Presentation control device, presentation control program, automatic driving control device, and automatic driving control program

Abstract

To provide a presentation control device capable of suppressing anxiety of an occupant even in a case where automatic lane changes are performed multiple times.SOLUTION: An HCU 100 is used for an own-vehicle Am which can travel by autonomous travel control without the driver's duty to monitor the surroundings while driving, and functions as a presentation control device that controls presentation of information related to autonomous travel control. The HCU 100 acquires a schedule of automatic lane changes that are to be executed by autonomous travel control, and if multiple automatic lane changes are scheduled within a predetermined segment or a predetermined time, gives notification of an execution schedule of multiple automatic lane changes according to the first automatic lane change.SELECTED DRAWING: Figure 7

Description

[Technical field]

[0001] The disclosure in this specification relates to a control technology for information presentation and a control technology for autonomous driving. [Background technology]

[0002] Patent Document 1 describes an automatic driving device that makes the vehicle follow the road it is traveling on. This automatic driving device can control the vehicle to change lanes from the lane it is currently traveling on to another lane. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2011-162132 A Summary of the Invention [Problem to be solved by the invention]

[0004] Due to the development of an automatic driving device such as that described in Patent Document 1, in recent years, autonomous driving control in which the driver is not required to monitor the surroundings is being realized. With such autonomous driving control, it may be possible to perform lane changes in a vehicle without the driver being required to monitor the surroundings. However, when lane changes are performed consecutively in a state in which the driver is not required to monitor the surroundings, it becomes difficult for the driver or other occupants to determine whether the multiple lane changes are actions based on normal control. As a result, there is a risk that the multiple lane changes will cause the occupants to feel uneasy.

[0005] The present disclosure aims to provide a presentation control device, a presentation control program, an autonomous driving control device, and an autonomous driving control program that can suppress occupant anxiety even when multiple lane changes are made. [Means for solving the problem]

[0006] In order to achieve the above object, one disclosed aspect is a presentation control device that is used in a host vehicle (Am) capable of traveling by autonomous driving control without the driver having to monitor the surroundings, and controls the presentation of information related to the autonomous driving control, and includes a control grasping unit (82) that grasps a schedule of lane changes to be performed by the autonomous driving control, and a notification unit (88) that, when multiple lane changes are scheduled within a specified section or a specified time, notifies the user of the schedule of multiple lane changes in conjunction with the first lane change. The notification implementation unit issues a monitoring recommendation notification to encourage the driver to monitor the surroundings when the planned lane change is multiple, and limits the implementation of the monitoring recommendation notification when the planned lane change is only one. It is said to be a presentation control device. Also, one disclosed aspect is a presentation control device that is used in a host vehicle (Am) capable of traveling by autonomous driving control without the driver being obligated to monitor the surroundings, and controls the presentation of information related to the autonomous driving control, and is equipped with a control grasping unit (82) that grasps the schedule of lane changes to be performed by the autonomous driving control, and a notification implementation unit (88) that notifies the driver of the schedule of multiple lane changes to be performed in conjunction with the first lane change when multiple lane changes are scheduled within a specified section or within a specified time, wherein the control grasping unit further grasps the waiting state of the second and subsequent lane changes, and the notification implementation unit issues a monitoring recommendation notification to encourage the driver to monitor the surroundings when the second lane change becomes a waiting state after the first lane change is completed, and restricts the implementation of the monitoring recommendation notification when the second lane change does not become a waiting state after the first lane change is completed. Also, one disclosed aspect is a presentation control device that is used in a host vehicle (Am) capable of traveling by autonomous driving control without the driver having to monitor the surroundings, and controls the presentation of information related to the autonomous driving control, and includes a control grasping unit (82) that grasps the schedule of lane changes to be performed by the autonomous driving control, and a notification implementation unit (88) that notifies the user of the schedule of multiple lane changes to be performed in conjunction with the first lane change when multiple lane changes are scheduled within a specified section or within a specified time period, in which the notification implementation unit displays a bird's-eye view content (StA) showing the situation around the host vehicle by a display device (21), and when multiple lane changes are scheduled, displays a destination lane image unit (LpG) that reproduces the arrival lane (Ln3) to be reached by repeated lane changes in the bird's-eye view content in conjunction with the first lane change, and hides a source lane image unit (LpS) that reproduces the initial lane (Ln1) that is the starting point of the multiple lane changes in the bird's-eye view content after the first lane change is completed. One disclosed aspect is a presentation control device that is used in a host vehicle (Am) capable of traveling by autonomous driving control without the driver having to monitor the surroundings, and controls the presentation of information related to the autonomous driving control, and includes a control grasping unit (82) that grasps a schedule of lane changes to be performed by the autonomous driving control, and a notification implementation unit (88) that notifies the user of the schedule of the multiple lane changes to be performed in accordance with the first lane change when multiple lane changes are scheduled within a predetermined section or a predetermined time, and the control grasping unit further grasps whether or not the lane change may be interrupted, and the notification implementation unit displays the situation around the host vehicle. The presentation control device displays a bird's-eye view content (StA) by a display device (21), and when there are multiple planned lane changes, displays a destination lane image portion (LpG) reproducing a destination lane (Ln3) reached by repeated lane changes in the bird's-eye view content in conjunction with the first lane change, and when there is a possibility of interrupting the first lane change, continues to display a source lane image portion (LpS) reproducing an initial lane (Ln1) that is the starting point of multiple lane changes in the bird's-eye view content, and when there is no longer a possibility of interrupting the first lane change, hides the source lane image portion. Also, one disclosed aspect is a presentation control device used in a host vehicle (Am) capable of traveling by autonomous driving control without the driver being obligated to monitor the surroundings, and which controls the presentation of information related to the autonomous driving control, and which includes a control grasping unit (82) that grasps the schedule of lane changes to be performed by the autonomous driving control, and a notification implementation unit (88) that notifies the driver of the schedule of multiple lane changes to be performed in conjunction with the first lane change when multiple lane changes are scheduled within a specified section or within a specified time, and the notification implementation unit is a presentation control device that performs a driving request notification to request the driver to perform a driving action when multiple lane changes are scheduled within a second specified section that is shorter than a first specified section, which is the specified section, or within a second specified time that is shorter than the first specified time, which is a specified time. Also, one disclosed aspect is a presentation control device used in a host vehicle (Am) capable of traveling by autonomous driving control without the driver having to monitor the surroundings, which controls the presentation of information related to the autonomous driving control, and includes a control grasping unit (82) that grasps the schedule of lane changes to be performed by the autonomous driving control, and a notification implementation unit (88) that notifies the host vehicle of the schedule of multiple lane changes to be performed in conjunction with the first lane change when multiple lane changes are scheduled within a specified section or within a specified time, and when multiple lane changes are scheduled within a specified section or within a specified time, whether to perform a first aspect of movement control in which movement is repeated one lane at a time, or a second aspect of movement control in which movement is performed along multiple lanes at once is determined according to the driving environment in which the host vehicle is traveling, and the notification implementation unit is a presentation control device that further notifies the host vehicle of the aspect of movement control when multiple lane changes are scheduled.

[0007] Another disclosed aspect is a presentation control program for use in a host vehicle (Am) capable of traveling by autonomous driving control without the driver having to monitor the surroundings, which controls the presentation of information related to the autonomous driving control, and grasps (S11) a schedule of lane changes to be performed by the autonomous driving control, and when multiple lane changes are scheduled within a predetermined section or a predetermined time, notifies the user of the schedule of the multiple lane changes in conjunction with the first lane change. death (S14, S18), When multiple lane changes are planned, a monitoring recommendation notification is issued to encourage the driver to monitor the surroundings, and when only one lane change is planned, the implementation of the monitoring recommendation notification is limited. The presentation control program causes at least one processing unit (11) to execute a process including the steps of: Also, one disclosed aspect is a presentation control program used in a host vehicle (Am) capable of traveling by autonomous driving control without the driver being required to monitor the surroundings, which controls the presentation of information related to the autonomous driving control, and causes at least one processing unit (11) to execute processes including grasping a schedule of lane changes to be performed by the autonomous driving control (S11), and if multiple lane changes are scheduled within a specified section or a specified time, notifying the driver of the schedule of multiple lane changes in conjunction with the first lane change (S14, S18), further grasping a waiting state for second and subsequent lane changes, and if the second lane change becomes a waiting state after the first lane change is completed, issuing a monitoring recommendation notification to encourage the driver to monitor the surroundings, and if the second lane change does not become a waiting state after the first lane change is completed, restricting the implementation of the monitoring recommendation notification. One disclosed aspect is a presentation control program used in a host vehicle (Am) capable of traveling by autonomous driving control without the driver having to monitor the surroundings, for controlling the presentation of information related to the autonomous driving control, the program grasps (S11) a schedule of lane changes to be performed by the autonomous driving control, and when multiple lane changes are scheduled within a predetermined section or a predetermined time, notifies the user of the schedule of multiple lane changes to be performed in conjunction with the first lane change (S14, S18), and displays bird's-eye view content (StA) showing the situation around the host vehicle on a display screen. The presentation control program causes at least one processing unit (11) to execute processing including displaying a destination lane image portion (LpG) that reproduces a destination lane (Ln3) that is reached by repeated lane changes in the bird's-eye view content in accordance with the first lane change, when multiple lane changes are planned, and hiding a source lane image portion (LpS) that reproduces an initial lane (Ln1) that is the starting point of multiple lane changes in the bird's-eye view content after the first lane change is completed. One disclosed aspect is a presentation control program used in a host vehicle (Am) capable of traveling by autonomous driving control with no driver's obligation to monitor the surroundings, for controlling the presentation of information related to the autonomous driving control, the program grasps (S11) a schedule of lane changes to be performed by the autonomous driving control, and when multiple lane changes are scheduled within a predetermined section or a predetermined time, notifies the user of the schedule of multiple lane changes to be performed in conjunction with the first lane change (S14, S18), displays a bird's-eye view content (StA) showing the situation around the host vehicle by a display device (21), and when multiple lane changes are scheduled, displays the scheduled lane changes by displaying the bird's-eye view content (StA) showing the situation around the host vehicle ... The presentation control program causes at least one processing unit (11) to execute processing including: displaying a destination lane image portion (LpG), which reproduces a destination lane (Ln3) reached by repeated changes, in the bird's-eye view content in conjunction with the first lane change, and further determining whether or not there is a possibility of interrupting the lane change (S20); if there is a possibility of interrupting the first lane change, continuing to display a source lane image portion (LpS), which reproduces an initial lane (Ln1) that is the starting point of multiple lane changes, in the bird's-eye view content; and, if there is no longer a possibility of interrupting the first lane change, hiding the source lane image portion (S21). Another disclosed aspect is a presentation control program used in a host vehicle (Am) capable of traveling by autonomous driving control without the driver having to monitor the surroundings, which controls the presentation of information related to the autonomous driving control, and causes at least one processing unit (11) to execute processing including: grasping scheduled lane changes to be performed by the autonomous driving control (S11); if multiple lane changes are scheduled within a specified section or within a specified time, notifying the driver of the scheduled execution of multiple lane changes in conjunction with the first lane change (S14, S18); and, if multiple lane changes are scheduled within a second specified section that is shorter than a first specified section, which is a specified section, or within a second specified time that is shorter than the first specified time, making a driving request notification to request the driver to perform a driving action (S616). Also, one disclosed aspect is a presentation control program used in a host vehicle (Am) capable of traveling by autonomous driving control without the driver having to monitor the surroundings, which controls the presentation of information related to the autonomous driving control, and causes at least one processing unit (11) to execute processing including grasping (S11) scheduled lane changes to be performed by the autonomous driving control, and when multiple lane changes are scheduled within a specified section or a specified time, notifying the host vehicle of the scheduled multiple lane changes in conjunction with the first lane change (S14, S18), and when multiple lane changes are scheduled within a specified section or a specified time, determining whether to perform a first aspect of movement control in which movement is repeated one lane at a time, or a second aspect of movement control in which movement is made across multiple lanes at once, depending on the driving environment in which the host vehicle is traveling, and when multiple lane changes are scheduled, further notifying the host vehicle of the aspect of movement control.

[0008] In these aspects, when multiple lane changes are made consecutively within a predetermined section or a predetermined time, the driver or other occupant can know that multiple lane changes are scheduled to be made by the notification made in conjunction with the first lane change. Therefore, the occupant can determine that the multiple lane changes are actions based on normal control. As a result, the occupant's anxiety can be suppressed even when multiple lane changes are made.

