set. Furthermore, in S153, an interruption notice process (see FIG. 11) is started.

[0122] The interruption notice process shown in Fig. 11 is a process for notifying the possibility of interruption of autonomous driving control when the distance to an unupdated area is within a predetermined distance but the download of the 3D map data is not completed. In S161 of the interruption notice process, the information control unit 81 or the information linking unit 82 grasps the update state of the 3D map data in the map DB 36 and grasps whether the download and update process is completed. If it is determined in S161 that the update of the 3D map data is completed, the interruption notice process is terminated. On the other hand, if it is determined in S161 that the update of the 3D map data is not completed, the process proceeds to S162.

[0123] In S162, the information control unit 81 determines whether the host vehicle Am has approached an unupdated area. As an example, the information control unit 81 acquires the position information of the host vehicle Am from the locator 35, and determines that the host vehicle Am has approached an unupdated area when the distance from the host vehicle Am to the unupdated area is less than a predetermined distance (e.g., several km). The information control unit 81 may determine that the host vehicle Am has approached an unupdated area when there are only a few minutes left until the estimated arrival time at the unupdated area. If it is determined in S162 that the host vehicle Am has not approached an unupdated area, the process returns to S161. On the other hand, if it is determined in S162 that the host vehicle Am has approached an unupdated area, the process proceeds to S163.

[0124] In S163, the presentation control unit 88 performs an interruption possibility notification. The interruption possibility notification is a notification to inform the driver that the autonomous driving control is scheduled to be interrupted and that the driver will soon be required to monitor the surroundings. In the interruption possibility notification, for example, a message such as "End of autonomous driving is scheduled" is displayed on the meter display 21 and the CID 22. In the interruption possibility notification, a voice alert may also be issued.

[0125] In S164, the presentation control unit 88 performs an action suggestion notification. The action suggestion notification may be started after the interruption possibility notification is finished, or may be performed together with the interruption possibility notification. In the action suggestion notification performed after approaching an unupdated area, an action such as changing the setting to slow down the set vehicle speed or stopping at a service area is suggested to the driver, similar to the action suggestion notification performed before approaching an unupdated area (see FIG. 10, S150).

[0126] In the fourth embodiment described above, when a route passing through an unupdated area that requires updating of the 3D map data is searched for, the presence of the unupdated area is notified. Therefore, the driver can recognize that there is a lack of information necessary to continue the autonomous driving control and that there is a risk of the autonomous driving control being interrupted. As described above, by indicating the possibility of changing the autonomous driving state in advance, the convenience of the autonomous driving related to route setting is easily ensured.

[0127] In addition, in the fourth embodiment, if the update of the 3D map data of the unupdated area can be completed before the host vehicle Am reaches the unupdated area, the presentation control unit 88 notifies the autonomous driving ECU 50b that the searched route can be set. Such route setting possible notification allows the driver to understand that the autonomous driving control can be continued while recognizing the risk of interruption of the autonomous driving control. Therefore, the convenience of the autonomous driving related to route setting can be improved.

[0128] In the fourth embodiment, when the host vehicle Am approaches an unupdated area before the update of the 3D map data of the unupdated area is completed, the possibility of interruption of the autonomous driving control is notified. Therefore, even if the driver is performing, for example, a second task before the autonomous driving control is interrupted, the driver can smoothly resume surrounding monitoring and driving operation.

[0129] Furthermore, in the fourth embodiment, if the update of the 3D map data of the unupdated area cannot be completed by the time the host vehicle Am reaches the unupdated area, an action to delay the arrival at the unupdated area is suggested. Such a suggestion makes it easier for the driver to continuously use the autonomous driving control. In the fourth embodiment, the 3D map data corresponds to the "map data".

[0130] Fifth embodiment The fifth embodiment of the present disclosure is yet another modified example of the first embodiment. In the fifth embodiment, the execution of the continuation determination process (see FIG. 4, etc.) by the autonomous driving ECU 50b is omitted. When a route is set during traveling under autonomous driving control, the autonomous driving ECU 50b in principle permits the continuation of the autonomous driving control, regardless of whether a new route is set and the control mode being performed. In addition, the autonomous driving ECU 50b can perform an automatic lane change (hereinafter, automatic LC) while continuing the autonomous driving control without the obligation to monitor the surroundings.

[0131] When the driver performs a series of user operations (hereinafter, "setting operations") to set a destination in the navigation ECU 38, the HCU 100 grasps the contents of the series of setting operations in the information control unit 81. When a setting operation for setting a new route or a route that will be a reroute is started, the HCU 100 performs a notification (hereinafter, "pre-decision notification", see FIG. 12) to call attention to vehicle control that is scheduled to be started after the completion of the route setting before the route setting is completed. In addition, the HCU 100 performs a notification (hereinafter, "post-decision notification", see FIG. 12) to call attention to vehicle control that is scheduled to be performed after the setting operation is completed. Details of each notification control process for performing the pre-decision notification and the post-decision notification will be further described below based on FIG. 13 and FIG. 14, with reference to FIG. 12, and FIG. 1 to FIG. 3.

[0132] The notification control process for implementing the pre-determination notification shown in FIG. 13 is started by the HCU 100 when the information control unit 81 grasps the start of the setting operation (see point P0 or time t0 in FIG. 12).

