Determination device, determination computer program, and determination method

Abstract

To provide a determination device capable of determining whether a driver requests that a predetermined behavior of a vehicle is to be performed by automatic control or by manual control by reducing a load on the driver.SOLUTION: A determination device includes a determination section for determining whether a driver requests that a vehicle behavior related to operation information is to be performed by automatic control or that the vehicle behavior is to be performed by manual control based on at least one of operation information expressing an operation of a driver in a first operation part, behavior information expressing a predetermined driver behavior of the driver, environmental information expressing a predetermined environment in the periphery of the vehicle, and a navigation route of the vehicle.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a determination device, a determination computer program, and a determination method. [Background technology]

[0002] Conventionally, vehicles are equipped with automatic control devices that assist the vehicle in changing lanes. The driver can change lanes automatically with the assistance of the automatic control device. Alternatively, the driver can manually change lanes without the assistance of the automatic control device.

[0003] By changing the operation of the turn signal operation unit, the driver informs the automatic control device whether he / she is requesting automatic lane change control or whether he / she is going to change lanes manually (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2020-163927 Summary of the Invention [Problem to be solved by the invention]

[0005] However, in order to transmit a request to the automatic control device, the driver must change the way he or she operates the turn signal operation unit, which places a burden on the driver.

[0006] Therefore, an object of the present disclosure is to provide a determination device that can reduce the burden on the driver and determine whether the driver is requesting that a predetermined operation of the vehicle be performed by automatic control or by manual control. [Means for solving the problem]

[0007] (1) According to one embodiment, there is provided a determination device including a determination unit that determines whether the driver requests that a vehicle operation associated with the operation information be performed under automatic control or under manual control, based on operation information representing a driver's operation of a first operation unit and at least one of operation information representing a predetermined driver operation of the driver, environmental information representing a predetermined environment around the vehicle, and a navigation route of the vehicle.

[0008] (2) In the determination device of (1), it is preferable that the operation information includes the driver's operation of a second operating unit different from the first operating unit, the driver's face facing a predetermined direction, and the driver's vocalization.

[0009] (3) In the determination device of (1) or (2), it is preferable that the determination unit determines whether the driver is requesting that the vehicle operation be performed under automatic control or that the vehicle operation be performed under manual control based on the order in which the operation information is generated and then the operation information is generated.

[0010] (4) In the determination device of (1), it is preferable that the first operation unit is a turn signal operation unit that inputs the direction of the vehicle's lane change, the vehicle operation is a lane change associated with the turn signal operation unit, and when the direction of the vehicle's lane change represented by the operation information matches the direction of the driver's face represented by the operation information, the determination unit determines that the driver is requesting that the vehicle operation be performed under manual control.

[0011] (5) In the determination device of (1), the environmental information preferably represents other vehicles around the vehicle 10.

[0012] (6) In the determination device of (5), the first operation unit is a turn signal operation unit that inputs the direction of the vehicle's lane change, the vehicle operation is a lane change associated with the turn signal operation unit, and when the environmental information indicates that another vehicle is located in the direction of the vehicle's lane change represented by the operation information, it is preferable that the determination unit determines that the driver is requesting that the vehicle operation be executed under automatic control.

[0013] (7) In the determination device of (1), the first operation unit is a turn signal operation unit that inputs the direction of the vehicle's lane change, the vehicle operation is a lane change associated with the turn signal operation unit, and if the direction of the vehicle's lane change represented by the operation information differs from the direction of the vehicle's movement toward the vehicle's destination position represented by the navigation route, it is preferable that the determination unit determines that the driver is requesting that the vehicle operation be performed under manual control.

[0014] (8) According to another embodiment, there is provided a computer program for determination, which causes a processor to determine whether the driver requests that a vehicle operation associated with the first operation information be performed under automatic control or manually, based on first operation information representing a driver's operation of a first operation unit and at least one of operation information representing a predetermined driver operation of the driver, environmental information representing a predetermined environment around the vehicle, and a navigation route for the vehicle.

[0015] (9) According to yet another embodiment, there is provided a determination method, which includes a determination device determining, based on first operation information representing an operation of a first operation unit by a driver, predetermined operation information representing a predetermined driver operation of the driver, predetermined environmental information representing a predetermined environment around the vehicle, and at least one of a navigation route of the vehicle, whether the driver is requesting that a vehicle operation associated with the operation information be performed under automatic control or that the driver is requesting that the vehicle operation be performed under manual control. [Effects of the Invention]

[0016] The determination device according to the present disclosure determines whether the driver is requesting that the vehicle operation be performed under automatic control or manual control based on the operation information as well as other specified information, thereby reducing the burden on the driver. [Brief explanation of the drawings]

[0017] [Figure 1] 1A and 1B illustrate an outline of the operation of an automatic control device of a first embodiment, where 1A is a diagram showing a vehicle, and 1B is a diagram showing the interior of a vehicle. [Figure 2] 1 is a hardware configuration diagram of a vehicle in which an automatic control device of a first embodiment is implemented. [Figure 3] 4 is an example of an operational flowchart relating to a determination process of the automatic control device of the first embodiment. [Figure 4] 10 is an example of an operational flowchart relating to a determination process of the automatic control device of the second embodiment. [Figure 5] 10 is an example of an operational flowchart relating to a determination process of an automatic control device according to a third embodiment. [Figure 6] 10 is an example of an operational flowchart relating to a determination process of an automatic control device according to a fourth embodiment. [Figure 7] 13 is an example of an operational flowchart relating to a determination process of the automatic control device of the fifth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0018] 1(A) and 1(B) illustrate an outline of the operation of the automatic control device of the first embodiment. Fig. 1(A) is a diagram showing a vehicle, and Fig. 1(B) is a diagram showing the interior of the vehicle.

[0019] As shown in Fig. 1(A), the vehicle 10 has an automatic control device 12. The automatic control device 12 has an automatic driving mode (for example, a driving mode of levels 3 to 5) in which the automatic control device 12 mainly drives the vehicle 10, and a manual driving mode (for example, a driving mode of levels 0 to 2) in which the driver 40 mainly drives the vehicle 10. The automatic control device 12 is an example of a determination device. The vehicle 10 may be an automatically driven vehicle.

[0020] In the manual driving mode, the automatic control device 12 controls the operation of the vehicle 10 based on the operation of the driver 40. The driver 40 is seated in the driver's seat 31 in the passenger compartment 30 so as to be able to operate the steering wheel 32, the brake pedal 33, the accelerator pedal 34, and the shift operation unit 35.

[0021] Even in the autonomous driving mode, the driver 40 can partially control the vehicle 10. For example, in the autonomous driving mode, the driver 40 can change lanes by operating the steering wheel 32. The operation by the driver 40 overrides the operation of the automatic control device 12.