[0009] Another disclosed aspect is a presentation control device used in a host vehicle (Am) capable of traveling by autonomous driving control without the driver having to monitor the surroundings, and controls the presentation of information related to the autonomous driving control, the presentation control device including: a control grasping unit (82) that grasps a driving plan generated by an automatic driving control device (50b) that performs the autonomous driving control; and a notification implementation unit (88) that issues a driving request notification requesting the driver to perform a driving action when a driving plan in which multiple lane changes are performed within a predetermined section or within a predetermined time is grasped. The notification execution unit switches between a driving request notification that requests the driver to perform a lane change by manual driving and a driving request notification that requests the driver to determine the start timing of an automobile lane change performed by autonomous driving control. It is said to be a presentation control device. Also, one disclosed aspect is a presentation control device used in a host vehicle (Am) capable of driving by autonomous driving control without the driver being required to monitor the surroundings, and controls the presentation of information related to the autonomous driving control, the presentation control device including: a control grasping unit (82) that grasps a driving plan generated by an automatic driving control device (50b) that performs autonomous driving control; and a notification implementation unit (88) that issues a driving request notification to request the driver to perform a driving action when a driving plan that includes multiple lane changes within a specified section or within a specified time is grasped, and the notification implementation unit is a presentation control device that, when the first lane change is performed by autonomous driving control, requests the driver to perform the second and subsequent lane changes manually by issuing a driving request notification. Also, one disclosed aspect is a presentation control device used in a host vehicle (Am) capable of traveling by autonomous driving control without the driver being required to monitor the surroundings, which controls the presentation of information related to the autonomous driving control, and includes a control grasping unit (82) that grasps a driving plan generated by an automatic driving control device (50b) that performs the autonomous driving control, and a notification implementation unit (88) that issues a driving request notification to request the driver to perform a driving action when a driving plan that includes multiple lane changes within a specified section or within a specified time is grasped, and the notification implementation unit is a presentation control device that requests the driver to perform a lane change by manual driving by a driving request notification when a second or subsequent lane change initiated by the autonomous driving control enters a standby state. Also, one disclosed aspect is a presentation control device used in a host vehicle (Am) capable of traveling by autonomous driving control without the driver being required to monitor the surroundings, which controls the presentation of information related to the autonomous driving control, and includes a control understanding unit (82) that understands a driving plan generated by an automatic driving control device (50b) that performs autonomous driving control, and a notification implementation unit (88) that issues a driving request notification to request the driver to perform driving behavior when a driving plan that involves multiple lane changes within a specified section or within a specified time is understood, and the notification implementation unit is a presentation control device that does not issue a driving request notification related to multiple lane changes when traffic congestion around the host vehicle is understood.

[0010] Another disclosed aspect is a presentation control program that is used in a host vehicle (Am) that can run by autonomous driving control without the driver having to monitor the surroundings, and controls the presentation of information related to the autonomous driving control. The program grasps (S411) a driving plan generated by an automatic driving control device (50b) that performs the autonomous driving control, and when a driving plan that includes multiple lane changes within a specified section or within a specified time is grasped, a driving request notification is issued to request the driver to perform a driving action. stomach (S416, S431, S436), A driving request notification is switched between a notification that requests the driver to perform a lane change by manual driving and a notification that requests the driver to determine the timing to start a lane change performed by autonomous driving control. The presentation control program causes at least one processing unit (11) to execute a process including the steps of: Also, one disclosed aspect is a presentation control program used in a host vehicle (Am) capable of traveling by autonomous driving control without the driver being required to monitor the surroundings, which controls the presentation of information related to the autonomous driving control, and causes at least one processing unit (11) to execute processing including: grasping (S411) a driving plan generated by an automatic driving control device (50b) that performs the autonomous driving control; if a driving plan that involves multiple lane changes within a specified section or within a specified time is grasped, issuing a driving request notification to request the driver to perform a driving action (S416, S431, S436); and, if the first lane change is performed by the autonomous driving control, requesting the driver to perform the second and subsequent lane changes manually by issuing a driving request notification (S536). Also, one disclosed aspect is a presentation control program used in a host vehicle (Am) capable of traveling by autonomous driving control without the driver being obligated to monitor the surroundings, which controls the presentation of information related to the autonomous driving control, and causes at least one processing unit (11) to execute processing including: grasping (S411) a driving plan generated by an automatic driving control device (50b) that performs the autonomous driving control; if a driving plan that involves multiple lane changes within a specified section or within a specified time is grasped, issuing a driving request notification requesting the driver to perform a driving action (S416, S431, S436); and if a second or subsequent lane change initiated by the autonomous driving control is in a standby state, requesting the driver to perform a lane change by manual driving through a driving request notification (S536). One aspect disclosed is a presentation control program used in a host vehicle (Am) capable of traveling by autonomous driving control without the driver having to monitor the surroundings, which controls the presentation of information related to the autonomous driving control, and causes at least one processing unit (11) to execute processing including: grasping (S411) a driving plan generated by an automatic driving control device (50b) that performs the autonomous driving control; if the driving plan grasped includes multiple lane changes within a specified section or within a specified time, issuing a driving request notification requesting the driver to perform driving behavior (S416, S431, S436); and if traffic congestion around the host vehicle is grasped, not issuing a driving request notification related to the multiple lane changes.

[0011] In these aspects, when a driving plan that involves multiple lane changes within a specified section or a specified time is grasped, the driver is requested to perform driving behavior by a driving request notification. Therefore, the driver can determine that processing based on normal control is being performed on the vehicle side by recognizing the driving request notification. As a result, even if multiple lane changes are performed, the anxiety of passengers such as the driver can be suppressed.

[0012] Also, one disclosed embodiment is an automatic driving control device that includes a control switching unit (78) that switches between driving assistance control, which requires the driver to monitor the surroundings, and autonomous driving control, which does not require the driver to monitor the surroundings, and a lane change control unit (79) that plans the execution of an automated lane change of the vehicle (Am) using the autonomous driving control, and when multiple automated lane changes are planned, the lane change control unit sets the interval (DLC) from a first point (P1s) where the first automated lane change is performed to a second point (P2s) where the second automated lane change is performed wider than the interval when multiple automated lane changes using driving assistance control are planned.

[0013] One disclosed aspect is an automatic driving control program that causes at least one processing unit (51) to execute processing including switching between driving assistance control, which requires the driver to monitor the surroundings, and autonomous driving control, which does not require the driver to monitor the surroundings (S101-S107), planning to perform an automated lane change of the vehicle (Am) using the autonomous driving control (S121-S123), and, when multiple automated lane changes are planned, setting the interval (DLC) from a first point (P1s) where the first automated lane change is performed to a second point (P2s) where the second automated lane change is performed wider than the interval when multiple automated lane changes using driving assistance control are planned.

[0014] In these aspects, when the driver does not have a duty to monitor the surroundings, the distance between the first point where the first lane change is performed and the second point where the second lane change is performed is secured to be wider than when the driver has a duty to monitor the surroundings. In this way, if the planned multiple lane changes are performed with a gap between them, the driver or other occupants will not easily recognize that the lane changes have been performed continuously, and it is possible to determine that the lane changes have been performed based on normal control. As a result, even when multiple lane changes are performed, the anxiety of the occupants can be suppressed.

[0015] In addition, the reference numbers in parentheses in the above and claims merely show an example of the correspondence with the specific configurations in the embodiments described below, and do not limit the technical scope in any way. In addition, claims that are not explicitly stated in the claims can be combined together as long as there is no particular problem with the combination. [Brief description of the drawings]

[0016] [Figure 1] 1 is a diagram showing an overall view of an in-vehicle network including an HCU and an autonomous driving ECU according to a first embodiment of the present disclosure. FIG. [Diagram 2] FIG. 2 is a block diagram showing details of an autonomous driving ECU. [Diagram 3] FIG. 2 is a block diagram showing details of an HCU. [Figure 4] 5 is a flowchart showing details of a control switching process performed by an autonomous driving ECU. [Diagram 5] 10 is a flowchart showing details of a lane change planning process executed by the autonomous driving ECU. [Figure 6] 10 is a flowchart showing details of a lane change execution process performed by an autonomous driving ECU. [Figure 7] FIG. 11 is a timing diagram for explaining the display transition of the host vehicle status in continuous LC. [Figure 8] FIG. 13 is a diagram showing an example of the host vehicle status displaying continuous LC. [Figure 9]9A to 9C are diagrams illustrating display transitions of the continuous LC display shown in FIG. 8. [Figure 10] FIG. 11 is a diagram showing an example of the vehicle status providing guidance for a second automated lane change; [Figure 11] 11A to 11C are diagrams illustrating transition of displays shown in FIG. 10. [Figure 12] FIG. 13 is a diagram showing an example of a monitoring recommendation notification when a second lane change is put into a waiting state. [Figure 13] FIG. 13 is a diagram showing another example of the vehicle status displaying continuous LC. [Figure 14] 14A to 14C are diagrams illustrating display transitions of the continuous LC display shown in FIG. 13. [Figure 15] FIG. 11 is a diagram showing another example of the host vehicle status providing guidance on a second automated lane change; [Figure 16] 13 is a flowchart showing details of a display control process performed by the HCU. [Figure 17] FIG. 11 is a timing diagram for explaining the display transition of the host vehicle status in continuous LC according to the second embodiment. [Figure 18] FIG. 13 is a diagram showing an example of the vehicle status providing guidance on the first automated lane change in consecutive LCs. [Figure 19] FIG. 13 is a diagram showing yet another example of the host vehicle status displaying continuous LC. [Figure 20] FIG. 13 is a diagram showing another example of the host vehicle status providing guidance on the first automated lane change in consecutive LCs. [Figure 21] FIG. 13 is a diagram showing yet another example of the host vehicle status displaying continuous LC. [Figure 22] 13 is a flowchart showing details of a lane change execution process performed by an autonomous driving ECU in a third embodiment. [Figure 23] 13 is a flowchart showing details of a notification control process performed by an HCU in a fourth embodiment. [Figure 24] 13 is a flowchart showing details of a continuous LC notification process executed as a sub-process of the notification control process. [Diagram 25]13 is a flowchart showing details of a continuous LC notification process which is a sub-process of the notification control process according to the fifth embodiment. [Figure 26] 13 is a flowchart showing details of a notification control process performed by an HCU in a seventh embodiment. [Figure 27] FIG. 23 is a diagram showing an example of a continuous LC display that notifies the implementation of integrated continuous LC control in the ninth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, a number of embodiments will be described with reference to the drawings. In addition, by assigning the same reference numerals to corresponding components in each embodiment, duplicated descriptions may be omitted. When only a part of the configuration is described in each embodiment, the configuration of the other embodiment described above can be applied to the other parts of the configuration. In addition to the combination of configurations explicitly stated in the description of each embodiment, configurations of multiple embodiments can be partially combined together even if not explicitly stated, as long as there is no particular problem with the combination.

[0018] First embodiment 1 to 3, a human machine interface control unit (HCU) 100 according to a first embodiment of the present disclosure is an interface control device used in a vehicle (hereinafter, the host vehicle Am). The HCU 100 configures a human machine interface (HMI) system 10 of the host vehicle Am together with a plurality of input / output devices. The HMI system 10 has an input interface function for accepting operations by a driver or other occupant of the host vehicle Am, and an output interface function for presenting information to the driver or other occupant.

[0019] The HCU 100 is communicatively connected to a communication bus 99 of an in-vehicle network 1 mounted on the vehicle Am. The HCU 100 is one of a plurality of nodes provided in the in-vehicle network 1. A surroundings monitoring sensor 30, a locator 35, a navigation ECU (Electronic Control Unit) 38, an in-vehicle communication device 39, a driving control ECU 40, and a body ECU 43 are connected to the communication bus 99 of the in-vehicle network 1. In addition, a driving assistance ECU 50a and an automatic driving ECU 50b are connected to the communication bus 99 of the in-vehicle network 1. These nodes connected to the communication bus 99 can communicate with each other. Specific nodes among these devices and ECUs may be directly electrically connected to each other and can communicate without going through the communication bus 99.

[0020] The periphery monitoring sensor 30 is an autonomous sensor that monitors the surrounding environment of the host vehicle Am. The periphery monitoring sensor 30 includes, for example, one or more of a camera unit 31, a millimeter wave radar 32, a lidar 33, and a sonar 34. The periphery monitoring sensor 30 can detect moving objects and stationary objects within a detection range around the host vehicle. The periphery monitoring sensor 30 provides detection information of objects around the host vehicle to the driving assistance ECU 50a, the autonomous driving ECU 50b, etc.

[0021] Locator 35 includes a GNSS (Global Navigation Satellite System) receiver, an inertial sensor, etc. Locator 35 sequentially determines the position and traveling direction of vehicle Am by combining positioning signals received from multiple positioning satellites by the GNSS receiver, measurement results of the inertial sensor, and vehicle speed information output to communication bus 99, etc. Locator 35 sequentially outputs position information and direction information of vehicle Am based on the positioning results to communication bus 99 as locator information.

