Automated driving control device and automated driving control program

Abstract

To provide autonomous driving control devices and other equipment that can improve the convenience of autonomous driving, which does not require surrounding area monitoring. [Solution] The autonomous driving ECU 50b includes a control switching unit 78, a driving setting control unit 79, and a notification request unit 73, and functions as an autonomous driving control device that drives its own vehicle using autonomous driving control without the obligation of the driver to monitor the surroundings. The control switching unit 78 switches the driving control state from among a plurality of states, including driver assistance control with the obligation to monitor the surroundings and autonomous driving control without the obligation to monitor the surroundings. When the driving control state transitions from driver assistance control to autonomous driving control, the driving setting control unit 79 changes the setting of the distance between the own vehicle and the vehicle being followed. After the distance between vehicles has been changed, the notification request unit 73 causes the HMI system to notify that the transition to autonomous driving control is complete.

Description

Technical Field

[0001] The disclosure in this specification relates to an automatic driving control device, an automatic driving control program, a presentation control device, and a presentation control program.

Background Art

[0002] The driving control device disclosed in Patent Document 1 can perform autonomous driving control that does not require a driver to have a peripheral monitoring obligation. This driving control device accelerates or decelerates the host vehicle in order to control the longitudinal distance between the host vehicle and other vehicles traveling in the same lane.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] As disclosed in Patent Document 1, when automatic driving control without a peripheral monitoring obligation is started, the driver does not have to grasp the situation around the host vehicle. Therefore, it is easy to feel uncomfortable with changes in the distance between the host vehicle and the following vehicle. As a result, there was a concern that the convenience of automatic driving would be felt to be low.

[0005] The present disclosure aims to provide an automatic driving control device, an automatic driving control program, a presentation control device, and a presentation control program that can improve the convenience of automatic driving without a peripheral monitoring obligation.

Means for Solving the Problems

[0006] To achieve the above objective, one disclosed embodiment is an automated driving control device comprising: a control switching unit (78) that switches the driving control state of the own vehicle (Am) from among a plurality of states, including at least a driver assistance control with an obligation for the driver to monitor the surroundings and an autonomous driving control without an obligation for the driver to monitor the surroundings; a distance control unit (79) that changes the setting of the distance between the own vehicle and the following vehicle (At) when the driving control state transitions from driver assistance control to autonomous driving control; and a notification control unit (73) that causes an information display device (10) that provides information to the driver to notify the completion of the transition to autonomous driving control after the distance between vehicles has been changed when the driving control state transitions from driver assistance control to autonomous driving control. The control switching unit switches the driving control state from driver assistance control to autonomous driving control after the distance between vehicles has been changed by the distance control unit, and the notification control unit notifies the information display device that the completion of the transition to autonomous driving control has been achieved after the driving control state has been switched from driver assistance control to autonomous driving control by the control switching unit.

[0007] Another disclosed embodiment is an automated driving control program in which at least one processing unit (51) executes a process that includes switching the driving control state of the own vehicle (Am) (S101~S107) from among a plurality of driving support control with an obligation for the driver to monitor the surroundings and autonomous driving control without an obligation for the driver to monitor the surroundings, changing the setting of the distance between the own vehicle and the following vehicle (At) (VD) when the driving control state transitions from driving support control to autonomous driving control (S114, S116, S319~S322, S416, S516), and causing an information display device (10) that provides information to the driver to notify that the transition to autonomous driving control is complete after the change in the distance between vehicles, after the distance between vehicles has been changed, the driving control state is switched from driving support control to autonomous driving control, and after the driving control state has been switched from driving support control to autonomous driving control, the information display device is notified that the transition to autonomous driving control is complete.

[0008] Another disclosed embodiment is a presentation control device used in a vehicle (Am) equipped with an autonomous driving function, which controls the presentation of information to the driver, comprising: an information acquisition unit (81) that acquires switching information indicating a switch in driving control state among a plurality of states, including at least driving assistance control in which the driver is obligated to monitor the surroundings, and autonomous driving control in which the driver is not obligated to monitor the surroundings; and a notification control unit (88) that notifies the completion of the transition of the driving control state based on the switching information, wherein the notification control unit is a presentation control device that, when the driving control state is transitioned from driving assistance control to autonomous driving control, the distance between the vehicle (VD) from the vehicle to the following vehicle (At) is changed by the autonomous driving function, and further after the driving control state is switched from driving assistance control to autonomous driving control, notifies the completion of the transition to autonomous driving control.

[0009] Another disclosed embodiment is a presentation control program used in a vehicle (Am) equipped with an autonomous driving function, which controls the presentation of information to the driver, and includes a process in which at least one processing unit (11) is made to execute a process that includes acquiring switching information indicating a switch in driving control state from a plurality of states, including at least driving assistance control in which the driver is obligated to monitor the surroundings and autonomous driving control in which the driver is not obligated to monitor the surroundings (S11, S211), and notifying the completion of the transition of the driving control state based on the switching information (S12, S213), wherein when the driving control state is transitioned from driving assistance control to autonomous driving control, the distance (VD) between the vehicle (Am) and the following vehicle (At) is changed by the autonomous driving function, and further, after the driving control state is switched from driving assistance control to autonomous driving control, the presentation control program notifies the completion of the transition to autonomous driving control.

[0010] In these configurations, when the driving control state transitions from driver assistance control with surrounding monitoring obligations to automated driving control without surrounding monitoring obligations, a notification indicating the completion of the transition to automated driving control is given after the following distance has been changed. Therefore, the following distance is changed while the driver continues to monitor the surroundings. As a result, the driver can more easily understand the process of changing the following distance, thereby improving the convenience of automated driving.

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[0014] Another disclosed embodiment is an automated driving control device comprising: a control switching unit (78) that switches the driving control state of the own vehicle (Am) from among a plurality of states, including at least a driving assistance control where the driver is obligated to monitor the surroundings and an autonomous driving control where the driver is not obligated to monitor the surroundings; a distance control unit (79) that changes the setting of the distance between the own vehicle and the following vehicle (At) when the driving control state transitions from driving assistance control to autonomous driving control; and a notification control unit (73) that, when the distance between vehicles changes due to the transition of the driving control state from driving assistance control to autonomous driving control, issues a notification indicating that the distance between vehicles has changed in parallel with a notification indicating the completion of the transition to autonomous driving control, and informs the driver that the change in the distance between vehicles setting is related to the transition of the driving control state.

[0015] Another disclosed embodiment is an automated driving control program that causes at least one processing unit (51) to execute a process that includes switching the driving control state of the own vehicle (Am) from among a plurality of states, including at least one driving support control state in which the driver is obligated to monitor the surroundings and one autonomous driving control state in which the driver is not obligated to monitor the surroundings (S101~S107), changing the setting of the distance between the own vehicle and the following vehicle (At) when the driving control state transitions from driving support control to autonomous driving control (S114, S116, S319~S322, S416, S516), and when the distance between vehicles (VD) changes due to the transition of the driving control state from driving support control to autonomous driving control, issuing a notification indicating that the distance between vehicles has changed in parallel with a notification indicating the completion of the transition to autonomous driving control, thereby informing the driver that the change in the distance between vehicles setting is related to the transition of the driving control state.

[0016] Another disclosed embodiment is a presentation control device used in a vehicle (Am) equipped with an autonomous driving function, which controls the presentation of information to the driver, and comprises: an information acquisition unit (81) that acquires control status information related to the switching of driving control states among a plurality of states, which include at least driving assistance control where the driver is obligated to monitor the surroundings and autonomous driving control where the driver is not obligated to monitor the surroundings; and a notification control unit (88) that, based on the control status information, when it is determined that the distance between the vehicle (VD) from the vehicle to the following vehicle (At) has changed due to a transition in the driving control state from driving assistance control to autonomous driving control, provides notification indicating that the distance between vehicles has changed in parallel with notification indicating the completion of the transition to autonomous driving control, and informs the driver that the change in the distance between vehicles is related to the transition in the driving control state.

[0017] Another disclosed embodiment is a presentation control program used in a vehicle (Am) equipped with an autonomous driving function, which controls the presentation of information to the driver. This presentation control program includes the following: acquiring control status information related to the switching of driving control states among a plurality of states, including at least driving assistance control where the driver is obligated to monitor the surroundings and autonomous driving control where the driver is not obligated to monitor the surroundings (S11, S211); and, based on the control status information, if it is determined that the distance between the vehicle (VD) from the vehicle to the following vehicle (At) will change due to a transition in the driving control state from driving assistance control to autonomous driving control, issuing a notification indicating that the distance between vehicles has changed in parallel with a notification indicating the completion of the transition to autonomous driving control, thereby informing the driver that the change in the distance between vehicles is related to the transition in the driving control state (S12, S213), and causing at least one processing unit (11) to execute such a process.

[0018] In these configurations, when the driving control state transitions from driver assistance control with surrounding monitoring obligations to automated driving control without surrounding monitoring obligations, and the distance between vehicles changes, notification indicating the change in the distance between vehicles is provided. Therefore, the driver can more easily understand the process of the distance between vehicles changing, thereby improving the convenience of automated driving.

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[0035] Moreover, the reference numbers in parentheses in the above and the claims only show an example of the correspondence with the specific configurations in the embodiments described later, and do not limit the technical scope in any way.

Brief Description of the Drawings

[0036] [Figure 1] It is a diagram showing an overall view of an in-vehicle network including an automatic driving system and an HMI system according to a first embodiment of the present disclosure. [Figure 2] It is a block diagram showing details of an automatic driving ECU. [Figure 3] A block diagram showing details of an HCU. [Figure 4] It is a diagram showing details of follow-up driving control. [Figure 5] This flowchart shows the details of the operation control switching process, which is mainly carried out by the control switching unit. [Figure 6] This flowchart shows the details of the vehicle-to-vehicle spacing setting process, which is primarily carried out by the driving setting control unit. [Figure 7] This diagram shows the relative sizes of the inter-vehicle distance settings in control patterns 1 to 4. [Figure 8] This flowchart shows the details of the notification execution process performed by the HCU. [Figure 9] This is a time chart showing the control details in Scene 1, where the distance setting between vehicles is changed. [Figure 10] This is a time chart showing the details of the control in Scene 2. [Figure 11] This is a time chart showing the details of the control in Scene 3. [Figure 12] This flowchart shows the details of the vehicle-to-vehicle distance adjustment process, which is mainly carried out by the driving setting control unit. [Figure 13] This flowchart shows the details of the restart control process, which is primarily carried out by the action decision unit. [Figure 14] This flowchart details the relapse notification process performed in the HCU. [Figure 15] This flowchart shows the details of the notification execution process according to the second embodiment of this disclosure. [Figure 16] This is a time chart showing the control details in Scene 1 of the second embodiment. [Figure 17] This flowchart shows the details of the vehicle-to-vehicle spacing setting process according to the third embodiment of this disclosure. [Figure 18] This flowchart shows the details of the vehicle distance adjustment process for adjusting the second vehicle distance. [Figure 19] This is a time chart showing the details of the control in a scene where the set distance between vehicles changes from the first distance to the second distance. [Figure 20] This flowchart shows the details of the vehicle distance setting process in the fourth embodiment. [Figure 21] This flowchart shows the details of the vehicle distance setting process in the fifth embodiment. [Modes for carrying out the invention]

[0037] Several embodiments will be described below with reference to the drawings. In each embodiment, the same reference numerals are used for corresponding components, and redundant explanations may be omitted. If only a part of the configuration is described in each embodiment, the configuration of other embodiments described earlier can be applied to the other parts of that configuration. Furthermore, in addition to the combinations of configurations explicitly stated in the description of each embodiment, configurations from multiple embodiments can be partially combined even if not explicitly stated, as long as there are no particular problems with the combination.

[0038] (First Embodiment) In the first embodiment of this disclosure, an automated driving ECU (Electronic Control Unit) 50b and an HCU (Human Machine Interface Control Unit) 100, shown in Figure 1, are provided in the in-vehicle network 1. The automated driving ECU 50b shown in Figures 1 and 2 implements the functions of an automated driving control device. The HCU 100 shown in Figures 1 and 3 implements the functions of a presentation control device.

[0039] As shown in Figures 1 to 3, the autonomous driving ECU 50b and HCU 100 are installed in the vehicle (hereinafter referred to as the vehicle Am, see Figure 4) together with the driver assistance ECU 50a. The autonomous driving ECU 50b, together with the driver assistance ECU 50a, etc., constitutes the autonomous driving system 50 of the vehicle Am. With the installation of the autonomous driving system 50, the vehicle Am becomes an autonomous driving vehicle equipped with autonomous driving capabilities.

[0040] The driver assistance ECU 50a is an in-vehicle ECU that implements driver assistance functions in the automated driving system 50 to support the driver's driving operations. The driver assistance ECU 50a enables advanced driver assistance or partial automated driving control at approximately Level 2 of the automated driving levels defined by the Society of Automotive Engineers (SAE). Automated driving performed by the driver assistance ECU 50a is an automated driving system that requires the driver to visually monitor the area around the vehicle, thus fulfilling the obligation of surrounding monitoring.

[0041] The autonomous driving ECU 50b is an in-vehicle ECU that enables autonomous driving functions in the autonomous driving system 50 that can take over the driver's driving operations. The autonomous driving ECU 50b is capable of performing Level 3 or higher autonomous driving, where the system is the primary control entity. The autonomous driving performed by the autonomous driving ECU 50b is an eyes-off autonomous driving system that does not require monitoring of the vehicle's surroundings, meaning there is no obligation to monitor the surroundings.

[0042] In the autonomous driving system 50, the driving control state of the autonomous driving function can be switched from among several options, which include at least autonomous driving control with an obligation to monitor the surroundings by the driver assistance ECU 50a and autonomous driving control without an obligation to monitor the surroundings by the autonomous driving ECU 50b. In the following description, autonomous driving control of level 2 or lower by the driver assistance ECU 50a may be referred to as "driver assistance control," and autonomous driving control of level 3 or higher by the autonomous driving ECU 50b may be referred to as "autonomous driving control."

[0043] During periods of autonomous driving controlled by the autonomous driving ECU 50b, the driver may be permitted to perform certain actions other than driving (hereinafter referred to as "second tasks"). Second tasks are legally permitted to the driver until a request for driving operations is made by the coordinated operation of the autonomous driving ECU 50b and HCU 100, i.e., a request for a driver change occurs. For example, watching entertainment content such as video content, operating devices such as smartphones, and eating are envisioned as second tasks.

[0044] The driver assistance ECU 50a, the autonomous driving ECU 50b, and the HCU 100 are communicated to the communication bus 99 of the in-vehicle network 1 installed in the vehicle Am. The driver monitor 29, surrounding monitoring sensors 30, locator 35, in-vehicle communication device 39, and driving control ECU 40 are connected to the communication bus 99. These nodes connected to the communication bus 99 can communicate with each other. Certain nodes among these ECUs, etc., may be directly electrically connected to each other and can communicate without going through the communication bus 99.