[0022] Furthermore, even in the manual driving mode, the automatic control device 12 can partially take the lead in controlling the vehicle 10. For example, in the manual driving mode, the automatic control device 12 changes lanes in response to a request from the driver 40.

[0023] Based on operation information representing the driver's 40 operation on a specified operating unit and other specified information, the automatic control device 12 determines whether the driver 40 is requesting that the vehicle operation associated with this operation information be performed under automatic control or whether the driver 40 is requesting that the vehicle operation be performed under manual control.

[0024] An example of the predetermined other information is operation information that represents a predetermined driver operation of the driver 40. The automatic control device 12 acquires the operation information using a monitoring image including the face of the driver 40 acquired by the monitoring camera 3. The automatic control device 12 identifies the direction of the face of the driver 40 that is shown in the monitoring image. The direction of the face of the driver 40 is an example of operation information that represents the driver operation. Other examples of the predetermined other information include environmental information that represents a predetermined environment around the vehicle 10 and a navigation route for the vehicle 10.

[0025] The operation of the driver 40 on the blinker operation unit 4 is represented by operation information. A lane change is an example of a vehicle operation associated with operation information representing the operation of the driver 40 on the blinker operation unit 4.

[0026] When the driver 40 wishes to change lanes, he or she operates the blinker operation unit 4. The driver 40 indicates the direction in which the vehicle 10 will change lanes by operating the blinker operation unit 4 upward or downward. A lane change request can be made in either an automatic control mode or a manual control mode.

[0027] If the direction of lane change of the vehicle 10 represented by the operation information of the turn signal operation unit 4 matches the direction of the face of the driver 40 represented by the operation information, the automatic control device 12 determines that the driver 40 is requesting that the lane change be performed under manual control.

[0028] When the blinker operation unit 4 is operated, the fact that the driver 40 is looking in the direction in which the vehicle 10 is to move indicates that the driver 40 is actively checking the situation in the direction in which the vehicle 10 is to move. It is considered that the driver 40 intends to operate the vehicle 10 himself to execute a lane change.

[0029] The automatic control device 12 flashes a turn signal (not shown) according to instructions on the direction of lane change of the vehicle 10, and controls the operation of the vehicle 10 based on the operation of the driver 40 regarding lane change of the vehicle 10.

[0030] On the other hand, if the direction of lane change of the vehicle 10, which represents the operation of the turn signal operating unit 4 by the driver 40, does not match the direction of the driver 40's face, which is represented by the operation information, the automatic control device 12 determines that the driver 40 is requesting that the lane change be executed by automatic control.

[0031] When the blinker operation unit 4 is operated, the driver 40 is not looking in the direction in which the vehicle 10 is to move, which indicates that the driver 40 is not actively checking the situation in the direction in which the vehicle 10 is to move. It is considered that the driver 40 does not intend to operate the vehicle 10 himself to change lanes.

[0032] The automatic control device 12 controls the operation of the vehicle 10 with respect to the lane change by flashing a turn signal (not shown) according to an instruction on the direction of the lane change of the vehicle 10 .

[0033] As described above, the automatic control device 12 of this embodiment determines whether the driver 40 is requesting that the vehicle operation be performed under automatic control or under manual control based on the operation information as well as other predetermined information, thereby reducing the burden on the driver 40.

[0034] 2 is a hardware configuration diagram of a vehicle 10 in which the automatic control device 12 of the first embodiment is implemented. The vehicle 10 has a front camera 2a, a rear camera 2b, a monitoring camera 3, a blinker operation unit 4, a hazard switch 5, a microphone 6, a user interface (UI) 7, a positioning information receiver 8, a navigation device 9, the automatic control device 12, a steering wheel 32, a brake pedal 33, an accelerator pedal 34, a shift operation unit 35, etc. The vehicle 10 may further have a distance measurement sensor such as a LiDAR sensor.

[0035] The front camera 2a, rear camera 2b, surveillance camera 3, turn signal operation unit 4, hazard switch 5, microphone 6, user interface (UI) 7, positioning information receiver 8, navigation device 9, automatic control device 12, steering wheel 32, brake pedal 33, accelerator pedal 34, and shift operation unit 35 are communicatively connected via an in-vehicle network 13 that complies with a standard such as a controller area network.

[0036] The front camera 2a and the rear camera 2b are examples of image acquisition units provided in the vehicle 10. The front camera 2a is attached to the vehicle 10 so as to face the front of the vehicle 10. The rear camera 2b is attached to the vehicle 10 so as to face the rear of the vehicle 10.

[0037] The front camera 2a and the rear camera 2b acquire camera images showing the environment of an area within a predetermined field of view in front of and behind the vehicle 10, at camera image acquisition times that are set, for example, at a predetermined cycle. The camera images may show the road included in the predetermined area in front of and behind the vehicle 10, and road features such as lane markings on the road surface.

[0038] The front camera 2a and the rear camera 2b each have a two-dimensional detector configured with an array of photoelectric conversion elements, such as a CCD or C-MOS, that are sensitive to visible light. The front camera 2a and the rear camera 2b also have an imaging optical system that forms an image of the area to be imaged on the two-dimensional detector. The field of view of the front camera 2a and the rear camera 2b is an example of a predetermined range around the vehicle 10.

[0039] Each time the front camera 2a and the rear camera 2b capture a camera image, they output the camera image and the time the camera image was captured to the object detection device 11, etc., via the in-vehicle network 13. The camera image is used by the object detection device 11 in processing to detect objects and road features around the vehicle 10.

[0040] The surveillance camera 3 is disposed in the vehicle interior 30 so as to be able to acquire a surveillance image including the face of a driver 40 who drives the vehicle 10. The surveillance camera 3 is disposed, for example, on the dashboard.

[0041] The surveillance camera 3 is an example of an image acquisition unit. The surveillance camera 3 acquires a surveillance image showing the vicinity of the driver's seat 31 at a surveillance image acquisition time having a predetermined period, for example. The surveillance image shows the face of the driver 40 seated in the driver's seat 31.

[0042] The surveillance camera 3 has a two-dimensional detector consisting of an array of photoelectric conversion elements sensitive to infrared light, such as a CCD or C-MOS, and an imaging optical system that forms an image of the area to be captured on the two-dimensional detector.

[0043] Every time the surveillance camera 3 captures a surveillance image, it outputs the surveillance image and the time at which the surveillance image was captured to the automatic control device 12 via the in-vehicle network 13. The surveillance image is used by the automatic control device 12 to detect the direction of the driver 40's face.

