Automatic driving control device, automatic driving control method and automatic driving control program

Abstract

To provide a driving control device, etc. which can quicken arrival at a destination by effectively utilizing time required for input of the destination.SOLUTION: An automatic driving control device sets a preliminary destination until a true destination of a mobile object which can be automatically driven is set and starts automatic driving of the mobile object toward the preliminary destination before the true destination is set. The automatic driving control device sets the preliminary destination when the preliminary destination is selected by a user before starting an operation of the automatic driving control device.SELECTED DRAWING: Figure 9

Description

[Technical Field]

[0001] The present application relates to the technical field of automatic driving control devices for mobile objects and the like. [Background technology]

[0002] Development is underway regarding technologies for automatic driving control that enable autonomous driving of a moving body such as an automobile without the driver having to operate the moving body. For example, Patent Document 1 discloses a technology in which, when a card-type personal computer (PC) with a destination stored in advance is inserted into a computer mounted on a vehicle capable of automatic driving control, the computer sets a driving route to the destination and automatically drives the vehicle to the destination. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 11-282530 Summary of the Invention [Problem to be solved by the invention]

[0004] However, with the technology described in Patent Document 1, automatic driving does not begin until the card-type PC is inserted into the computer (i.e., until the destination input is complete), which means that arrival at the destination is delayed accordingly.

[0005] In view of these circumstances, one example of the problem that the present invention aims to solve is to provide an automatic driving control device or the like that can speed up arrival at a destination by effectively utilizing the time required to input a destination. [Means for solving the problem]

[0006] The invention described in claim 1 is an automatic driving control device comprising: a temporary destination setting means for setting a temporary destination, which is a temporary destination until a true destination, which is the true destination of an automatically driven mobile body, is set; and an automatic driving control means for starting automatic driving of the mobile body toward the temporary destination before the true destination is set, wherein the temporary destination setting means sets the point set by the user before the automatic driving control device starts operating as the temporary destination when the user selects before the automatic driving control device starts operating to set the point set by the user before the automatic driving control device starts operating as the temporary destination.

[0007] The invention described in claim 6 is an automatic driving control method using an automatic driving control device, which includes a temporary destination setting process for setting a temporary destination that is a temporary destination until a true destination that is the true destination of an automatically driveable mobile body is set, and an automatic driving control process for starting automatic driving of the mobile body toward the temporary destination before the true destination is set, wherein in the temporary destination setting process, if the user selects before the automatic driving control device starts operating to set a point that was set by the user before the automatic driving control device starts operating as the temporary destination, the point that was set by the user before the automatic driving control device starts operating is set as the temporary destination.

[0008] The invention described in claim 7 is an automatic driving control program that causes a computer to function as a temporary destination setting means that sets a temporary destination, which is a temporary destination until a true destination, which is the true destination of an automatically driven mobile body, is set, and an automatic driving control means that starts automatic driving of the mobile body toward the temporary destination before the true destination is set, wherein the temporary destination setting means sets the point set by the user before the automatic driving control device starts operating as the temporary destination when the user selects before the automatic driving control device starts operating to use the point set by the user as the temporary destination before the automatic driving control device starts operating. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a block diagram showing a configuration example of an automatic driving control device 1. FIG. [Figure 2] FIG. 2 is a block diagram showing a configuration example of an automatic driving control device 200. [Figure 3] 5 is a diagram showing an example of a temporary destination selection screen 510. [Figure 4] 10A is an example showing a screen example of a temporary direction selection screen 520, and FIG. 10B is an example showing a screen example of a temporary direction selection screen 530. FIG. [Figure 5] FIG. 10 is a conceptual diagram for explaining a temporary destination change function. [Figure 6] FIG. 10 is a conceptual diagram for explaining a temporary destination change function. [Figure 7] FIG. 4 is a conceptual diagram for explaining a first input standby control. [Figure 8] FIG. 10 is a conceptual diagram for explaining a second input standby control. [Figure 9] 4 is a flowchart showing an example of an automatic driving control process performed by the automatic driving control device 200. [Figure 10] 4 is a flowchart showing an example of a temporary destination setting process performed by the automatic driving control device 200. [Figure 11] 4 is a flowchart showing an example of input standby processing by the automatic driving control device 200. DETAILED DESCRIPTION OF THE INVENTION

[0010] An embodiment of the present invention will be described with reference to FIG.

[0011] As shown in FIG. 1, the automatic driving control device 1 includes a temporary destination setting means 1A and an automatic driving control means 1B.

[0012] The temporary destination setting means 1A sets a temporary destination that is a temporary destination until a true destination that is a true destination of an automatically drivable mobile body is set. The mobile body is, for example, a car, a motorcycle, a bicycle, an airplane, etc.