[0133] In S501, the information control unit 81 acquires route candidate information indicating a route before confirmation from the navigation ECU 38. The navigation ECU 38 estimates a rough direction (area) of the destination during a period in which destination candidates or route candidates are presented as options, and generates route candidate information to be provided to the information control unit 81. The information control unit 81 may be capable of acquiring one or more pieces of route candidate information from the navigation ECU 38. In addition, the information control unit 81 may be capable of acquiring route candidate information that extracts only a partial section of a route traveled recently from the navigation ECU 38.

[0134] When the information control unit 81 acquires the route candidate information (S501: YES), the information control unit 81 estimates whether or not the vehicle control by the automatic driving ECU 50b will occur after the destination is determined based on the acquired route candidate information in S502. The vehicle control is, for example, a setting change of the automatic LC and the target cruising speed.

[0135] When the information control unit 81 estimates that vehicle control will be performed (S502: YES), the presentation control unit 88 performs a pre-decision notification in S503 (see point P1 or time t1 in FIG. 12). The pre-decision notification is performed before a decision operation for deciding the destination is performed (see point P2 or time t2 in FIG. 12). The presentation control unit 88 grasps the content of the vehicle control estimated by the information control unit 81, and displays the content of the vehicle control that is scheduled to be performed to the driver in the pre-decision notification.

[0136] After the presentation control unit 88 performs the pre-decision notification, the information control unit 81 determines whether or not a decision operation has been input. If the decision operation has not been input (S504: NO), the information control unit 81 continues to acquire route candidate information. As a result, if the driver changes the candidate destination, a pre-decision notification may be performed that assumes a route candidate to the changed destination candidate. On the other hand, if a decision operation has been input, the notification control process is terminated.

[0137] In addition, the determination of whether vehicle control will occur based on the route candidate information may be performed by the behavior determination unit 63 of the autonomous driving ECU 50b. In this embodiment, the behavior determination unit 63 generates a tentative driving plan based on the route candidate information. The tentative driving plan is provided to the HCU 100 through the information linking unit 61. As a result, in the notification control process, as a process equivalent to S501 and S502, the information linking unit 82 performs a process of determining whether vehicle control will occur after the destination is determined based on the tentative driving plan.

[0138] The notification control process for performing the post-determination notification shown in Fig. 14 is started by the HCU 100 based on the fact that the input of the decision operation for deciding the destination is grasped by the information control unit 81 (see point P2 or time t2 in Fig. 12). That is, the notification control process for performing the post-determination notification is started in synchronization with the end of the notification control process for performing the pre-determination notification.

[0139] In S511, the information linking unit 82 acquires a driving plan for the vehicle Am that was generated by the action determination unit 63 after the route was set. In S512, the information linking unit 82 refers to the acquired driving plan and determines whether or not vehicle control is scheduled to be performed while continuing autonomous driving control within a predetermined time (about 30 seconds) or a predetermined distance (about 1 km) after the route is set. If vehicle control is not scheduled to be performed in the near future (S512: NO), the current notification control process is terminated.

[0140] On the other hand, if vehicle control is scheduled to be performed in the near future (S512: YES), the information control unit 81 determines in S513 the type of vehicle control that is scheduled to be performed, such as automatic LC and a change in cruising speed. In addition, if automatic LC is scheduled to be performed, the information control unit 81 further determines the type of automatic LC. Specifically, the information control unit 81 determines whether the lane change is a move to a branch lane or a move to an adjacent lane in preparation for moving to the branch lane. In other words, the information control unit 81 determines whether multiple automatic LCs are scheduled.

[0141] In S514, the presentation control unit 88 determines the mode of post-determination notification according to the type of vehicle control grasped in S513. In addition, when automatic LC is scheduled to be performed, the presentation control unit 88 changes the strength of the post-determination notification according to the type of automatic LC. Based on the determined notification mode, the presentation control unit 88 performs post-determination notification in S515 (see point P3 or time t3 in FIG. 12). The post-determination notification is performed before the timing when vehicle control is started (see point P4 or time t4 in FIG. 12).

[0142] The presentation control unit 88, like the pre-decision notification, notifies the driver of the contents of the vehicle control to be performed in the post-decision notification. In addition, the presentation control unit 88 changes the strength of the post-decision notification according to the type of automatic LC, and in the case of moving to a branch lane, the post-decision notification is stronger than in the case of moving to an adjacent lane. As described above, when an automatic LC to move to a branch lane, in other words, the only or last automatic LC, is scheduled to be performed, a post-decision notification in an emphasized manner is performed. On the other hand, when an automatic LC to move to an adjacent lane in preparation for branching, in other words, an automatic LC that is not the last of multiple automatic LCs, is scheduled to be performed, a post-decision notification in a normal or weakened manner is performed. In addition, when an automatic LC to move to an adjacent lane is scheduled to be performed, the post-decision notification may be omitted.

[0143] The fifth embodiment described so far also has the same effect as the first embodiment, and the convenience of the automatic driving related to route setting can be ensured. Specifically, in the fifth embodiment, when the automatic LC by the autonomous driving control is scheduled within a predetermined time or a predetermined distance after the route is set, the information linking unit 82 grasps the type of the automatic LC. Then, the presentation control unit 88 changes the strength of the post-determination notification indicating the implementation of the automatic LC according to the type of the automatic LC. Therefore, the driver can grasp the type of the automatic LC from the strength of the post-determination notification. As a result, the convenience of the automatic driving related to route setting can be ensured even in a system in which the implementation of the automatic LC is permitted.