[0044] The turn signal operation unit 4 is disposed on the steering column. The turn signal operation unit 4 inputs the lane change direction of the vehicle 10. The driver 40 indicates the lane change direction of the vehicle 10 by operating the turn signal operation unit 4 upward or downward. The turn signal operation unit 4 outputs a turn signal operation signal indicating the lane change direction of the vehicle 10 to the automatic control device 12, etc., via the in-vehicle network 13. The turn signal operation signal is an example of operation information indicating the operation of the driver 40 on the turn signal operation unit 4. The turn signal operation signal is associated with the lane change of the vehicle 10.

[0045] The hazard switch 5 is an operation unit associated with an emergency operation of the vehicle 10. When operated by the driver 40, the hazard switch 5 outputs a hazard operation signal indicating an emergency of the vehicle 10 to the automatic control device 12, etc. via the in-vehicle network 13. The automatic control device 12 causes a hazard lamp (not shown) to flash. The hazard operation signal is an example of operation information indicating an operation of the driver 40 on the hazard switch 5. The hazard operation signal is associated with an emergency operation of the vehicle 10.

[0046] The microphone 6 inputs the sound from within the vehicle compartment 30 and outputs an acoustic signal to the automatic control device 12 and the like via the in-vehicle network 13. The microphone 6 inputs, for example, the voice of the driver 40 and generates an acoustic signal.

[0047] The steering wheel 32 generates a steering signal according to the steering angle by the driver 40 and outputs the signal to the automatic control device 12 via the in-vehicle network 13. The steering signal is an example of operation information that represents an operation of the driver 40 on the steering wheel 32. The steering signal is associated with an action to change the traveling direction of the vehicle 10.

[0048] The accelerator pedal 34 generates an accelerator signal corresponding to the accelerator opening by the driver and outputs the signal to the automatic control device 12 via the in-vehicle network 13. The accelerator signal is an example of operation information that represents the operation of the accelerator pedal 34 by the driver 40. The accelerator signal is associated with the acceleration operation of the vehicle 10.

[0049] The brake pedal 33 generates a brake signal according to the amount of braking by the driver and outputs the signal to the automatic control device 12 via the in-vehicle network 13. The brake signal is an example of operation information that represents the operation of the brake pedal 33 by the driver 40. The brake signal is associated with the braking operation of the vehicle 10.

[0050] The shift operation unit 35 generates a shift signal according to the shift position in response to an operation by the driver, and outputs the signal to the automatic control device 12 via the in-vehicle network 13. The shift signal is an example of operation information that represents an operation of the driver 40 on the shift operation unit 35. The shift signal is associated with a gear shifting operation of the vehicle 10.

[0051] The UI 7 is an example of a notification unit. The UI 7 is controlled by the automatic control device 12 to notify the driver 40 of information related to the vehicle 10. The UI 7 has a display device 7a such as a liquid crystal display or a touch panel to display information. The UI 7 may also have an audio output device (not shown) to notify the driver 40 of the information. The UI 7 also has, for example, a touch panel or operation buttons as an input device for inputting operation information from the driver 40 to the vehicle 10. The UI 7 outputs the input information to the automatic control device 12, etc. via the in-vehicle network 13.

[0052] The positioning information receiver 8 outputs positioning information indicating the current position of the vehicle 10. For example, the positioning information receiver 8 may be a GNSS receiver. Every time the positioning information receiver 8 acquires positioning information at a predetermined reception cycle, the positioning information receiver 8 outputs the positioning information and the positioning information acquisition time at which the positioning information was acquired to the navigation device 9 or the like.

[0053] The navigation device 9 generates a navigation route from the current position of the vehicle 10 to the destination position based on the navigation map information, the destination position of the vehicle 10 input from the UI 7, and the positioning information indicating the current position of the vehicle 10 input from the positioning information receiver 8. The navigation route includes information on the positions of right turns, left turns, merging points, branching points, etc. The navigation device 9 generates a new navigation route for the vehicle 10 when a new destination position is set or when the current position of the vehicle 10 deviates from the navigation route. Every time the navigation device 9 generates a navigation route, it outputs the navigation route to the automatic control device 12, etc. via the in-vehicle network 13.

[0054] The object detection device 11 detects objects and their types (e.g., vehicles) around the vehicle 10 based on camera images. Objects include other vehicles traveling around the vehicle 10. The object detection device 11 has a classifier that receives a camera image as input and detects objects depicted in the camera image. The object detection device 11 can use, as such a classifier, a deep neural network (DNN) that has been trained in advance to detect objects depicted in the input camera image. It is preferable that the classifier be able to distinguish between large vehicles and small vehicles.

[0055] The object detection device 11 estimates the position of an object based on the position of the object in the camera image, internal parameters including the focal lengths of the front camera 2a and the rear camera 2b, and external parameters including the installation positions and installation orientations of the front camera 2a and the rear camera 2b. If a distance measurement sensor such as a LiDAR sensor is installed in the vehicle 10, the object detection device 11 may estimate the position of the object using the measurement results of the distance measurement sensor together with the camera image.

[0056] The object detection device 11 identifies the lane in which the object is traveling based on lane markings shown in map information and the position of the object. The object detection device 11 also outputs object detection information, including the type of detected object, its position, and the lane in which the object is traveling, to the automatic control device 12, etc. The object detection information is an example of environmental information.

[0057] The automatic control device 12 executes control processing, generation processing, and determination processing. To this end, the automatic control device 12 has a communication interface (IF) 21, a memory 22, and a processor 23. The communication interface 21, the memory 22, and the processor 23 are connected via a signal line 24. The communication interface 21 has an interface circuit for connecting the automatic control device 12 to the in-vehicle network 13.

[0058] The memory 22 is an example of a storage unit and includes, for example, a volatile semiconductor memory and a non-volatile semiconductor memory. The memory 22 stores computer programs of applications used in information processing executed by the processor 23 and various data.

[0059] All or part of the functions of the automatic control device 12 are functional modules implemented by a computer program running on the processor 23, for example. The processor 23 includes a control unit 231, a generation unit 232, and a determination unit 233. Alternatively, the functional modules included in the processor 23 may be dedicated arithmetic circuits provided in the processor 23. The processor 23 includes one or more central processing units (CPUs) and their peripheral circuits. The processor 23 may further include other arithmetic circuits such as a logic operation unit, a numerical operation unit, or a graphics processing unit.

[0060] The object detection device 11 and the automatic control device 12 are, for example, electronic control units (ECUs). In Fig. 2, the object detection device 11 and the automatic control device 12 are illustrated as separate devices (for example, electronic control units (ECUs)), but these devices may be configured as a single device. Furthermore, the processor 23 has a control unit 231, a generation unit 232, and a determination unit 233, but the control unit 231, the generation unit 232, and the determination unit 233 may each be included in a separate processor.