[0045] The driver monitor 29 includes a near-infrared light source, a near-infrared camera, and a control unit that controls them. The driver monitor 29 is installed, for example, on the top surface of the steering column or the top surface of the instrument panel, with the near-infrared camera facing the headrest of the driver's seat. The near-infrared camera may be integrated with the meter display 21 or the center information display (hereinafter referred to as CID) 22, which will be described later, and may be provided on either screen.

[0046] The driver monitor 29 captures images of the driver's head, which has been illuminated with near-infrared light by a near-infrared light source, using a near-infrared camera. The images captured by the near-infrared camera are analyzed by the control unit. The control unit extracts information such as the driver's eye point position and gaze direction from the captured images. The driver monitor 29 provides the driver status information extracted by the control unit to the HCU 100 and the autonomous driving ECU 50b, etc.

[0047] The surrounding monitoring sensor 30 is an autonomous sensor that monitors the environment around the vehicle Am. The surrounding monitoring sensor 30 can detect moving and stationary objects within its detection range around the vehicle. The surrounding monitoring sensor 30 can at least detect vehicles in front of, behind, and to the sides of the vehicle Am. The surrounding monitoring sensor 30 provides the detection information of objects around the vehicle to the driver assistance ECU 50a and the autonomous driving ECU 50b, etc.

[0048] The surrounding monitoring sensor 30 includes, for example, one or more of a camera unit 31, a millimeter-wave radar 32, a lidar 33, and a sonar 34. The camera unit 31 may be configured to include a monocular camera or a compound camera. The camera unit 31 is mounted on the vehicle Am so as to be able to capture the area in front of the vehicle Am. Camera units 31 capable of capturing the area to the sides and rear of the vehicle Am may also be mounted on the vehicle Am. The camera unit 31 outputs at least one of the image data captured around the vehicle and the analysis results of the image data as detection information.

[0049] The millimeter-wave radar 32 emits millimeter waves or sub-millimeter waves towards the vehicle. The millimeter-wave radar 32 outputs detection information generated by receiving reflected waves reflected by moving and stationary objects. The lidar 33 emits laser light towards the vehicle. The lidar 33 outputs detection information generated by receiving laser light reflected by moving and stationary objects within its irradiation range. The sonar 34 emits ultrasonic waves towards the vehicle. The sonar 34 outputs detection information generated by receiving ultrasonic waves reflected by moving and stationary objects near the vehicle.

[0050] The locator 35 includes a GNSS (Global Navigation Satellite System) receiver and an inertial sensor. The locator 35 combines the positioning signal received by the GNSS receiver, the measurement results from the inertial sensor, and the vehicle speed information output to the communication bus 99 to sequentially determine the vehicle's position and direction of travel. The locator 35 sequentially outputs the vehicle's position and direction information, based on the positioning results, to the communication bus 99 as locator information.

[0051] The locator 35 further has a map database (hereinafter referred to as the map DB) 36 that stores map data. The map DB 36 is mainly composed of a large-capacity storage medium that stores a large amount of 3D map data and 2D map data. The 3D map data is a so-called HD (High Definition) map and contains road information necessary for autonomous driving control. The 3D map data contains information necessary for advanced driver assistance and autonomous driving, such as 3D shape information of roads and detailed information of each lane. The locator 35 reads map data of the area around its current location from the map DB 36 and provides it to the driver assistance ECU 50a and autonomous driving ECU 50b, etc., along with locator information.

[0052] The in-vehicle communication unit 39 is an external communication unit mounted on the vehicle Am and functions as a V2X (Vehicle to Everything) communication device. The in-vehicle communication unit 39 transmits and receives information wirelessly with roadside units installed along the roadside. For example, the in-vehicle communication unit 39 receives traffic congestion information from the roadside unit for the area around the vehicle Am's current location and in the direction of travel. The traffic congestion information is VICS (registered trademark) information, etc. The in-vehicle communication unit 39 provides the received traffic congestion information to the autonomous driving ECU 50b, etc.

[0053] The driving control ECU 40 is an electronic control unit mainly consisting of a microcontroller. The driving control ECU 40 has at least the functions of a brake control ECU, a drive control ECU, and a steering control ECU. Based on one of the following, the driving control ECU 40 continuously performs brake force control of each wheel, output control of the onboard power source, and steering angle control: operation commands based on the driver's driving operations, control commands of the driving assistance ECU 50a, and control commands of the automatic driving ECU 50b. In addition, the driving control ECU 40 generates vehicle speed information indicating the current driving speed of the vehicle Am based on detection signals from wheel speed sensors provided on the hub of each wheel, and sequentially outputs the generated vehicle speed information to the communication bus 99.

[0054] Next, we will explain the details of the HCU100, driver assistance ECU50a, and autonomous driving ECU50b in order.

[0055] The HCU100 comprises an HMI (Human Machine Interface) system 10 along with multiple display devices, audio equipment 24, ambient lighting 25, and operating devices 26, etc. The HMI system 10 has an input interface function that accepts operations from the driver or other occupants of the vehicle Am, and an output interface function that presents information to the driver.

[0056] The display device presents information to the driver through their vision, such as by displaying images. The display device includes a meter display 21, a CID 22, and a head-up display (HUD) 23. The CID 22 has a touch panel function and detects touch operations on the display screen by the driver or others. The audio system 24 has multiple speakers installed in the cabin in a configuration surrounding the driver's seat and reproduces notification sounds or voice messages in the cabin through the speakers. Ambient lighting 25 is provided on the instrument panel and steering wheel, etc. Ambient lighting 25 presents information using the driver's peripheral vision by using ambient display that changes the color of the emitted light.

[0057] The operating device 26 is an input unit that receives user input from the driver or other user. User inputs related to the activation and deactivation of the autonomous driving function, for example, are input to the operating device 26. As an example, driver input instructing a transition from driver assistance control to autonomous driving control is input to the operating device 26. The operating device 26 includes steering switches provided on the spokes of the steering wheel, operating levers provided on the steering column, and a voice input device that recognizes the content of the driver's speech.

[0058] The HCU100 functions as a presentation control device, comprehensively controlling the presentation of information related to autonomous driving to the driver. Based on the autonomous driving ECU50b's request for driving operations, the HCU100 requests the driver to take over driving. In addition, as described above, the HCU100 works in conjunction with the autonomous driving ECU50b to allow the driver to perform a second task and can play video content related to the second task in a way that does not interfere with the request for driver change.

[0059] The HCU100 primarily consists of a control circuit comprising a processing unit 11, RAM 12, storage unit 13, input / output interface 14, and a bus connecting these. The processing unit 11 is hardware for arithmetic processing coupled with RAM 12. The processing unit 11 includes at least one arithmetic core, such as a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit). The processing unit 11 may further include an FPGA (Field-Programmable Gate Array), an NPU (Neural Network Processing Unit), and other IP cores with dedicated functions. RAM 12 may include video RAM for generating video data. The processing unit 11 performs various processes for presentation control processing by accessing RAM 12. The storage unit 13 includes a non-volatile storage medium. The storage unit 13 stores various programs (presentation control programs, etc.) executed by the processing unit 11.

[0060] The HCU100 has multiple functional units that integrate and control the presentation of information to the driver by executing presentation control programs stored in the memory unit 13 using the processing unit 11. Specifically, the HCU100 is equipped with functional units such as an information acquisition unit 81 and a presentation control unit 88.

[0061] The information acquisition unit 81 acquires vehicle information, operation information, and driver status information, etc. Vehicle information is information indicating the state of the vehicle Am. The information acquisition unit 81 acquires vehicle information from the communication bus 99, etc. Vehicle information includes, for example, vehicle speed information provided to the communication bus 99 by the driving control ECU 40. Operation information is information indicating the content of user operations. The information acquisition unit 81 acquires operation information from the CID 22 and the operation device 26, etc. Driver status information is information provided to the information acquisition unit 81 from the driver monitor 29. The information acquisition unit 81 grasps the driver's status based on the driver status information. As an example, the information acquisition unit 81 grasps the driver's status, such as whether the driver is monitoring the surroundings of the vehicle Am, the content of the second task the driver is performing, and the driver's driving posture.

[0062] The information acquisition unit 81 works in conjunction with the information linkage unit 61 (described later) of the autonomous driving ECU 50b to share the information they have each acquired. The information acquisition unit 81 provides the autonomous driving ECU 50b with operation information and information indicating the driver's status (hereinafter referred to as behavioral information). The information acquisition unit 81 acquires control status information indicating the status of the autonomous driving function and requests for notification related to the autonomous driving function from the information linkage unit 61.

[0063] The display control unit 88 provides integrated control for the provision of information to the driver using each display device and audio device 24. Based on control status information and implementation requests acquired by the information acquisition unit 81, the display control unit 88 provides content and displays information in accordance with the operating state of the autonomous driving. Specifically, when the information acquisition unit 81 detects that the autonomous driving control by the autonomous driving ECU 50b is being implemented, the display control unit 88 enables the playback of video content, etc. Furthermore, the display control unit 88 requests a driver change and provides notifications such as transition completion, distance change notification, and follow restart notification, which will be described later.

[0064] The driver assistance ECU 50a and the autonomous driving ECU 50b enable lane-in driving, allowing the vehicle Am to automatically travel along its own lane Lns while in motion. When the driver assistance ECU 50a and the autonomous driving ECU 50b are driving the vehicle Am automatically along its own lane Lns, they perform follow-me driving control if there is a vehicle ahead traveling in the same lane Lns (see Figure 4).

[0065] In adaptive cruise control, the vehicle ahead is set as the vehicle to be followed (see Figure 4), and the distance VD (see Figure 4) between the vehicle Am and the vehicle to be followed (see Figure 4) is controlled. In adaptive cruise control, the driver assistance ECU 50a and the autonomous driving ECU 50b set a target interval time from the vehicle to be followed (at) to the vehicle Am. When the target interval time is the same, the higher the speed of the vehicle Am, the wider the distance VD becomes, and the lower the speed of the vehicle Am, the narrower the distance VD becomes. In adaptive cruise control, the driver assistance ECU 50a and the autonomous driving ECU 50b manage the speed of the vehicle Am so that the distance VD based on the target interval time is maintained.

[0066] The driver assistance ECU 50a is a computer that primarily includes a control circuit equipped with a processing unit, RAM, memory unit, input / output interface, and bus connecting these. The driver assistance ECU 50a implements driver assistance functions such as ACC (Adaptive Cruise Control) and LTC (Lane Trace Control) through program execution by the processing unit. The driver assistance ECU 50a performs the aforementioned lane-in driving and follow-the-lead driving control through the coordination of the ACC and LTC functions.

[0067] The autonomous driving ECU 50b has higher processing power than the driver assistance ECU 50a and can at least perform driving control equivalent to ACC and LTC. In situations where autonomous driving control is temporarily interrupted, the autonomous driving ECU 50b may be able to perform driver assistance control that requires the driver to monitor the surroundings, in place of the driver assistance ECU 50a.

[0068] The autonomous driving ECU 50b, like the HCU 100, is a computer that mainly includes a control circuit equipped with a processing unit 51, RAM 52, storage unit 53, input / output interface 54, and a bus connecting these. The processing unit 51 performs various processes to realize the autonomous driving control method of this disclosure by accessing the RAM 52. The storage unit 53 stores various programs (such as autonomous driving control programs) executed by the processing unit 51. Through the execution of programs by the processing unit 51, the autonomous driving ECU 50b is configured with multiple functional units for realizing autonomous driving functions, such as an information linkage unit 61, an environment recognition unit 62, an action decision unit 63, and a control execution unit 64.

[0069] The information sharing unit 61 provides information to the information acquisition unit 81 and acquires information from the information acquisition unit 81. Through the cooperation of the information sharing unit 61 and the information acquisition unit 81, the autonomous driving ECU 50b and HCU 100 share the information they each acquire. For example, the information sharing unit 61 acquires operation information and behavior information provided by the information acquisition unit 81. The information sharing unit 61 also generates control status information and provides the generated control status information to the information acquisition unit 81.

[0070] Control status information is information indicating the operating status of the automated driving function by the automated driving system 50. Control status information includes switching information, distance change information, and start control information. Switching information is information indicating a switch in the driving control state in the automated driving function. When the automated driving function is in operation and the driving control state is switched to one of several, switching information is provided from the information linkage unit 61 to the information acquisition unit 81. Distance change information is information indicating a change in the setting of the distance between vehicles VD in follow driving control. When the setting of the distance between vehicles VD is changed in conjunction with a switch in the driving control state, distance change information is provided from the information linkage unit 61 to the information acquisition unit 81. Start control information is information regarding the timing of restarting the vehicle Am in a traffic jam. When the vehicle Am, which has temporarily stopped in a traffic jam, restarts, start control information is provided from the information linkage unit 61 to the information acquisition unit 81.

[0071] The information linkage unit 61 has an input recognition unit 71 and a notification request unit 73 as sub-function units for information linkage with the information acquisition unit 81.

[0072] The input recognition unit 71 recognizes user operations input to the CID 22 and the operation device 26, etc., based on driver operation information acquired from the HCU 100. As an example, the input recognition unit 71 recognizes driver input that instructs a transition from driver assistance control to autonomous driving control (Level 3 transition operation, see Figure 9, etc.).

[0073] The notification request unit 73 enables notification by the HCU 100 synchronized with the operating state of the automatic driving function by outputting a notification request to the information acquisition unit 81. The notification request is information that enables the provision of information synchronized with the behavior control of the vehicle Am by the automatic driving function. The output processing of the notification request by the notification request unit 73 corresponds to the processing of implementing the notification. As notification requests related to automatic driving, the notification request unit 73 transmits to the information acquisition unit 81 the above-mentioned driver change request, transition completion notification, inter-vehicle distance change notification, and follow restart notification. Note that control status information may also serve as a notification request. That is, switching information may also serve as a transition completion notification request, inter-vehicle distance change information may also serve as a inter-vehicle distance change notification request, and start control information may also serve as a follow restart notification request.

[0074] The environmental recognition unit 62 combines locator information and map data acquired from the locator 35 with detection information acquired from the surrounding monitoring sensor 30 to recognize the driving environment around the vehicle Am in order to implement autonomous driving control. The environmental recognition unit 62 also has a vehicle detection unit 74, a road information detection unit 75, and a traffic congestion detection unit 76 as sub-function units for driving environment recognition.

[0075] The other vehicle detection unit 74 grasps the relative position and relative speed of dynamic objects around the vehicle, such as other vehicles. The other vehicle detection unit 74 grasps at least the vehicle ahead of the vehicle Am traveling in the vehicle lane Lns and the parallel vehicle AL (see Figure 4) traveling in the adjacent lane Lna of the vehicle lane Lns. The vehicle ahead grasped by the other vehicle detection unit 74 becomes the vehicle At (see Figure 4) that the vehicle Am follows in the follow-up driving control described above.