[0013] The automatic driving control means 1B starts automatic driving of the moving body toward the temporary destination before the true destination is set. The start of automatic driving includes (1) switching from a stopped state to a moving state by automatic driving, and (2) switching from a moving state by manual driving to a moving state by automatic driving.

[0014] According to the automatic driving control device 1, a temporary destination is set until the true destination of the moving body is set, and automatic driving of the moving body toward the temporary destination is started before the true destination is set, so that the time required to input the true destination can be effectively utilized to move, and arrival at the destination can be accelerated. [Example]

[0015] Next, specific examples corresponding to the above-described embodiments will be described. The examples described below are examples in which the present invention is applied to an automatic driving control device mounted on a vehicle. The automatic driving control device can select two modes: an automatic driving mode and a manual driving mode, and in the automatic driving mode, it performs control to realize automatic driving of the vehicle. Furthermore, the present invention requires at least an automatic driving function, and the automatic driving control device of the present invention may be provided in a fully automatic driving vehicle.

[0016] [1. Configuration of the automatic driving control device] First, the configuration of an automatic driving control device 200 according to this embodiment will be described with reference to Fig. 2. As shown in Fig. 2, the automatic driving control device 200 is configured to include a control unit 211, a storage device 212 including a non-volatile memory, an HDD, etc., an input device 213 including a keyboard or remote controller, a touch panel, etc., a display unit 214, a bus line 215, an input / output interface unit 220, a vehicle speed sensor 221, an angular velocity sensor 222, an acceleration sensor 223, a steering angle sensor 224, a GPS receiving unit 225, a data transmitting / receiving unit 226, a wireless communication unit 227, and an automatic driving execution unit 228.

[0017] The vehicle speed sensor 221 detects the current speed of the vehicle using a speed detection process using, for example, a vehicle speed pulse acquired from the vehicle equipped with the automatic driving control device 200, and outputs speed data. The angular velocity sensor 222 detects, for example, the angular velocity of the vehicle, which is a change in direction, and outputs angular velocity data and relative direction data per unit time. The acceleration sensor 223 detects, for example, the acceleration of the vehicle in the longitudinal direction, and outputs acceleration data per unit time. The steering angle sensor 224 detects the steering angle of the vehicle and outputs steering angle data, etc. The GPS receiver 225 receives navigation radio waves from GPS satellites and outputs GPS positioning data, such as latitude, longitude, and altitude data, which are vehicle position information (current position information), absolute direction data of the vehicle's traveling direction, and GPS speed data. The data transmitter / receiver 226 performs processing related to data transmission and reception with a server device via a network. The wireless communication unit 227 performs processing related to wireless road-to-vehicle communication and vehicle-to-vehicle communication.

[0018] When the autonomous driving mode is selected, the autonomous driving execution unit 228 controls the speed and steering of the vehicle under the control of the control unit 211. For example, the autonomous driving execution unit 228 controls the speed of the host vehicle by adjusting the amount of fuel injected, reduces the speed of the host vehicle by applying the brakes, and adjusts the traveling direction of the host vehicle by adjusting the steering angle of the steering wheel.

[0019] The storage device 212 stores various programs such as an operating system and an automatic driving control program. Note that the various programs may be acquired, for example, from a server device or the like via a network, or may be read and executed from a recording medium such as a CD, DVD, or USB memory.

[0020] The storage device 212 also stores map image data for displaying a map on the display unit 214, map information used when searching for a route, road link information, and the like.

[0021] The input device 213 is configured with a touch panel, a keyboard, a mouse, other controllers, etc., and receives input operations from the user and transmits operation signals indicating the operation contents to the control unit 211.

[0022] The display unit 214 displays various display data under the control of the control unit 211. The display unit 214 includes a graphics controller 214a and memory such as a VRAM (Video RAM). The display unit 214 is configured to include a buffer memory 214b consisting of a memory, and a display 214c consisting of a liquid crystal display or the like. In this configuration, the graphics controller 214a controls the entire display unit 214 based on control data sent from the control unit 211 via a bus line 215. The buffer memory 214b also temporarily stores image information that can be displayed immediately. Images are then displayed on the display 214c based on the image data output from the graphics controller 214a.

[0023] The control unit 211 is composed of a CPU 211a that controls the entire control unit 211, a ROM 211b in which control programs and the like that control the control unit 211 are pre-stored, and a RAM 211c that temporarily stores various data. The control unit 211 is connected to a vehicle speed sensor 221, an angular velocity sensor 222, an acceleration sensor 223, a steering angle sensor 224, and a GPS receiving unit 225 via a bus line 215 and an input / output interface unit 220, and controls the entire automatic driving control device 200 and the respective operations of various components such as a display unit 214 based on the speed data, angular velocity data, relative direction data, steering angle data, GPS positioning data, absolute direction data of the vehicle's traveling direction, acceleration data, and the like output from each of these sensors.