[0061] The control unit 231 controls the operation of the vehicle 10. The control unit 231 has an automatic driving mode in which the vehicle 10 is driven automatically, and a manual driving mode in which the operation of the vehicle 10 is controlled based on the operation of the driver 40. In the automatic driving mode, the control unit 231 mainly drives the vehicle 10. In the automatic driving mode, the control unit 231 controls operations such as steering, driving, and braking based on the current position of the vehicle 10, map information, camera images from the front camera 2a and the rear camera 2b mounted on the vehicle 10, and the like.

[0062] In addition, in the manual driving mode, the control unit 231 controls the operation of the vehicle 10, such as steering, driving, and braking, based on the operation of the driver 40. In the manual driving mode, the driver 40 takes the lead in driving the vehicle 10. In the manual driving mode, the control unit 231 controls the operation of the vehicle 10 based on the operation of at least one of the steering wheel 32, the brake pedal 33, and the accelerator pedal 34 by the driver 40.

[0063] Even in the autonomous driving mode, the driver 40 can partially control the vehicle 10. For example, in the autonomous driving mode, the driver 40 can change lanes by operating the steering wheel 3. The operation by the driver 40 overrides the operation of the automatic control device 12.

[0064] Furthermore, even in the manual driving mode, the automatic control device 12 can partially take the lead in controlling the vehicle 10. For example, in the manual driving mode, the automatic control device 12 changes lanes in response to a request from the driver 40.

[0065] The generation unit 232 generates operation information that represents a predetermined driver operation of the driver 40. The operation information includes an operation by the driver 40 to an operation unit different from an operation unit associated with a predetermined vehicle operation of the vehicle 10, the driver 40 facing a predetermined direction, or the driver 40 speaking. Here, if the vehicle operation is a lane change, the operation information means an operation by the driver 40 to an operation unit different from the blinker operation unit 4. The generation unit 232 notifies the determination unit 233 of the operation information.

[0066] When a turn signal operation signal is input, the generation unit 232 generates operation information representing an operation of the driver 40 on the turn signal operation unit 4. When a hazard operation signal is input, the generation unit 232 generates operation information representing an operation of the driver 40 on the hazard switch 5. When a steering signal is input, the generation unit 232 generates operation information representing an operation of the driver 40 on the steering wheel 32. When an accelerator signal is input, the generation unit 232 generates operation information representing an operation of the driver 40 on the accelerator pedal 34. When a brake signal is input, the generation unit 232 generates operation information representing an operation of the driver 40 on the brake pedal 33. When a shift signal is input, the generation unit 232 generates operation information representing an operation of the driver 40 on the shift operation unit 35.

[0067] The generation unit 232 estimates the facial orientation of the driver 40 based on the monitoring image. The angle representing the facial orientation is expressed as the horizontal angle between the traveling direction of the vehicle 10 and the direction in which the driver 40 is facing. The generation unit 232 identifies the positions of the specific facial features included in the monitoring image by inputting the acquired monitoring image into a classifier trained to detect specific facial features such as the outer corners of the eyes, the inner corners of the eyes, and the corners of the mouth. The generation unit 232 then compares the positions of the specific facial features detected in the monitoring image with a standard 3D face model. The generation unit 232 then detects the facial orientation angle in the 3D model when the positions of each facial feature best match the positions of the facial features detected in the monitoring image as the facial orientation angle in the monitoring image.

[0068] The classifier can be, for example, a convolutional deep neural network (DNN) with multiple layers connected in series from the input side to the output side. The DNN, which has previously trained on face images containing specific facial features as training data, operates as a classifier to identify the positions of the specific facial features.

[0069] Next, the generation unit 232 determines the positions of the pupil center and the eyeball center based on the positions of the outer corner and inner corner of the eye, and estimates the direction connecting the positions of the eyeball center and the pupil center as the gaze direction of the driver 40. The generation unit 232 generates a horizontal angle representing the face direction as movement information.

[0070] When the generation unit 232 receives an audio signal from the microphone 6, it inputs the audio signal to a classifier that has been trained to identify human voices. If the generation unit 232 identifies the audio signal as including a human voice, it generates action information indicating that the driver 40 has spoken.

[0071] FIG. 3 is an example of an operational flowchart relating to the determination process of the automatic control device 12 of the first embodiment. In this embodiment, the determination unit 233 makes a determination based on operation information and operation information. When the automatic control device 12 is in automatic operation mode, the automatic control device 12 executes the determination process according to the operational flowchart shown in FIG. 3 at a determination time having a predetermined cycle. The cycle of the monitoring time can be set to, for example, 0.1 to 0.5 seconds. Note that the automatic control device 12 may also execute the determination process when the automatic control device 12 is in manual operation mode.

[0072] First, the determination unit 233 determines whether or not operation information has been input to a predetermined operation unit (step S101). The operation information represents an operation by the driver 40 to a predetermined operation unit associated with a vehicle operation determined by the determination unit 233. The vehicle operation includes, for example, a lane change, stopping, parking, a change in driving direction, acceleration, deceleration, etc.

[0073] If operation information has been input (step S101-Yes), the determination unit 233 determines that the driver 40 is requesting a predetermined vehicle operation (step S102). The vehicle operation is associated with the operation information.

[0074] Next, the determination unit 233 determines whether or not operation information indicating a predetermined driver operation of the driver 40 has been input (step S103). The operation information includes the driver's operation on an operation unit different from the operation unit associated with the vehicle operation, the driver's face facing a predetermined direction, or the driver's vocalization. The predetermined operation unit different from the operation unit associated with the vehicle operation includes, for example, the hazard switch 5.

[0075] If operation information has been input (step S103-Yes), the determination unit 233 determines that the driver 40 has requested that the vehicle operation be executed under manual control (step S104), and ends the series of processes.

[0076] On the other hand, if operation information has not been input (step S103-No), the determination unit 233 determines that the driver 40 has requested that the vehicle operation be automatically controlled (step S105), and ends the series of processes. Also, if operation information has not been input (step S101-No), the series of processes ends. Hereinafter, the above-mentioned determination process will be described according to specific vehicle operations.

[0077] (1) Determination process for determining that the vehicle operation is a lane change. The operation information is a blinker operation signal that represents an operation of the driver 40 on the blinker operation unit 4. The blinker operation signal is associated with a lane change of the vehicle 10. When the blinker operation signal is input, the determination unit 233 determines that the driver 40 is requesting a lane change of the vehicle 10. The operation information is the direction of the driver 40's face that matches the direction of the lane change of the vehicle 10 represented by the operation information.