[0076] The road information unit 75 obtains information about the road on which the vehicle Am is traveling. Specifically, the road information unit 75 determines whether the road on which the vehicle Am is traveling or the road it plans to travel is within a pre-set permitted area SeA (see Figure 9) or a restricted permitted area SeD (see Figure 9). Information indicating whether or not it is within a permitted area SeA or a restricted permitted area SeD may be recorded in the map data stored in the map DB 36, or it may be included in the received information received by the in-vehicle communication device 39.

[0077] More specifically, the permitted area SeA and the restricted permitted area SeD correspond to Operational Design Domains where autonomous driving without the driver's obligation to monitor the surroundings is legally permitted. The autonomous driving ECU 50b has two driving control states belonging to autonomous driving control: congestion-limited control (hereinafter referred to as congestion level 3), which is implemented only when driving in congested areas, and area-limited control (hereinafter referred to as area level 3), which is implemented only when driving within a specific area. On roads within permitted area SeA, both congestion level 3 and area level 3 are permitted. On the other hand, on roads within the restricted permitted area, only congestion level 3 is permitted, and area level 3 is not permitted. Furthermore, on roads not included in either permitted area SeA or restricted permitted area SeD (hereinafter referred to as non-permitted area SeX, see Figure 9), driving with autonomous driving control without the obligation to monitor the surroundings is prohibited. In congestion level 3, driving control is implemented to ensure a safe distance from the vehicle ahead while causing the vehicle Am to follow the vehicle ahead. On the other hand, in Area Level 3, driving control is implemented to either have the vehicle Am follow the vehicle in front, or to have the vehicle Am cruise at a constant speed along its own lane Lns.

[0078] The road information unit 75 determines the number of lanes on the road being traveled based on map data, etc., and determines whether there are multiple lanes on the road that are traveling in the same direction. When the vehicle Am is traveling on a road with multiple lanes using autonomous driving, the road information unit 75 identifies the vehicle lane Lns that the vehicle Am is traveling in among the multiple lanes, based on locator information and detection information, etc. The road information unit 75 then understands the characteristics of the vehicle lane Lns.

[0079] The road information acquisition unit 75 determines whether the vehicle's lane Lns is an overtaking lane Lnp based on its characteristics. On roads with two or more lanes in one direction, the lane located closest to the center of the road (towards the median strip MS, see Figure 4) corresponds to the overtaking lane Lnp. On roads with left-hand traffic, the rightmost lane is the overtaking lane Lnp, and on roads with right-hand traffic, the leftmost lane is the overtaking lane Lnp.

[0080] The road information unit 75 further determines whether the vehicle's lane Lns is a low-speed lane. A low-speed lane is one in which the speed of a parallel vehicle AL traveling in the adjacent lane Lna is lower than the speed of the vehicle Am. On roads with two or more lanes in one direction, the driving lane Lnt located on the outermost side of the road (road edge RS side, see Figure 4) corresponds to the low-speed lane. On roads with left-hand traffic, the leftmost lane is the low-speed lane, and on roads with right-hand traffic, the rightmost lane is the low-speed lane. Note that the low-speed lane is not limited to the normal driving lane Lnt, but may also be an uphill lane, a branching lane, or a merging lane, etc.

[0081] The traffic congestion detection unit 76 combines detection information from the surrounding monitoring sensor 30 and vehicle speed information from the driving control ECU 40 to grasp the traffic congestion around the vehicle Am. The traffic congestion detection unit 76 performs the following: determination of whether or not a traffic congestion has occurred, prediction of congestion resolution, and determination of whether or not the congestion has been resolved. The traffic congestion detection unit 76 may also use traffic congestion information received by the in-vehicle communication device 39 for determinations related to traffic congestion.

[0082] The traffic congestion detection unit 76 determines that there is a traffic jam around the vehicle if the current speed of the vehicle Am is below the traffic congestion speed (for example, about 10 km / h) and there is a vehicle ahead traveling in the vehicle's lane Lns. After determining that there is a traffic jam around the vehicle, the traffic congestion detection unit 76 predicts that the traffic jam will clear up around the vehicle if the speed of the vehicle Am exceeds the traffic congestion speed. After predicting that the traffic jam will clear up, the traffic congestion detection unit 76 cancels the prediction if the speed of the vehicle Am falls below the traffic congestion speed again. Furthermore, after predicting that the traffic jam will clear up around the vehicle, the traffic congestion detection unit 76 determines that the traffic jam has cleared up if the speed of the vehicle Am or the vehicle ahead exceeds the traffic jam clearing speed (for example, about 60 km / h).

[0083] The Action Decision Unit 63 works in conjunction with the HCU 100 to control the driver changeover between the automated driving system 50 and the driver. When the automated driving system 50 has control over the driving operation, the Action Decision Unit 63 generates a planned driving line for its own vehicle Am based on the results of the driving environment recognition by the environment recognition unit 62, and outputs the generated planned driving line to the control execution unit 64. When the other vehicle recognition unit 74 recognizes the vehicle At to be followed, the Action Decision Unit 63 generates a planned driving line for performing follow target control for the vehicle At to be followed.

[0084] The action decision unit 63 includes a control switching unit 78 and a driving setting control unit 79 as sub-function units for controlling the operating state of the automatic driving function.

[0085] The control switching unit 78 switches between driver assistance control, which requires the driver to monitor the surroundings, and autonomous driving control, which does not require the driver to monitor the surroundings. In addition, when the vehicle Am is driven by autonomous driving control, the control switching unit 78 switches the driving control state among several options, including area level 3 and congestion level 3. The control switching unit 78 switches the driving control state among several options in cooperation with the driver assistance ECU 50a by performing a driving control switching process (see Figure 5). The control switching unit 78 starts the driving control switching process, for example, based on the start of driver assistance control by the driver assistance ECU 50a.

[0086] In the driving control switching process, the control switching unit 78 determines whether the vehicle Am is traveling on a road where autonomous driving control is permitted (S101). If the road information acquisition unit 75 determines that the vehicle Am is traveling in an unauthorized area SeX (see Figure 9) (S101: YES), the control switching unit 78 does not permit the implementation of autonomous driving control and continues the driver assistance control by the driver assistance ECU 50a (S107). If the driving control state transitions from autonomous driving control to driver assistance control by the control switching unit 78, the automatic driving ECU 50b may implement driver assistance control. On the other hand, if the vehicle Am is traveling in an permitted area SeA or a restricted permitted area SeD (S101: NO), the control switching unit 78 determines whether the input acquisition unit 71 has detected a Level 3 transition operation (S102). If the input acquisition unit 71 has detected a Level 3 transition operation (S102: YES), the control switching unit 78 enables the implementation of autonomous driving control.

[0087] If the control switching unit 78 detects congestion around the vehicle using the congestion detection unit 76 (S103:YES), it sets the autonomous driving control to Level 3 congestion control for the vehicle Am (S105). On the other hand, if congestion around the vehicle is not detected (S103:NO), the control switching unit 78 determines whether the vehicle Am is traveling in the permitted area SeA (see Figure 9) (S104). If the road information detection unit 75 detects that the vehicle is traveling in the restricted permitted area SeD (see Figure 9) (S104:NO), the control switching unit 78 does not permit a transition to autonomous driving control and continues the driver assistance control by the driver assistance ECU 50a (S107). Conversely, if the vehicle Am is detected to be traveling in the permitted area SeA (S104:YES), the control switching unit 78 sets the autonomous driving control to Level 3 area control for the vehicle Am (S106).

[0088] The driving setting control unit 79 changes the settings of parameters related to autonomous driving control based on the information obtained by the information exchange unit 61 and the environment recognition unit 62. The driving setting control unit 79 sets the inter-vehicle distance VD (see Figure 4) in the follow-me driving control described above. By performing the inter-vehicle distance setting process (see Figure 6), the driving setting control unit 79 works in cooperation with the driver assistance ECU 50a to change the setting of the inter-vehicle distance VD (see Figure 4) according to the driving control state. For example, the driving setting control unit 79 starts the inter-vehicle distance setting process based on the start of driver assistance control by the driver assistance ECU 50a.

[0089] In the distance setting process, the driving setting control unit 79 determines whether or not there is an obligation to monitor the surroundings for the current driving control state (S111). If it is determined that there is an obligation to monitor the surroundings for the driving control state (S111: YES), the driving setting control unit 79 works in cooperation with the driver assistance ECU 50a to set a target distance between vehicles linked to the driver assistance control (S112). On the other hand, if it is determined that there is no obligation to monitor the surroundings for the driving control state (S111: NO), the driving setting control unit 79 determines whether or not the driving control state is autonomous driving control at congestion level 3 (S113). If the driving control state is area level 3 (S113: NO), the driving setting control unit 79 sets a target distance between vehicles linked to autonomous driving control at area level 3 (S114).

[0090] If the driving control state is at congestion level 3 (S113: YES), the driving setting control unit 79 determines whether or not the congestion detection unit 76 has predicted congestion relief (S115). If the congestion detection unit 76 predicts congestion relief (S115: YES), the driving setting control unit 79 sets a target interval time linked to autonomous driving control at area level 3 (S114). On the other hand, if congestion relief is not predicted (S115: NO), the driving setting control unit 79 sets a target interval time linked to autonomous driving control at congestion level 3 (S116).

[0091] The driving setting control unit 79 can switch between multiple (for example, four) control patterns (see Figure 7) for the relative magnitudes of the inter-vehicle distance VD for driver assistance control (level 2 or lower), autonomous driving control during congestion level 3, and autonomous driving control in area level 3.

[0092] In control pattern 1, the following distance VD associated with Level 3 autonomous driving control during congestion is set to the narrowest, and the following distance VD associated with Level 3 autonomous driving control in an area is set to the widest. In control pattern 1, the following distance VD associated with driver assistance control at Level 2 or lower is set to be wider than that of Level 3 during congestion, and narrower than that of Level 3 in an area.

[0093] In control pattern 2, the inter-vehicle distance (VD) associated with congestion level 3 and area level 3 is essentially the same. Furthermore, the inter-vehicle distance (VD) associated with driver assistance control at level 2 or lower is wider than the inter-vehicle distance (VD) associated with autonomous driving control at level 3 or higher.

[0094] In control pattern 3, the inter-vehicle distance (VD) associated with Level 3 autonomous driving control during congestion is narrower than the inter-vehicle distance (VD) associated with Area Level 3 autonomous driving control. Furthermore, the inter-vehicle distance (VD) associated with Level 2 or lower driver assistance control is made essentially the same as the inter-vehicle distance (VD) associated with Area Level 3 autonomous driving control.

[0095] In control pattern 4, the inter-vehicle distance (VD) associated with driver assistance control at level 2 or lower is narrower than the inter-vehicle distance (VD) associated with autonomous driving control at level 3 or higher. On the other hand, the inter-vehicle distance (VD) associated with congestion level 3 and area level 3 is considered to be essentially the same.

[0096] When the automatic driving ECU 50b has control over the driving operation, the control execution unit 64, in cooperation with the driving control ECU 40, executes acceleration / deceleration control and steering control of the vehicle Am according to the planned driving line generated by the action decision unit 63. Specifically, the control execution unit 64 generates control commands based on the planned driving line and sequentially outputs the generated control commands to the driving control ECU 40.

[0097] When the automatic driving system 50 performs the switching of the driving control state as described above, the HMI system 10 provides notifications related to the switching of the driving control state. Specifically, the HCU 100 provides notifications such as transition completion notifications and inter-vehicle distance change notifications in synchronization with the transition of the driving control state.

[0098] A transition completion notification is an information display that informs the driver that the transition to the driving control state is complete. The transition completion notification is initiated, for example, based on the start of the transition to the driving control state and continues until the transition to the driving control state is complete. The transition completion notification is implemented by a combination of playing voice messages that notify the start and completion of the transition, changing the appearance of an image indicating the driving control state, and displaying an additional image indicating the control transition. The notification of completion of the transition to autonomous driving control also functions as a notification that the second task is ready to be performed. In other words, a notification that the second task is ready to be performed may be implemented as a notification of completion of the transition to autonomous driving control.

[0099] The inter-vehicle distance change notification is an information display that informs the driver of a change in the inter-vehicle distance VD setting related to a transition in the driving control state. The inter-vehicle distance change notification is implemented when the inter-vehicle distance VD setting changes in a scene transitioning from driver assistance control to autonomous driving control, or from autonomous driving control to driver assistance control, and it shows the driver that the inter-vehicle distance VD is changing. The inter-vehicle distance change notification may be implemented in parallel with the transition completion notification. The inter-vehicle distance change notification is started, for example, based on a change in the inter-vehicle distance VD setting by the driving setting control unit 79. The inter-vehicle distance change notification may end after a predetermined time has elapsed, or it may continue until the adjustment of the inter-vehicle distance VD is completed. When follow-driving control is being implemented in the autonomous driving system 50, the display control unit 88 displays an inter-vehicle status image Pds showing the current setting status of the inter-vehicle distance VD on at least one of the meter display 21 and HUD 23. In addition to displaying the inter-vehicle status image (Pds), the system also provides information indicating that the inter-vehicle distance (VD) is being adjusted or has been completed, by playing an audio message or displaying additional images, as a notification of changes in inter-vehicle distance.

[0100] To perform the above-mentioned transition completion notification and inter-vehicle distance change notification, HCU100 starts notification execution processing (see Figure 8) when it detects that the autonomous driving function has been activated in the autonomous driving system 50. HCU100 repeats the notification execution processing until the autonomous driving function is stopped.

[0101] In the notification execution process, the information acquisition unit 81 waits for a request to perform a transition completion notification or a vehicle distance change notification (S11). If the information acquisition unit 81 has received a request to perform the notification, the display control unit 88 performs the notification associated with the received request (S12). As described above, switching information or vehicle distance change information may be provided to the information acquisition unit 81 as a request to perform each notification. The display control unit 88 can start a transition completion notification or a vehicle distance change notification using the switching information or vehicle distance change information as a trigger.

[0102] Next, the details of the multiple scenes 1 to 3 in which the setting of the following distance VD in the driving setting control unit 79 is changed in accordance with the switching of the driving control state by the control switching unit 78 will be explained below based on Figures 9 to 11, with reference to Figures 1 to 4 and Figure 7.

[0103] <Scene 1: Control transition between driver assistance control and autonomous driving control / Control pattern 4> In Scene 1 shown in Figure 9, the inter-vehicle distance setting of control pattern 4 (see Figure 7) is employed. The driving setting control unit 79 sets the inter-vehicle distance VD wider in autonomous driving control at Level 3 or higher than in driver assistance control at Level 2 or lower. In Scene 1, when the congestion detection unit 76 detects that the vehicle has entered a traffic jam within the restricted permitted area SeD (time t1), the control switching unit 78 permits the transition to congestion level 3. The notification control unit 88 notifies the vehicle of entering a traffic jam based on the notification request received from the notification request unit 73. The notification of entering a traffic jam in Scene 1 also functions as a notification that Level 3 autonomous driving control has become available.