[0144] In addition, in the fifth embodiment, it is possible to determine whether the vehicle is moving to a branch lane or to an adjacent lane in preparation for moving to the branch lane. If the vehicle is moving to a branch lane, the post-determination notification is stronger than if the vehicle is moving to an adjacent lane. Therefore, the driver can determine whether the vehicle is moving to a branch lane from the strength of the post-determination notification.

[0145] In the fifth embodiment, when the driver performs a series of setting operations to set a destination, a pre-determination notification is performed before the determination operation to determine the destination is performed. In the pre-determination notification, vehicle control to be performed after the destination is determined is notified. Therefore, even in a scene in which a behavior change of the host vehicle Am occurs immediately after the input of the determination operation, it is possible to alert the driver or other occupants to the occurrence of the behavior change in advance. As a result, the anxiety of the occupants due to the behavior change can be reduced, and the convenience of the automated driving is more easily ensured.

[0146] Sixth Embodiment The sixth embodiment of the present disclosure is a modified example of the fifth embodiment. In the sixth embodiment, similarly to the fifth embodiment, the automatic LC is permitted to be performed by the automatic driving ECU 50b. Hereinafter, the details of the control performed by the automatic driving ECU 50b of the sixth embodiment will be described based on Figs. 15 and 16 with reference to Figs. 1 to 3.

[0147] When continuing autonomous driving control without the obligation to monitor the surroundings after route setting, the autonomous driving ECU 50b suspends the start of vehicle control based on the newly set route for a certain period of time by performing a control standby process (see FIG. 16). The control standby process is started based on the driver performing a series of setting operations (see points P0 to P1 or times t0 to t1 in FIG. 15).

[0148] In S61 of the control standby process, the route information grasping unit 74 acquires the newly set route information and grasps the contents of the changed route set in the navigation ECU 38. In S62, the control switching unit 77 judges whether or not to continue the autonomous driving control of level 3 based on the route grasped in S61. When the control switching unit 77 judges that the autonomous driving control cannot be continued (S62: NO), it ends the autonomous driving control of level 3 in S67. On the other hand, when the autonomous driving control is to be continued (S62: YES), the behavior determination unit 63 changes the setting to prohibit the start of vehicle control in S63. As a result, when the route information grasping unit 74 grasps the change of the route and the control switching unit 77 permits the continuation of the autonomous driving control, the start of the vehicle control based on the changed route is temporarily put into a standby state. For example, vehicle control such as automatic LC, change of cruising speed, overtaking control, and passing control is temporarily put into a standby state.

[0149] In S64, the behavior determination unit 63 determines whether or not a guidance notification has been performed to guide the driver along the newly set route. The HCU 100 performs, for example, route display by the CID 22 as the guidance notification. The behavior determination unit 63 may determine whether or not the guidance notification has been performed based on notification implementation information provided from the HCU 100 to the information linking unit 61, or may determine that the guidance notification has been performed when a certain time has passed since the end of the decision operation.

[0150] When the behavior determination unit 63 determines that the guidance has been issued (S64: YES), it waits for the end of the waiting period (see points P2 to P3 or times t2 to t3 in FIG. 15) in S65. When the vehicle Am has traveled a predetermined time (about 30 seconds) or a predetermined distance (about 1 km) after the guidance has been issued, the behavior determination unit 63 determines that the waiting period has ended. Based on the determination that the waiting period has ended (S65: YES), the behavior determination unit 63 changes the setting to permit the start of vehicle control. As a result, vehicle control based on the changed route is started (see point P3 or time t3 in FIG. 15).

[0151] The sixth embodiment described so far also has the same effect as the fifth embodiment, and even if the autonomous driving control continues after the route setting, the convenience of the automatic driving related to the route setting can be ensured. Specifically, in the sixth embodiment, when a new route setting or a reroute is performed, the start of the vehicle control is waited until the host vehicle Am has traveled for a predetermined time or a predetermined distance after the guidance notification. By setting such a waiting period, it is possible to provide a time margin from the guidance notification to the start of the vehicle control. As a result, the driver is less likely to feel uneasy about the vehicle control performed based on the set route, and the convenience of the automatic driving can be ensured. In the sixth embodiment, the behavior determination unit 63 corresponds to the "driving control unit".

[0152] Seventh embodiment The seventh embodiment of the present disclosure is another modified example of the fifth embodiment. As in the sixth embodiment, the autonomous driving ECU 50b according to the seventh embodiment also starts a control standby process (see FIG. 19) based on a series of setting operations by the driver (see points P0-P1 or times t0-t1 in FIG. 17 and FIG. 18). When autonomous driving control without the obligation to monitor the surroundings is continued after route setting by performing the control standby process, the autonomous driving ECU 50b changes the start timing of vehicle control based on the new set route. Hereinafter, details of the control performed by the autonomous driving ECU 50b according to the seventh embodiment will be described based on FIG. 17-FIG. 19 and with reference to FIG. 1-FIG. 3.

[0153] In S71 of the control standby process shown in Fig. 19, the route information grasping unit 74 starts acquiring newly set route information. In S72, it is determined whether or not the road on which the host vehicle Am is currently traveling has been traveled in the past. The behavior determining unit 63 determines whether or not the road has been traveled on before based on the history information provided by the navigation ECU 38.