[0078] The operation information representing the predetermined driver operation of the driver 40 is the direction of the driver's face that matches the lane change direction of the vehicle 10 represented by the blinker operation signal. The determination unit 233 determines whether the angle representing the direction of the driver's face represented by the operation information matches the lane change direction of the vehicle 10 represented by the blinker operation signal. If the lane change direction of the vehicle 10 represented by the blinker operation signal matches the direction of the driver's face, the determination unit 233 determines that the driver 40 is requesting that the lane change be performed under manual control.

[0079] When the lane change direction of the vehicle 10 indicated by the blinker operation signal is to the right, the lane change direction and the driver's facial direction will match if the angle representing the direction of the driver's face is in the range of 30 degrees to 90 degrees clockwise with respect to the traveling direction of the vehicle 10. Also, when the lane change direction of the vehicle 10 indicated by the blinker operation signal is to the left, the lane change direction and the driver's facial direction will match if the angle representing the direction of the driver's face is in the range of 30 degrees to 90 degrees counterclockwise with respect to the traveling direction of the vehicle 10.

[0080] When the blinker operation unit 4 is operated, the fact that the driver 40 is looking in the direction in which the vehicle 10 is to move indicates that the driver 40 is actively checking the situation in the direction in which the vehicle 10 is to move. It is considered that the driver 40 intends to operate the vehicle 10 himself to execute a lane change.

[0081] The automatic control device 12 flashes a turn signal (not shown) according to instructions on the direction of lane change of the vehicle 10, and controls the operation of the vehicle 10 based on the operation of the driver 40 regarding lane change of the vehicle 10.

[0082] On the other hand, if the direction of lane change of the vehicle 10 indicated by the turn signal does not match the direction of the driver's face, the judgment unit 233 judges that the driver 40 is requesting that the lane change be performed under automatic control.

[0083] When the blinker operation unit 4 is operated, the driver 40 is not looking in the direction in which the vehicle 10 is to move, which indicates that the driver 40 is not actively checking the situation in the direction in which the vehicle 10 is to move. It is considered that the driver 40 does not intend to operate the vehicle 10 by himself to change lanes.

[0084] The automatic control device 12 controls the operation of the vehicle 10 with respect to the lane change by flashing a turn signal (not shown) according to an instruction on the direction of the lane change of the vehicle 10 .

[0085] The operation information does not have to be the direction of the face of the driver 40. For example, the operation information may be an operation by the driver 40 on an operation unit other than the blinker operation unit 4, the face of the driver 40 facing a predetermined direction, or the driver 40 making a sound.

[0086] (2) A process of determining that the vehicle action is parking in a parking space for the vehicle 10 in a parking lot. The determination unit 233 determines that the vehicle 10 is in a parking lot based on the current position of the vehicle 10 and map information. The operation information is a shift operation signal representing an operation by the driver 40 to the shift operation unit 35 to shift the gear position to the reverse position. When the vehicle 10 is in a parking lot, the shift operation signal representing the reverse position is associated with the parking action of the vehicle 10 in a parking space. When a shift operation signal representing the reverse position is input, the determination unit 233 determines that the driver 40 is requesting that the vehicle 10 be parked in a parking space.

[0087] The operation information representing a predetermined driver operation of the driver 40 is an operation signal representing the operation of the driver 40 to the hazard switch 5. When a shift operation signal representing the reverse position is input and operation information representing the operation of the driver 40 to the hazard switch 5 is input, the determination unit 233 determines that the driver 40 is requesting that the parking operation of the vehicle 10 into the parking space be performed by manual control.

[0088] The operation of the shift operation unit 35 to the reverse position and the operation of the hazard switch 5 by the driver 40 indicates that the driver 40 will manually park the vehicle 10 in a parking space. The automatic control device 12 controls the operation of the vehicle 10 based on the operation of the driver 40.

[0089] On the other hand, if a shift operation signal indicating the reverse position is input and operation information indicating the driver's 40 operation to the hazard switch 5 is not input, the judgment unit 233 judges that the driver 40 is requesting that the vehicle 10 be parked in the parking space by automatic control.

[0090] When the shift operating unit 35 is operated to the reverse position, for example, if the driver 40 does not operate any other operating unit, this indicates that the driver 40 does not intend to manually control the parking of the vehicle 10 into the parking space. The automatic control device 12 executes parking of the vehicle 10 into the parking space.

[0091] As described above in detail, the automatic control device of this embodiment determines whether the driver is requesting that the vehicle operation be performed under automatic control or manual control based on the operation information as well as other specified information, thereby reducing the burden on the driver.

[0092] Next, other embodiments of the automatic control device 12 will be described below with reference to Figures 4 to 7. With regard to the other embodiments, the description of the first embodiment above will be applied as appropriate to the points particularly described.

[0093] 4 is an example of an operational flowchart relating to the determination process of the automatic control device 12 of the second embodiment. In this embodiment, the determination unit 233 makes a determination based on operation information and environmental information.

[0094] 4, step S203 is different from the above-described step S103. The processes of steps S201, S202, S204, and S205 are the same as the above-described steps S101, S102, S104, and S105.

[0095] First, the determination unit 233 determines whether or not predetermined operation information has been input (step S201).

[0096] If operation information has been input (step S201-Yes), the determination unit 233 determines that the driver 40 is requesting a predetermined vehicle operation (step S202).

[0097] Next, the determination unit 233 determines whether or not environmental information representing a predetermined environment around the vehicle 10 has been input (step S203).

[0098] If the environmental information has been input (step S203-Yes), the determination unit 233 determines that the driver 40 has requested that the vehicle operation be performed under manual control (step S204), and ends the series of processes. The environmental information indicates, for example, the positions of other vehicles.

[0099] On the other hand, if environmental information has not been input (step S203-No), the determination unit 233 determines that the driver 40 has requested that the vehicle operation be automatically controlled (step S205), and ends the series of processes. Also, if operation information has not been input (step S201-No), the series of processes ends. Hereinafter, the above-mentioned determination process will be described according to specific vehicle operations.

[0100] (1) Process for determining that the vehicle operation is a lane change. The operation information is a turn signal operation signal that indicates the driver's operation of the turn signal operation unit 4. The turn signal operation signal is associated with a lane change of the vehicle 10. When the turn signal operation signal is input, the determination unit 233 determines that the driver 40 is requesting that the vehicle 10 change lanes. The environmental information indicates the positions of other vehicles around the vehicle 10. The surroundings of the vehicle 10 correspond to the detection ranges of the front camera 2a and the rear camera 2b.