[0104] After Level 3 operation becomes available during traffic congestion, when the input recognition unit 71 recognizes the Level 3 transition operation (time t2), the driving setting control unit 79 changes the setting to widen the inter-vehicle distance VD (time t3). Specifically, the driving setting control unit 79 changes the setting from the target inter-vehicle time associated with driver assistance control to the target inter-vehicle time associated with autonomous driving control. As a result, vehicle speed control that widens the inter-vehicle distance VD is initiated. The notification control unit 88 issues an inter-vehicle distance change notification indicating a change to widen the inter-vehicle distance VD based on the notification request or inter-vehicle distance change information obtained from the notification request unit 73.

[0105] The control switching unit 78 switches the driving control state from driver assistance control to Level 3 autonomous driving control during congestion after the inter-vehicle distance VD has been changed by the driving setting control unit 79 (time t4). When the driving control state transitions from driver assistance control to autonomous driving control, the notification request unit 73 outputs an implementation request so that the completion of the transition is notified after the inter-vehicle distance VD has been changed. Based on the acquisition of such a notification request, the presentation control unit 88 issues a transition completion notification indicating the completion of the transition to Level 3 autonomous driving control after the inter-vehicle distance VD has been changed.

[0106] When the control switching unit 78 detects that congestion has cleared around the vehicle within the permitted area SeA, it switches the driving control state from congestion level 3 to area level 3 (time t5). In Scene 1, the inter-vehicle distance VD for both congestion level 3 and area level 3 is set to the same value. Therefore, no notification related to the change in inter-vehicle distance VD or the control transition associated with the transition from congestion level 3 to area level 3 is provided.

[0107] When the road information acquisition unit 75 determines that the vehicle is scheduled to exit the permitted area SeA, the display control unit 88 announces the termination of autonomous driving control based on the notification request from the notification request unit 73 or the scheduled exit information (time t6). Furthermore, following the announcement of the termination of autonomous driving control, the display control unit 88 announces a change in the inter-vehicle distance VD (time t7). The above announcements regarding the termination of autonomous driving control and the change in the inter-vehicle distance VD are made by playing an audio message and displaying additional images, etc.

[0108] The control switching unit 78 switches the driving control state from autonomous driving control at area level 3 to driver assistance control (time t8) before the vehicle Am leaves the permitted area SeA (time t9). The driving setting control unit 79 changes the setting of the inter-vehicle distance VD in accordance with the transition of the driving control state by the control switching unit 78, and changes the setting so that the inter-vehicle distance VD becomes narrower while driving within the permitted area SeA. The notification control unit 88 provides notification of completion of the transition to level 2 driver assistance control and notification of change in inter-vehicle distance based on the notification request received from the control switching unit 78. In this case, the transition completion notification and the inter-vehicle distance change notification may be performed in parallel or sequentially.

[0109] <Scene 2: Control transition from area level 3 to congestion level 3 / control patterns 1, 3> In Scene 2 shown in Figure 10, the inter-vehicle distance setting of control pattern 1 or 3 (see Figure 7) is employed. The driving setting control unit 79 sets the inter-vehicle distance VD in congestion level 3 to be narrower than in area level 3. In Scene 2, when the congestion detection unit 76 detects that the vehicle has entered congestion within the permitted area SeA (time t1), the control switching unit 78 transitions the driving control state from area level 3 to congestion level 3.

[0110] The notification request unit 73 outputs a notification request to the HCU 100 based on the transition of the driving control state. The notification control unit 88 notifies the vehicle of entering a traffic jam based on the notification request received from the notification request unit 73. The notification of entering a traffic jam in Scene 2 also functions as a notification of the control transition from Area Level 3 to Traffic Jam Level 3.

[0111] When the driving control state is switched from area level 3 to congestion level 3 by the control switching unit 78, the driving setting control unit 79 changes the setting to narrow the inter-vehicle distance VD after the transition to congestion level 3 is complete (time t2). Based on the notification request obtained from the notification request unit 73, the notification control unit 88 issues an inter-vehicle distance change notification indicating that the inter-vehicle distance VD has narrowed in accordance with the change in the inter-vehicle distance VD setting by the driving setting control unit 79.

[0112] <Scene 3: Control transitions between driver assistance control and Level 3 traffic congestion / Control patterns 1-3> In Scene 3 shown in Figure 11, one of the control patterns 1 to 3 (see Figure 7) is used for setting the inter-vehicle distance. The driving setting control unit 79 sets the inter-vehicle distance VD in Level 3 traffic congestion to be narrower than in Level 2 or lower driving assistance control. In Scene 3, when the traffic congestion detection unit 76 detects that the vehicle has entered a traffic jam within the restricted permitted area SeD (time t1), the control switching unit 78 permits the transition to Level 3 traffic congestion. The notification control unit 88 notifies the vehicle of entering a traffic jam based on the notification request received from the notification request unit 73. The notification of entering a traffic jam in Scene 3 also functions as a notification indicating that Level 3 autonomous driving control has become available.

[0113] After Level 3 traffic congestion control becomes available, when the input detection unit 71 detects the transition operation to Level 3 (time t2), the control switching unit 78 switches the driving control state from driver assistance control to autonomous driving control for Level 3 traffic congestion (time t3). In control patterns 1 to 3, if traffic congestion is detected while driving with driver assistance control and the driving control state is transitioned from driver assistance control to Level 3 traffic congestion control, the driving setting control unit 79 maintains the setting of the inter-vehicle distance VD until the transition to Level 3 traffic congestion control is complete. The notification control unit 88, based on a notification request from the notification request unit 73 or the acquisition of switching information, performs a transition completion notification indicating the completion of the transition to Level 3 traffic congestion control.

[0114] The driving setting control unit 79 changes the setting to narrow the inter-vehicle distance VD based on the fact that a predetermined time has elapsed after the transition from driver assistance control to traffic congestion level 3 is completed (time t4). If the setting of the inter-vehicle distance VD is changed after the transition to traffic congestion level 3, the notification of the change in inter-vehicle distance by the display control unit 88 is canceled. However, the set inter-vehicle distance shown by the inter-vehicle status image Pds (see Figure 3) may be changed in accordance with the change in the setting of the inter-vehicle distance VD.

[0115] If the congestion detection unit 76 predicts that the congestion will be resolved while driving under congestion level 3, the notification control unit 88 will announce the end of congestion level 3 based on a notification request from the notification request unit 73 (time t5). In addition, the driving setting control unit 79 will change the setting so that the distance between vehicles VD widens while congestion level 3 continues, based on the congestion resolution prediction (time t6). The notification control unit 88 will issue a notification indicating that the distance between vehicles VD will widen, based on the notification request or distance change information obtained from the notification request unit 73.

[0116] The control switching unit 78 switches the driving control state from congestion level 3 to driver assistance control (time t7) after the driving setting control unit 79 has finished changing the inter-vehicle distance VD and before the congestion detection unit 76 determines that the congestion has been resolved (time t8). The notification control unit 88, based on the notification request received from the notification request unit 73, notifies that the transition to driver assistance control has been completed in accordance with the switching of the driving control state.

[0117] <Adjusting the distance between vehicles according to the driving environment> When performing follow-me driving using autonomous driving control at Level 3 or higher, the driving setting control unit 79 changes the setting of the distance VD to the vehicle being followed (Vehicle At) according to the driving environment recognized by the environment recognition unit 62. The driving setting control unit 79 increases or decreases the distance VD to the vehicle being followed (Vehicle At) relative to the normal distance VD associated with autonomous driving control (Area Level 3) by performing a distance adjustment process (see Figure 12). The distance adjustment process is started, for example, based on a switch to the driving control state of Area Level 3 and is continuously repeated until Area Level 3 ends.

[0118] In the vehicle-to-vehicle distance adjustment process, the environmental recognition unit 62 first recognizes the driving environment around the vehicle (S131). Based on the driving environment recognized by the environmental recognition unit 62, the driving setting control unit 79 determines whether or not there is a merging point in the direction of travel of the vehicle Am (S132). If the presence of a merging point is detected in the direction of travel of the vehicle Am (S132: YES), the driving setting control unit 79 changes the setting to widen the vehicle-to-vehicle distance VD (S133).

[0119] On the other hand, if the existence of a merging point is not detected (S132: NO), the driving setting control unit 79 further determines whether the vehicle to be followed At is a large vehicle or not based on the driving environment recognized by the environment recognition unit 62 (S134). If the existence of a large vehicle that will be the vehicle to be followed At is detected (S134: YES), the driving setting control unit 79 changes the setting to narrow the distance between vehicles VD (S136).

[0120] Furthermore, if the presence of a large vehicle is not detected (S134: NO), the driving setting control unit 79 determines the characteristics of the vehicle's lane Lns based on the driving environment recognized by the environment recognition unit 62 (S135). Specifically, the driving setting control unit 79 determines whether or not the vehicle is driving in a low-speed lane. If the vehicle Am is driving in an overtaking lane Lnp (see Figure 4), etc., the driving setting control unit 79 determines that it is not driving in a low-speed lane (S135: NO) and changes the setting to narrow the following distance VD (S136). Conversely, if the vehicle Am is driving in a normal driving lane Lnt (see Figure 4) or an uphill lane, etc., the driving setting control unit 79 determines that it is driving in a low-speed lane (S135: YES) and sets the following distance VD to the normal setting associated with area level 3 (S137).

[0121] Based on the above, when the vehicle's lane Lns is the overtaking lane Lnp, the setting is changed so that the following distance VD becomes narrower than when the vehicle's lane Lns is not the overtaking lane Lnp. Also, when the speed of a parallel vehicle AL traveling in the adjacent lane Lna is higher than the speed of the vehicle Am, the setting is changed so that the following distance VD becomes wider than when the speed of the parallel vehicle AL is lower than the speed of the vehicle Am.

[0122] <Notification of the timing of restarting the vehicle> In follow-me driving control by the autonomous driving system 50, if the following vehicle At temporarily stops, for example in a scene such as driving in traffic congestion, the own vehicle Am also stops while maintaining a distance VD between itself and the following vehicle At. In such a scene, the action decision unit 63 starts a restart control process (see Figure 13) to control the restart of the own vehicle Am.

[0123] In the restart control process, based on the detection information of the target vehicle At grasped by the other vehicle recognition unit 74, the action decision unit 63 determines whether or not the target vehicle At has started moving (S151, S152). If the start of the target vehicle At is detected (S152: YES), the action decision unit 63 sets the start timing for the own vehicle Am (S153). The start timing may be set using the elapsed time (interval time) after the target vehicle At has started moving, or it may be set using the interval distance VD from the own vehicle Am to the target vehicle At. The action decision unit 63 provides start control information indicating the start timing to the HCU 100 through the notification request unit 73 (S154). The action decision unit 63 waits for the start timing to occur (S155), and based on the fact that the start timing has occurred (S155: YES), restarts the own vehicle Am (S156).

[0124] In the restart scene described above, the HCU100 provides a follow restart notification regarding the starting timing of its own vehicle Am. The restart notification is performed sporadically, for example, when the following vehicle At starts moving and the distance VD between the vehicles becomes several meters (for example, 3 meters), by playing an audio message or displaying a notification image. When the HCU100 detects that its own vehicle Am has stopped while the follow driving control is operating, it starts the restart notification process (see Figure 14). In the restart notification process, the system waits for the acquisition of start control information indicating the start timing (S51). When this start control information is acquired by the information acquisition unit 81 (S51:YES), the presentation control unit 88 sets the start timing for the follow restart notification based on the start timing indicated by the start control information. Then, based on the notification start timing (S52:YES), the presentation control unit 88 performs the follow restart notification after the following vehicle At starts moving (S53).

[0125] In the first embodiment described above, when the driving control state transitions from driver assistance control to autonomous driving control, a transition completion notification is issued after the inter-vehicle distance VD is changed, indicating that the transition to autonomous driving control is complete. As a result, the inter-vehicle distance VD is changed while the driver continues to monitor the surroundings. Consequently, the driver can more easily understand the process of changing the inter-vehicle distance VD, thereby improving the convenience of autonomous driving.

[0126] In addition, in the first embodiment, after the inter-vehicle distance VD is changed by the driving setting control unit 79, the control switching unit 78 switches the driving control state from driver assistance control to autonomous driving control. As a result, the change in the inter-vehicle distance VD can be completed while the driver has the duty to monitor the surroundings. Consequently, it becomes less likely that a driver who is not looking around their vehicle will feel uneasy about the change in the inter-vehicle distance VD setting.

[0127] Furthermore, in the first embodiment, the distance VD between vehicles when driving in traffic congestion using autonomous driving control is set to be narrower than the distance VD between vehicles when driving in traffic congestion using driver assistance control. Therefore, in traffic congestion driving scenarios where there is no obligation to monitor the surroundings, it becomes difficult for other vehicles to cut in between the vehicle Am and the vehicle At being followed. As a result, situations in which autonomous driving control is terminated due to other vehicles cutting in become less likely to occur. Consequently, the state in which there is no obligation to monitor the surroundings is more likely to continue, thus improving the convenience of autonomous driving.

[0128] Furthermore, in the first embodiment, when the driving control state is switched from area level 3 to congestion level 3 by the control switching unit 78, the driving setting control unit 79 changes the setting to narrow the distance between vehicles VD. Therefore, in scenes where autonomous driving control at congestion level 3 is performed, it becomes less likely for other vehicles to cut in front of the vehicle Am. As a result, it becomes easier to maintain a state where there is no obligation to monitor the surroundings, thus improving the convenience of autonomous driving.

[0129] In addition, in the first embodiment, when the driving control state is switched from area level 3 to congestion level 3 by the control switching unit 78, the notification request unit 73 causes the HMI system 10 to notify the driver of the change in the inter-vehicle distance. Therefore, the driver can recognize the change in the inter-vehicle distance VD setting through the inter-vehicle distance change notification, even if they are not looking around their vehicle.

[0130] Furthermore, in the first embodiment, if traffic congestion is detected while driving with driver assistance control and the driving control state transitions from driver assistance control to traffic congestion level 3, the driving setting control unit 79 maintains the setting of the inter-vehicle distance VD until the transition to traffic congestion level 3 is completed. As a result, abrupt changes in the inter-vehicle distance VD that occur when entering traffic congestion are eliminated, which can reduce driver anxiety regarding autonomous driving.