[0154] If the vehicle Am is traveling on a road that has been traveled in the past (S72: YES), the processes of S73 to S75 are skipped. On the other hand, if the vehicle Am is traveling on a road that has not been traveled in the past (S72: NO), the behavior determination unit 63 changes the setting to prohibit the start of vehicle control in S73. Furthermore, the behavior determination unit 63 determines whether or not a guidance notification to guide the driver to a new route has been performed by the HCU 100 in S74. If the behavior determination unit 63 determines that a guidance notification has been performed (S74: YES), the behavior determination unit 63 changes the setting to permit the start of vehicle control in S75.

[0155] In S76, the behavior determination unit 63 generates a driving plan based on the acquired route information and determines whether or not it is necessary to implement vehicle control based on the new set route. If vehicle control is not necessary (S76: NO), the current control standby process is ended. If level 3 autonomous driving control is to be ended, the current control standby process is also ended. On the other hand, if vehicle control is necessary (S76: YES), the behavior determination unit 63 starts vehicle control in S77.

[0156] According to the above, when traveling on a road with no driving history, i.e., a road unknown to the driver, the process of S73 to S75 waits for the start of vehicle control based on the changed route until the guidance announcement is completed. As a result, even if route information is acquired before the guidance announcement (see point P2 or time t2 in FIG. 17) is made, the start of vehicle control is put on hold. Then, after the guidance announcement is made, vehicle control is started (see point P3 or time t3 in FIG. 17).

[0157] On the other hand, when the vehicle is traveling on a road with a driving history, i.e., a road that the driver knows, the processes of S73 to S75 are skipped. Therefore, even before the guidance announcement (see point P3 or time t3 in FIG. 18) is performed, if route information is acquired, vehicle control is started (see point P2 or time t2 in FIG. 18).

[0158] The seventh embodiment described so far also achieves the same effects as the fifth and sixth embodiments, and makes it possible to ensure the convenience of automatic driving related to route setting even when autonomous driving control continues after route setting.

[0159] More specifically, route calculation by the navigation ECU 38 requires time for calculation. Also, when high-precision map data needs to be updated, time may be required for downloading. Therefore, when a new route is set or a reroute is performed, a certain amount of time inevitably occurs between the driver's input of a decision operation and the implementation of a guidance announcement.

[0160] Therefore, in the seventh embodiment, when a new route is set or a reroute is performed, vehicle control is started after a guidance notification is given to guide the driver along the newly set route. Therefore, it is possible to avoid a situation in which a sudden change in behavior occurs before the guidance notification is given and the driver is not yet aware of the changed route, causing anxiety to passengers such as the driver. As a result, the convenience of automatic driving is further ensured.

[0161] In addition, in the seventh embodiment, if the vehicle Am is traveling on a road that has been traveled in the past, vehicle control is started even before the guidance notification is performed. Therefore, in a scene in which the vehicle is traveling on a familiar road and the occupants are unlikely to feel anxious, vehicle control can be started at a timing when the vehicle is ready. As described above, if vehicle control is started quickly, the delay in starting control is unlikely to cause discomfort to the driver. As a result, the convenience of automatic driving is further ensured.

[0162] In the seventh embodiment, when the host vehicle Am is traveling on a road that has not been traveled before, vehicle control is initiated after a guidance notification is issued. Therefore, in a scene in which the host vehicle Am is traveling on an unfamiliar road and is likely to feel anxious, control that reduces anxiety is preferentially implemented. As described above, by selectively using both anxiety reduction and rapid control transition, the convenience of automated driving can be further ensured. In the seventh embodiment, the environment recognition unit 62 corresponds to the "history determination unit."

[0163] Eighth embodiment The eighth embodiment of the present disclosure is yet another modified example of the fifth embodiment. In the eighth embodiment, during a period in which the driver performs a series of setting operations to set the destination (see points P0 to P3 or times t0 to t3 in FIG. 20), the navigation ECU 38 predicts a destination to be selected by the driver. The navigation ECU 38 starts calculating a route to the predicted new destination (hereinafter, destination candidate) before a decision operation to decide the destination is input. The navigation ECU 38 provides at least a part of the route to the predicted destination candidate as a tentative route to the autonomous driving ECU 50b. The route information indicating the tentative route is substantially the same as the route candidate information of the fifth embodiment, and includes at least information indicating the direction in which the host vehicle Am is heading.

[0164] The autonomous driving ECU 50b starts the advance control process (see FIG. 21) and the notification control process (see FIG. 22) based on the start of the setting operation by the driver (see point P0 or time t0 in FIG. 20). In the advance control process and the notification control process, vehicle control and notification are performed based on the tentative route.

[0165] The advance control process shown in Fig. 21 enables vehicle control based on a tentative route to be started before the timing at which the final operation is performed (see point P3 or time t3 in Fig. 20). Specifically, in S81 of the advance control process, the route information grasping unit 74 grasps a tentative route based on route information provided by the navigation ECU 38. When it is possible to grasp the tentative route (S81: YES), the behavior determination unit 63 determines in S82 whether vehicle control based on the tentative route is necessary.