[0101] The environmental information representing a predetermined environment around the vehicle 10 is that another vehicle is located in the direction of lane change of the vehicle 10 represented by the turn signal. The determination unit 233 determines whether or not another vehicle is located in the direction of lane change of the vehicle 10 represented by the turn signal, based on the object detection information, which is the environmental information. If another vehicle is not located in the direction of lane change of the vehicle 10 represented by the turn signal, the determination unit 233 determines that the driver 40 has requested that the lane change be performed under manual control.

[0102] When the blinker operation unit 4 is operated, if there is no other vehicle in the direction in which the driver 40 is moving the vehicle 10, it is considered that the driver 40 intends to operate the vehicle 10 himself to change lanes.

[0103] The automatic control device 12 flashes a turn signal (not shown) according to instructions on the direction of lane change of the vehicle 10, and controls the operation of the vehicle 10 based on the operation of the driver 40 regarding lane change of the vehicle 10.

[0104] On the other hand, if another vehicle is located in the direction of the lane change of the vehicle 10 indicated by the blinker operation signal, the determination unit 233 determines that the driver 40 is requesting that the lane change be executed under automatic control.

[0105] When the blinker operation unit 4 is operated, if there is another vehicle in the direction in which the driver 40 is moving the vehicle 10, it is considered that the driver 40 does not intend to operate the vehicle 10 himself to change lanes.

[0106] The automatic control device 12 controls the operation of the vehicle 10 with respect to the lane change by flashing a turn signal (not shown) according to an instruction on the direction of the lane change of the vehicle 10 .

[0107] (2) Determination process for determining whether the vehicle operation is an emergency operation. The operation information is a hazard operation signal representing the driver's operation of the hazard switch 5. The hazard operation signal is associated with an emergency operation of the vehicle 10. When the hazard operation signal is input, the determination unit 233 determines that the driver 40 is requesting an emergency operation of the vehicle 10. The emergency operation of the vehicle 10 is to decelerate and stop the vehicle.

[0108] The environmental information representing a predetermined environment around the vehicle 10 is that there is no traffic congestion around the vehicle 10. When the object detection information represents that the number of vehicles around the vehicle 10 is equal to or less than a reference number, the determination unit 233 determines that there is no traffic congestion around the vehicle 10.

[0109] If there is no traffic congestion around the vehicle 10, the determination unit 233 determines that the driver 40 is requesting that the emergency operation of the vehicle 10 be executed under manual control.

[0110] If there is no traffic congestion around the vehicle 10 when the hazard switch 5 is operated, it is assumed that the driver 40 intends to operate the vehicle 10 himself to slow down and stop the vehicle 10. The automatic control device 12 blinks the hazard lights (not shown) and controls the operation of the vehicle 10 based on the operation of the driver 40.

[0111] On the other hand, when there is a traffic jam around the vehicle 10, the determination unit 233 determines that the driver 40 is requesting that the emergency operation of the vehicle 10 be executed by automatic control.

[0112] If the hazard switch 5 is operated and there is a traffic jam around the vehicle 10, it is considered that the driver 40 does not intend to operate the vehicle 10 himself to slow down and stop the vehicle 10. The automatic control device 12 controls the operation of the vehicle 10 so that the hazard lights (not shown) are turned on and the vehicle 10 is slowed down and stopped.

[0113] (3) Determination process of whether the vehicle operation is a change in driving position during lane tracing operation. During lane tracing operation, the control unit 231 controls the vehicle 10 so that the vehicle 10 drives along the center of the lane. The operation information is a steering operation signal that represents the driver's operation of the steering wheel 32. A steering operation signal that represents the steering wheel 32 being steered to the left or right during lane tracing operation and then returning to the center represents a change in the driving position of the vehicle 10. When a steering operation signal that represents the steering wheel 32 being steered to the left or right and then returning to the center is input, the determination unit 233 determines that the driver 40 is requesting a change in the driving position of the vehicle 10.

[0114] The environmental information representing a predetermined environment around the vehicle 10 is that no large vehicle is traveling to the side of the vehicle 10. The determination unit 233 determines whether or not a large vehicle is traveling to the side of the vehicle 10 based on the object detection information, which is the environmental information.

[0115] If the object detection information indicates that no large vehicle is traveling to the side of the vehicle 10, the judgment unit 233 determines that the driver 40 is requesting that the vehicle 10's traveling position be changed by manual control.

[0116] The automatic control device 12 controls changes in the running position of the vehicle 10 based on the operation of the steering wheel 32 by the driver 40 .

[0117] On the other hand, if the object detection information indicates that a large vehicle is traveling to the side of the vehicle 10, the judgment unit 233 determines that the driver 40 is requesting that the vehicle 10's traveling position be changed by automatic control.

[0118] The automatic control device 12 changes the traveling position of the vehicle 10 by a predetermined distance from the center of the lane in a direction away from the large vehicle traveling beside the vehicle 10.

[0119] According to the automatic control device of this embodiment described in detail above, the same effects as those of the first embodiment can be achieved.

[0120] 5 is an example of an operational flowchart relating to the determination process of the automatic control device of the third embodiment. In this embodiment, the determination unit 233 makes a determination based on the operation information and the navigation route of the vehicle 10.

[0121] 4, step S303 is different from the above-described step S103. The processes of steps S301, S302, S304, and S305 are the same as the above-described steps S101, S102, S104, and S105.

[0122] First, the determination unit 233 determines whether or not predetermined operation information has been input (step S301).

[0123] If operation information has been input (step S301-Yes), the determination unit 233 determines that the driver 40 is requesting a predetermined vehicle operation (step S302).

[0124] Next, the determination unit 233 determines whether or not the relationship between the vehicle operation represented by the operation information and the navigation route satisfies a predetermined relationship (step S303).

[0125] If the predetermined relationship is satisfied (step S303-Yes), the determination unit 233 determines that the driver 40 has requested that the vehicle operation be performed under manual control (step S304), and ends the series of processes.

[0126] On the other hand, if the predetermined relationship is not satisfied (step S303-No), the determination unit 233 determines that the driver 40 has requested that the vehicle operation be automatically controlled (step S305), and ends the series of processes. Also, if no operation information has been input (step S101-No), the series of processes ends. Hereinafter, the above-mentioned determination process will be described according to specific vehicle operations.

[0127] A process of determining whether a vehicle operation is a lane change. The operation information is a turn signal operation signal representing an operation of the driver to the turn signal operation unit 4. The turn signal operation signal is associated with a lane change of the vehicle 10. When the turn signal operation signal is input, the determination unit 233 determines that the driver 40 is requesting that the vehicle 10 change lanes.