[0131] Furthermore, in the first embodiment, after a predetermined time has elapsed since the completion of the transition from driver assistance control to traffic congestion level 3, the driving setting control unit 79 changes the setting to narrow the distance between vehicles VD. As a result, the adjustment to narrow the distance between vehicles VD is performed after the vehicle's speed Am has sufficiently decreased after entering a traffic jam, making it difficult for the driver, who is not paying attention to the area around their vehicle, to notice. Consequently, the driver can comfortably perform the second task without being aware of the change in the distance between vehicles VD.

[0132] Furthermore, in the first embodiment, when the driving control state transitions from driver assistance control to traffic congestion level 3, the notification of changes in the distance between vehicles, which is performed when transitioning from traffic congestion level 3 to driver assistance control, is no longer performed. Therefore, adjustments to narrow the distance between vehicles (VD) become even less noticeable to the driver. As a result, the driver can comfortably enjoy the period of autonomous driving controlled by autonomous driving control.

[0133] In the first embodiment, the congestion detection unit 76 predicts the resolution of congestion occurring around the vehicle Am. If congestion is predicted to be resolved while driving at congestion level 3, the driving setting control unit 79 changes the setting to widen the inter-vehicle distance VD while congestion level 3 continues. As a result, since the adjustment to widen the inter-vehicle distance VD is performed while driving at low speed, the behavioral changes associated with the adjustment of the inter-vehicle distance VD are less likely to be noticed by the driver. Consequently, driver anxiety regarding autonomous driving can be reduced.

[0134] Furthermore, in the first embodiment, when the driving control state transitions from driver assistance control with an obligation to monitor the surroundings to automatic driving control without an obligation to monitor the surroundings, if the inter-vehicle distance VD changes, an inter-vehicle distance change notification indicating the change in inter-vehicle distance VD is provided. Therefore, the driver can more easily understand the process of the inter-vehicle distance VD changing, thereby improving the convenience of automatic driving.

[0135] In addition, in the first embodiment, the setting of the inter-vehicle distance VD from the vehicle Am to the vehicle At being followed is changed according to the surrounding conditions of the vehicle Am or the characteristics of the vehicle lane Lns. Therefore, it becomes possible to suppress other vehicles cutting in front of the vehicle Am or to support the smooth cutting in of other vehicles. As a result, situations in which autonomous driving control without the obligation to monitor the surroundings is terminated due to other vehicles cutting in become less likely to occur. Consequently, the driving state without the obligation to monitor the surroundings is more likely to continue, thus improving the convenience of autonomous driving.

[0136] Furthermore, in the first embodiment, if the presence of a merging point is detected in the direction of travel of the vehicle Am, the driving setting control unit 79 changes the setting to widen the distance VD between vehicles. Therefore, even in a scenario where another vehicle cuts in front of the vehicle Am at a merging point, the autonomous driving ECU 50b can smoothly continue autonomous driving control. Thus, the convenience of autonomous driving is further improved.

[0137] Furthermore, in the first embodiment, if the presence of a large vehicle, which is the vehicle At to be followed, is detected, the driving setting control unit 79 changes the setting to narrow the distance VD between vehicles. As a result, the air resistance of the vehicle Am is reduced by the large vehicle, making it possible to improve the fuel efficiency or electric energy efficiency of the vehicle Am.

[0138] In addition, the road information recognition unit 75 of the first embodiment recognizes whether the vehicle's lane Lns is an overtaking lane Lnp as a characteristic of the vehicle's lane Lns. When the vehicle's lane Lns is an overtaking lane Lnp, the following distance VD is set to be narrower than when the vehicle's lane Lns is not an overtaking lane Lnp. As described above, if the following distance VD is narrowed while traveling in an overtaking lane Lnp, it becomes difficult for other vehicles to cut in front of the vehicle Am. As a result, autonomous driving control can be continued more smoothly, and the convenience of autonomous driving can be improved.

[0139] In addition, the road information acquisition unit 75 of the first embodiment determines, as a characteristic of the vehicle's lane Lns, whether the speed of the parallel vehicle AL traveling in the adjacent lane Lna is higher than the speed of the vehicle Am. The driving setting control unit 79 then changes the setting so that the distance VD between vehicles is wider when the speed of the parallel vehicle AL is higher than the speed of the vehicle Am, compared to when the speed of the parallel vehicle AL is lower than the speed of the vehicle Am. Generally, when driving in a low-speed lane, aggressive cutting in by the parallel vehicle AL from the adjacent lane Lna is less likely to occur. Therefore, by ensuring a wide distance VD between vehicles when driving in a low-speed lane and controlling the vehicle Am to follow the target vehicle At gently, it is possible to improve the comfort and convenience of autonomous driving.

[0140] Furthermore, in the first embodiment, when driving under autonomous driving control without the obligation to monitor the surroundings, if the vehicle Am stops together with the following vehicle At, the notification of the vehicle Am's restart timing is given after the following vehicle At starts moving. Therefore, even if the distance VD between the following vehicle At and the vehicle Am temporarily widens after the following vehicle At starts moving and before the vehicle Am starts moving, the driver can understand the planned start of the vehicle Am, making it less likely for the driver to feel uncomfortable with the widened distance VD. If this reduction in discomfort can be achieved through notification, the convenience of autonomous driving can be improved.

[0141] Furthermore, in the first embodiment, the inter-vehicle distance VD when the area around the vehicle Am is congested is set to be narrower than the inter-vehicle distance VD when the area around the vehicle Am is not congested (see control patterns 1 and 3 in Figure 7). Therefore, if congestion continues around the vehicle, it becomes less likely that other vehicles will cut in front of the vehicle Am. As a result, autonomous driving control without the obligation to monitor the surroundings can be continued more easily, thus improving the convenience of autonomous driving.

[0142] In the first embodiment described above, the parallel vehicle AL corresponds to "other vehicle," the permitted area SeA corresponds to "specific area," the HMI system 10 corresponds to "information display device," and the automatic driving ECU 50b corresponds to "automatic driving control device." Furthermore, the notification request unit 73 and the display control unit 88 each correspond to "notification control unit," the road information acquisition unit 75 corresponds to "lane acquisition unit," the driving setting control unit 79 corresponds to "vehicle-to-vehicle distance control unit," and the HCU 100 corresponds to "display control device."

[0143] (Second embodiment) The second embodiment of this disclosure shown in Figures 1-3 and Figures 15 and 16 is a modification of the first embodiment. In the second embodiment, the notification method in Scene 1 (see Figure 15), when the vehicle Am enters a traffic jam within the restricted permitted area SeD, differs from that of the first embodiment (see Figure 9). The details of the control and notification in Scene 1 of the second embodiment will be described below.

[0144] After the vehicle Am enters a traffic jam (time t1), when the input detection unit 71 detects the Level 3 transition operation (time t2), the control switching unit 78 switches the driving control state from driver assistance control to autonomous driving control for Level 3 traffic jams (time t3). The driving setting control unit 79 changes the inter-vehicle distance VD after the driving control state has been switched to Level 3 traffic jams by the control switching unit 78 (time t4). As described above, when switching from a set inter-vehicle distance linked to driver assistance control to a set inter-vehicle distance linked to Level 3 traffic jams, the driving setting control unit 79 does not start changing the inter-vehicle distance VD simultaneously with the transition to Level 3 traffic jams. After the transition to Level 3 traffic jams, the driving setting control unit 79 gradually widens the inter-vehicle distance VD in accordance with following the target vehicle At (times t4-t5). In addition, the inter-vehicle distance change notification is performed after the transition to Level 3 traffic jams in accordance with the adjustment to widen the inter-vehicle distance VD (time t4).

[0145] Furthermore, the notification of completion of the transition to congestion level 3 is performed not when the driving control state is switched, but after the inter-vehicle distance VD has been changed. In the notification execution process (see Figure 16), the HCU 100 waits to acquire information indicating the transition from driver assistance control to congestion level 3, as well as information indicating the completion of the change in inter-vehicle distance VD. The presentation control unit 88 performs a transition completion notification indicating the completion of the transition to congestion level 3 when the information acquisition unit 81 has acquired the switching information (S211:YES) and then the inter-vehicle distance change information has been acquired (S212:YES) (S213). Thus, after the control transition to congestion level 3, the transition completion notification is performed following the inter-vehicle distance change notification indicating the change in the setting of inter-vehicle distance VD (time t5).

[0146] In the second embodiment described above, after the inter-vehicle distance VD is changed, a transition completion notification is issued to indicate that the transition to the driving control state has been completed. As a result, the same effect as in the first embodiment is achieved, and the driver can more easily understand the process of changing the inter-vehicle distance VD, thereby improving the convenience of autonomous driving.

[0147] In addition, in the second embodiment, the inter-vehicle distance VD is changed after the driving control state is switched from driver assistance control to autonomous driving control at Level 3 for traffic congestion. At this time, the driving setting control unit 79 slowly changes the inter-vehicle distance VD so that the change in the setting of the inter-vehicle distance VD is not noticeable from the vehicle's behavior. If the change in the inter-vehicle distance VD were to start suddenly at the same time as the transition to Level 3 for traffic congestion, the driver would likely feel uneasy. To avoid this situation, the driving setting control unit 79 gradually increases the inter-vehicle distance VD after transitioning to a driving control state where there is no obligation to monitor the surroundings. As a result, the driver will find it difficult to perceive from the vehicle's behavior that the setting of the inter-vehicle distance VD has changed. Therefore, the driver's sense of security regarding autonomous driving control may increase.

[0148] In the second embodiment, the notification of a change in the inter-vehicle distance VD setting is performed after the transition to autonomous driving control (traffic congestion level 3), in accordance with the inter-vehicle distance control of the driving setting control unit 79 described above. Therefore, the driver can more reliably grasp the change in the inter-vehicle distance VD setting, and even if they sense a change in the inter-vehicle distance VD from the vehicle's behavior, they are less likely to feel anxious.

[0149] (Third embodiment) The third embodiment of this disclosure shown in Figures 1 to 4 and Figures 17 to 19 is another modification of the first embodiment. In the third embodiment, when autonomous driving control is performed using information from the surrounding monitoring sensor 30, the set distance in the follow-me driving control is adjusted so that the surrounding monitoring sensor 30 can easily detect the area around the vehicle. Specifically, the driving setting control unit 79 performs a distance setting process (see Figure 17) that switches the distance setting according to the driving control state, as well as a distance adjustment process (see Figure 18) that changes the distance setting in autonomous driving control. The details of the distance setting process and distance adjustment process performed in the third embodiment will be described below with reference to Figures 1 to 4.

[0150] The driving setting control unit 79 determines whether or not there is an obligation to monitor the surroundings for the current driving control state in the distance setting process shown in Figure 17 (S311). If the driving setting control unit 79 determines that there is an obligation to monitor the surroundings for the driving control state (S311: YES), it determines whether or not there is an obligation to hold the steering wheel in the driving assistance control being performed (S312).

[0151] The driving setting control unit 79 sets a target interval time associated with the hands-on control (S313) if a driving assistance control that requires the driver to hold the steering wheel (hereinafter referred to as hands-on control) is being performed (S312: YES). Hands-on control is performed in scenes such as when there is no traffic congestion and immediately after the autonomous driving control is deactivated.

[0152] If hands-off control (driver assistance control that does not require gripping the steering wheel) is being performed (S312: NO), the driving setting control unit 79 sets a target interval time associated with the hands-off control (S314). Hands-off control is performed in traffic congestion scenarios in the prohibited area SeX (see Figure 9). The driving setting control unit 79 sets the target interval time associated with each control so that the interval distance VD in hands-on control is wider than the interval distance VD in hands-off control. That is, the target interval time associated with hands-on control is set to be longer than the target interval time associated with hands-off control.

[0153] If the driving setting control unit 79 determines that there is no obligation to monitor the surroundings during driving control (S311: NO), it determines the control mode of the autonomous driving control and whether or not congestion level 3 is being implemented (S315). If the autonomous driving control being implemented is congestion level 3 (S315: YES), the driving setting control unit 79 determines whether or not the congestion detection unit 76 has predicted congestion relief (S316). If there is no congestion relief prediction (S316: NO), the driving setting control unit 79 determines whether or not the conditions for switching to inter-vehicle control in congestion level 3 have been met (S317). On the other hand, if there is a congestion relief prediction (S316: YES), or if the autonomous driving control being implemented is area level 3 (S315: NO), the driving setting control unit 79 determines whether or not the conditions for switching to inter-vehicle control in area level 3 have been met (S318).

[0154] The driving setting control unit 79 switches the setting of the inter-vehicle distance VD linked to autonomous driving control based on the fulfillment of the switching conditions in both congestion level 3 and area level 3. Specifically, the driving setting control unit 79 switches the setting of the inter-vehicle distance VD between a standard first set inter-vehicle distance and a second set inter-vehicle distance in which detection of the area around the vehicle by the surrounding monitoring sensor 30 becomes easier than with the first set inter-vehicle distance. The first set inter-vehicle distance is a preset fixed value (a certain distance or a certain inter-vehicle time), and is, for example, a value that approximates the inter-vehicle time used in driver assistance control. In contrast, the second set inter-vehicle distance is a variable value that is changed according to the status of the vehicle Am based on the inter-vehicle adjustment process described later (see Figure 18).

[0155] The switching conditions are set in relation to the elapsed time since the control state was switched, the change in the vehicle speed of the vehicle Am, and the deterioration of the detection environment of the surrounding monitoring sensor 30. For example, if the environmental recognition unit 62 recognizes deterioration in weather conditions such as rain, snow, and fog, or the incidence of strong sunlight such as the rising sun and setting sun, the driving setting control unit 79 determines that the detection environment has deteriorated. In addition, the driving setting control unit 79 also determines that the detection environment has deteriorated when driving at night or in tunnels.

[0156] The driving setting control unit 79 determines that the conditions for switching to congestion level 3 are not met immediately after the start of congestion level 3, or when the detection environment of the surrounding monitoring sensor 30 is good (S317: NO). In this case, the driving setting control unit 79 controls the following distance VD in the follow driving control based on the first set distance associated with congestion level 3 (hereinafter referred to as the first distance for congestion control) (S319). On the other hand, if a predetermined time (for example, several tens of seconds) has elapsed since the start of congestion level 3, and the driving setting control unit 79 determines that the conditions for switching to congestion level 3 have been met (S317: YES). In this case, the driving setting control unit 79 controls the following distance VD in the follow driving control based on the second set distance associated with congestion level 3 (hereinafter referred to as the second distance for congestion control) (S320). When the setting is switched from the first traffic congestion control distance to the second traffic congestion control distance, the vehicle Am moves relative to the following vehicle At in a direction that widens the distance VD.

[0157] The driving setting control unit 79 determines that the conditions for switching to Area Level 3 are not met immediately after the start of Area Level 3, or when the detection environment of the surrounding monitoring sensor 30 is good (S318: NO). In this case, the driving setting control unit 79 controls the inter-vehicle distance VD in follow-up driving control based on the first set inter-vehicle distance (hereinafter referred to as the first inter-vehicle distance for area control) associated with Area Level 3 (S321). The first set inter-vehicle distance for area control is set to be wider than the first set inter-vehicle distance for congestion control.