[0022] Locator 35 further includes a map database (hereinafter, map DB) 36 that stores map data. Map DB 36 is mainly composed of a large-capacity storage medium that stores a large amount of three-dimensional map data and two-dimensional map data. The three-dimensional map data is a so-called HD (High Definition) map, and includes road information necessary for autonomous driving. Specifically, the three-dimensional map data includes three-dimensional shape information of roads and detailed information of each lane. Locator 35 can update the three-dimensional map data and the two-dimensional map data to the latest information through external communication by in-vehicle communication device 39. Locator 35 reads map data of the surroundings of the current position from map DB 36, and provides it to driving assistance ECU 50a, autonomous driving ECU 50b, etc. together with locator information.

[0023] The navigation ECU 38 acquires information on a destination designated by a passenger such as a driver based on operation information acquired from the HCU 100. The navigation ECU 38 acquires vehicle position information and direction information from the locator 35, and sets a route from the current position to the destination. The navigation ECU 38 provides route information indicating the set route to the destination to the driving assistance ECU 50a, the autonomous driving ECU 50b, the HCU 100, etc. The navigation ECU 38 cooperates with the HMI system 10, and notifies the driver of the traveling direction of the vehicle Am at intersections, branching points, etc., by combining screen displays and voice messages as route guidance to the destination.

[0024] Here, a user terminal such as a smartphone may be connected to the in-vehicle network 1 or the HCU 100. Such a user terminal may provide vehicle position information, direction information, map data, etc. to the driving assistance ECU 50a and the autonomous driving ECU 50b, etc., instead of the locator 35. Furthermore, the user terminal may provide route information to a destination to the driving assistance ECU 50a, the autonomous driving ECU 50b, the HCU 100, etc., instead of the navigation ECU 38.

[0025] The in-vehicle communication device 39 is an external communication unit mounted on the vehicle Am and functions as a V2X (Vehicle to Everything) communication device. The in-vehicle communication device 39 transmits and receives information to and from roadside devices installed on the side of the road by wireless communication. As an example, the in-vehicle communication device 39 receives congestion information and road construction information around the current position and in the traveling direction of the vehicle Am from the roadside device. The congestion information and road construction information are VICS (registered trademark) information and the like. The in-vehicle communication device 39 provides the received congestion information and road construction information to the autonomous driving ECU 50b, the HCU 100, and the like.

[0026] The driving control ECU 40 is an electronic control device mainly including a microcontroller. The driving control ECU 40 has at least the functions of a brake control ECU, a drive control ECU, and a steering control ECU. The driving control ECU 40 continuously controls the brake force of each wheel, the output control of the in-vehicle power source, and the steering angle control based on one of an operation command based on the driver's driving operation, a control command from the driving assistance ECU 50a, and a control command from the automatic driving ECU 50b.

[0027] The body ECU 43 is an electronic control device mainly including a microcontroller. The body ECU 43 has at least a function of controlling the operation of lighting devices (e.g., turn indicators 44, etc.) mounted on the vehicle Am. The body ECU 43 starts blinking of either the left or right turn indicator 44 corresponding to the operation direction based on detection of a user operation input to a turn indicator switch (winker lever) provided on a steering column or the like.

[0028] The driving assistance ECU 50a and the automatic driving ECU 50b configure an automatic driving system 50 of the host vehicle Am. By installing the automatic driving system 50, the host vehicle Am becomes an automatic driving vehicle equipped with an automatic driving function, and is capable of traveling by the automatic driving function.

[0029] The driving assistance ECU 50a realizes a driving assistance function that assists the driver in driving operations in the automated driving system 50. The driving assistance ECU 50a enables advanced driving assistance of about level 2 or partial automated driving in the automated driving levels defined by the Society of Automotive Engineers. The automated driving performed by the driving assistance ECU 50a is an automated driving with a surrounding monitoring obligation that requires the driver to visually monitor the surroundings of the vehicle.

[0030] The autonomous driving ECU 50b can take over driving operations from the driver and can perform autonomous driving at level 3 or higher, where the system is the main controller, according to the autonomous driving levels stipulated by the Society of Automotive Engineers. The autonomous driving performed by the autonomous driving ECU 50b does not require monitoring of the surroundings of the vehicle, that is, it is eyes-off autonomous driving where the driver is not required to monitor the surroundings.

[0031] In the above-described autonomous driving system 50, the driving control state of the autonomous driving function is switched among a plurality of states including at least autonomous driving control with the duty of surrounding monitoring by the driving assistance ECU 50a and autonomous driving control without the duty of surrounding monitoring by the autonomous driving ECU 50b. In the following description, autonomous driving control of level 2 or lower by the driving assistance ECU 50a is referred to as "driving assistance control," and autonomous driving control of level 3 or higher by the autonomous driving ECU 50b is referred to as "autonomous driving control." Note that the autonomous driving ECU 50b may be capable of implementing autonomous driving of level 4 or higher.

[0032] During the autonomous driving period in which the host vehicle Am is driven by the autonomous driving control, the driver may be permitted to perform a specific action (hereinafter, a second task) other than driving that is prescribed in advance. The second task is legally permitted to the driver until a request for execution of a driving operation performed in cooperation with the autonomous driving ECU 50b and the HCU 100, that is, a request for a driver handover occurs. For example, actions such as watching entertainment content such as video content, operating a device such as a smartphone, and eating are assumed as the second task.

[0033] The driving assistance ECU 50a is a computer mainly including a control circuit equipped with a processing unit, RAM, a storage unit, an input / output interface, and a bus connecting these. The driving assistance ECU 50a realizes driving assistance functions such as ACC (Adaptive Cruise Control), LTC (Lane Trace Control), and LCA (Lane Change Assist) by executing a program in the processing unit. The driving assistance ECU 50a provides control status information indicating the state of driving assistance control to the autonomous driving ECU 50b.

[0034] The autonomous driving ECU 50b has a higher computing power than the driving assistance ECU 50a and can at least perform driving control equivalent to ACC and LTC. The autonomous driving ECU 50b may be capable of performing driving assistance control in which the driver is responsible for monitoring the surroundings, in place of the driving assistance ECU 50a, in a scene in which the autonomous driving control is temporarily suspended. The autonomous driving ECU 50b is a computer that mainly includes a processing unit 51, a RAM 52, a storage unit 53, an input / output interface 54, and a control circuit including a bus connecting these. The processing unit 51 executes various processes for realizing the autonomous driving control method of the present disclosure by accessing the RAM 52. The storage unit 53 stores various programs (autonomous driving control program, etc.) executed by the processing unit 51. By executing the programs by the processing unit 51, the autonomous driving ECU 50b is configured with an information linking unit 61, an environment recognition unit 62, an action determination unit 63, a control execution unit 64, etc. as multiple functional units for realizing the autonomous driving function (see FIG. 2).

[0035] The information linking unit 61 provides information to an information linking unit 82 of the HCU 100, which will be described later, and acquires information from the information linking unit 82. Through the cooperation of the information linking units 61 and 82, the automatic driving ECU 50b and the HCU 100 share the information acquired by each of them. The information linking unit 61 generates control status information indicating the operation state of the automatic driving function, and provides the generated control status information to the information linking unit 82. The control status information includes the judgment results of the judgments performed in the control switching process (see FIG. 4), the lane change planning process (see FIG. 5), and the lane change execution process (see FIG. 6), which will be described later. The information linking unit 61 enables the HCU 100 to make a notification synchronized with the operation state of the automatic driving function by outputting the control status information to the information linking unit 82. In addition, the information linking unit 61 acquires the driver's operation information and the like from the information linking unit 82, and grasps the contents of the user operation input to the HMI system 10 and the like.

[0036] The environment recognition unit 62 recognizes the driving environment of the host vehicle Am by combining the locator information and map data acquired from the locator 35 with the detection information acquired from the periphery monitoring sensor 30. The environment recognition unit 62 recognizes the traffic congestion around the host vehicle based on the detection information by the periphery monitoring sensor 30 and the vehicle speed information of the host vehicle Am grasped by the cruise control ECU 40. When the current vehicle speed of the host vehicle Am is equal to or lower than the traffic congestion speed (for example, about 10 km / h) and there is a vehicle ahead traveling in the host vehicle lane, the environment recognition unit 62 determines that the surroundings of the host vehicle are in a traffic congestion state. Furthermore, after determining that the surroundings of the host vehicle are in a traffic congestion state, when the vehicle speed of the host vehicle Am or the vehicle ahead exceeds the traffic congestion resolution speed (for example, about 60 km / h), the environment recognition unit 62 determines that the traffic congestion has been resolved. The environment recognition unit 62 may use the traffic congestion information received by the in-vehicle communication device 39 for the determination related to the traffic congestion.

[0037] The environment recognition unit 62 has an other vehicle grasping unit 72 and a road information grasping unit 73 as sub-functional units for recognizing the driving environment. The other vehicle grasping unit 72 grasps the relative positions and relative speeds of dynamic targets around the host vehicle, such as other vehicles traveling around the host vehicle Am. The other vehicle grasping unit 72 grasps at least the front and rear vehicles traveling in the same lane as the host vehicle Am (hereinafter, the host vehicle lane) and the side vehicles traveling in the adjacent lane adjacent to the host vehicle lane. When the host vehicle Am travels on a road with three or more lanes, the other vehicle grasping unit 72 grasps the side vehicles traveling in the separated lanes located on the opposite side of the host vehicle lane across the adjacent lane.

[0038] The road information grasping unit 73 grasps information related to the road on which the host vehicle Am is traveling. When the road information grasping unit 73 acquires route information from the navigation ECU 38, the road information grasping unit 73 extracts specific points of the road on which the host vehicle Am is scheduled to travel, specifically, branch points (junctions, etc.) of expressways, merge points, exit points, etc. Furthermore, the road information grasping unit 73 grasps, for the road on which the host vehicle Am is scheduled to travel, congested sections where congestion is occurring, restricted sections where restrictions are imposed due to road construction, etc.

[0039] The road information grasping unit 73 grasps whether the road on which the host vehicle Am is traveling or the road on which the host vehicle Am is scheduled to travel is within a preset permission area or a limited permission area. Information indicating whether the road is a permission area or a limited permission area may be recorded in the map data stored in the map DB 36, or may be included in the received information received by the in-vehicle communication device 39. The permission area and the limited permission area may correspond to an operational design domain in which automated driving without the driver's obligation to monitor the surroundings is legally permitted. In detail, the automated driving without the obligation to monitor the surroundings includes, as a plurality of control modes, a congestion limited control (hereinafter, congestion level 3) that is implemented only when driving in a congestion, and an area limited control (hereinafter, area level 3) that is implemented only within a specific permission area. On roads within the permission area, both congestion level 3 and area level 3 are permitted to be implemented, and on roads within the limited area, only congestion level 3 is permitted to be implemented. On roads that are not included in either the permission area or the limited permission area (hereinafter, non-permitted area), automated driving without the obligation to monitor the surroundings is prohibited. The permitted area and the restricted permitted area are set on, for example, a highway or a road exclusively for motor vehicles.

[0040] The behavior determination unit 63 cooperates with the driving assistance ECU 50a and the HCU 100 to control the automatic driving system 50 and the driving changeover between the driver. When the automatic driving ECU 50b has the control right of the driving operation, the behavior determination unit 63 generates a planned driving line for the host vehicle Am to travel based on the recognition result of the driving environment by the environment recognition unit 62, and outputs the generated planned driving line to the control execution unit 64.

[0041] When the autonomous driving ECU 50b has control of driving operations, the control execution unit 64 cooperates with the cruise control ECU 40 to execute acceleration / deceleration control, steering control, and the like of the host vehicle Am according to the planned driving line generated by the action determination unit 63. Specifically, the control execution unit 64 generates control commands based on the planned driving line and sequentially outputs the generated control commands to the cruise control ECU 40.

[0042] Next, the multiple display devices, the audio device 24, the ambient light 25, the operation device 26, and the HCU 100 included in the HMI system 10 will be described in detail in turn.

[0043] The display device presents information to the driver's vision by displaying images, etc. The display device includes a meter display 21, a center information display (hereinafter, CID) 22, and a head-up display (hereinafter, HUD) 23, etc. The CID 22 has a touch panel function and detects touch operations on the display screen by the driver, etc.

[0044] The audio device 24 has multiple speakers arranged in the vehicle cabin surrounding the driver's seat, and reproduces notification sounds, voice messages, etc., through the speakers into the vehicle cabin. The ambient light 25 is provided on the instrument panel, steering wheel, etc. The ambient light 25 presents information to the driver using the peripheral vision by changing the light emission color as an ambient display.

[0045] The operation device 26 is an input unit that accepts user operations by the driver, etc. For example, user operations related to activation and deactivation of an automatic driving function, user operations related to setting a destination for route guidance, etc. are input to the operation device 26. The operation device 26 includes a steering switch provided on the spokes of the steering wheel, an operation lever provided on the steering column, and a voice input device that recognizes the contents of the driver's speech, etc.