[0024] [2. Functions of the automatic driving control device 200] Next, we will explain the functions of the automatic driving control device 200. Note that the true destination originally intended by the passenger of the vehicle C in which the automatic driving control device 200 is installed is called the "true destination," and a destination that is temporarily set until the user of the automatic driving control device 200 (for example, the passenger in the vehicle) sets the true destination is called the "tentative destination."

[0025] [2.1. Temporary destination setting function] The control unit 211 sets a provisional destination when the autonomous driving mode is selected or when the autonomous driving control device 200 is activated with the autonomous driving mode selected and a true destination has not been set. The true destination may be set manually by the user, or a true destination estimation unit (not shown) may estimate the true destination based on the user's past travel history information. The state of the vehicle C when the control unit 211 sets the provisional destination may be either stopped or moving. After setting the provisional destination, the control unit 211 searches for a route to the provisional destination and starts autonomous driving of the vehicle C toward the provisional destination before the true destination is set. That is, if the vehicle C is stopped, the control unit 211 starts autonomous driving, and if the autonomous driving mode is selected while the vehicle C is traveling in manual driving mode, the control unit 211 switches from autonomous driving toward the provisional destination to autonomous driving toward the true destination based on the setting of a true destination during autonomous driving.

[0026] Next, a method for setting a temporary destination will be described. The control unit 211 can set a temporary destination in any of the following ways. (1) A location preset by the user (2) A point where the current location of vehicle C connects to a road of a predetermined rank or higher. (3) Locations based on user movement history information (4) A location selected by the user

[0027] As in (1), when the user has set a point to be used as a temporary destination in advance, the control unit 211 sets the point as the temporary destination.

[0028] In the case of (2), the storage device 212 stores rank information indicating a rank for each road link created by dividing a road into multiple parts. For example, rank information such as rank 1 for expressways, rank 2 for national highways, rank 3 for prefectural roads, rank 4 for municipal roads, and rank 5 for other roads may be associated with the roads, or rank information may be set according to the number of lanes or road width. Then, for example, when vehicle C is present on a road in a residential area (road of rank 5) or in a parking lot adjacent to such a road, the control unit 211 may set the nearest point connecting to a main road (road of rank 2) as the provisional destination.

[0029] In the case of (3), the storage device 212 stores travel history information indicating the past travel history of each user (e.g., father, mother, child). Note that this user may or may not be a driver. Travel history information may also be stored for each combination of users (e.g., a combination of father and mother, a combination of mother and child, etc.).

[0030] Then, based on the movement history information, the control unit 211 sets, as a provisional destination, a point that is within a predetermined range (for example, within a radius of 500 m) from the current position of the vehicle C and that the user has previously visited or passed through. This predetermined range may be set by the user or by the manufacturer of the automatic driving control device 200.

[0031] Furthermore, the control unit 211 may set, as a provisional destination, a point that is within a predetermined range (for example, within 500 m) from the current location of the vehicle C and that the user has visited most frequently in the past or passed through most frequently, based on the movement history information. Furthermore, the control unit 211 may set, as a provisional destination, a point that is estimated to be a point that the user may visit based on the movement history information.

[0032] Furthermore, the control unit 211 may set, as the provisional destination, the point that the user has passed through the most times among multiple points that the vehicle C has passed through when moving from its current position. In this case, the "point" among the multiple points that the vehicle C has passed through when moving from its current position may be, for example, the nearest branch point in each of the directions in which the vehicle C can move based on the current position. Specifically, if the current position of the vehicle C is a parking lot adjacent to a road that runs north and south, and the vehicle C has passed both a branch point when heading north on the road and a branch point when heading south on the road, the control unit 211 may set, as the provisional destination, the branch point that the user has passed through the most times.

[0033] In this way, by setting a temporary destination based on the user's travel history information, it is possible to set a temporary destination that is suited to the user's behavioral characteristics. Note that travel history information when the user travels using another vehicle (such as a rental car) may be obtained from an external server device that stores the travel history or from the user's portable terminal.

[0034] In the case of (3), the control unit 211 may set a temporary destination taking into consideration the weather, temperature, day of the week, time of day, etc. at the time of travel. Specifically, the travel history information stored in the storage device 212 includes past environment information, which is information about points that the user has visited or passed through in the past, and at least one of the weather, temperature, day of the week, and time of day at those times. In addition, the control unit 211 acquires current environment information, which is information about at least one of the current weather, temperature, day of the week, and time of day. Then, the control unit 211 sets a temporary destination based on at least one of the current environment information and the past environment information.