[0128] The determination unit 233 determines whether the lane change direction of the vehicle 10 indicated by the blinker operation signal differs from the moving direction of the vehicle 10 toward the destination position of the vehicle 10 indicated by the navigation route.

[0129] For example, if the blinker operation signal indicates that the vehicle 10 is changing lanes to the right and the navigation route indicates that the vehicle 10 is turning left at an intersection ahead, the determination unit 233 determines that they are different.

[0130] If they are different, the determining unit 233 determines that the driver 40 is requesting that the lane change be performed under manual control.

[0131] If the direction of lane change of vehicle 10 indicated by the turn signal operation signal is different from the direction of movement of vehicle 10 to head towards the destination position of vehicle 10 indicated by the navigation route, it is considered that driver 40 intends to operate vehicle 10 himself to execute the lane change.

[0132] The automatic control device 12 flashes a turn signal (not shown) according to instructions on the direction of lane change of the vehicle 10, and controls the operation of the vehicle 10 based on the operation of the driver 40 regarding lane change of the vehicle 10.

[0133] On the other hand, if they are not different, the determining unit 233 determines that the driver 40 is requesting that the lane change be performed under automatic control.

[0134] The fact that the lane change direction of vehicle 10 indicated by the turn signal and the direction of movement of vehicle 10 to head toward the destination position of vehicle 10 indicated by the navigation route are the same indicates that driver 40 does not intend to operate vehicle 10 himself to perform the lane change.

[0135] The automatic control device 12 controls the operation of the vehicle 10 with respect to the lane change by flashing a turn signal (not shown) according to an instruction on the direction of the lane change of the vehicle 10 .

[0136] According to the automatic control device of this embodiment described in detail above, the same effects as those of the first embodiment can be achieved.

[0137] 6 is an example of an operational flowchart relating to the determination process of the automatic control device of the fourth embodiment. In this embodiment, the determination unit 233 makes a determination based on the operation information, the motion information, the environmental information, and the navigation route of the vehicle 10.

[0138] The operational flowchart shown in Fig. 6 differs from the operational flowchart shown in Fig. 3 in that steps S405 and S406 are added. The processes in steps S401 to S404 and S407 are the same as those in steps S101 to S105 described above.

[0139] First, the determination unit 233 determines whether or not predetermined operation information has been input (step S401).

[0140] If operation information has been input (step S401-Yes), the determination unit 233 determines that the driver 40 is requesting a predetermined vehicle operation (step S402).

[0141] Next, the determination unit 233 determines whether or not operation information indicating a predetermined driver operation of the driver has been input (step S403).

[0142] If operation information has been input (step S403-Yes), the determination unit 233 determines that the driver 40 has requested that the vehicle operation be executed under manual control (step S404), and ends the series of processes.

[0143] On the other hand, if the operation information has not been input (step S403-No), the determination unit 233 determines whether or not environmental information representing a predetermined environment around the vehicle 10 has been input (step S405).

[0144] If the environmental information has been input (step S405-Yes), the determination unit 233 determines that the driver 40 has requested that the vehicle operation be performed under manual control (step S404), and ends the series of processes.

[0145] On the other hand, if the environmental information has not been input (step S405-No), it is determined whether the relationship with the navigation route satisfies a predetermined relationship (step S406).

[0146] If the predetermined relationship is satisfied (step S406-Yes), the determination unit 233 determines that the driver 40 has requested that the vehicle operation be performed under manual control (step S404), and ends the series of processes.

[0147] On the other hand, if the predetermined relationship is not satisfied (step S406-No), the determination unit 233 determines that the driver 40 has requested that the vehicle operation be automatically controlled (step S407), and ends the series of processes. Also, if no operation information has been input (step S401-No), the series of processes ends.

[0148] According to the automatic control device of this embodiment described above in detail, the determination unit makes a determination based on operation information, motion information, environmental information, and the navigation route of the vehicle 10, which makes it easier to reduce the burden on the driver. Furthermore, according to the automatic control device of this embodiment, the same effects as those of the first embodiment are achieved.

[0149] 7 is an example of an operational flowchart relating to the determination process of the automatic control device of the fifth embodiment. In this embodiment, the determination unit 233 makes a determination based on the order in which the operation information is generated and then the operation information is generated.

[0150] First, the determination unit 233 determines whether or not predetermined operation information has been input (step S501).

[0151] If operation information has been input (step S501-Yes), the determination unit 233 determines that the driver 40 is requesting a predetermined vehicle operation (step S502).

[0152] Next, the determination unit 233 determines whether or not the operation information indicating the predetermined driver operation of the driver has been input (step S503).

[0153] If the operation information has been input (step S503-Yes), the determination unit 233 determines whether the generation of the operation information and the generation of the operation information are in a predetermined order (step S504). The determination unit 233 may consider the first time when the operation information is input to the automatic control device 12 as the time when the operation information is generated. Alternatively, the determination unit 233 may consider the second time when the operation information is notified to the determination unit 233 as the time when the operation information is generated.

[0154] The order in which the operation information is generated and the motion information is generated may be such that the second time is the same as the first time, the second time is earlier than the first time, or the second time is later than the first time.

[0155] If the difference between the second time and the first time is within a predetermined reference time, the second time and the first time are determined to be the same. If the second time is earlier than the first time by more than the reference time, the second time is determined to be earlier than the first time. If the second time is later than the first time by more than the reference time, the second time is determined to be later than the first time.

[0156] For example, if the second time is the same as the first time, the determination unit 233 determines that the generation of the operation information and the generation of the action information are in a predetermined order. On the other hand, if the second time is earlier than the first time or later than the first time, the determination unit 233 determines that the generation of the operation information and the generation of the action information are not in a predetermined order.

[0157] Furthermore, when the second time is earlier than the first time, the determination unit 233 may determine that the generation of the operation information and the generation of the action information are in a predetermined order. On the other hand, when the second time is the same as the first time or the second time is later than the first time, the determination unit 233 may determine that the generation of the operation information and the generation of the action information are not in a predetermined order.

[0158] Furthermore, when the second time is later than the first time, the determination unit 233 may determine that the generation of the operation information and the generation of the action information are in a predetermined order. On the other hand, when the second time is earlier than the first time or the second time is the same as the first time, the determination unit 233 may determine that the generation of the operation information and the generation of the action information are not in a predetermined order.

[0159] If the generation of the operation information and the generation of the operation information are in the predetermined order (step S504-Yes), the judgment unit 233 judges that the driver 40 has requested that the vehicle operation be performed under manual control (step S505), and ends the series of processes.