[0166] When the behavior determination unit 63 determines that vehicle control is necessary (S82: YES), in S83, it starts vehicle control according to the tentative route. As an example, when a branch point exists within a predetermined distance (e.g., about several kilometers) and a lane change is required before the branch point, the behavior determination unit 63 determines that automatic LC is necessary as vehicle control and performs automatic LC to a lane suitable for heading to the destination candidate. On the other hand, when the tentative route cannot be grasped (S81: NO) or when vehicle control is not necessary in the immediate vicinity (S82: NO), vehicle control is not performed.

[0167] In S84, the information linking unit 61 grasps whether or not the driver has performed a decision operation. Until the input of the decision operation by the driver is grasped, S81 to S83 are repeated to perform vehicle control based on the tentative route in advance of the decision operation. Then, when the input of the decision operation is grasped in S84, the advance control process is terminated.

[0168] The notification control process shown in FIG. 22 enables the implementation of a delay warning notification that warns the driver of a possibility of a delay in arrival at the destination before the timing of the final operation (see point P3 or time t3 in FIG. 20). Specifically, also in S86 of the notification control process, the route information grasping unit 74 grasps a tentative route based on route information provided by the navigation ECU 38. If the tentative route can be grasped (S86: YES), the behavior determination unit 63 determines in S87 whether or not the nearest branch point set in the tentative route is approaching. If a branch point exists within a predetermined time or a predetermined distance (S87: YES), the information linking unit 61 outputs an implementation request to the HCU 100 in S88 to implement a delay warning notification using a display device. The delay warning notification warns a passenger such as a driver that if a new destination and a route to the destination are not determined quickly, the nearest branch point may be passed, causing a significant delay in arrival. On the other hand, if the tentative route cannot be grasped (S86: NO), or if there is no upcoming branch point (S87: NO), a delay warning issuance is not performed.

[0169] In S89, the information linking unit 61 determines whether or not the driver has performed a decision operation. Until the input of the decision operation by the driver is determined, S86 to S88 are repeated to issue a delay warning based on the tentative route prior to the decision operation. Then, when the input of the decision operation is determined in S89, the notification control process is terminated. The notification control process may be performed by the HCU 100 that acquires the tentative route from the navigation ECU 38.

[0170] The eighth embodiment described so far also has the same effect as each of the above embodiments, and the convenience of automatic driving related to route setting can be ensured. Specifically, in the eighth embodiment, when the driver performs a series of setting operations to set a destination, the destination to be set is predicted before the final operation to determine the destination is performed. Then, at least a part of the route to the predicted destination is grasped by the route information grasping unit 74 as a tentative route. Therefore, vehicle control or notification related to the newly set route can be performed early. As a result, it is possible to provide highly convenient automatic driving.

[0171] In addition, in the eighth embodiment, vehicle control based on the tentative route is started before the final operation is performed. Therefore, even when the branch point is approaching, the automatic LC can be performed to move to the branch lane with sufficient time. As a result, the convenience of the automatic driving can be further improved.

[0172] In the eighth embodiment, if the vehicle Am approaches a branch point set in the tentative route before the final operation is performed, a delay warning is issued. Therefore, the driver can recognize that it is better to determine the destination early. In addition, it is possible to avoid a situation in which a reroute occurs due to passing a branch point immediately after inputting a determination operation to determine the destination. As a result, the convenience of the automated driving can be further improved. In the eighth embodiment, the information linking unit 61 corresponds to the "warning implementation unit."

[0173] (Other embodiments) Although several embodiments of the present disclosure have been described above, the present disclosure should not be construed as being limited to the above-described embodiments, and can be applied to various embodiments and combinations within the scope not departing from the gist of the present disclosure.

[0174] The HCU100 of the above embodiment was capable of implementing both the level 3 continuation notification and the level 3 interruption notification regardless of whether a new route was set. In contrast, in the first modified example of the above embodiment, when a new route was set, both the level 3 continuation notification and the level 3 interruption notification were implemented, while in the case of a reroute, only the level 3 interruption notification out of the level 3 continuation notification and the level 3 interruption notification was implemented. In other words, even if a reroute occurs, if the autonomous driving control continues, the level 3 continuation notification is not implemented. According to the first modified example, notifications accompanying route updates are suppressed, so that the annoyance caused by notifications can be reduced.

[0175] In the second modification of the above embodiment, only the level 3 interruption notification is implemented, and the level 3 continuation notification is not implemented. In other words, regardless of whether a new route is set or not, when the autonomous driving control is continued, the continuation possibility notification is not implemented.

[0176] In the third modification of the above embodiment, when a new route setting occurs, the autonomous driving control is at least temporarily suspended regardless of whether a lane change is planned. In the fourth modification of the above embodiment, when a new route setting occurs, the autonomous driving control is permitted to continue. For example, if lane changing without the obligation to monitor the surroundings is legally permitted, the presence or absence of a lane change need not be taken into consideration. Furthermore, in the fifth modification of the first embodiment, even in the case of a new route setting, whether or not the autonomous driving control can be continued is determined according to the control mode of the autonomous driving control being performed, as in the case of a reroute setting.

[0177] The manner of the continuation / non-continuation notification in the above embodiment may be changed as appropriate. As an example, the presentation control unit 88 may use the HUD 23 for at least one of the level 3 continuation notification and the level 3 interruption notification. Furthermore, when the autonomous driving control is interrupted due to route setting, details of the interruption reason may be displayed on the CID 22. Furthermore, the display color, display size, display brightness, and the presence or absence of animation and blinking of the content used for the continuation / non-continuation notification may be changed as appropriate. Furthermore, when encouraging the driver to take action, a voice message may be played as appropriate.