[0035] For example, if the storage device 212 stores travel history information including past environment information indicating that the weather when point A was visited was sunny, the temperature was between 25 and 30 degrees, the day of the week was Sunday, and the time period was between 2:00 PM and 4:00 PM, and the control unit 211 acquires current environment information indicating that the current weather is sunny, the current temperature is between 25 and 30 degrees, the current day of the week is Sunday, and the current time period is between 2:00 PM and 4:00 PM, then point A will be set as the provisional destination. Furthermore, since the environment information is information regarding at least any of the weather, temperature, day of the week, and time period, for example, if the storage device 212 stores travel history information including past environment information indicating that the day of the week when point B was visited was Monday, and the time period was between 7:00 AM and 9:00 AM, then the control unit 211 may set point B as the provisional destination when it acquires current environment information indicating that the current day of the week is Monday, and the current time period is between 7:00 AM and 9:00 AM.

[0036] In the case of (3), a temporary destination can be set that reflects the user's behavioral characteristics according to at least one of the weather, temperature, day of the week, and time of day.

[0037] In the case of (4), for example, as shown in FIG. 3, a temporary destination selection screen 510 may be displayed on the display 214c, which presents temporary destination candidates to the user and allows the user to select one. When button 511 is touched, the control unit 211 sets Koganei Park as the temporary destination, and when button 512 is touched, the control unit 211 sets Inokashira Park as the temporary destination. When button 513 is touched, the control unit 211 displays other temporary destination candidates. Note that the temporary destination candidates displayed on the temporary destination selection screen 510 may be the points shown in (1) to (3) above.

[0038] It is preferable that the user can select which of the above setting methods (1) to (4) to use to set the temporary destination. In this embodiment, the setting method (1) is associated with option 1, the setting method (2) with option 2, the setting method (3) with option 3, and the setting method (4) with option 4, allowing the user to select an option. The storage device 212 stores temporary destination option information indicating the option selected by the user.

[0039] [2.2. Temporary direction setting function] Instead of setting a temporary destination in [2.1. Temporary Destination Setting Function], the control unit 211 may temporarily set a direction in which the vehicle C will move from its current location and that is specified by the user (referred to as a "temporary direction") until the real destination is set. For example, as shown in FIG. 4(A), a map showing the current location of the vehicle C and a temporary direction selection screen 520 that allows the user to select a temporary direction may be displayed on the display 214c, and the user may input the temporary direction by a swipe operation. For example, when northeast is selected by a swipe operation on the temporary direction selection screen 520, the control unit 211 sets northeast as the temporary direction. Furthermore, as shown in FIG. 4(B), a temporary direction selection screen 530 may be displayed on the display 214c, presenting an arrow 531 indicating candidate temporary directions to the user and allowing the user to select one. The control unit 211 sets the direction indicated by the touched arrow 531 as the temporary direction. Then, when the control unit 211 sets the provisional direction, it starts automatic driving of the vehicle C toward the provisional direction before the true destination is set. Note that when the control unit 211 sets the provisional direction, it may search for a route to a point in the provisional direction and travel along that route.

[0040] When the user specifies a direction on the temporary direction selection screen 520, the control unit 211 may set, as the temporary destination, a point that is a predetermined distance from the current position of the vehicle C (the predetermined distance may have a certain range (for example, a point 600 m to 800 m away from the current position)) and that is in the direction specified by the user (the direction (angle) may have a certain range (for example, a range of ±10° of the direction specified by the user)). In this case, in addition to the above options 1 to 4, the user may further select option 5, which sets a temporary destination based on the temporary direction. Furthermore, the control unit 211 may set, as the temporary destination, a representative point of an area that includes a point in the direction specified by the user. For example, when the user specifies a point in Kawagoe City that is located northwest of the current position, the control unit 211 may set Kawagoe Station or Kawagoe City Hall, which are representative points of Kawagoe City, as the temporary destination.

[0041] [2.3. Temporary destination change function] After setting a provisional destination or provisional direction, if a risk point exists on the route, the control unit 211 changes the risk point to the provisional destination. For example, as shown in FIG. 5, if point 301 is set as the provisional destination and point 401 on the route is a risk point, the control unit 211 changes the provisional destination from point 301 to point 401. A risk point is a branch point, particularly a branch point where, if traveling in either branch direction, at least one of the travel time, travel distance, and travel fee (e.g., toll) required to return to the branch point exceeds a predetermined value. Examples of such a risk point include a branch point on an ordinary road that branches off toward an entrance (IC) of a highway (including a toll road), a branch point on a highway that branches off toward an exit (IC) of the highway, a branch point on a highway (e.g., a junction), and a branch point that branches off toward an entrance to a one-way road (if you enter a one-way road, you cannot turn around and return to the branch point by traveling the same road, but you have to take a detour, which increases travel time and travel distance). Furthermore, the risk point may be a branch point to a road including a point where traffic congestion is likely to occur, or a branch point to a road including a point where an accident is likely to occur.