[0046] The HCU 100 is an information presentation device that comprehensively controls information presentation using a plurality of display devices, an audio device 24, and an ambient light 25. The HCU 100 controls presentation of information related to autonomous driving in cooperation with an autonomous driving system 50. The HCU 100 is a computer that mainly includes a processing unit 11, a RAM 12, a storage unit 13, an input / output interface 14, and a control circuit including a bus connecting these. The processing unit 11 executes various processes for presentation control processing by accessing the RAM 12. The RAM 12 may be configured to include a video RAM for generating video data. The storage unit 13 is configured to include a non-volatile storage medium. The storage unit 13 stores various programs (such as a presentation control program) executed by the processing unit 11. The HCU 100 configures multiple functional units by executing the programs stored in the storage unit 13 by the processing unit 11. The HCU 100 configures functional units such as an information acquisition unit 81, an information linking unit 82, a request processing unit 84, and a presentation control unit 88 (see FIG. 3).

[0047] The information acquisition unit 81 acquires operation information indicating the content of a user operation from the CID 22, the operation device 26, etc. The information acquisition unit 81 provides operation information of a user operation related to an autonomous driving function to the autonomous driving ECU 50b through the information linking unit 82. The information acquisition unit 81 provides operation information of a user operation for setting a destination of the host vehicle Am to the navigation ECU 38 through the request processing unit 84.

[0048] The information linking unit 82 links with the automatic driving ECU 50b and enables information sharing between the automatic driving system 50 and the HCU 100. The information linking unit 82 provides the automatic driving ECU 50b with the operation information grasped by the information acquisition unit 81. The information linking unit 82 acquires control status information indicating the state of the automatic driving function from the automatic driving ECU 50b. The information linking unit 82 grasps the operation state of the automatic driving by the automatic driving system 50 based on the control status information. Specifically, the information linking unit 82 grasps whether the driving control being performed is driving assistance control or autonomous driving control, that is, whether autonomous driving control in which the driver is not required to monitor the surroundings is being performed by the automatic driving function. When the host vehicle Am is traveling in a state in which the driver is not required to monitor the surroundings, the information linking unit 82 further grasps the control mode of the autonomous driving control.

[0049] The request processing unit 84 enables cooperation between the HCU 100 and each in-vehicle device through communication with the in-vehicle devices connected to the communication bus 99. Specifically, the request processing unit 84 acquires route information to the destination, a guidance image based on map data, a request to implement guidance, and the like from the navigation ECU 38, and provides these to the presentation control unit 88, thereby enabling route guidance by the HMI system 10. In addition, the request processing unit 84 enables switching on and off the direction indicator 44 linked to a display related to autonomous driving by outputting an operation request to the body ECU 43.

[0050] The presentation control unit 88 performs integrated provision of information to the driver using each display device, the audio device 24, the ambient light 25, etc. The presentation control unit 88 processes the control status information acquired by the information linking unit 82 as an implementation request for information presentation related to the autonomous driving function, and performs content provision and information presentation according to the operating state of the autonomous driving. When the information linking unit 82 grasps that autonomous driving control is being performed with eyes off, the presentation control unit 88 enables playback of video content, etc. When the presentation control unit 88 grasps the planned end date of autonomous driving control, it performs a request to the driver to take over driving, etc.

[0051] Next, the automatic driving control by the automatic driving ECU 50b and the information presentation control by the HCU 100 will be described in further detail.

[0052] In the autonomous driving ECU 50b, the behavior determination unit 63 has a control switching unit 78 and a lane change control unit 79 as sub-functional units for controlling the operation state of the autonomous driving function (see FIG. 2).

[0053] The control switching unit 78 switches between driving assistance control, which requires the driver to monitor the surroundings, and autonomous driving control, which does not require the driver to monitor the surroundings. Furthermore, when the host vehicle Am travels under autonomous driving control, the control switching unit 78 switches the driving control state (control mode) among a plurality of states including area level 3 and congestion level 3. For example, based on the start of driving assistance control by the driving assistance ECU 50a, the control switching unit 78 starts a control switching process (see FIG. 4) and cooperates with the driving assistance ECU 50a to switch among a plurality of driving control states.

[0054] In the control switching process, the control switching unit 78 determines whether the host vehicle Am is traveling on a road on which the implementation of autonomous driving control is permitted (S101). If the road information grasping unit 73 has grasped that the host vehicle Am is traveling in a non-permitted area (S101: YES), the control switching unit 78 does not permit the implementation of autonomous driving control and allows the driving assistance ECU 50a to continue the driving assistance control (S107). When the control switching unit 78 transitions the driving control state from autonomous driving control to driving assistance control, the automatic driving ECU 50b may implement the driving assistance control.

[0055] On the other hand, when the host vehicle Am is traveling in an allowed area or a limited allowed area (S101: NO), the control switching unit 78 determines whether or not the driver has permitted a transition operation to level 3 (S102). When the transition is permitted by a specific user operation (level 3 transition operation) or the like (S102: YES), the control switching unit 78 enables the implementation of autonomous driving control. Note that the determination of whether or not transition is permitted based on a user operation may be omitted.

[0056] The control switching unit 78 determines whether the host vehicle Am is traveling in an allowed area (S103). When the host vehicle Am is traveling in an allowed area (S103: YES), the control switching unit 78 sets the autonomous driving control of area level 3 as the driving control state of the host vehicle Am (S105). On the other hand, when the host vehicle Am is traveling in a restricted allowed area (S103: NO), the control switching unit 78 determines whether the traffic around the host vehicle is congested (S104). When the traffic around the host vehicle is recognized by the environment recognition unit 62 (S104: YES), the control switching unit 78 sets the autonomous driving control of traffic congestion level 3 as the driving control state of the host vehicle Am (S106). On the other hand, when the surroundings of the host vehicle are not congested (S104: NO), the control switching unit 78 does not permit the transition to the autonomous driving control and continues the driving assistance control (S107).

[0057] The lane change control unit 79 plans to execute an automated lane change of the host vehicle Am by autonomous driving control. The lane change control unit 79 cooperates with the control execution unit 64 to enable the host vehicle Am to execute an automated lane change while maintaining a hands-off and eyes-off state. The lane change control unit 79 starts lane change planning processing (see FIG. 5) based on the switching to the autonomous driving control by the control switching unit 78.

[0058] In the lane change planning process, the lane change control unit 79 identifies a point where the host vehicle Am is required to change lanes on the road along which the host vehicle Am is scheduled to travel (hereinafter, referred to as an LC required point P3, see FIG. 7) from among the specific points extracted by the road information grasping unit 73 (S121). The LC required point P3 is a branch point and an exit point of an expressway, etc. The lane change control unit 79 further identifies a section where it is desirable to avoid performing an automatic lane change (hereinafter, referred to as an avoidance section) on the road along the set route along which the host vehicle Am is scheduled to travel (S122). The lane change control unit 79 identifies, as the avoidance section, a section on the near side of the merging point (merging section) extracted by the road information grasping unit 73, and a congested section and a restricted section grasped by the road information grasping unit 73. A section where the distance between vehicles becomes narrow and lane changing of the host vehicle Am is easily hindered by other vehicles is set as the avoidance section.

[0059] The lane change control unit 79 sets the point where the lane change is to be performed (started) (hereinafter, LC start point) and the planned lane change section, which are on the near side of the LC necessary point P3 and the lane change is to be completed in the range excluding the avoidance section (S123). In detail, the distance or time required for one lane change is specified in advance in the lane change control unit 79. The lane change control unit 79 determines the LC start point so that the end point of the planned lane change section does not enter the avoidance section, in other words, so that the entire planned lane change section is outside the avoidance section. The lane change control unit 79 may determine the LC start point based on the LC arrival time t3 at which the LC necessary point P3 is reached.

[0060] Here, when multiple lane changes are required at the LC required point P3, the lane change control unit 79 sets multiple LC start points. For example, when two lane changes are required, the lane change control unit 79 sets a first start point P1s where the first lane change is performed and a second start point P2s where the second lane change is performed (see FIG. 7). The lane change control unit 79 sets a first section LCS1 and a second section LCS2 as planned lane change sections starting from the first start point P1s and the second start point P2s. When it is predicted that the first lane change cannot be completed in the first section LCS1, and when it is predicted that the second lane change cannot be completed in the second section LCS2, the lane change control unit 79 cancels the execution of a series of lane changes.

[0061] The lane change control unit 79 sets a predetermined execution interval DLC between the first start point P1s and the second start point P2s. The execution interval DLC may be set between the end point of the first section LCS1 and the start point of the second section LCS2. The lane change control unit 79 may set the execution interval DLC based on distance, or may set the execution interval DLC based on time. By setting the execution interval DLC as described above, a plurality of execution-planned sections are set within a predetermined section or within a predetermined time, and a scene in which a plurality of lane changes are planned within the predetermined section or within a predetermined time is described as "continuous LC" in the following description. For example, when the execution interval DLC is set to about 1 kilometer, the predetermined section is set to, for example, about several kilometers. Also, when the execution interval DLC is set to about 1 minute, the predetermined time is set to, for example, about several minutes.

[0062] The lane change control unit 79 plans an automated lane change for overtaking another vehicle ahead of the host vehicle, in addition to the automated lane change corresponding to the LC required point P3. When the cruising speed of the forward vehicle to be followed is lower than the target speed of the autonomous driving control by a predetermined speed or more, the lane change control unit 79 plans an automated lane change to move to an adjacent lane in order to overtake the forward vehicle. Furthermore, when the cruising speed of the front side vehicle traveling in the adjacent lane, in addition to the forward vehicle, is lower than the target speed by a predetermined speed or more, the lane change control unit 79 plans two automated lane changes to move to a separated lane in order to overtake the forward vehicle and the front side vehicle. The lane change control unit 79 further plans an automated lane change for returning to the lane in which the host vehicle Am was originally traveling after overtaking the forward vehicle or the front side vehicle.

[0063] The lane change control unit 79 starts the lane change execution process (see FIG. 6) in cooperation with the control execution unit 64 based on the generation of a lane change plan for approaching or overtaking the LC start point (see FIG. 7, first start point P1s) set in the lane change plan process. In the lane change execution process, the lane change control unit 79 determines whether or not an automated lane change from the vehicle's lane to an adjacent lane can be started (S131). If a vehicle is present beside the vehicle in the adjacent lane to which the vehicle is to move and the automated lane change cannot be started (S131: NO), the lane change control unit 79 puts the automated lane change into a standby state (S132). If the automated lane change times out due to the passage of a predetermined time (S133: YES), the lane change control unit 79 cancels the implementation of the automated lane change (S134).

[0064] On the other hand, if there is no vehicle on the side in the adjacent lane to which the vehicle is to move and the lane change can be started (S131: YES), the control execution unit 64 starts moving the vehicle Am toward the adjacent lane by steering control (S135). After the control execution unit 64 starts the lateral movement, the lane change control unit 79 determines whether or not the lane change interruption condition is satisfied (S136). For example, when another vehicle traveling in the adjacent lane is rapidly approaching the rear of the vehicle Am, the lane change control unit 79 satisfies the interruption condition (S136: YES). In this case, the control execution unit 64 interrupts the ongoing lateral movement and performs steering control (hereinafter, return control) to return the vehicle Am to the center of the original vehicle lane (S137). The lane change control unit 79 continues to determine whether the interruption condition is satisfied until the vehicle Am passes the dividing line between the vehicle lane and the adjacent lane (S138: YES). For example, the lane change control unit 79 determines that the host vehicle Am has crossed the lane marking when the center or center of gravity of the host vehicle Am passes over the lane marking (see passing time t1m in FIG. 7) or when the entire host vehicle Am moves into the adjacent lane.

[0065] When the host vehicle Am reaches approximately the center of the adjacent lane, the lane change control unit 79 determines that the movement to the adjacent lane has been completed (S139: YES, refer to the first completion point P1f in FIG. 7). The lane change control unit 79 determines whether there is any unimplemented automatic lane change remaining (S140). If there is an unimplemented (second time and later) automatic lane change (S140: YES), the lane change control unit 79 determines whether the host vehicle Am has approached the next LC start point (refer to the second start point P2s in FIG. 7) (S142), and waits for the start of consecutive automatic lane changes. When the host vehicle Am approaches the next LC start point (S142: YES), the lane change control unit 79 and the control execution unit 64 re-execute S131 to S139 to move the host vehicle Am to the next adjacent lane (the initially separated lane). When there is no unimplemented automatic lane change left (S140: NO), the lane change control unit 79 completes the current series of automatic lane changes (S141).