[0178] In the sixth modification of the above embodiment, each function of the driving assistance ECU 50a and the automatic driving ECU 50b is provided by one automatic driving ECU. That is, the automatic driving ECU 50b of the sixth modification is implemented with the function of the driving assistance ECU 50a. In the sixth modification, the integrated automatic driving ECU corresponds to the "automatic driving control device." Furthermore, the integrated automatic driving ECU may further be implemented with the function of the HCU 100. In this embodiment, the automatic driving ECU corresponds to the "presentation control device." Furthermore, at least a part of the function of the navigation ECU 38 may be implemented in the automatic driving ECU.

[0179] Furthermore, in a form in which the autonomous driving control and presentation control according to the present disclosure are implemented by cooperation between the autonomous driving ECU 50b and the HCU 100, a system including these corresponds to an "autonomous driving control device" and a "presentation control device." Also, a system including at least one of the autonomous driving ECU 50b and the HCU 100 and the navigation ECU 38 may correspond to an "autonomous driving control device" and a "presentation control device."

[0180] In the seventh and eighth modified examples of the fourth embodiment, when a new route passes through an unupdated area, the determination of whether or not the update of the three-dimensional map data can be completed is omitted. In the seventh modified example, when the route passes through an unupdated area, the autonomous driving control is terminated after the unupdated area notification is performed. In the eighth modified example, the autonomous driving control continues even after the unupdated area notification is performed, and if the update is not completed at the time of approaching the unupdated area, the autonomous driving control is terminated. Furthermore, in the seventh and eighth modified examples, the notification of action suggestions may not be performed.

[0181] In the ninth modified example of the sixth embodiment, a waiting period is set only when a reroute is performed, and no waiting period is set when a new route is set. In the tenth modified example of the seventh embodiment, vehicle control is started after completion of the guidance announcement, regardless of whether or not there is a driving history. On the other hand, in the eleventh modified example of the seventh embodiment, vehicle control is permitted to be started before the guidance announcement, regardless of whether or not there is a driving history. Furthermore, in the fifth to eighth embodiments, at least a part of the series of setting operations including the decision operation may be performed by voice input.

[0182] In the above embodiments, the functions provided by the driving assistance ECU, the autonomous driving ECU, and the HCU can be provided by software and hardware that executes the software, software alone, hardware alone, or a combination of these. Furthermore, when such functions are provided by electronic circuits as hardware, each function can also be provided by a digital circuit including a large number of logic circuits, or an analog circuit.

[0183] Each processing unit in the above embodiment is hardware for arithmetic processing coupled with a RAM. The processing unit includes at least one arithmetic core such as a central processing unit (CPU) and a graphics processing unit (GPU). The processing unit may further include a field-programmable gate array (FPGA), a neural network processing unit (NPU), and an IP core having other dedicated functions. Such a processing unit may be individually mounted on a printed circuit board, or may be mounted on an application specific integrated circuit (ASIC) and an FPGA.

[0184] The form of the storage medium (non-transitory tangible storage medium) that stores various programs and the like may also be changed as appropriate. Such a storage medium is not limited to a configuration provided on a circuit board, but may be provided in the form of a memory card or the like, inserted into a slot portion, and electrically connected to a control circuit such as an autonomous driving ECU or HCU. Furthermore, the storage medium may be an optical disk or a hard disk drive that is the source from which the program is copied to the autonomous driving ECU or HCU.

[0185] The vehicle equipped with the above-mentioned automatic driving system and HMI system is not limited to a general private passenger car, but may be a rental car vehicle, a manned taxi vehicle, a ride-sharing vehicle, a freight vehicle, a bus, etc. In addition, the vehicle equipped with the automatic driving system and HMI system may be a right-hand drive vehicle or a left-hand drive vehicle. Furthermore, the traffic environment in which the vehicle runs may be a traffic environment based on left-hand traffic or a traffic environment based on right-hand traffic. The information presentation control and automatic driving control according to the present disclosure may be appropriately optimized according to the road traffic laws of each country and region, and further the steering wheel position of the vehicle, etc.

[0186] The control unit and the method described herein may be implemented by a special-purpose computer having a processor programmed to execute one or more functions embodied in a computer program. Alternatively, the device and the method described herein may be implemented by a special-purpose hardware logic circuit. Alternatively, the device and the method described herein may be implemented by one or more special-purpose computers configured by a combination of a processor that executes a computer program and one or more hardware logic circuits. The computer program may also be stored in a computer-readable non-transitory tangible recording medium as instructions to be executed by the computer. [Explanation of symbols]

[0187] Am: vehicle; 11, 51: processing unit; 38: navigation ECU (system); 50b: autonomous driving ECU (autonomous driving control device); 61: information linking unit (warning implementation unit); 62: environment recognition unit (history determination unit); 63: action determination unit (driving control unit); 74: route information grasping unit; 77: control switching unit (continuation determination unit); 82: information linking unit (control grasping unit); 88: presentation control unit (notification control unit, warning implementation unit); 100: HCU (presentation control device)

Claims

1. A presentation control device that controls the presentation of information related to an automatic driving function that allows a vehicle (Am) to travel by autonomous driving control without a driver having to monitor the surroundings, A control grasping unit (82) that grasps a state of the automatic driving control implemented by the automatic driving function after a route to a destination is set while the automatic driving function is driving the vehicle by the autonomous driving control; A notification control unit (88) that notifies the state of the automatic driving control after the route is set; A presentation control device comprising:

2. The presentation control device according to claim 1, wherein the notification control unit notifies the state of the autonomous driving control after the route is set when the route is newly set for the vehicle traveling by the autonomous driving control in a state in which the route has not yet been set.