[0042] The control unit 211 may acquire congestion information (information indicating the start and end positions of congestion) on the route to the initially set provisional destination or provisional direction, and identify a risk point by referring to the congestion information. For example, as shown in Fig. 6, when point 301 is set as the provisional destination, normally (when there is no congestion), point 401 is identified as a risk point and the provisional destination is changed. However, when congestion occurs between the current position (the position of vehicle C) and point 401, the possibility of a significant delay due to being caught in the congestion is considered to be a risk, and point 402, which is a point before the end position of the congestion and includes a branch direction that can avoid at least a part of the congestion when heading towards the provisional destination, is identified as a risk point and the provisional destination is changed.

[0043] [2.4. True destination input standby function] If the user does not complete input of the true destination by the time vehicle C arrives at the temporary destination, the destination after arrival at the temporary destination will not be set, and if vehicle C continues moving in any direction, it may move away from the true destination. Therefore, the control unit 211 performs control to wait for input of the true destination. Note that the control unit 211 may set the true destination based on the user's past movement history information. For example, the control unit 211 may present the user with an estimated destination by referring to the user's past movement history information (for example, by displaying a message such as "Is your destination XX?" on the display 214c), and if the user approves the presentation, the destination presented to the user may be set as the true destination.

[0044] [2.4.1. Before starting movement: Waiting for true destination input function] When a temporary destination is set while vehicle C is stopped, the control unit 211 searches for a route from the current location to the temporary destination and calculates the travel time Tt required for vehicle C to reach the temporary destination. At this time, the control unit 211 preferably calculates the travel time Tt taking into account delay factors such as traffic congestion and weather. For example, if traffic congestion occurs, the control unit 211 adds a time according to the scale of the traffic congestion, or if the weather is snowy, calculates the travel time Tt by underestimating the average travel speed. The control unit 211 also acquires the input time Ti required for the user to complete input of the true destination. Then, based on the travel time Tt and the input time Ti, the control unit 211 determines whether the user will complete input of the true destination before vehicle C reaches the temporary destination. If the control unit 211 determines that the user will complete input of the true destination before vehicle C reaches the temporary destination, the control unit 211 starts autonomous driving of the moving object toward the temporary destination. If the control unit 211 determines that the user will not complete input of the true destination before vehicle C reaches the temporary destination, the control unit 211 causes vehicle C to wait at the current location.

[0045] Note that information indicating an average value of the user's past required input times may be stored in the storage device 212 or an external server device, etc., and the control unit 211 may acquire the average value as the required input time Ti. Alternatively, information indicating the required input time (e.g., average required input time) according to at least one of age, gender, and vehicle purchase date may be stored in the storage device 212 or an external server device, etc., and the control unit 211 may acquire the required input time Ti based on the user's age, gender, and vehicle purchase date by referring to the information. For example, the storage device 212 may store information that the required input time is 20 seconds if the user is 18 to 29 years old, that the required input time is 35 seconds if the user is 30 to 39 years old and female, or that the required input time is 60 seconds if the user is 50 to 59 years old and the vehicle was purchased within the past year. The control unit 211 then acquires the required input time Ti based on information that matches the user's conditions.

[0046] Furthermore, even while the user is inputting the true destination, the control unit 211 calculates the required travel time Tt, acquires the input required travel time Ti, and compares the required travel time Tt with the input required travel time Ti to determine whether the user will complete input of the true destination before the vehicle C reaches the temporary destination. Then, after a predetermined time has elapsed since the user started inputting the true destination, if the control unit 211 determines that the user will complete input of the true destination before the vehicle C reaches the temporary destination, even if the user is in the middle of inputting, the control unit 211 starts moving the vehicle C by automatic driving toward the temporary destination.

[0047] [2.4.2. Waiting for true destination input after starting movement] After searching for a route to the provisional destination of vehicle C and starting autonomous driving, but the user has not yet completed inputting the true destination, the control unit 211 calculates the travel time Tt required for vehicle C to reach the provisional destination. Preferably, the control unit 211 calculates the travel time Tt taking into account delay factors such as traffic congestion and weather. The control unit 211 also acquires the input time Ti required for the user to complete input of the true destination. Based on the travel time Tt and the input time Ti, the control unit 211 determines whether the user will complete input of the true destination before vehicle C reaches the provisional destination. If the control unit 211 determines that the user will complete input of the true destination before vehicle C reaches the provisional destination, the control unit 211 continues autonomous driving of the moving object toward the provisional destination. If the control unit 211 determines that the user will not complete input of the true destination before vehicle C reaches the provisional destination, the control unit 211 performs input standby control to keep vehicle C within a predetermined range of the provisional destination. For example, in FIG. 7, if point 401 is set as the provisional destination, the control unit 211 performs input standby control to keep vehicle C within circle 350, which indicates the predetermined range of the provisional destination. This predetermined range may be set by the user or by the manufacturer of the automatic driving control device 200.