[0160] On the other hand, if operation information has not been input (step S503-No), or if the generation of operation information and the generation of operation information do not occur in the predetermined order (step S504-No), the determination unit 233 determines that the driver 40 has requested that the vehicle operation be automatically controlled (step S506), and ends the series of processes. Also, if operation information has not been input (step S501-No), the series of processes ends. Hereinafter, the above-mentioned determination process will be described according to specific vehicle operations.

[0161] (1) The operation information is a blinker operation signal representing an operation of the driver on the blinker operation unit 4. The blinker operation signal is associated with a lane change of the vehicle 10. When the blinker operation signal is input, the determination unit 233 determines that the driver 40 is requesting a lane change of the vehicle 10. The predetermined operation information is operation information representing an operation of the driver 40 on the hazard switch 5.

[0162] If the first time when the turn signal operation signal is input to the automatic control device 12 is the same as the second time when the operation information representing the driver's 40 operation on the hazard switch 5 is notified to the judgment unit 233, the judgment unit 233 judges that the generation of the operation information and the generation of the operation information are in a predetermined order.

[0163] On the other hand, if the second time is earlier than the first time or if the second time is later than the first time, the determination unit 233 determines that the generation of the operation information and the generation of the action information are not in the predetermined order.

[0164] (2) The operation information is a blinker operation signal that indicates an operation of the driver on the blinker operation unit 4. The blinker operation signal is associated with a lane change of the vehicle 10. When the blinker operation signal is input, the determination unit 233 determines that the driver 40 is requesting a lane change of the vehicle 10. The predetermined operation information is the direction of the face of the driver 40 that matches the direction of the lane change of the vehicle 10 indicated by the operation information.

[0165] If the first time when the turn signal operation signal is input to the automatic control device 12 is the same as the second time when the judgment unit 233 is notified of the operation information representing the direction of the driver's face that matches the lane change direction of the vehicle 10 represented by the turn signal operation signal, the judgment unit 233 judges that the generation of the operation information and the generation of the operation information are in a predetermined order.

[0166] On the other hand, if the second time is earlier than the first time or if the second time is later than the first time, the determination unit 233 determines that the generation of the operation information and the generation of the action information are not in the predetermined order.

[0167] According to the automatic control device of the fifth embodiment described above in detail, the driver can be notified whether the driver is requesting automatic control or manual control of a predetermined vehicle operation by simply performing a driver action at a predetermined timing in response to an operation on a predetermined operating unit. Also, the same effects as those of the first embodiment described above can be achieved.

[0168] In the present disclosure, the determination device, the determination computer program, and the determination method of the above-described embodiments can be modified as appropriate without departing from the spirit of the present disclosure. Furthermore, the technical scope of the present disclosure is not limited to those embodiments, but extends to the inventions set forth in the claims and their equivalents.

[0169] For example, the operation information, motion information, and environmental information in the above-described embodiment are examples and are not limited thereto. Also, the determination method in which the determination unit makes a determination based on at least one of the operation information, motion information, environmental information, and navigation route is also an example and is not limited thereto.

[0170] For example, the determination unit may determine an acceleration operation based on an accelerator signal, which is operation information, and at least one of the motion information, environmental information, and the navigation route. The determination unit may also determine a braking operation based on a brake signal, which is operation information, and at least one of the motion information, environmental information, and the navigation route.

[0171] The automatic control device may learn the relationship between the predetermined operation information and the determination result of the predetermined action information while the driver is driving the vehicle. [Explanation of symbols]

[0172] 2a Front camera 2b Rear camera 3. Surveillance cameras 4. Turn signal operation section 5 Hazard switch 6. Microphone 7 User Interface (UI) 7a Display device 8 Positioning information receiver 9 Navigation devices 10 vehicles 11 Object detection device 12 Automatic control devices 21 Communication Interface 22 Memory 23 processors 231 Control Unit 232 Generation part 233 Judgment section 13 In-vehicle network 30 Cabin 31 Driver's seat 32 Steering wheel 33 Brake pedal 34 Accelerator pedal 35 Shift operation unit

Claims

1. a determination unit that determines whether the driver is requesting that a vehicle operation associated with the operation information be performed under automatic control or that the vehicle operation be performed under manual control, based on operation information that represents an operation of the driver on the first operation unit, and at least one of operation information that represents a predetermined driver operation of the driver, environmental information that represents a predetermined environment around the vehicle, and a navigation route of the vehicle; A determination device characterized by:

2. 2. The determination device according to claim 1, wherein the operation information includes the driver's operation of a second operation unit different from the first operation unit, the driver's face facing a predetermined direction, and the driver's vocalization.

3. 3. The determination device according to claim 1, wherein the determination unit determines whether the driver is requesting that the vehicle operation be performed under automatic control or manual control based on the order in which the operation information is generated and the operation information is generated.

4. 2. The determination device according to claim 1, wherein the first operation unit is a turn signal operation unit that inputs a direction of lane change of the vehicle, the vehicle operation is a lane change associated with the turn signal operation unit, and when the direction of lane change of the vehicle represented by the operation information matches the direction of the driver's face represented by the operation information, the determination unit determines that the driver is requesting that the vehicle operation be performed under manual control.

5. The determination device according to claim 1 , wherein the environmental information represents other vehicles around the vehicle.

6. 6. The determination device according to claim 5, wherein the first operation unit is a turn signal operation unit that inputs the direction of a lane change of the vehicle, the vehicle operation is a lane change associated with the turn signal operation unit, and when the environmental information indicates that another vehicle is located in the direction of the lane change of the vehicle represented by the operation information, the determination unit determines that the driver is requesting that the vehicle operation be executed under automatic control.

7. 2. The determination device according to claim 1, wherein the first operation unit is a turn signal operation unit that inputs the direction of a lane change of the vehicle, the vehicle operation is a lane change associated with the turn signal operation unit, and when the direction of the lane change of the vehicle represented by the operation information differs from the direction of movement of the vehicle to head toward the destination position of the vehicle represented by the navigation route, the determination unit determines that the driver is requesting that the vehicle operation be performed under manual control.

8. causing a processor to determine whether the driver is requesting that a vehicle operation associated with the operation information be performed under automatic control or that the vehicle operation be performed under manual control, based on operation information representing an operation of the driver on the first operation unit, and at least one of operation information representing a predetermined driver operation of the driver, environmental information representing a predetermined environment around the vehicle, and a navigation route of the vehicle; A computer program for determination.

9. The determination device is determining whether the driver is requesting that the vehicle operation associated with the operation information be performed under automatic control or that the vehicle operation be performed under manual control, based on operation information representing the driver's operation on the first operation unit, and at least one of predetermined operation information representing a predetermined driver operation of the driver, predetermined environmental information representing a predetermined environment around the vehicle, and a navigation route of the vehicle; A determination method comprising:

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