3. The presentation control device according to claim 1 , wherein the notification control unit notifies the user that the autonomous driving control will continue when the autonomous driving function continues the autonomous driving control after the route is set.

4. The presentation control device according to any one of claims 1 to 3, wherein the notification control unit notifies of a change in the state of the autonomous driving control when the autonomous driving function no longer continues the autonomous driving control after the route is set.

5. The control understanding unit understands a schedule for a driving change within a predetermined time or a predetermined distance after the route is set, The presentation control device according to claim 1 , wherein the notification control unit notifies the driver of the occurrence of the driver change when the driver change schedule is grasped.

6. The presentation control device according to any one of claims 1 to 5, wherein the notification control unit warns of an interruption of the autonomous driving control when a lane change of the vehicle is scheduled within a predetermined time or distance after the route is set.

7. The control grasping unit grasps a type of lane change when a lane change by the autonomous driving control is scheduled within a predetermined time or a predetermined distance after the route is set, The presentation control device according to claim 1 , wherein the notification control unit changes intensity of the notification indicating that the lane change is to be performed, depending on a type of the lane change.

8. The control grasping unit grasps, as a type of the lane change, whether the lane change is a movement to a branch lane or a movement to an adjacent lane in preparation for moving to the branch lane, The presentation control device according to claim 7 , wherein the notification control unit increases the intensity of the notification indicating that the lane change is to be performed in a case where the lane change is to the branch lane, compared to a case where the lane change is to the adjacent lane.

9. The presentation control device according to any one of claims 1 to 8, wherein the notification control unit notifies the driver of vehicle control that is scheduled to be performed by the autonomous driving function after the destination is determined, before the driver performs a series of setting operations to set the destination, before the decision operation to determine the destination is performed.

10. A presentation control program that controls the presentation of information related to an automatic driving function that allows a vehicle (Am) to travel by autonomous driving control without a driver having to monitor the surroundings, When the automatic driving function is driving the vehicle by the autonomous driving control and a route to a destination is set for the vehicle, the automatic driving function grasps a state of the automatic driving control performed by the automatic driving function after the route is set (S105, S106); notifying the state of the automatic driving control after the route is set (S108, S110, S111, S152); A presentation control program that causes at least one processing unit (11) to execute a process including the steps of:

11. An automatic driving control device capable of driving a vehicle (Am) by autonomous driving control without a driver having to monitor the surroundings, A route information grasping unit (74) that grasps changes in a route to a destination set in the vehicle; A continuation determination unit (77) that determines whether or not to permit continuation of the autonomous driving control after the route is changed according to a control mode of the autonomous driving control being performed; An automatic driving control device equipped with the above.

12. The automatic driving control device according to claim 11, wherein the continuation determination unit permits continuation of the autonomous driving control even after the route is changed when the control mode of the autonomous driving control currently being implemented is congestion limited control that is implemented only when driving in congestion.

13. The autonomous driving control device according to claim 11 or 12, wherein the continuation determination unit limits the continuation of the autonomous driving control after the route is changed when a control mode of the autonomous driving control currently being implemented is area-limited control that is implemented within a specific area.

14. The automatic driving control device according to any one of claims 11 to 13, further comprising a driving control unit (63) that, when a change in the route is grasped by the route information grasping unit, waits to start vehicle control based on the changed route until the vehicle has traveled a predetermined time or a predetermined distance after a guidance announcement that guides the driver along the changed route.

15. The autonomous driving control device according to claim 14, wherein when the route information grasping unit grasps a change in the route and the continuation determination unit permits continuation of the autonomous driving control, the driving control unit waits to start vehicle control based on the changed route until the vehicle has traveled a predetermined time or a predetermined distance after the guidance announcement.

16. The automatic driving control device according to any one of claims 11 to 13, further comprising a driving control unit (63) that, when the route information grasping unit grasps a change in the route, starts vehicle control based on the changed route after a guidance notification is issued to guide the driver along the changed route.

17. The automatic driving control device according to any one of claims 11 to 13, further comprising a driving control unit (63) that starts vehicle control based on the changed route when the route information grasping unit grasps a change in the route before a guidance notification is issued to guide the driver along the changed route.

18. a travel control unit (63) that performs vehicle control based on the changed route when the route information grasping unit grasps the change of the route; a history determination unit (62) that determines whether or not the road on which the vehicle is traveling has a history of having been traveled in the past; The traveling control unit is When the vehicle is traveling on a road on which the vehicle has traveled in the past, before a guidance notification is given to guide the driver along the changed route, the vehicle control based on the changed route is started; When the vehicle is traveling on a road that has not been traveled in the past, the vehicle control based on the changed route is started after the guidance notification is performed. The automatic driving control device according to any one of claims 11 to 13.

19. The route information grasping unit grasps at least a part of the route to the destination that is predicted to be set as a tentative route before the driver performs a series of setting operations to set the destination, before the driver performs a decision operation to determine the destination. The automatic driving control device according to any one of claims 11 to 13.