[0048] [2.4.2.1. First input standby control (loop movement)] As a first input standby control, the control unit 211 controls the vehicle C to move within a predetermined range (within the circle 350) until the user has completed input of the true destination. Specifically, the control unit 211 moves the vehicle C on a closed loop, which is a route that goes around the predetermined range (within the circle 350), until the user has completed input of the true destination. For example, as shown in FIG. 7, the control unit 211 searches for a closed loop 410 and makes the vehicle C go around the closed loop. The closed loop 410 may be a closed loop that includes a portion of the route to the temporary destination, or may be a closed loop that deviates from that route. It is preferable that the closed loop 410 be a closed loop within the predetermined range (within the circle 350) that has the shortest closing time or closing distance so that movement to the true destination can be started as soon as possible after the user has completed input of the true destination. Furthermore, it is preferable that the circular route 410 is a circular route that returns to a point on the route to the provisional destination that is earlier than the provisional destination (for example, points 404 and 405 in FIG. 7) by the estimated input completion time, which is the estimated time when the user will complete input of the true destination. This is because if a circular route that returns to a point beyond the provisional destination (based on the autonomous driving start position of vehicle C) is selected, the user may have to return to the provisional destination in order to move to the true destination, which may cause frustration for the user. Furthermore, the circular route 410 may be a circular route that returns to the provisional destination within a predetermined time from the estimated time when the user will complete input of the true destination.

[0049] [2.4.2.2. Second input standby control (stop)] As a second input standby control, the control unit 211 may park the vehicle within a predetermined range until the user completes input of the true destination. Specifically, the control unit 211 parks the vehicle in a parking lot within the predetermined range until the user completes input of the true destination. For example, as shown in FIG. 8 , the control unit 211 searches for parking lots 420 within the predetermined range (within a circle 350) (preferably by referring to available parking lots and searching for parking lots), and parks the vehicle C there. The parking lot 420 is preferably one of the parking lots within the predetermined range (within a circle 350) that is closest to the temporary destination so that travel to the true destination can be started as soon as possible after the user completes input of the true destination. Furthermore, the parking lot 420 is preferably a parking lot that is adjacent to a point on the route to the temporary destination that is earlier than the temporary destination within a predetermined time from the scheduled time when the user completes input of the true destination. If a parking lot adjacent to a point beyond the provisional destination (based on the position where vehicle C's automatic driving started) is selected, the user may have to return to the provisional destination in order to move to the true destination, which may cause frustration for the user.

[0050] The user may be able to select either the first input standby control or the second input standby control, or the first input standby control may be performed if the second input standby control determines that there is no parking lot within a predetermined range. In this embodiment, the first input standby control is associated with option A, and the second input standby control is associated with option B, allowing the user to select an option. The storage device 212 then stores input standby control option information indicating the option selected by the user.

[0051] [3.Automatic driving control processing] Next, the automatic driving control process by the control unit 211 of the automatic driving control device 200 will be described using the flowchart shown in Fig. 9. The automatic driving control process starts when the automatic driving mode is selected or when the automatic driving control device 200 is started up with the automatic driving mode selected.

[0052] First, the control unit 211 of the automatic driving control device 200 performs a temporary destination setting process (step S101). The temporary destination setting process will be described later.

[0053] Next, the control unit 211 searches for a route from the current position of the vehicle C to the temporary destination (step S102).

[0054] Next, the control unit 211 determines whether or not there is a risk point on the route searched for in the processing of step S102 (step S103). If the control unit 211 determines that there is a risk point on the route (step S103: YES), it changes the risk point to a temporary destination (step S104) and proceeds to the processing of step S102. On the other hand, if the control unit 211 determines that there is no risk point on the route (step S103: NO), it prompts the user to input the true destination (step S105). For example, the control unit 211 displays a message prompting the user to input the true destination on the display 214c or outputs the message from a speaker (not shown).

[0055] Next, the control unit 211 acquires the travel time Tt required to travel to the temporary destination and the input travel time Ti required to the real destination (step S106).