[0158] Conversely, if a predetermined time (for example, several tens of seconds) has elapsed since the start of Area Level 3, and the system determines that the detection environment of the surrounding monitoring sensor 30 has deteriorated, the driving setting control unit 79 determines that the conditions for switching to Area Level 3 have been met (S318: YES). The driving setting control unit 79 also determines that the conditions for switching to Area Level 3 have been met if a predetermined time has elapsed since the start of Area Level 3, and the vehicle speed of the vehicle Am is less than a predetermined value (for example, 30 km / h). In these cases, the driving setting control unit 79 controls the inter-vehicle distance VD in follow-up driving control based on the second set inter-vehicle distance (second inter-vehicle distance for area control) associated with Area Level 3 (S322). When the setting is switched from the first inter-vehicle distance for area control to the second inter-vehicle distance for area control, the vehicle Am moves relative to the vehicle At, narrowing the inter-vehicle distance VD to the vehicle At being followed.

[0159] When the driving setting control unit 79 determines that the switching condition has been met in the distance setting process (S317 or S318: YES), it starts the distance adjustment process shown in Figure 18. The driving setting control unit 79 grasps the status of the driving environment recognition by the environment recognition unit 62 (S331), and among the surrounding monitoring sensors 30, it gives particular priority to the camera unit 31 and diagnoses whether or not detection by the camera unit 31 can be performed well.

[0160] Specifically, the driving setting control unit 79 determines whether or not the environmental recognition unit 62 has detected any dirt or malfunction in the camera unit 31 (S332). If the driving setting control unit 79 has detected dirt or other issues with the camera unit 31 (S332: YES), it adjusts the inter-vehicle distance VD to be narrower (S334). In this way, when a malfunction in the camera unit 31 is detected, the driving setting control unit 79 narrows the second set inter-vehicle distance more than when no malfunction in the camera unit 31 is detected. When autonomous driving control at level 3 during congestion is being implemented, the driving setting control unit 79 adjusts the second set inter-vehicle distance so that it is, for example, about the same as the first set inter-vehicle distance VD (see Figure 17 S319), or slightly wider than the first set inter-vehicle distance VD.

[0161] If the camera unit 31 is not dirty (S332: NO), the driving setting control unit 79 refers to the recognition status of the environmental recognition unit 62 and determines whether or not there is an obstruction to the camera unit 31's detection (S333). The environmental recognition unit 62 determines whether or not the camera unit 31's detection is being obstructed by the vehicle At being followed. The environmental recognition unit 62 determines that detection is being obstructed if, in the forward image captured by the camera unit 31, the length of the lane markings that demarcate the vehicle's lane Lns is less than or equal to a predetermined value, or if the size of the vehicle At being followed exceeds a predetermined size. In addition, the environmental recognition unit 62 determines the type of vehicle At being followed based on the information (forward image) detected by the camera unit 31. If the type of vehicle At being followed is a large vehicle, the environmental recognition unit 62 determines that the camera unit 31's detection is being obstructed.

[0162] If the driving setting control unit 79 determines that the detection of the camera unit 31 is not obstructed by the following vehicle At, as determined by the environment recognition unit 62, it determines that there are no detection obstructions (S333: NO). In this case, the driving setting control unit 79 performs distance control based on the normal second set distance (S335).

[0163] On the other hand, if the environmental recognition unit 62 determines that the detection of the camera unit 31 is being obstructed by the vehicle At being followed, the driving setting control unit 79 determines that there is an obstruction to detection (S333: YES). In this case, the driving setting control unit 79 adjusts the inter-vehicle distance VD to be wider (S336), making the second set inter-vehicle distance wider than when it is determined that the detection of the camera unit 31 is not being obstructed by the vehicle At being followed. When autonomous driving control at area level 3 is being implemented, the driving setting control unit 79 adjusts the second set inter-vehicle distance so that it is, for example, about the same as the first set inter-vehicle distance VD (see Figure 17 S321), or slightly narrower than the first set inter-vehicle distance VD. As a result, the driving setting control unit 79 prioritizes detection by the camera unit 31 and changes the control amount of the second set inter-vehicle distance according to the type of vehicle At being followed ahead, and moves the vehicle Am to a position where the camera unit 31 can easily check the area ahead.

[0164] Next, an example of a scenario in which the setting of the inter-vehicle distance VD for follow-up driving control is changed by the inter-vehicle setting control and inter-vehicle adjustment control described above will be explained below, based on Figure 19, with reference to Figures 1, 4, 17, and 18.

[0165] In the scene shown in Figure 19, the vehicle Am is traveling in the restricted permitted area SeD. When the congestion detection unit 76 detects that the vehicle has entered a traffic jam within the restricted permitted area SeD (time t1), the control switching unit 78 permits the transition to congestion level 3. Based on the notification request received from the notification request unit 73, the notification control unit 88 issues a traffic jam entry notification and notifies the driver that autonomous driving control for congestion level 3 is now available.

[0166] When the driving setting control unit 79 receives a Level 3 transition operation input in response to a traffic jam entry notification and the input recognition unit 71 recognizes it (time t2), it changes the setting to widen the inter-vehicle distance VD (time t3). The notification control unit 88, based on the notification request or inter-vehicle distance change information obtained from the notification request unit 73, issues an inter-vehicle distance change notification indicating a change to widen the inter-vehicle distance VD. After the inter-vehicle distance VD is changed by the driving setting control unit 79, the control switching unit 78 switches the driving control state from driver assistance control to Level 3 autonomous driving control for traffic jams (time t4). Based on the acquisition of a notification request output after the change in inter-vehicle distance VD, the notification control unit 88 issues a transition completion notification indicating the completion of the transition to Level 3 autonomous driving control for traffic jams.

[0167] The driving setting control unit 79 satisfies the conditions for switching the setting of the inter-vehicle distance VD when a predetermined time has elapsed since the start of congestion level 3 and, for example, the detection environment of the surrounding monitoring sensor 30 has deteriorated (time t5). Based on the fulfillment of the switching conditions, the driving setting control unit 79 switches the control target from the first set inter-vehicle distance to the second set inter-vehicle distance and changes the inter-vehicle distance VD to the following vehicle At (time t6). As an example, the inter-vehicle distance VD, which was about 20m, is gradually expanded to about 30m by switching the inter-vehicle distance setting.

[0168] The notification request unit 73 outputs a notification request to the information acquisition unit 81 based on the change in the target distance setting by the driving setting control unit 79, and notifies the driver of the change in the distance VD due to the switching between the first set distance and the second set distance. The presentation control unit 88, based on the acquisition of the notification request by the information acquisition unit 81, performs a notification of the change in the distance between vehicles indicating a change to widen the distance VD.

[0169] Furthermore, when Level 3 congestion ends and the driving control state transitions to driver assistance control, the driving setting control unit 79 changes the setting of the inter-vehicle distance VD from the own vehicle Am to the following vehicle At (see Figure 11, time t6). In the third embodiment, since the target inter-vehicle time associated with hands-on control and the target inter-vehicle time associated with hands-off control are different, the degree to which the setting of the inter-vehicle distance VD after the transition changes will differ depending on whether the driving control state after the transition is hands-on control or hands-off control. That is, the driving setting control unit 79 changes the setting of the inter-vehicle distance VD after the transition depending on whether the transition is from autonomous driving control to hands-on control or from autonomous driving control to hands-off control. As described above, when transitioning to hands-on control, the inter-vehicle distance VD is wider than when transitioning to hands-off control. The inter-vehicle distance VD after transitioning to hands-off control may be about the same as the inter-vehicle distance VD in autonomous driving control.

[0170] In the third embodiment described above, after the inter-vehicle distance VD is changed, a transition completion notification is given to indicate that the transition to the driving control state has been completed. As a result, the third embodiment also produces the same effects as the first embodiment, making it easier for the driver to understand the process of changing the inter-vehicle distance VD, thereby improving the convenience of autonomous driving.

[0171] In addition, in the third embodiment, when the inter-vehicle distance VD is switched from the first set inter-vehicle distance to the second set inter-vehicle distance in the autonomous vehicle Am that is driving under autonomous driving control, the detection of the area around the vehicle by the surrounding monitoring sensor 30 and, consequently, the recognition of the driving environment becomes easier. As a result, it becomes easier to continue autonomous driving without the obligation to monitor the surrounding area, thus improving the convenience of autonomous driving.

[0172] Furthermore, the environmental recognition unit 62 of the third embodiment detects any problems occurring in the surrounding monitoring sensor 30, such as dirt adhering within the field of view of the camera unit 31. When a problem with the surrounding monitoring sensor 30 is detected, the driving setting control unit 79 narrows the second set distance between vehicles compared to when no problem is detected with the surrounding monitoring sensor 30. By adjusting the distance between vehicles VD in this way, the vehicle Am can move to a position where the camera unit 31 can easily detect the area in front of it. As a result, autonomous driving, which does not require surrounding monitoring, becomes even easier to continue.

[0173] Furthermore, the environment recognition unit 62 of the third embodiment determines whether the detection of the surrounding monitoring sensors 30, such as the camera unit 31, is being obstructed by the vehicle At being followed. If the driving setting control unit 79 determines that the detection of the surrounding monitoring sensors 30 is being obstructed by the vehicle At being followed, it widens the second set distance between vehicles compared to when it is determined that the detection of the surrounding monitoring sensors 30 is not being obstructed by the vehicle At being followed. By adjusting the distance between vehicles VD in this way, the vehicle Am can move to a position where the camera unit 31 can easily detect the area in front of it. Therefore, autonomous driving without the obligation of surrounding monitoring becomes even easier to continue.

[0174] In addition, in the third embodiment, the control modes of the autonomous driving control include Area Level 3, which is implemented only when driving within the permitted area SeA, and Congestion Level 3, which is implemented only when driving in congestion. The driving setting control unit 79 is equipped with a first distance for area control linked to Area Level 3 and a first distance for congestion control linked to Congestion Level 3. Furthermore, the second distance setting for area control is narrower than the first distance setting for area control, and the second distance setting for congestion control is wider than the first distance setting for congestion control. By switching the distance settings in each state, the autonomous driving ECU 50b can continuously position its vehicle Am in a position where detection by the surrounding monitoring sensor 30 is easy in relation to objects around the vehicle. As a result, autonomous driving without the obligation of surrounding monitoring becomes even easier to continue.

[0175] In the third embodiment, the type of the vehicle At being followed is determined based on the information detected by the surrounding monitoring sensor 30, and the second set distance is changed according to the type of vehicle At being followed. With this distance control, for example, if the vehicle At being followed is a large vehicle, a wide distance VD can be secured. As a result, the field of view of the camera unit 31 is less likely to be obstructed by the vehicle At being followed, making it easier to continue autonomous driving without the obligation to monitor the surroundings.

[0176] Furthermore, in the third embodiment, the second set distance is set prioritizing the camera unit 31, that is, to facilitate detection by the camera unit 31 that detects the area around the vehicle Am. As a result, even when follow-driving control that relies on detection by the camera unit 31 is implemented, interruptions to automatic driving due to the presence of detection obstructions become less likely.

[0177] In addition, in the third embodiment, the driver is notified of the change in the inter-vehicle distance VD that occurs when switching between the first set inter-vehicle distance and the second set inter-vehicle distance. By providing such inter-vehicle distance change notification, the driver can recognize that the inter-vehicle distance VD has changed and understand that the change in inter-vehicle distance VD is not due to an abnormality. Therefore, it becomes less likely that the change in inter-vehicle distance VD for detection by the surrounding monitoring sensor 30 will cause the driver to feel uneasy.

[0178] In the third embodiment, the setting of the inter-vehicle distance (VD) is changed depending on whether it is hands-on control, where the driver is obligated to hold the steering wheel, or hands-off control, where the driver is not obligated to hold the steering wheel. As a result, when transitioning from autonomous driving control to driver assistance control, an inter-vehicle distance (VD) suitable for both hands-on and hands-off control can be ensured, making it less likely for the driver to feel any discomfort with the inter-vehicle distance (VD) in driver assistance control. Consequently, the convenience of autonomous driving can be improved.

[0179] Furthermore, in the third embodiment, the inter-vehicle distance VD in hands-on control is set wider than the inter-vehicle distance VD in hands-off control. Generally, the speed range in which hands-on control is used is higher than the speed range in which hands-off control is used, so by setting a wider inter-vehicle distance VD in hands-on control, it becomes possible to implement driving assistance control that is less likely to cause discomfort to the driver. In the third embodiment, the surrounding monitoring sensor 30 corresponds to an "autonomous sensor," and the camera unit 31 corresponds to a "camera."

[0180] (Fourth embodiment) The fourth embodiment of this disclosure is a modification of the second embodiment. In the fourth embodiment, the setting of the inter-vehicle distance VD is adjusted according to the gradient conditions of the road while driving. In addition, in the fourth embodiment, the setting of the inter-vehicle distance VD can be changed based on driver input. The details of setting the inter-vehicle distance VD in the fourth embodiment will be described below with reference to Figures 1 to 4.

[0181] <Adjusting the distance between vehicles according to the gradient> The road information acquisition unit 75 acquires gradient information of the road on which the vehicle Am is traveling. Based on the 3D map data sequentially provided from the locator 35 to the environment recognition unit 62, the road information acquisition unit 75 can estimate the gradient of the road being traveled. In addition, the road information acquisition unit 75 may also estimate the gradient of the road on which the vehicle Am is traveling based on measurement information from on-board sensors mounted on the vehicle Am, such as an acceleration sensor and a height sensor.

[0182] The driving setting control unit 79 changes the setting of the inter-vehicle distance VD in the follow-me driving control according to the gradient conditions of the road being driven, based on the gradient information obtained by the road information acquisition unit 75. The driving setting control unit 79 may adjust the setting of the inter-vehicle distance VD regardless of whether the driver has an obligation to monitor the surroundings, or it may adjust the set inter-vehicle distance based on gradient information only during the driving assistance period in which the driver has an obligation to monitor the surroundings.

[0183] The driving setting control unit 79 sets the following distance VD wider when driving on a downhill road than when driving on an uphill road or on a level road (flat ground), based on gradient information. The driving setting control unit 79 adjusts the set following distance so that the following distance VD widens gradually or continuously as the downhill gradient of the road increases. The driving setting control unit 79 may also widen the following distance VD by one step when the downhill gradient of the road exceeds a predetermined threshold.