[0066] The HCU 100 presents information related to the automatic lane change to the driver using the host vehicle status StA (refer to FIGS. 8 to 15). The host vehicle status StA is displayed on the meter display 21 to notify the driver of the status of the host vehicle Am and the surrounding area of the host vehicle. The host vehicle status StA is an aerial view content that reproduces the state of looking down on the host vehicle Am and its surroundings from above and behind the host vehicle Am.

[0067] The content of the notification using the host vehicle status StA is changed according to the reason for performing the lane change. Specifically, different modes of the host vehicle status StA are displayed when an automatic lane change is performed as the vehicle approaches the LC required point P3 (for example, a branch point), and when an automatic lane change is performed for overtaking. Hereinafter, based on FIGS. 8 to 15, with reference to FIGS. 3 and 7, the display transition of the host vehicle status StA when consecutive LCs are performed as the vehicle approaches the LC required point P3, and the display transition of the host vehicle status StA when consecutive LCs are performed for overtaking will be described in order.

[0068] <Continuous LC display as the vehicle approaches the LC required point P3> When continuous LC is performed as the vehicle approaches the LC required point P3, the presentation control unit 88 provides a notice of the implementation of an automated lane change when the vehicle reaches a notice point P0 (see FIG. 7) that is a predetermined distance (e.g., 1 km) before the first start point P1s set in the lane change planning process. The notice of the implementation of an automated lane change (hereinafter, LC notice) is provided by displaying an icon or the like that notifies the vehicle of the planned implementation of an automated lane change, or by playing a voice or a notice sound. The presentation control unit 88 may start the LC notice at a time (hereinafter, see notice time t0, see FIG. 7) a predetermined time before the vehicle reaches the first start point P1s.

[0069] The presentation control unit 88 changes the vehicle status StA to a display notifying the planned implementation of consecutive LC (hereinafter, consecutive LC display) at the time when the vehicle Am reaches the first start point P1s (hereinafter, first start time t1s, see FIG. 7) or immediately before the first start time t1s (see FIG. 8). The consecutive LC display by the vehicle status StA includes image portions such as the vehicle icon IcS, the source lane icon LpS, the adjacent lane icon LpM, the destination lane icon LpG, the planned trajectory IPP, and the guide sign icon IcG.

[0070] The own vehicle icon IcS is an image portion that imitates the appearance of the own vehicle Am. The own vehicle icon IcS is displayed approximately in the center of the own vehicle status StA. The source lane icon LpS is a linear image portion that is displayed on both the left and right sides of the own vehicle icon IcS. The source lane icon LpS reproduces the initial lane Ln1, which is the starting point of the automated lane change, in the own vehicle status StA by displaying the own vehicle icon IcS between them.

[0071] The adjacent lane icon LpM and the destination lane icon LpG are linear image parts extending along the source lane icon LpS. The display positions of the adjacent lane icon LpM and the destination lane icon LpG coincide with the moving direction of the vehicle Am in the automated lane change. That is, when the vehicle Am changes lanes to the right, the adjacent lane icon LpM is displayed to the right of the source lane icon LpS, and the destination lane icon LpG is displayed to the right of the adjacent lane icon LpM. The adjacent lane icon LpM is arranged next to the source lane icon LpS to reproduce the adjacent lane (middle lane Ln2) to be moved in the first automated lane change in the vehicle status StA. The destination lane icon LpG is displayed when there are multiple scheduled automated lane changes. The destination lane icon LpG is an away lane to which the vehicle moves in the second automated lane change due to its arrangement alongside the adjacent lane icon LpM, and reproduces the destination lane Ln3 to be reached by repeated automated lane changes in the vehicle status StA.

[0072] The planned trajectory IPP is displayed above the vehicle icon IcS, and reproduces the planned driving line of the vehicle Am during the automated lane change in the vehicle status StA by extending in a strip shape from the vehicle icon IcS. The planned trajectory IPP extends from the initial lane Ln1 reproduced in the vehicle status StA to the destination lane Ln3. The planned trajectory IPP is displayed in the vehicle status StA together with the destination lane icon LpG in accordance with the start of the first automated lane change. The planned execution of multiple (two) automated lane changes is notified to the driver by the display of the planned trajectory IPP extended to the destination lane Ln3 reproduced in the vehicle status StA.

[0073] The guide sign icon IcG is an image portion that imitates a guide sign provided on a highway. The guide sign is a sign that provides route guidance near a junction and exit guidance near an exit. The guide sign icon IcG is a content that indicates to the driver the reason for multiple lane changes, and notifies the driver that a lane change will be performed because the LC required point P3 is approaching, by a display mode corresponding to the guide sign.

[0074] After passing the first start point P1s, the presentation control unit 88 changes the state of the host vehicle status StA based on the start of lateral movement of the host vehicle Am (see S135 in FIG. 6) (see FIG. 9). The presentation control unit 88 laterally moves each lane icon LpS, LpM, and LpG in the host vehicle status StA. Each lane icon LpS, LpM, and LpG moves in the opposite direction to the movement direction of the host vehicle Am relative to the host vehicle icon IcS, whose display position is fixed. For example, when the host vehicle Am changes lanes to the right, each lane icon LpS, LpM, and LpG moves leftward relative to the host vehicle icon IcS.

[0075] In addition, the presentation control unit 88 adds a moving icon IcR to the host vehicle status StA based on the start of lateral movement of the host vehicle Am. The moving icon IcR is displayed on either the left or right side of the host vehicle icon IcS, and indicates the moving direction of the host vehicle Am by being arranged side by side with the host vehicle icon IcS. For example, when the host vehicle Am moves to the right due to an automatic lane change, the moving icon IcR is displayed on the right side of the host vehicle icon IcS to notify the lateral movement to the right. The moving icon IcR is displayed in such a manner that it is attached to the middle lane Ln2 reproduced in the host vehicle status StA.

[0076] The presentation control unit 88 hides one (left) source lane icon LpS (see dashed line in FIG. 9) at passing time t1m (see FIG. 7) when the host vehicle Am crosses the dividing line and there is no longer any possibility of interrupting the ongoing automated lane change. In other words, the presentation control unit 88 continues to display both the left and right source lane icons LpS and continues to reproduce the initial lane Ln1 in the host vehicle status StA until there is no longer any possibility of interruption. Then, when there is no longer any possibility of interruption, the presentation control unit 88 causes the initial lane Ln1 to disappear from the host vehicle status StA.

[0077] The presentation control unit 88 changes the host vehicle status StA from the continuous LC display to a display guiding the second automated lane change at a first completion point P1f (first completion time t1f) where the first lane change is completed by the movement of the host vehicle Am to the middle lane Ln2 (see FIG. 10). In this display, the presentation control unit 88 hides the moving icon IcR and changes the planned trajectory IPP to a shape extending from the middle lane Ln2 to the destination lane Ln3.

[0078] Furthermore, after the time when the host vehicle Am reaches the second start point P2s (hereinafter, second start time t2s, see FIG. 7), when the lateral movement of the host vehicle Am is resumed, the presentation control unit 88 further changes the state of the host vehicle status StA (see FIG. 11). In the host vehicle status StA, the presentation control unit 88 laterally moves each lane icon LpM, LpG, and redisplays the moving icon IcR in a state where it is stuck to the arrival lane Ln3. Then, at the passing time t2m (see FIG. 7) when the possibility of interrupting the second lane change is eliminated, the presentation control unit 88 ends the display of one (left) adjacent lane icon LpM (see the dashed line in FIG. 11) and causes the middle lane Ln2 to disappear from the host vehicle status StA. The presentation control unit 88 changes the host vehicle status StA to a normal display mode at the second completion point P2f (second completion time t2f) where the continuous LC is completed by the host vehicle Am moving to the destination lane Ln3, and ends the automated lane change guidance.

[0079] Here, when the second automated lane change is in a standby state (see S132 in FIG. 6) after the first automated lane change is completed, the presentation control unit 88 notifies the driver that the automated lane change is in a standby state by changing the display to reduce the visibility of the planned trajectory IPP (see FIG. 12). Furthermore, the presentation control unit 88 performs a monitoring recommendation notification to encourage the driver to monitor the surroundings by adding the other vehicle icon IcB and the monitoring recommendation icon IcM to the host vehicle status StA.

[0080] The other vehicle icon IcB is displayed around the host vehicle icon IcS based on the recognition result of other vehicles around the host vehicle by the other vehicle grasping unit 72. If there are no other vehicles around the host vehicle, the other vehicle icon IcB is not displayed. The display position of the other vehicle icon IcB with respect to the host vehicle icon IcS indicates the relative position of the other vehicle with respect to the host vehicle Am. The other vehicle icon IcB is placed in the arrival lane Ln3 to indicate that the other vehicle causing the waiting state is present in the arrival lane Ln3.

[0081] The monitoring recommendation icon IcM preliminarily recommends the driver to monitor the surroundings when the driver is not actually obligated to monitor the surroundings. When the second lane change is temporarily put on hold, the presentation control unit 88 continues to display the monitoring recommendation icon IcM even after the movement to the destination lane Ln3 is started. As a result, the monitoring recommendation notification continues until the second completion time t2f at which the movement to the destination lane Ln3 is completed. The monitoring recommendation notification is implemented only when there are multiple scheduled lane changes, and is not implemented when there is only one lane change.

[0082] <Continuous LC display when overtaking> When consecutive LC is performed in association with overtaking a vehicle ahead and a vehicle ahead of the vehicle, no LC notice (see FIG. 7) is performed. The presentation control unit 88 sets the location and time at which the first lane change becomes possible as the first start point P1s and the first start time t1s, respectively, and starts consecutive LC display (see FIG. 13) based on the vehicle status StA. In this case, the consecutive LC display includes image portions such as the vehicle icon IcS and each lane icon LpS, LpM, and LpG, as well as the other vehicle icon IcB and the overtaking notification icon IcP. Furthermore, when consecutive LC is performed in association with overtaking, the planned trajectory IPP is displayed in a form divided into multiple parts.

[0083] The other vehicle icon IcB is an image portion indicating the presence of a vehicle ahead and a vehicle ahead of the vehicle to be overtaken. The other vehicle icon IcB is initially displayed in the lane Ln1 and the middle lane Ln2. If there are vehicles other than the vehicle ahead and the vehicle ahead of the vehicle around the vehicle, the other vehicle icon IcB indicating the presence of such vehicles may be further displayed.

[0084] The overtaking notification icon IcP, like the guide sign icon IcG (see FIG. 8), is content that indicates to the driver the reason for multiple lane changes. Specifically, the overtaking notification icon IcP includes an arrow and a text message that give the impression of lane changes. The overtaking notification icon IcP notifies the driver that lane changes will be made to overtake.

[0085] The planned trajectory IPP includes a first trajectory IP1 in the shape of an arrow extending from the initial lane Ln1 reproduced in the vehicle status StA to the intermediate lane Ln2, and a second advance notice icon IP2 displayed superimposed on the destination lane Ln3. In the continuous LC accompanying overtaking, the second start point P2s (second start time t2s) at which the second automated lane change starts changes dynamically, so the planned trajectory IPP is divided into the first trajectory IP1 and the second advance notice icon IP2. The second advance notice icon IP2 is displayed in the vehicle status StA in accordance with the start of the first automated lane change, thereby informing the driver of the planned execution of the second automated lane change. The second advance notice icon IP2 may be in the shape of an arrow extending from the intermediate lane Ln2 to the destination lane Ln3, similar to the first trajectory IP1 (see also FIG. 21).

[0086] The presentation control unit 88 starts the lateral movement of each lane icon LpS, LpM, LpG based on the start of the lateral movement of the host vehicle Am, and also displays the moving icon IcR (see FIG. 14). Then, at the passing time t1m (see FIG. 7) when the host vehicle Am crosses the dividing line and there is no possibility of interrupting the automated lane change, the presentation control unit 88 makes one (left) of the movement source lane icons LpS and the other vehicle icon IcB indicating the vehicle ahead invisible. As a result, the initial lane Ln1 disappears from the host vehicle status StA.

[0087] The presentation control unit 88 changes the vehicle status StA to a display that guides the driver to make a second automated lane change at a first completion point P1f (first completion time t1f) where the first lane change is completed (see FIG. 15). The presentation control unit 88 hides the moving icon IcR and displays a first trajectory IP1 in the shape of an arrow extending from the middle lane Ln2 to the destination lane Ln3. The presentation control unit 88 may display the first trajectory IP1 overlapping with the second notice icon IP2, or may transition the second notice icon IP2 to a non-display state.

[0088] The presentation control unit 88 starts the lateral movement of the lane icons LpM, LpG and the re-display of the moving icon IcR (see FIG. 11) at the second start time t2s (see FIG. 7) when the second automated lane change starts. Then, at the passing time t2m (see FIG. 7) when the second automated lane change is no longer likely to be interrupted, the presentation control unit 88 ends the display of one (left) adjacent lane icon LpM and causes the intermediate lane Ln2 to disappear from the host vehicle status StA. Furthermore, at the second completion time t2f (see FIG. 7) when the continuous LC is completed by moving to the destination lane Ln3, the presentation control unit 88 changes the host vehicle status StA to the normal display mode and ends the automated lane change guidance.