[0056] Next, the control unit 211 determines whether the required travel time Tt is equal to or less than the input required time Ti (step S107). If the control unit 211 determines that the required travel time Tt is equal to or less than the input required time Ti (step S107: YES), the control unit 211 proceeds to the processing of step S106. On the other hand, if the control unit 211 determines that the required travel time Tt is not equal to or less than the input required time Ti (step S107: NO), the control unit 211 starts moving by autonomous driving to the temporary destination (step S108). That is, the control unit 211 waits at the current position until it determines that the input of the true destination will arrive in time for arrival at the temporary destination. Then, if it determines that the input of the true destination will arrive in time for arrival at the temporary destination, the control unit 211 starts moving by autonomous driving. Note that the processing of steps S106 and S107 is skipped when the flowchart is started while the vehicle C is moving.

[0057] Next, the control unit 211 determines whether the input of the true destination has been completed (step S109). If the control unit 211 determines that the input of the true destination has been completed (step S109: YES), it starts moving by automatic driving toward the true destination (step S113) and ends the processing shown in the flowchart. On the other hand, if the control unit 211 determines that the input of the true destination has not been completed (step S109: NO), it acquires the required travel time Tt to the temporary destination and the required input time Ti of the true destination (step S110). Note that, if the user is in the process of inputting the true destination, the control unit 211 acquires the remaining time until the scheduled input completion time as the required input time Ti. Note that the remaining time until the scheduled input completion time may be calculated taking into account the input speed from when the user started inputting the true destination until that point.

[0058] Next, the control unit 211 determines whether the required travel time Tt is equal to or less than the input required time Ti (step S111). If the control unit 211 determines that the required travel time Tt is not equal to or less than the input required time Ti (step S111: NO), the control unit 211 proceeds to the processing of step S109. On the other hand, if the control unit 211 determines that the required travel time Tt is equal to or less than the input required time Ti (step S111: YES), the control unit 211 performs input standby processing (step S112), and then starts moving by automatic driving toward the true destination (step S113), and ends the processing shown in the flowchart. The input standby processing will be described later.

[0059] Next, the provisional destination setting process performed by the control unit 211 of the automatic driving control device 200 will be described with reference to the flowchart shown in FIG.

[0060] First, the control unit 211 refers to the temporary destination option information stored in the storage device 212 and determines whether or not option 1 is selected (step S151). If the control unit 211 determines that option 1 is selected (step S151: YES), it sets the point set in advance by the user as the temporary destination (step S152) and ends the temporary destination setting process.

[0061] If the control unit 211 determines that option 1 is not selected (step S151: NO), it then determines whether option 2 is selected (step S153). If the control unit 211 determines that option 2 is selected (step S153: YES), it sets a point that connects from the current position of vehicle C to a road of a predetermined rank or higher as a temporary destination (step S154), and ends the temporary destination setting process.

[0062] If the control unit 211 determines that option 2 is not selected (step S153: NO), it then determines whether option 3 is selected (step S155). If the control unit 211 determines that option 3 is selected (step S155: YES), it sets a point based on the user's movement history information as a temporary destination (step S156) and ends the temporary destination setting process.

[0063] If the control unit 211 determines that option 3 has not been selected (step S155: NO), it then determines whether option 4 has been selected (step S157). If the control unit 211 determines that option 4 has been selected (step S157: YES), it causes, for example, the display 214c to display the temporary destination selection screen 510, sets the point selected by the user on the temporary destination selection screen 510 as the temporary destination (step S158), and ends the temporary destination setting process.

[0064] If the control unit 211 determines that option 4 has not been selected (i.e., option 5 has been selected) (step S157: NO), it displays, for example, the provisional direction selection screen 520 on the display 214c, sets a point in the direction selected by the user on the provisional direction selection screen 520 as the provisional destination (step S159), and terminates the provisional destination setting process.

[0065] Next, the input standby process performed by the control unit 211 of the automatic driving control device 200 will be described with reference to the flowchart shown in FIG.

[0066] First, the control unit 211 refers to the input standby control option information stored in the storage device 212 and determines whether or not option A is selected (step S201). If the control unit 211 determines that option A is selected (step S201: YES), it searches for a circular route within a predetermined range from the temporary destination (step S202).

[0067] Next, the control unit 211 automatically drives the vehicle C to the start point of the closed circuit (for example, the point 404 in FIG. 7) (step S203).

[0068] Next, the control unit 211 determines whether or not the vehicle C has arrived at the start point of the closed circuit (step S204). If the control unit 211 determines that the vehicle C has not arrived at the start point of the closed circuit (step S204: NO), the control unit 211 proceeds to the processing of step S203. On the other hand, if the control unit 211 determines that the vehicle C has arrived at the start point of the closed circuit (step S204: YES), the control unit 211 then determines whether or not the input of the true destination has been completed (step S205).

[0069] If the control unit 211 determines that the input of the true destination has been completed (step S205: YES), it ends the input waiting process. On the other hand, if the control unit 211 determines that the input of the true destination has not been completed (step S205: NO), it causes the vehicle C to move along the closed circuit by automatic driving (step S206).