[0184] <Adjustment of distance setting by the driver> The driver assistance ECU 50a and the autonomous driving ECU 50b can change the setting of the inter-vehicle distance VD in follow-me driving control based on driver input. For example, the driver assistance ECU 50a and the autonomous driving ECU 50b can switch the set inter-vehicle distance from three levels such as "long (far), medium, short (close)" or five levels such as "long, slightly long, medium, slightly short, short". The setting of the inter-vehicle distance VD corresponding to each driving control state is linked to these multi-level set inter-vehicle distances. As a result, changing the setting of the inter-vehicle distance VD due to a transition in the driving control state corresponds to automatically switching the set inter-vehicle distance from, for example, five levels.

[0185] The driving setting control unit 79 prioritizes the setting of the inter-vehicle distance VD associated with driver assistance control when the driving control state transitions from driver assistance control to autonomous driving control, provided that the setting of the inter-vehicle distance VD associated with driver assistance control is wider than the setting of the inter-vehicle distance VD associated with autonomous driving control. Therefore, if the driver widens the set distance while driving under driver assistance control, the setting of the inter-vehicle distance VD is maintained even when the driving control state transitions from driver assistance control to autonomous driving control. In this case, the notification of the change in inter-vehicle distance (see Figures 9 and 16) before or after the transition to autonomous driving control may be omitted.

[0186] The driving setting control unit 79 prioritizes the setting of the inter-vehicle distance VD associated with autonomous driving control if the setting of the inter-vehicle distance VD associated with autonomous driving control is wider than the setting of the inter-vehicle distance VD associated with driver assistance control, even when switching from autonomous driving control to driver assistance control. Therefore, if the driver widens the set distance while driving under autonomous driving control, the setting of the inter-vehicle distance VD will be maintained even when the driving control state switches from autonomous driving control to driver assistance control. In this case as well, notification of the change in inter-vehicle distance does not need to be performed.

[0187] The driving setting control unit 79, by performing distance setting processing (see Figure 20), works in conjunction with the driver assistance ECU 50a to reflect the set distance adjusted to suit the driver's preferences in one driving control state to the set distance in other driving control states. Similar to the first embodiment, the driving setting control unit 79 starts the distance setting processing based on the start of driver assistance control by the driver assistance ECU 50a and continues the distance setting processing until the driver assistance control is turned off.

[0188] The driving setting control unit 79, in the distance setting process, determines whether or not there is a transition (or planned transition) of the driving control state by the control switching unit 78 (S411). If there is a transition of the driving control state (S411: YES), the driving setting control unit 79 reads the setting of the distance between vehicles VD associated with the driving control state after the transition (S412). The driving setting control unit 79 determines whether or not the level of autonomous driving will change due to the transition of the driving control state, in other words, whether or not there is a change in the presence or absence of the obligation to monitor the surroundings (S413). If there is no change in the level of autonomous driving (S413: NO), the driving setting control unit 79 reflects the setting of the distance between vehicles VD associated with the driving control state after the transition (S416). For example, when transitioning from one of congestion level 3 and area level 3 to the other, or when transitioning from one of hands-on level 2 and hands-off level 2 to the other, the setting distance between vehicles is changed as usual.

[0189] If the autonomous driving level changes (S413:YES), the driving setting control unit 79 compares the current set distance before the transition with the set distance after the transition (S414). If the current set distance before the transition is narrower than the set distance after the transition (S414:NO), the driving setting control unit 79 reflects the setting of the inter-vehicle distance VD associated with the driving control state after the transition (S416). On the other hand, if the current set distance before the transition is wider than the set distance after the transition (S414:YES), the driving setting control unit 79 maintains the setting of the inter-vehicle distance VD associated with the driving control state before the transition (S415). In this case, the driving setting control unit 79 may update the information on the set distance associated with the driving control state after the transition, which is stored in the memory unit 53, with the information on the set distance before the transition. As a result, the driver's preferred inter-vehicle distance VD setting is shared across multiple driving control states.

[0190] The fourth embodiment described above also achieves the same effects as the embodiments described above, and the convenience of autonomous driving can be improved. Specifically, in the fourth embodiment, the gradient information of the road on which the vehicle Am is traveling is grasped, and the setting of the inter-vehicle distance VD changes according to the gradient information. Therefore, the driving position of the vehicle Am in the follow-up driving control can be adjusted to maintain an inter-vehicle distance VD that makes the occupants, including the driver, less likely to feel uneasy about the vehicle At being followed. As a result, a follow-up driving control that provides a sense of security can be implemented, and the convenience of autonomous driving can be improved.

[0191] In addition, in the fourth embodiment, when driving on a downhill road, the following distance VD is set wider than when driving on an uphill road or a level road. On a downhill road, the speed of the vehicle Am tends to increase, making it easier for occupants to feel uneasy. Therefore, especially on downhill roads, implementing control to widen the following distance VD can further enhance the sense of security regarding the follow-me driving control.

[0192] In the fourth embodiment, if the setting of the inter-vehicle distance VD associated with driver assistance control is wider than the setting of the inter-vehicle distance VD associated with autonomous driving control, the setting of the inter-vehicle distance VD associated with driver assistance control takes precedence even when transitioning from driver assistance control to autonomous driving control. As a result, even after transitioning to autonomous driving control, an inter-vehicle distance VD that is less likely to cause anxiety to the driver can be ensured.

[0193] Furthermore, in the fourth embodiment, if the setting of the inter-vehicle distance VD associated with autonomous driving control is wider than the setting of the inter-vehicle distance VD associated with driver assistance control, the setting of the inter-vehicle distance VD associated with autonomous driving control takes precedence even when transitioning from autonomous driving control to driver assistance control. As a result, even when autonomous driving control is terminated, an inter-vehicle distance VD that is unlikely to cause anxiety to the driver can be ensured. In the above fourth embodiment, the road information acquisition unit 75 corresponds to the "gradient acquisition unit".

[0194] (Fifth embodiment) The fifth embodiment of this disclosure is a modification of the fourth embodiment. In the distance setting process of the fifth embodiment (see Figure 21), the driving setting control unit 79 determines whether or not there is a planned transition of the driving control state, similar to the fourth embodiment (see Figure 20) (S511). If there is a planned transition of control, the driving setting control unit 79 reads the setting of the distance VD associated with the driving control state after the transition (S512). The driving setting control unit 79 determines whether or not the determined transition of the driving control state is a transition from Level 2 driver assistance control to Level 3 autonomous driving control (S513).

[0195] If the driving setting control unit 79 detects a transition from driver assistance control to autonomous driving control (S513:YES), it compares the current Level 2 distance setting before the transition with the Level 3 distance setting after the transition, similar to the fourth embodiment (S514). If the Level 2 distance setting is wider than the Level 3 distance setting (S514:YES), even if the driving control state transitions from driver assistance control to autonomous driving control, the driving setting control unit 79 prioritizes the setting of the distance VD associated with driver assistance control (S515). On the other hand, if the planned transition of the driving control state is a transition from autonomous driving control to driver assistance control (S513:NO), the driving setting control unit 79 does not compare the distance settings and changes to the setting of the distance VD associated with driver assistance control (S516).

[0196] In the fifth embodiment described above, the same effects as in the fourth embodiment are achieved, realizing highly convenient autonomous driving. Specifically, in the fifth embodiment, when the control of driving operations is handed over to the system, the driver's preferred setting for the following distance (VD) can be given priority. As a result, even after transitioning to autonomous driving control, a following distance (VD) that is less likely to cause anxiety to the driver can be ensured.

[0197] In addition, in the fifth embodiment, even if the set distance associated with autonomous driving control is wider than the set distance associated with driver assistance control, when transitioning from autonomous driving control to driver assistance control, the driving setting control unit 79 switches to the setting of the inter-vehicle distance VD associated with driver assistance control. Therefore, the driver can reliably notice that the level of autonomous driving is changing from the way the inter-vehicle distance VD is changed. As a result, the driver can more easily take control, and the convenience of autonomous driving can be further improved.

[0198] (Other embodiments) Although several embodiments of this disclosure have been described above, this disclosure is not to be construed as being limited to the embodiments described above, and can be applied to various embodiments and combinations without departing from the spirit of this disclosure.

[0199] As in the fourth and fifth embodiments described above, when the inter-vehicle distance VD setting can be changed by the driver, depending on the inter-vehicle distance setting based on the driver's operation, there may be cases where the inter-vehicle distance VD setting does not change when the driving control state is switched. For example, if the set inter-vehicle distance in the driver assistance control has been adjusted to the widest (longest) by the driver, even if the driving control state transitions from driver assistance control to traffic congestion level 3 as in Scene 1 above, adjustment to widen the inter-vehicle distance VD cannot be performed. In this case, even if a process that prioritizes the driver's setting of the inter-vehicle distance VD is not performed, the setting of the inter-vehicle distance VD may be maintained.

[0200] The method for defining the inter-vehicle distance VD associated with each driving control state can be modified as appropriate. For example, in Modification 1 of the above embodiment, the target inter-vehicle distance VD value is directly defined instead of the target inter-vehicle time. In this disclosure, "changing to a setting that widens the inter-vehicle distance VD" means changing to a setting that widens the inter-vehicle distance VD, while keeping all other conditions the same. Similarly, "changing to a setting that narrows the inter-vehicle distance VD" means changing to a setting that narrows the inter-vehicle distance VD, while keeping all other conditions the same.

[0201] In the third embodiment described above, the inter-vehicle distance VD was controlled so that switching to the second set inter-vehicle distance would make it easier for the surrounding monitoring sensor 30 to detect the area around the vehicle than with the first set inter-vehicle distance. This second set inter-vehicle distance was one of several values ​​that were pre-set to facilitate detection by the surrounding monitoring sensor 30 (camera unit 31). On the other hand, in the modified example 2 of the third embodiment, the driving setting control unit 79 works in cooperation with the environment recognition unit 62 to adjust the second set inter-vehicle distance to search for a position where detection by the camera unit 31 is good. That is, the driving setting control unit 79 in modified example 2 can set a position where detection by the camera unit 31 around the vehicle is easy as the second set inter-vehicle distance in real time.

[0202] In Modification 3 of the Third Embodiment described above, the second set distance is set to prioritize detection by an autonomous sensor different from the camera unit 31. Furthermore, in Modification 4 of the Third Embodiment described above, the autonomous sensor whose detection is prioritized is changed according to the driving environment of the vehicle Am. The driving setting control unit 79 of Modification 4 adjusts the second set distance so that detection by the autonomous sensor selected according to the driving environment is facilitated. Also, in Modification 5 of the Third Embodiment described above, the second set distance is set so that detection by an autonomous sensor that detects the rear or side of the vehicle is facilitated.

[0203] In Modification 6 of the third embodiment described above, the conditions for switching to the second set distance are simpler than in the third embodiment. Specifically, in Modification 6, the driving setting control unit 79 satisfies the switching conditions when the elapsed time after the start of congestion level 3 or area level 3 exceeds a predetermined time, and switches to distance control using the second set distance. Furthermore, the driving setting control unit 79 may also satisfies the switching conditions when the vehicle speed of its own vehicle Am exceeds a predetermined value, and switch to distance control using the second set distance.

[0204] The relative sizes of the first set vehicle distance for congestion control, the second set vehicle distance for congestion control, the first set vehicle distance for area control, and the second set vehicle distance for area control in the third embodiment described above may be changed as appropriate. Furthermore, the relative sizes of the set vehicle distances (target vehicle distance times) associated with hands-on control and hands-off control, respectively, may also be changed as appropriate.

[0205] In Modification 7 of the above embodiment, the functions of the driver assistance ECU 50a and the autonomous driving ECU 50b are provided by a single autonomous driving ECU. That is, the autonomous driving ECU 50b of Modification 7 implements the functions of the driver assistance ECU 50a.

[0206] Furthermore, in Modification 8 of the above embodiment, the functions of the driver assistance ECU 50a, the autonomous driving ECU 50b, and the HCU 100 are provided by a single integrated ECU. In this Modification 3, the integrated ECU corresponds to the "autonomous driving control device" and the "presentation control device."

[0207] Furthermore, in the above embodiment, the automatic driving ECU 50b and HCU 100 corresponded to the "automatic driving control device" and the "presentation control device," respectively. However, a system including the automatic driving ECU 50b and HCU 100 may also be configured to correspond to the "automatic driving control device" and the "presentation control device."

[0208] In the modified example 9 of the above embodiment, the autonomous driving ECU 50b is capable of performing autonomous driving at level 4 or higher. Furthermore, in the fourth embodiment, a process may be performed to reflect the set vehicle distances of other levels to the set vehicle distances of level 4 autonomous driving, or a process may be performed to reflect the set vehicle distances of level 4 autonomous driving to the set vehicle distances of other levels. Specifically, if the set vehicle distance in level 4 autonomous driving is wider than the set vehicle distances of other levels (Figure 20 S414: YES), the set vehicle distance of level 4 may be preferentially applied even after the control transition from level 4 to level 2 or 3. Furthermore, if the set vehicle distances of other levels are wider than the set vehicle distances of level 4 autonomous driving, the set vehicle distances before the transition may be preferentially applied even after the control transition from level 2 or 3 to level 4.

[0209] Furthermore, in the modified example 10 of the fourth embodiment described above, the setting of the inter-vehicle distance VD is shared only when driving in a traffic jam. Specifically, in modified example 10, when transitioning from traffic jam level 2 to traffic jam level 3, or from traffic jam level 3 to traffic jam level 2, if the set inter-vehicle distance VD before the transition is wider than the set inter-vehicle distance after the transition, the setting of the inter-vehicle distance VD before the transition is maintained. Note that the Level 2 driver assistance control may be either hands-on Level 2 or hands-off Level 2.

[0210] Furthermore, in the modified example 11 of the fourth embodiment described above, even in a control transition where the autonomous driving level is maintained, if the set distance between vehicles before the transition is wider than the set distance between vehicles after the transition, the setting of the distance between vehicles VD before the transition is continued to be used. For example, when transitioning from one of congestion level 3 and area level 3 to the other, or when transitioning from one of hands-on level 2 and hands-off level 2 to the other, no control is implemented to narrow the distance between vehicles.

[0211] Furthermore, in the modified example 12 of the fourth embodiment described above, the adjustment control of the inter-vehicle distance VD based on gradient information differs from that of the fourth embodiment. In this modified example 12, the set inter-vehicle distance on a level road with virtually no gradient is wider than the set inter-vehicle distance on an uphill gradient. The driving setting control unit 79 ensures the widest set inter-vehicle distance on a downhill gradient, while making the set inter-vehicle distance the narrowest on an uphill gradient. As shown in the modified example 12 above, the adjustment of the inter-vehicle distance VD according to the gradient conditions may be changed as appropriate.

[0212] In the above embodiment, each function provided by the autonomous driving ECU and HCU can also be provided by software and the hardware that executes it, software only, hardware only, or a combination thereof. Furthermore, when such functions are provided by electronic circuits as hardware, each function can also be provided by digital circuits including a large number of logic circuits, or by analog circuits.