20. The automatic driving control device according to claim 19, further comprising a driving control unit (63) that starts vehicle control based on the tentative route grasped by the route information grasping unit before the decision operation is performed.

21. The automatic driving control device according to claim 19 or 20, further comprising a warning implementation unit (61) that warns the driver of a possibility of a delay in arrival at the destination when the vehicle approaches a branch point set on the tentative route before the decision operation is performed.

22. An automatic driving control program capable of driving a vehicle (Am) by autonomous driving control without a driver having to monitor the surroundings, A change in the route to the destination set in the vehicle is detected (S11). determining whether to permit continuation of the autonomous driving control after the route is changed according to a control mode of the autonomous driving control being performed (S14); An automatic driving control program that causes at least one processing unit (51) to execute a process including the steps of:

23. An automatic driving control device capable of driving a vehicle (Am) by autonomous driving control without a driver having to monitor the surroundings, A route information grasping unit (74) that grasps changes in a route to a destination set in the vehicle; and a continuation determination unit (77) that, when the route is changed while the vehicle is traveling by the autonomous traveling control, determines whether or not to permit continuation of the autonomous traveling control after the route is changed, The route information grasping unit further grasps whether the change in the route is a change by a system (38) of the host vehicle or a change by an input of an occupant of the host vehicle, The continuation determination unit is an automatic driving control device that, when the route is changed by the system, allows the autonomous driving control to continue even after the route is changed, and, when the route is changed by input from the occupant, restricts the continuation of the autonomous driving control after the route is changed.

24. An automatic driving control program capable of driving a vehicle (Am) by autonomous driving control without a driver having to monitor the surroundings, A change in a route to the destination set in the vehicle is grasped, and further whether the change in the route is a change made by a system (38) of the vehicle or a change made by an input of an occupant of the vehicle is grasped (S21, S23, S24). When the route is changed while the vehicle is traveling by the autonomous driving control, it is determined whether or not to permit continuation of the autonomous driving control after the route is changed, when the route is changed by the system, the continuation of the autonomous driving control is permitted even after the route is changed, and when the route is changed by an input from the occupant, the continuation of the autonomous driving control is restricted after the route is changed (S26, S27). An automatic driving control program that causes at least one processing unit (51) to execute a process including the steps of:

25. An automatic driving control device capable of driving a vehicle (Am) by autonomous driving control without a driver having to monitor the surroundings, a route information grasping unit (74) that grasps a change in a route to a destination set in the vehicle and further grasps whether or not the change in the route is accompanied by a change in the destination; and a continuation determination unit (77) that, when the route is changed while the vehicle is traveling by the autonomous traveling control, determines whether or not to permit continuation of the autonomous traveling control after the route is changed, The continuation determination unit is an automatic driving control device that allows the continuation of the autonomous driving control even after the route is changed when the route is changed while the destination is maintained, and restricts the continuation of the autonomous driving control after the route is changed when the route is changed accompanied by a change in the destination.

26. An automatic driving control program capable of driving a vehicle (Am) by autonomous driving control without a driver having to monitor the surroundings, A change in a route to a destination set in the vehicle is grasped, and it is further grasped whether or not the change in the route is accompanied by a change in the destination (S31, S33, S34). When the route is changed while the vehicle is traveling by the autonomous driving control, it is determined whether or not to permit continuation of the autonomous driving control after the route is changed, when the route is changed while the destination is maintained, the autonomous driving control is permitted to continue even after the route is changed, and when the route is changed accompanied by a change in the destination, the continuation of the autonomous driving control after the route is changed is restricted (S36, S37). An automatic driving control program that causes at least one processing unit (51) to execute a process including the steps of:

27. A presentation control device that controls the presentation of information related to an automatic driving function that allows a vehicle (Am) to travel by autonomous driving control without a driver having to monitor the surroundings, a control understanding unit (82) that, when a route to a destination is searched for while the automatic driving function is driving the vehicle by the autonomous driving control using map data, determines whether or not the route passes through an unupdated area that requires updating of the map data; a notification control unit (88) that notifies the user of the existence of the unupdated area when the route passes through the unupdated area; A presentation control device comprising:

28. The presentation control device according to claim 27, wherein the notification control unit notifies that the searched route can be set in the autonomous driving function if updating of the map data in the unupdated area can be completed by the time the vehicle reaches the unupdated area.

29. The presentation control device according to claim 28, wherein the notification control unit notifies the user of the possibility that the autonomous driving control will be interrupted when the vehicle approaches an unupdated area before updating of the map data for the unupdated area is completed.

30. The presentation control device according to any one of claims 27 to 29, wherein the notification control unit suggests an action to delay arrival at the unupdated area if the update of the map data in the unupdated area cannot be completed by the time the vehicle reaches the unupdated area.

31. A presentation control program that controls the presentation of information related to an automatic driving function that allows a vehicle (Am) to travel by autonomous driving control without a driver having to monitor the surroundings, When the automatic driving function is driving the vehicle by the autonomous driving control using map data and a route to the destination is searched for, it is determined whether or not the route passes through an unupdated area that requires updating of the map data (S147); When the route passes through the unupdated area, the presence of the unupdated area is notified (S148). A presentation control program that causes at least one processing unit (11) to execute a process including the steps of:

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