[0089] In addition, even in the case of continuous LC accompanying overtaking, when the second lane change is in a waiting state, the presentation control unit 88 performs a monitoring recommendation notification to encourage the driver to monitor the surroundings. In this case, the presentation control unit 88 reduces the visibility of the first trajectory IP1 and the second notice icon IP2, and adds a monitoring recommendation icon IcM and a different vehicle icon IcB indicating a different vehicle that is obstructing the lane change to the host vehicle status StA.

[0090] Next, the display control process for realizing the display transition of the host vehicle status StA described above will be described in detail below based on Fig. 16 with reference to Fig. 3 and Fig. 7 to Fig. 15. The display control process is started by the information linking unit 82, the presentation control unit 88, etc. before the first start time t1s, for example, based on approaching the first start point P1s.

[0091] The information linking unit 82 refers to the lane change plan generated by the lane change control unit 79 and grasps the content of the lane change to be performed by the autonomous driving control (S11). The information linking unit 82 determines whether or not a continuous LC is scheduled based on the grasped content of the lane change (S12). If only one lane change is scheduled (S12: NO), the presentation control unit 88 sets the display of the host vehicle status StA that guides the user to a normal (only one) lane change (S13).

[0092] On the other hand, if consecutive LC is scheduled (S12: YES), the information linking unit 82 acquires type information indicating the type of consecutive LC (S14). The type information is information indicating whether the consecutive LC is due to approaching the LC required point P3 or due to overtaking. The information linking unit 82 understands the reason for multiple lane changes based on the type information. If consecutive LC is scheduled, the presentation control unit 88 performs display settings of the host vehicle status StA so that consecutive LC corresponding to the type of consecutive LC is displayed.

[0093] The presentation control unit 88 determines whether or not a condition for starting notification of an automated lane change is satisfied (S16). The presentation control unit 88 determines that the condition for starting is satisfied, for example, when the vehicle Am reaches the first start point P1s (S16: YES). In this case, the request processing unit 84 outputs a request to the body ECU 43 to start blinking the direction indicator 44 corresponding to the moving direction of the vehicle Am in the automated lane change (S17). Furthermore, the presentation control unit 88 changes the display of the vehicle status StA to a mode for notifying an automated lane change based on the display setting in S13 or S15 (S18). When consecutive LC is notified, the presentation control unit 88 starts displaying the vehicle status StA according to the reason for performing the consecutive LC that has been grasped. As a result, when consecutive LC is performed for the purpose of selecting an appropriate route, the presentation control unit 88 switches to the vehicle status StA including the guide sign icon IcG (see FIG. 8). On the other hand, when continuous LC is performed for the purpose of overtaking, the presentation control unit 88 switches to the host vehicle status StA (see FIG. 13) including the overtaking notification icon IcP.

[0094] The information linking unit 82 determines whether the automated lane change has been canceled (see FIG. 6, S134) by the autonomous driving ECU 50b (S19). If the automated lane change has been canceled (S19: YES), the request processing unit 84 outputs a request to the body ECU 43 to end the blinking of the direction indicator 44 (S27). Furthermore, the presentation control unit 88 changes the host vehicle status StA to a normal mode and ends the notification of the automated lane change (S28).

[0095] On the other hand, if the lane change is being continued (S19: NO), the information linking unit 82 further grasps whether or not there is a possibility of interrupting the lane change, and determines whether or not the possibility of interrupting the lane change has disappeared (S20). The information linking unit 82 continues to determine whether or not the lane change has been canceled until the possibility of interruption disappears. Then, when the possibility of interruption disappears (S20: YES), the presentation control unit 88 hides the initial lane Ln1 of the vehicle status StA (S21, see FIG. 9 and FIG. 14).

[0096] The information linking unit 82 determines whether the lane change being performed has ended (S22). When the information linking unit 82 determines that the lane change has ended (S22: YES), it further checks whether there is an unexecuted lane change. When only one lane change has been completed, or when the second lane change in the consecutive LC has been completed, the information linking unit 82 determines that there is no unexecuted lane change (S23: NO). In this case, the blinking of the direction indicator 44 is stopped (S27), and the notification of the lane change is also stopped (S28).

[0097] On the other hand, if there is an unexecuted lane change (S23: YES), the presentation control unit 88 changes the vehicle status StA to notify the next lane change (S24, see Figs. 10 and 15). Furthermore, the information linking unit 82 determines whether the next lane change is in a standby state (S25). If it is not in a standby state (S25: NO), the processing of S19 to S23 is performed again. On the other hand, if the lane change is in a standby state (S25: YES), the presentation control unit 88 starts a monitoring recommendation notification by additionally displaying the monitoring recommendation icon IcM (S26, see Fig. 12). Then, the processing of S19 to S23 is performed again. Furthermore, after the last (second) lane change is completed, the blinking of the direction indicator 44 is stopped (S27), and the notification of the lane change is also stopped (S28). As described above, when consecutive LC is scheduled, the operation of the direction indicator 44 is continued until the scheduled multiple lane changes are completed.

[0098] In the first embodiment described above, in the case of continuous LC in which multiple lane changes are made in succession within a predetermined section or a predetermined time, a driver or other occupant can know that multiple lane changes are scheduled to be made by the notification made in conjunction with the first lane change. Therefore, the occupant can determine that the multiple lane changes are actions based on normal control. As a result, the occupant's anxiety can be suppressed even when multiple lane changes are made.

[0099] In addition, in the first embodiment, the continuous LC display (see FIG. 8 and FIG. 13) showing the schedule of multiple lane changes is presented substantially simultaneously with the start of the first lane change or slightly earlier than the start of the first lane change. Therefore, the occupant can understand that multiple lane changes will be performed in a timely manner. Therefore, the effect of suppressing the anxiety of the occupant is more easily exerted.

[0100] In the first embodiment, when multiple lane changes are planned, a monitoring recommendation notification is issued to encourage the driver to monitor the surroundings. By encouraging the driver to monitor the surroundings even in a situation where there is no obligation to monitor the surroundings, the driver will be able to grasp the situation around the vehicle, and will not feel anxious even if lane changes are repeated. On the other hand, the implementation of the monitoring recommendation notification is limited when only one lane change is planned. Therefore, the convenience of automatic driving can be ensured.

[0101] Furthermore, in the first embodiment, when the second lane change is in a standby state after the first lane change is completed, a monitoring recommendation notification is issued to encourage the driver to monitor the surroundings. On the other hand, when the second lane change is not in a standby state after the first lane change is completed, the implementation of the monitoring recommendation notification is restricted. As described above, if the monitoring recommendation notification is implemented only in a scene where the second lane change is difficult, it is possible to ensure the convenience of the automated driving and suppress the anxiety of the occupants at the same time.

[0102] Additionally, in the first embodiment, the vehicle status StA indicating the surrounding situation of the vehicle Am is displayed by the meter display 21. Then, when multiple lane changes are planned, a destination lane icon LpG reproducing the destination lane Ln3 reached by repeated lane changes is displayed in the vehicle status StA in accordance with the first lane change. This display makes it easier for the occupant to determine that multiple lane changes are actions based on normal control. As a result, even when multiple lane changes are performed, the occupant's anxiety can be suppressed.

[0103] In the first embodiment, the display of the source lane icon LpS, which reproduces the initial lane Ln1, which is the starting point of the consecutive LC, in the vehicle status StA, continues when there is a possibility of interrupting the first automated lane change. Then, when there is no possibility of interrupting the first automated lane change, the source lane icon LpS is hidden. Such a change in the display of the vehicle status StA can indicate to the occupant that the consecutive LC is normally performed by the automated driving system 50. As a result, the occupant's anxiety can be further suppressed.

[0104] Furthermore, in the first embodiment, when multiple lane changes are planned, the content of the notification is changed according to the reason for the multiple lane changes. As a result, the occupant can understand the reason for the continuous LC to be performed, and therefore, is less likely to feel anxious even in a scene where lane changes are repeated.

[0105] In addition, in the first embodiment, when multiple lane changes are scheduled within a predetermined section or a predetermined time, the turn indicator 44 indicating the moving direction of the vehicle Am continues to operate until the multiple scheduled lane changes are completed. The continuation of the operation of the turn indicator 44 also allows the occupant to determine that the multiple lane changes are scheduled actions based on normal control. As a result, even when multiple lane changes are performed, the occupant's anxiety can be suppressed.

[0106] In the first embodiment, the meter display 21 corresponds to a "display device", the information linking unit 82 corresponds to a "control grasping unit", the request processing unit 84 corresponds to an "indicator control unit", and the presentation control unit 88 corresponds to an "alert implementation unit". In addition, the destination lane icon LpG corresponds to a "destination lane image unit", the source lane icon LpS corresponds to a "source lane image unit", the host vehicle status StA corresponds to a "bird's-eye view content", and the HCU 100 corresponds to a "presentation control device".

[0107] Second Embodiment The second embodiment of the present disclosure is a modification of the first embodiment. In the second embodiment, after the start of the first vehicle lane change and before the end of the first vehicle lane change, continuous LC display based on the host vehicle status StA is started to notify the planned implementation of continuous LC. Hereinafter, each detail of the display transition of the host vehicle status StA in the second embodiment will be described with reference to FIGS. 18 to 21 while referring to FIGS. 3 and 17.

[0108] <Continuous LC display accompanying approach to LC required point P3> When continuous LC is performed as the vehicle approaches LC required point P3, the presentation control unit 88 changes the host vehicle status StA to a display for notifying the first vehicle lane change at the first start time t1s or immediately before that (see FIG. 18). At this time, the host vehicle icon IcS, the moving source lane icon LpS, the adjacent lane icon LpM, the guidance sign icon IcG, etc. are displayed in the host vehicle status StA.

[0109] In addition, the presentation control unit 88 starts a monitoring recommendation notification to prompt the driver to perform peripheral monitoring by additionally displaying the monitoring recommendation icon IcM from the first start time t1s. Further, the presentation control unit 88 does not start displaying the destination lane icon LpG at the first start time t1s. As a result, the planned trajectory IPP is displayed in a shape extending from the initial lane Ln1 reproduced in the host vehicle status StA to the intermediate lane Ln2.

[0110] The presentation control unit 88 starts continuous LC display based on the host vehicle status StA at the passing time t1m when the host vehicle Am crosses the lane line and there is no possibility of the first interruption (see FIG. 19). At this time, the presentation control unit 88 starts displaying the destination lane icon LpG and reproduces the arrival lane Ln3 in the host vehicle status StA. Further, the presentation control unit 88 extends the planned trajectory IPP to the arrival lane Ln3.

[0111] At the first completion time t1f when the first lane change is completed, the presentation control unit 88 changes the vehicle status StA from the continuous LC display to a display guiding the second lane change. In this display, the presentation control unit 88 makes the moving icon IcR and the source lane icon LpS invisible, and makes the initial lane Ln1 disappear from the vehicle status StA. In addition, the presentation control unit 88 displays the planned trajectory IPP extending from the intermediate lane Ln2 to the destination lane Ln3.

[0112] At the second start time t2s when the second lane change begins, the presentation control unit 88 starts lateral movement of the lane icons LpM, LpG and redisplay of the moving icon IcR. Then, at the second completion time t2f when the continuous LC is completed by moving to the destination lane Ln3, the presentation control unit 88 makes the moving icon IcR and adjacent lane icon LpM invisible, and makes the intermediate lane Ln2 disappear from the host vehicle status StA. As a result, the host vehicle status StA returns to the normal display mode, and the series of automated lane change guidance is completed.

[0113] <Continuous LC display when overtaking> Even when a continuous LC is performed in association with overtaking, the presentation control unit 88 changes the display of the host vehicle status StA at or immediately before the first start point P1s (see FIG. 20). The presentation control unit 88 causes the meter display 21 to display an overtaking notification icon IcP and a monitoring recommendation icon IcM in addition to the host vehicle icon IcS, the other vehicle icon IcB, and each lane icon LpS, LpM, etc. In addition, the presentation control unit 88 causes the first trajectory IP1 in the shape of an arrow extending from the initial lane Ln1 to the middle lane Ln2 reproduced in the host vehicle status StA to be displayed as a planned trajectory IPP.

[0114] The presentation control unit 88 starts notifying the user of the planned execution of the continuous LC based on the vehicle status StA at the passing time t1m (see FIG. 21). At this time, the presentation control unit 88 reproduces the arrival lane Ln3 in the vehicle status StA by starting to display the destination lane icon LpG. Furthermore, the presentation control unit 88 further displays an arrow-shaped second trajectory IP2A extending from the middle lane Ln2 to the arrival lane Ln3 as a planned trajectory IPP.