[0213] Each processing unit in the above-described embodiment may be individually mounted on a printed circuit board, or it may be mounted on an ASIC (Application Specific Integrated Circuit) and FPGA, etc. Furthermore, the form of the storage medium (non-transitory tangible storage medium) for storing various programs, etc., may also be changed as appropriate. Moreover, the storage medium is not limited to a configuration provided on a circuit board, but may be provided in the form of a memory card, etc., inserted into a slot, and electrically connected to the control circuit of the automatic driving ECU or HCU. The storage medium may also be an optical disk and a hard disk drive, etc., which serve as the source for copying programs to the automatic driving ECU or HCU.

[0214] Vehicles equipped with the above-mentioned autonomous driving system and HMI system are not limited to ordinary private passenger cars, but may also include rental cars, manned taxis, ride-sharing vehicles, cargo vehicles, buses, etc. Furthermore, vehicles equipped with the autonomous driving system and HMI system may be right-hand drive or left-hand drive vehicles. In addition, the traffic environment in which the vehicle operates may be one based on left-hand traffic or one based on right-hand traffic. The autonomous driving control and information presentation described herein may be appropriately optimized according to the road traffic laws of each country and region, as well as the steering wheel position of the vehicle.

[0215] The control unit and method described herein may be implemented by a dedicated computer comprising a processor programmed to perform one or more functions embodied by a computer program. Alternatively, the apparatus and method described herein may be implemented by a dedicated hardware logic circuit. Alternatively, the apparatus and method described herein may be implemented by one or more dedicated computers comprising a combination of a processor that executes a computer program and one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by the computer on a computer-readable non-transitional tangible recording medium. [Technical Feature 1] A control switching unit (78) that switches the driving control state of the vehicle (Am) from among a plurality of systems, which include at least a driver assistance control system that requires the driver to monitor the surroundings and an autonomous driving control system that does not require the driver to monitor the surroundings, When the driving control state transitions from the aforementioned driver assistance control to the aforementioned autonomous driving control, the inter-vehicle control unit (79) changes the setting of the inter-vehicle distance (VD) from the vehicle itself to the vehicle being followed (At), When the driving control state transitions from the driver assistance control to the autonomous driving control, the information display device (10) that displays information to the driver is notified by the notification control unit (73) that the transition to the autonomous driving control has been completed after the change in the distance between vehicles, An automatic driving control system equipped with the following features. [Technical Feature 4] The driving control state of the vehicle (Am) is switched (S101~S107) from among a plurality of options, which include at least a driving assistance control that requires the driver to monitor the surroundings and an autonomous driving control that does not require the driver to monitor the surroundings. When the driving control state transitions from the aforementioned driver assistance control to the aforementioned autonomous driving control, the setting of the distance between the vehicle (VD) from the vehicle itself to the vehicle being followed (At) is changed (S114, S116, S319~S322, S416, S516), The information display device (10) that provides information to the driver is instructed to notify the driver that the transition to autonomous driving control is complete after the distance between vehicles has been changed. An automatic driving control program that causes at least one processing unit (51) to perform a process including the above. [Technical Feature 5] A presentation control device used in a vehicle (Am) equipped with an autonomous driving function, which controls the presentation of information to the driver, An information acquisition unit (81) acquires switching information indicating a switch in driving control state among a plurality of states, which include at least driving assistance control with an obligation for the driver to monitor the surroundings and autonomous driving control without an obligation for the driver to monitor the surroundings. The system includes a notification control unit (88) that notifies the completion of the transition of the driving control state based on the aforementioned switching information, The notification control unit is a notification control device that, when the driving control state is transitioned from the driver assistance control to the autonomous driving control, notifies the completion of the transition to the autonomous driving control after the distance (VD) between the vehicle and the vehicle being followed (At) has been changed by the automatic driving function. [Technical Feature 6] A presentation control program used in a self-driving vehicle (Am) equipped with an autonomous driving function, which controls the presentation of information to the driver, Switching information is obtained indicating a switch in the driving control state among a plurality of states, which include at least driving assistance control with an obligation for the driver to monitor the surroundings and autonomous driving control without an obligation for the driver to monitor the surroundings (S11, S211). Based on the aforementioned switching information, at least one processing unit (11) is instructed to perform a process that includes notifying the completion of the transition to the driving control state (S12, S213), A notification control program that, when the driving control state is transitioned from the driver assistance control to the autonomous driving control, notifies the completion of the transition to the autonomous driving control after the distance (VD) between the vehicle and the vehicle being followed (At) has been changed by the automatic driving function. [Technical Feature 15] A control switching unit (78) that switches the driving control state of the vehicle (Am) from among a plurality of systems, which include at least a driver assistance control system that requires the driver to monitor the surroundings and an autonomous driving control system that does not require the driver to monitor the surroundings, When the driving control state transitions from the aforementioned driver assistance control to the aforementioned autonomous driving control, the inter-vehicle control unit (79) changes the setting of the inter-vehicle distance (VD) from the vehicle itself to the vehicle being followed (At), When the inter-vehicle distance changes due to the transition of the driving control state from the aforementioned driver assistance control to the aforementioned autonomous driving control, a notification control unit (73) causes the system to issue a notification indicating that the inter-vehicle distance has changed, An automatic driving control system equipped with the following features. [Technical Feature 22] The driving control state of the vehicle (Am) is switched (S101~S107) from among a plurality of options, which include at least a driving assistance control that requires the driver to monitor the surroundings and an autonomous driving control that does not require the driver to monitor the surroundings. When the driving control state transitions from the aforementioned driver assistance control to the aforementioned autonomous driving control, the setting of the distance between the vehicle (VD) from the vehicle itself to the vehicle being followed (At) is changed (S114, S116, S319~S322, S416, S516), When the following changes in the driving control state (VD) due to the transition from the aforementioned driver assistance control to the aforementioned autonomous driving control, a notification indicating the change in the distance between vehicles is provided. An automatic driving control program that causes at least one processing unit (51) to perform a process including the above. [Technical Feature 23] A presentation control device used in a vehicle (Am) equipped with an autonomous driving function, which controls the presentation of information to the driver, An information acquisition unit (81) acquires control status information related to the switching of driving control states among a plurality of states, which include at least driving assistance control with an obligation for the driver to monitor the surroundings and autonomous driving control without an obligation for the driver to monitor the surroundings. Based on the control status information, if the notification control unit (88) determines that the distance between the vehicle and the vehicle being followed (At) will change due to the transition of the driving control state from the driver assistance control to the autonomous driving control, it will issue a notification indicating that the distance between vehicles has changed. A presentation control device equipped with the following features. [Technical Feature 24] A presentation control program used in a self-driving vehicle (Am) equipped with an autonomous driving function, which controls the presentation of information to the driver, The system acquires control status information related to the switching of driving control states among a plurality of states, which include at least driving assistance control with an obligation for the driver to monitor the surroundings and autonomous driving control without an obligation for the driver to monitor the surroundings (S11, S211). Based on the control status information, if it is determined that the distance between the vehicle and the following vehicle (At) will change due to the transition of the driving control state from the driver assistance control to the autonomous driving control, a notification indicating that the distance between vehicles has changed will be issued (S12, S213). A presentation control program that causes at least one processing unit (11) to perform a process including the above. [Explanation of Symbols]

[0216] AL: Parallel vehicle (other vehicle), Am: Own vehicle, At: Following target vehicle, SeA: Permitted area (specific area), Lnp: Overtaking lane, Lna: Adjacent lane, Lns: Own vehicle lane, VD: Inter-vehicle distance, 10: HMI system (information display device), 11, 51: Processing unit, 30: Surrounding monitoring sensor (autonomous sensor), 31: Camera unit (camera), 50b: Autonomous driving ECU (autonomous driving control unit), 62: Environment recognition unit, 73: Notification request unit (notification control unit), 74: Other vehicle recognition unit, 75: Road information recognition unit (lane recognition unit, gradient recognition unit), 76: Traffic congestion recognition unit, 78: Control switching unit, 79: Driving setting control unit (inter-vehicle control unit), 81: Information acquisition unit, 88: Presentation control unit (notification control unit), 100: HCU (presentation control unit)

Claims

1. A control switching unit (78) that switches the driving control state of the vehicle (Am) from among a plurality of systems, which include at least a driving assistance control system that requires the driver to monitor the surroundings and an autonomous driving control system that does not require the driver to monitor the surroundings, When the driving control state transitions from the aforementioned driver assistance control to the aforementioned autonomous driving control, the inter-vehicle control unit (79) changes the setting of the inter-vehicle distance (VD) from the vehicle itself to the vehicle being followed (At), When the driving control state transitions from the driver assistance control to the autonomous driving control, the information display device (10) that displays information to the driver is equipped with a notification control unit (73) that notifies the driver of the completion of the transition to the autonomous driving control after the distance between vehicles has been changed. The control switching unit switches the driving control state from the driver assistance control to the autonomous driving control after the inter-vehicle distance has been changed by the inter-vehicle control unit. The notification control unit is an automatic driving control device that, after the driving control state has been switched from the driver assistance control to the autonomous driving control by the control switching unit, notifies the information display device of the completion of the transition to the autonomous driving control.

2. The driving control state of the vehicle (Am) is switched (S101 to S107) from among a plurality of options, which include at least a driving assistance control that requires the driver to monitor the surroundings and an autonomous driving control that does not require the driver to monitor the surroundings. When the driving control state transitions from the aforementioned driver assistance control to the aforementioned autonomous driving control, the setting of the distance between the vehicle (VD) from the vehicle itself to the vehicle being followed (At) is changed (S114, S116, S319-S322, S416, S516), The information display device (10) that provides information to the driver is instructed to notify the driver that the transition to autonomous driving control has been completed after the distance between vehicles has been changed. The process including this is performed by at least one processing unit (51), After the distance between vehicles is changed, the driving control state is switched from the driver assistance control to the autonomous driving control. An automated driving control program that, after the driving control state has been switched from the driver assistance control to the autonomous driving control, notifies the information display device of the completion of the transition to the autonomous driving control.

3. A display control device used in a self-driving vehicle (Am) equipped with an autonomous driving function, which controls the display of information directed to the driver, An information acquisition unit (81) acquires switching information indicating a switch in driving control state among a plurality of states, which include at least driving assistance control with an obligation for the driver to monitor the surroundings and autonomous driving control without an obligation for the driver to monitor the surroundings. The system includes a notification control unit (88) that notifies the completion of the transition of the driving control state based on the aforementioned switching information, The notification control unit is a notification control device that, when the driving control state is transitioned from the driver assistance control to the autonomous driving control, the distance between the vehicle (VD) from the vehicle being followed (At) is changed by the automatic driving function, and after the driving control state has been switched from the driver assistance control to the autonomous driving control, the notification control unit notifies that the transition to the autonomous driving control is complete.

4. A presentation control program used in a self-driving vehicle (Am) equipped with an autonomous driving function, which controls the presentation of information to the driver, Switching information is obtained indicating a switch in the driving control state among a plurality of states, which include at least driving assistance control with an obligation for the driver to monitor the surroundings and autonomous driving control without an obligation for the driver to monitor the surroundings (S11, S211). Based on the aforementioned switching information, at least one processing unit (11) is instructed to perform a process that includes notifying the completion of the transition of the driving control state (S12, S213), A notification control program that, when the driving control state is transitioned from the driver assistance control to the autonomous driving control, changes the distance (VD) between the vehicle and the vehicle being followed (At) by the automatic driving function, and further notifies the completion of the transition to the autonomous driving control after the driving control state has been switched from the driver assistance control to the autonomous driving control.

5. A control switching unit (78) that switches the driving control state of the vehicle (Am) from among a plurality of systems, which include at least a driving assistance control system that requires the driver to monitor the surroundings and an autonomous driving control system that does not require the driver to monitor the surroundings, When the driving control state transitions from the aforementioned driver assistance control to the aforementioned autonomous driving control, the inter-vehicle control unit (79) changes the setting of the inter-vehicle distance (VD) from the vehicle itself to the vehicle being followed (At), When the inter-vehicle distance changes due to the transition of the driving control state from the aforementioned driver assistance control to the aforementioned autonomous driving control, a notification indicating that the inter-vehicle distance has changed is issued in parallel with a notification indicating the completion of the transition to the aforementioned autonomous driving control, and a notification control unit (73) informs the driver that the change in the inter-vehicle distance setting is related to the transition of the driving control state, An automatic driving control system equipped with the following features.

6. The driving control state of the vehicle (Am) is switched (S101 to S107) from among a plurality of options, which include at least a driving assistance control that requires the driver to monitor the surroundings and an autonomous driving control that does not require the driver to monitor the surroundings. When the driving control state transitions from the aforementioned driver assistance control to the aforementioned autonomous driving control, the setting of the distance between the vehicle (VD) from the vehicle itself to the vehicle being followed (At) is changed (S114, S116, S319-S322, S416, S516), When the inter-vehicle distance (VD) changes in conjunction with the transition of the driving control state from the aforementioned driver assistance control to the aforementioned autonomous driving control, a notification indicating the change in the inter-vehicle distance is issued in parallel with the notification indicating the completion of the transition to the aforementioned autonomous driving control, thereby informing the driver that the change in the inter-vehicle distance setting is related to the transition of the driving control state. An automatic driving control program that causes at least one processing unit (51) to perform a process including the above.

7. A display control device used in a self-driving vehicle (Am) equipped with an autonomous driving function, which controls the display of information directed to the driver, An information acquisition unit (81) acquires control status information related to the switching of driving control states among a plurality of states, which include at least driving assistance control where the driver is obligated to monitor the surroundings and autonomous driving control where the driver is not obligated to monitor the surroundings. Based on the control status information, if the system detects that the distance between the vehicle and the vehicle being followed (At) will change due to the transition of the driving control state from the driver assistance control to the autonomous driving control, the system (88) provides notification indicating that the distance between vehicles has changed, in parallel with notification indicating the completion of the transition to the autonomous driving control, and informs the driver that the change in the distance between vehicles setting is related to the transition of the driving control state. A presentation control device equipped with the following features.

8. A presentation control program used in a self-driving vehicle (Am) equipped with an autonomous driving function, which controls the presentation of information to the driver, The system acquires control status information related to the switching of driving control states among a plurality of states, which include at least driving assistance control where the driver is obligated to monitor the surroundings and autonomous driving control where the driver is not obligated to monitor the surroundings (S11, S211). Based on the control status information, if it is determined that the distance between the vehicle and the vehicle being followed (At) will change due to the transition of the driving control state from the driver assistance control to the autonomous driving control, a notification indicating that the distance between vehicles has changed will be issued in parallel with the notification indicating the completion of the transition to the autonomous driving control, and the driver will be informed that the change in the distance between vehicles is related to the transition of the driving control state (S12, S213). A presentation control program that causes at least one processing unit (11) to perform a process including the above.

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