[0070] Next, the control unit 211 determines whether or not the vehicle C has arrived at the finish point of the closed circuit (for example, point 405 in FIG. 7) (step S207). If the control unit 211 determines that the vehicle C has not arrived at the finish point of the closed circuit (step S207: NO), the control unit 211 proceeds to the processing of step S206. On the other hand, if the control unit 211 determines that the vehicle C has arrived at the finish point of the closed circuit (step S207: YES), the control unit 211 then determines whether or not the input of the true destination has been completed (step S208).

[0071] If the control unit 211 determines that the input of the true destination has been completed (step S208: YES), it ends the input waiting process. On the other hand, if the control unit 211 determines that the input of the true destination has not been completed (step S208: NO), it proceeds to the process of step S203.

[0072] On the other hand, if the control unit 211 determines in the processing of step S201 that option A has not been selected (i.e., option B has been selected) (step S201: NO), it searches for parking lots within a predetermined range from the tentative destination (step S209).

[0073] Next, the control unit 211 automatically drives the vehicle C to the parking lot (step S210).

[0074] Next, the control unit 211 determines whether or not the vehicle C has arrived at the parking lot (step S211). If the control unit 211 determines that the vehicle C has not arrived at the parking lot (step S211: NO), the control unit 211 proceeds to the processing of step S210. On the other hand, if the control unit 211 determines that the vehicle C has arrived at the parking lot (step S211: YES), the control unit 211 then determines whether or not the input of the true destination has been completed (step S212).

[0075] If the control unit 211 determines that the input of the true destination has been completed (step S212: YES), it ends the input waiting process. On the other hand, if the control unit 211 determines that the input of the true destination has not been completed (step S212: NO), it stops (parks) the vehicle C in the parking lot (step S213).

[0076] Next, the control unit 211 determines whether the input of the true destination has been completed (step S214). If the control unit 211 determines that the input of the true destination has not been completed (step S214: NO), the control unit 211 proceeds to the processing of step S213. On the other hand, if the control unit 211 determines that the input of the true destination has been completed (step S214: YES), the control unit 211 ends the input standby processing.

[0077] As described above, the control unit 211 (an example of a "temporary destination setting means" and "automatic driving control means") of the automatic driving control device 200 according to this embodiment sets a temporary destination until the true destination of the automatically drivable vehicle C (an example of a "moving body") is set, and starts automatic driving of the vehicle C toward the temporary destination before the true destination is set.

[0078] Therefore, according to the automatic driving control device 200 of this embodiment, a temporary destination is set until the true destination of vehicle C is set, and automatic driving of vehicle C toward the temporary destination is started before the true destination is set, so that the time required to input the true destination can be effectively utilized to travel, and arrival at the true destination can be accelerated.

[0079] Furthermore, the control unit 211 sets the provisional destination before the vehicle C starts moving. As a result, when the provisional destination is set, the vehicle C starts moving by automatic driving instead of remaining stopped until the input of the true destination is completed, so that the time required to input the true destination can be effectively utilized for movement, and the vehicle can arrive at the true destination more quickly.

[0080] Furthermore, the control unit 211 switches from autonomous driving toward the provisional destination to autonomous driving toward the true destination based on the setting of the true destination during autonomous driving, thereby allowing the vehicle C to move to the true destination by autonomous driving.

[0081] Furthermore, the temporary destination can be a location preset by the user. By presetting a location that the user must pass through when moving from the parking lot at home as the temporary destination, the user can automatically drive to the temporary destination while inputting the true destination, thereby speeding up arrival at the true destination.

[0082] Furthermore, the provisional destination can be a point that connects to a road of a predetermined rank or higher from the current position of vehicle C. This allows a point that is likely to be passed from the current position to be set as the provisional destination. [Explanation of symbols]

[0083] 1 Automatic driving control device 1A Temporary destination setting means 1B Automatic driving control means 200 Automatic driving control device 211 Control Unit 211a CPU 211b ROM 211c RAM 212 Storage device 213 Input Device 214 Display Unit 214a graphics controller 214b Buffer memory 214c Display 215 Bus Line 220 Input / Output Interface Section 221 Vehicle speed sensor 222 Angular rate sensor 223 Accelerometer 224 Steering Angle Sensor 225 GPS receiver 226 Data transmission and reception unit 227 Radio Communication Department 228 Autonomous Driving Execution Department

Claims

[Claim 1] a temporary destination setting means for setting a temporary destination that is a temporary destination until a true destination that is a true destination of the automatically drivable mobile body is set; an automatic driving control means for starting automatic driving of the moving body toward the temporary destination before the true destination is set; An automatic driving control device comprising:

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