[0115] At the first completion time t1f, the presentation control unit 88 causes the initial lane Ln1 to disappear from the vehicle status StA, and changes the vehicle status StA to a display that provides guidance for the second automated lane change. In this display, the second trajectory IP2A maintains a shape extending from the intermediate lane Ln2 to the destination lane Ln3. Then, after providing guidance for the start of lateral movement of the vehicle Am at the second completion time t2f, the presentation control unit 88 changes the vehicle status StA to a normal display mode at the second completion time t2f, and ends the series of automated lane change guidance.

[0116] The second embodiment described above also has the same effect as the first embodiment, and the passenger can determine that the multiple lane changes are normal control actions by the notification performed in response to the first lane change. As a result, the passenger's anxiety can be suppressed even when multiple lane changes are performed.

[0117] In addition, in the second embodiment, after the start of the first lane change, a continuous LC display (see FIG. 19 and FIG. 21) showing a schedule of multiple lane changes is presented during the execution of the lane change. Therefore, the occupant can grasp the schedule of the repeated lane changes in order. As a result, the occupant can easily grasp the information, and the effect of suppressing the anxiety of the occupant can be more easily achieved.

[0118] In the second embodiment, when multiple lane changes are planned, a monitoring recommendation notification that prompts the driver to monitor the surroundings is displayed at the start of the first lane change. Therefore, when continuous LC is planned, the occupant can start to grasp the situation around the vehicle early. As a result, even if continuous lane changes are performed, the occupant is less likely to feel uneasy.

[0119] Furthermore, in the second embodiment, the source lane icon LpS, which reproduces the initial lane Ln1, which is the starting point of multiple automated lane changes, in the vehicle status StA, is hidden at the first completion time t1f after the first automated lane change is completed. As described above, if the content of the vehicle status StA changes according to the progress of the automated lane change, the occupant can confirm from the vehicle status StA that the control related to the automated lane change continues to operate normally. Therefore, the occupant's anxiety about continuous LC can be further suppressed.

[0120] Third embodiment The third embodiment of the present disclosure is another modified example of the first embodiment. When it is necessary to repeat the lane change, the autonomous driving ECU 50b shown in Fig. 2 and Fig. 7 plans the lane change so that the lane change is not performed multiple times within a predetermined section or a predetermined time by ensuring a sufficient execution interval DLC.

[0121] Specifically, when multiple lane changes are planned, the lane change control unit 79 sets the execution interval DLC from the first section LCS1 to the second section LCS2 to be wider than the execution interval DLC when multiple lane changes are planned by driving assistance control. As an example, the driving assistance ECU 50a sets the execution interval DLC to within a few minutes or within 1 kilometer. On the other hand, the lane change control unit 79 sets the execution interval DLC to be 5 minutes or more or more than 1 kilometer.

[0122] On the other hand, when the other vehicle grasping unit 72 grasps a rear vehicle that is performing so-called aggressive driving, the lane change control unit 79 plans an automobile lane change that performs automobile lane change multiple times within a predetermined section or within a predetermined time. As an example, when the inter-vehicle distance between the vehicle Am and the rear vehicle is narrower than a predetermined value, the other vehicle grasping unit 72 determines that the rear vehicle is performing aggressive driving. The predetermined value for determining aggressive driving may be a constant value, or may be a value that increases as the traveling speed increases, based on TTC (Time-To-Collision). When the rear vehicle is performing swerving driving, the other vehicle grasping unit 72 may determine that the rear vehicle is an aggressive vehicle.

[0123] When the other vehicle recognition unit 72 recognizes a tailgating vehicle behind, the lane change control unit 79 plans an automated lane change to allow the tailgating vehicle to proceed ahead. Specifically, the lane change control unit 79 plans two automated lane changes, in which the tailgating vehicle temporarily retreats from the initial lane Ln1 (see FIG. 8) to an adjacent lane, and then returns to the initial lane Ln1 from the adjacent lane after the tailgating vehicle has overtaken the vehicle Am. As a result, for example, when the tailgating vehicle is recognized while the vehicle Am is traveling in the driving lane, a continuous LC is performed in which the tailgating vehicle temporarily retreats to the overtaking lane and then returns to the driving lane.

[0124] The lane change control unit 79 starts the lane change execution process (see FIG. 22) in cooperation with the control execution unit 64 based on the generation of the lane change plan for avoiding the tailgating vehicle. In the lane change execution process, the lane change control unit 79 determines whether or not the automated lane change from the initial lane Ln1 to the adjacent lane can be started (S301). If a vehicle is present beside the vehicle in the destination adjacent lane and the automated lane change cannot be started (S301: NO), the lane change control unit 79 puts the automated lane change into a standby state (S302). If the automated lane change times out due to the passage of a predetermined time (S303: YES), the lane change control unit 79 cancels the implementation of the automated lane change (S304).

[0125] On the other hand, if there is no vehicle on the side in the adjacent lane to be the destination and the lane change can be started (S301: YES), the control execution unit 64 starts the movement of the host vehicle Am toward the adjacent lane (for example, the passing lane on the right) by steering control (S305). After the control execution unit 64 starts the lateral movement, the lane change control unit 79 judges whether or not the interruption condition of the lane change is satisfied (S306). If the interruption condition is satisfied (S306: YES), the control execution unit 64 interrupts the ongoing lateral movement and executes return control (S307). The lane change control unit 79 continues to judge whether or not the interruption condition is satisfied until the host vehicle Am passes the dividing line between the initial lane and the adjacent lane (S308: YES). When the host vehicle Am reaches approximately the center of the lane to be the destination, the lane change control unit 79 judges that the movement is completed (S309: YES).

[0126] The lane change control unit 79 determines whether or not the vehicle has returned to the initial lane Ln1, in other words, whether or not the second lane change has been completed (S310). If only the movement to the adjacent lane has been completed (S310: NO), the lane change control unit 79 cooperates with the other vehicle recognition unit 72 to determine whether or not the tailgating vehicle (rear vehicle) has completed overtaking the host vehicle Am (S312). As an example, the other vehicle recognition unit 72 determines that the tailgating vehicle has completed overtaking the tailgating vehicle based on the fact that the distance from the tailgating vehicle to the host vehicle Am has become equal to or greater than a predetermined value.

[0127] When the other vehicle grasping unit 72 grasps that the tailgating vehicle has completed overtaking (S312: YES), the lane change control unit 79 and the control execution unit 64 execute S301 to S309 again to move the host vehicle Am to the initial lane Ln1 (e.g., the left driving lane). Then, when the host vehicle Am has returned to the initial lane Ln1 (S310: YES), the lane change control unit 79 completes a series of automated lane changes to avoid the tailgating vehicle (S311).

[0128] As described above, when the driver does not have a periphery monitoring obligation, the execution interval DLC from the first start point P1s where the first lane change is executed to the second start point P2s where the second lane change is executed is secured wider than when the driver has a periphery monitoring obligation. In this way, if the planned lane changes are executed at intervals, the driver or other occupants will not easily recognize that the lane changes are repeated continuously, and it is possible to determine that the lane changes are executed based on normal control. As a result, even when the lane changes are executed multiple times, the anxiety of the occupants can be suppressed.

[0129] Additionally, in the third embodiment, similarly to the first embodiment, the road conditions on which the host vehicle Am is traveling are grasped by the road information grasping unit 73. Then, the lane change control unit 79 determines at least one of the first start point P1s and the second start point P2s according to the road conditions. As described above, the lane change control unit 79 can set the lane change implementation section to a road section where the difficulty of implementing the lane change is low. As a result, a smooth lane change can be easily implemented, and the anxiety of the occupants associated with the implementation of the lane change can be suppressed.

[0130] In the third embodiment, similarly to the first embodiment, in the lane change planning process (see FIG. 5), merging sections, congested sections, restricted sections, and the like that exist in the traveling direction of the vehicle Am are recognized as avoidance sections (see S122). Then, the lane change control unit 79 sets the first start point P1s and the second start point P2s so as to avoid these avoidance sections (see S123). As a result, an automated lane change in an eyes-off state is performed in an environment where it is unlikely to be obstructed by other vehicles. Therefore, it is possible to avoid with a high degree of certainty a situation in which the passengers become anxious due to waiting or canceling the automated lane change.

[0131] Furthermore, in the third embodiment, at least a rear vehicle traveling behind the host vehicle Am is recognized by the other vehicle recognition unit 72. Then, when the inter-vehicle distance between the host vehicle Am and the rear vehicle is narrower than a predetermined value, the lane change control unit 79 plans to execute an automatic lane change from the initial lane Ln1 during travel to an adjacent lane. As a result, the lane change control unit 79 can automatically move the host vehicle Am away from in front of the rear vehicle that is highly likely to be tailgating. As a result, it becomes possible to protect the host vehicle Am from the risk of tailgating vehicles.

[0132] Additionally, in the third embodiment, if the other vehicle grasping unit 72 grasps that the vehicle behind is overtaking the host vehicle Am after the host vehicle Am has retreated to the adjacent lane, the lane change control unit 79 plans to execute an automated lane change to return to the initial lane Ln1. As a result, when the risk of an aggressive vehicle is eliminated, the host vehicle Am automatically returns to the driving state it was in before the aggressive vehicle occurred. As a result, the convenience of automated driving can be further improved.

[0133] In the third embodiment, the first start point P1s corresponds to the "first point", the second start point P2s corresponds to the "second point", and the execution interval DLC corresponds to the "interval". In addition, the road information grasping unit 73 corresponds to the "road condition grasping unit", and the automatic driving ECU 50b corresponds to the "automatic driving control device".

[0134] Fourth embodiment The fourth embodiment of the present disclosure is yet another modified example of the first embodiment. In the autonomous driving ECU 50b shown in Fig. 2 and Fig. 7, when the environment recognition unit 62 recognizes a traffic jam around the host vehicle Am, the lane change control unit 79 immediately gives up the execution of the continuous LC. That is, even if a plurality of continuous lane changes are planned, when there is a traffic jam around the host vehicle, the lane change control unit 79 cancels the lane change without putting the lane change into a standby state (see S132 in Fig. 6) and ends the lane change execution process.

[0135] In addition, when multiple lane changes are scheduled within a predetermined section or a predetermined time, and the surroundings of the vehicle are not in a traffic jam state, the autonomous driving ECU 50b cooperates with the HCU 100 to request the driver to perform a driving operation. In the fourth embodiment, when the vehicle Am is traveling on a highway, the driver is requested to input a trigger operation to start an automated lane change. The trigger operation is, for example, an operation input to a turn signal switch or a steering switch. On the other hand, when the vehicle Am is traveling on a general road, an automated lane change is not performed. In this case, all driving operations related to lane change are requested to the driver. That is, a driving handover is performed from the autonomous driving system 50 to the driver.

[0136] When a lane change is scheduled by the autonomous driving ECU 50b, the HCU 100 requests the driver to perform a driving action by executing a notification control process (see FIG. 23). The driving action includes driving operations such as acceleration / deceleration and steering, as well as actions such as monitoring the surroundings. The notification control process is started by the information linking unit 82 and the presentation control unit 88, etc., before the first start time t1s based on approaching the first start point P1s, similar to the display control process of the first embodiment (see FIG. 16) (see FIGS. 3 and 7).

[0137] The information linking unit 82 grasps the driving plan (planned driving line) generated by the action determination unit 63 of the autonomous driving ECU 50b (S411). The information linking unit 82 refers to the grasped driving plan and determines whether or not a continuous LC is planned (S412). If only one lane change is planned in the driving plan (S412: NO), the presentation control unit 88 performs a display process (hereinafter, normal LC display process) that guides the user to a normal (only one) lane change (S413). In the normal LC display process, substantially the same processes as S13, S16 to S22, S27, and S28 (see FIG. 16) of the first embodiment are performed.

[0138] On the other hand, if a consecutive LC is scheduled (S412: YES), the information linking unit 82 acquires road type information indicating the type of road on which the host vehicle Am is traveling (S414). The road type information is generated, for example, by the road information grasping unit 73 and provided to the information linking unit 82. Based on the road type information, the information linking unit 82 determines whether the road on which the host vehicle Am is traveling is a general road or an expressway (S415). As an example, expressways include expressways and expressways on which pedestrians, cyclists, and the like are prohibited from entering.

[0139] If the road on which the vehicle Am is traveling is a general road (S415: YES), the presentation control unit 88 issues a driving request notification to request the driver to perform a driving action (S416). In this case, the driving request notification requests the driver to perform lane changes by manual driving. That is, the driving request notification corresponds to a take-over request to the driver, and requests the driver to perform all driving actions such as periphery monitoring, acceleration / deceleration operation, and steering operation. In addition to the display by the meter display 21 and the HUD 23, the presentation control unit 88 issues a driving request notification, which is a request to take over driving, by playing a voice message by the audio device 24. After the driving request notification is issued, the notification control process is terminated. The driver takes over driving operations from the automatic driving system 50 and performs multiple lane changes by manual driving according to the guidance of the CID 22.

[0140] On the other hand, if the road on which the host vehicle Am is traveling is an expressway (S415: NO), the presentation control unit 88 executes a consecutive LC notification process, which is a sub-process of the notification control process (S417). In the consecutive LC notification process (see FIG. 24), the driver is requested to determine the start timing of the first lane change (S431). Specifically, the presentation control unit 88 requests the driver to resume surroundings monitoring and input a trigger operation by a driving request notification using the display of the meter display 21 or the HUD 23. The presentation control unit 88 may request the driver to resume surroundings monitoring and input a trigger operation by playing a voice message from the audio device 24.

[0141] The presentation control unit 88 cooperates with the information acquisition unit 81 or the request processing unit 84 to determine whether or not a trigger operation has been input (S432). The presentation control unit 88 waits for the input of a trigger operation (S432: NO), and if a timeout occurs without the input of a trigger operation, it issues a cancellation notice of the consecutive LC. In this case, the consecutive LC notification process, which is a sub-process, and the notification control process, which is a main process, are terminated.

[0142] On the other hand, when the input of the trigger operation based on the driving request notification is grasped (S432: YES), the request processing unit 84 outputs a request to the body ECU 43 to start blinking the direction indicator 44 corresponding to the moving direction of the host vehicle Am during the automated lane change (S433). Furthermore, the presentation control unit 88 changes the display of the host vehicle status StA (see FIG. 18) to a mode that notifies the first (initial) automated lane change (S434). The automated lane change in this case requires the driver to monitor the surroundings. Therefore, the host vehicle status StA displays a monitoring request icon requesting continued monitoring of the surroundings instead of the monitoring recommendation icon IcM (see FIG. 18).

[0143] The information linking unit 82 determines whether the first lane change has been completed (S435). If the automatic driving ECU 50b cancels the lane change before the lane change is completed, the continuous LC notification process and notification control process are terminated. On the other hand, if the information linking unit 82 determines that the lane change has been completed (S435: YES), the presentation control unit 88 requests the driver to determine the start timing of the next lane change by issuing a driving request notification again (S436).

[0144] The presentation control unit 88 again determines whether or not a trigger operation has been input (S437). When the input of a trigger operation based on the driving request notification is recognized (S437: YES), the presentation control unit 88 changes the display of the host vehicle status StA (see FIG. 10) to a mode that notifies the next (second or subsequent) automobile lane change (S438).

[0145] The information linking unit 82 determines whether the second or subsequent lane changes have been completed (S439). When the information linking unit 82 determines that the lane changes have been completed (S439: YES), the information linking unit 82 further determines whether there is an unexecuted lane change (S440). When the third or subsequent consecutive lane changes are scheduled, the information linking unit 82 determines that there is an unexecuted lane change (S440: YES) and requests the driver to determine the start timing of the lane change again (S436). On the other hand, when the third or subsequent consecutive lane changes are not scheduled, the information linking unit 82 determines that there is no unexecuted lane change (S440: NO). In this case, the blinking of the direction indicator 44 is terminated (S441) and the notification of the lane change is also terminated (S442).

[0146] In the fourth embodiment described above, when a driving plan that involves multiple lane changes within a predetermined section or a predetermined time is grasped, the driver is requested to perform driving behavior by a driving request notification. Therefore, by recognizing the driving request notification, the driver can determine that processing based on normal control is being executed in the autonomous driving ECU 50b of the vehicle Am. As a result, the fourth embodiment also has the same effect as the first embodiment, and the anxiety of passengers such as the driver can be suppressed even when multiple lane changes are performed.

[0147] In addition, in the fourth embodiment, a driving request notification that requests the driver to perform a lane change by manual driving and a driving request notification that requests the driver to determine the start timing of the lane change performed by the autonomous driving control are switched and performed. Therefore, depending on the driving environment around the vehicle and the capabilities of the automatic driving ECU 50b and the surrounding monitoring sensor 30 of the vehicle Am, the driving operation that the system side cannot handle is appropriately handed over to the driver. As a result, the required multiple lane changes can be stably performed by the cooperation between the driver and the automatic driving system 50.

[0148] In the fourth embodiment, when multiple lane changes are planned while the vehicle Am is traveling on a general road, a driving request notification is made to request the driver to change lanes manually. On the other hand, when multiple lane changes are planned while the vehicle Am is traveling on a highway, a driving request notification is made to request the driver to determine the start timing. As a result, on a highway where the risk of lane changes is lower than on a general road, it is possible to avoid handing over all driving operations to the driver. Therefore, it is possible to improve the convenience of the automatic driving function on the highway while suppressing the anxiety of passengers such as the driver.

[0149] Furthermore, in the fourth embodiment, when the surroundings of the host vehicle Am are congested, the continuous LC by the autonomous driving control is not put into a standby state but is immediately canceled. Therefore, when the surroundings of the host vehicle Am are congested, the above-mentioned driving request notification related to multiple lane changes is not implemented. As a result, it is possible to avoid a situation in which the driver is requested to drive when the driving load is high.

[0150] Fifth embodiment The fifth embodiment of the present disclosure is a modified example of the fourth embodiment. When the autonomous driving ECU 50b (see FIG. 2 and FIG. 3) of the fifth embodiment generates a driving plan including continuous LC, the autonomous driving ECU 50b executes the first lane movement by an autonomous lane change. When the autonomous lane change is attempted for the second or subsequent times but the autonomous lane change is in a standby state, the autonomous driving ECU 50b cooperates with the HCU 100 to request the driver to continue the lane change.

[0151] In the notification control process of the fifth embodiment (see FIG. 23), when consecutive LC is scheduled (S412: YES), the notification process for consecutive LC shown in FIG. 25 is executed as a sub-process instead of the processes of S414 to S417. In the notification process for consecutive LC, the presentation control unit 88 judges whether or not the start condition for notification of an automated lane change is satisfied (S531). As in the first embodiment (see FIG. 16, S16), the presentation control unit 88 judges that the start condition is satisfied at the timing when the host vehicle Am reaches the first start point P1s (S531: YES). In this case, the request processing unit 84 outputs a request to the body ECU 43 to start blinking the direction indicator 44 corresponding to the moving direction of the host vehicle Am in the automated lane change (S532). Furthermore, the presentation control unit 88 changes the display of the host vehicle status StA (see FIG. 8) to a mode for notifying the first (initial) automated lane change (S533).

[0152] The information linking unit 82 determines whether the first lane movement by the automated lane change has ended (S534). When the information linking unit 82 grasps the end of the first lane movement (S534: YES), it determines whether the second automated lane change is in a standby state (S535). When the automated lane change is in a standby state (S535: YES), the presentation control unit 88 issues a driving request notification to request the driver to perform a lane change by manual driving (S536). In this case, the driving request notification is a notification to request the driver to take over driving.

[0153] On the other hand, if the automated lane change is not put into a standby state but is started immediately (S535: NO), the presentation control unit 88 changes the display of the vehicle status StA (see FIG. 10) to a mode that notifies the driver of the next (second or subsequent) automated lane change (S537).

[0154] The information linking unit 82 determines whether the second or subsequent lane changes have been completed (S538). When the information linking unit 82 determines that the lane changes have been completed (S538: YES), the information linking unit 82 further determines whether there is an unexecuted lane change (S539). When the third or subsequent consecutive lane changes are scheduled, the information linking unit 82 determines that there is an unexecuted lane change (S539: YES) and determines whether the next lane change is in a standby state (S535). When the next lane change is in a standby state (S535: YES), the driver is requested to perform a lane change by manual driving by a driving request notification (S536).

[0155] On the other hand, if the third or subsequent consecutive lane changes are not scheduled, the information linking unit 82 determines that there is no pending lane change (S539: NO). In this case, the blinking of the direction indicator 44 is stopped (S540) and the notification of the lane change is also stopped (S541).

[0156] The fifth embodiment described so far also has the same effect as the fourth embodiment, and even if multiple lane changes are performed, the anxiety of passengers such as the driver can be suppressed. In addition, in the fifth embodiment, when the second or subsequent lane changes initiated by the autonomous driving control are in a standby state, the driver is requested to perform lane changes by manual driving by a driving request notification. Therefore, if the driver responds appropriately to the driving request notification, even difficult continuous LC can be completed by cooperation between the system and the driver.

[0157] Sixth Embodiment The sixth embodiment of the present disclosure is a modified example of the fifth embodiment. When the automatic driving ECU 50b (see FIG. 2 and FIG. 3) of the fifth embodiment generates a driving plan including consecutive LC, it executes only the first lane change by automatic lane change. On the other hand, the second and subsequent lane changes are requested to the driver. In the notification process for consecutive LC in this modified example (see FIG. 25), S535, S537 to S541, such as the determination of whether the second automatic lane change is in a standby state, are omitted. The presentation control unit 88 executes a notice indicating that the second automatic lane change is scheduled to be requested in the notification of the first automatic lane change (see S533). Then, when the presentation control unit 88 grasps the end of the first lane change (S534: YES), it requests the driver to execute the second lane change by manual driving by a driving request notification (S536). As described above, the driver executes the second and subsequent lane changes by manual driving in accordance with the driving request notification.

[0158] In the sixth embodiment described above, the first lane change is performed by the autonomous driving control, and the second and subsequent lane changes are performed by manual driving, and the driver is requested to perform them by the driving request notification. As described above, the same effects as those of the fifth embodiment are achieved, and even the difficult continuous LC can be completed by cooperation between the system and the driver.

[0159] Seventh embodiment The seventh embodiment of the present disclosure is yet another modified example of the first embodiment. The automatic driving ECU 50b (see FIG. 2 and FIG. 3) of the seventh embodiment changes whether or not to request the driver to drive depending on whether multiple lane changes are performed within a specified section or a specified time and whether multiple lane changes are performed consecutively. In the following description, multiple lane changes performed within a specified section or a specified time are referred to as "normal consecutive LC", and multiple lane changes performed consecutively are referred to as "special consecutive LC".

[0160] In the lane change control unit 79, the predetermined section (about several kilometers) in the first embodiment is set as a first predetermined section, and a second predetermined section shorter than the first predetermined section is further defined. Similarly, in the lane change control unit 79, the predetermined time (about several minutes) in the first embodiment is set as a first predetermined time, and a second predetermined time shorter than the first predetermined time is further defined. Then, the above-mentioned normal continuous LC is achieved when multiple automobile lane changes are performed within a section shorter than the first predetermined section and longer than the second predetermined section, or within a time shorter than the first predetermined time and longer than the second predetermined time.

[0161] On the other hand, the above-mentioned special consecutive LC is a case where multiple lane changes are made within the second specified section or within the second specified time. In the special consecutive LC, the distance or time from the end point of the first section LCS1 to the start point of the second section LCS2 is very short (see FIG. 7). For example, the distance from the end point of the first section LCS1 to the start point of the second section LCS2 is about 100 meters, and the distance from the end point of the first section LCS1 to the start point of the second section LCS2 is about several seconds. A case where the distance or time from the end point of the first section LCS1 to the start point of the second section LCS2 is zero may also be included in the special consecutive LC.

[0162] When a lane change is scheduled by the autonomous driving ECU 50b, the HCU 100 executes a notification control process (see FIG. 26). As in the fourth embodiment (see FIG. 23), the notification control process is started by the information linking unit 82, the presentation control unit 88, etc., before the first start time t1s based on the approach to the first start point P1s (see FIGS. 3 and 7).

[0163] The information linking unit 82 grasps the driving plan generated by the action determination unit 63 of the autonomous driving ECU 50b (S611). The information linking unit 82 refers to the grasped driving plan and determines whether or not a consecutive LC is scheduled (S612). If only one lane change is scheduled in the driving plan (S612: NO), the presentation control unit 88 executes a normal LC display process that guides the driver to a normal (only one) lane change (S613). This normal LC display process is substantially the same as that of the fourth embodiment (see FIG. 23, S413).

[0164] On the other hand, if consecutive LC is scheduled (S612: YES), the information linking unit 82 determines the implementation section length or implementation time of the scheduled consecutive LC (S614). Based on the determined implementation section length or implementation time, the information linking unit 82 determines whether the consecutive LC scheduled by the autonomous driving ECU 50b is a special consecutive LC (S615).

[0165] If the scheduled consecutive LC is a special consecutive LC (S615: YES), the presentation control unit 88 issues a driving request notification to request the driver to perform a driving action (S616). In this case, the driving request notification requests the driver to perform all driving operations such as not only surrounding monitoring but also acceleration / deceleration operation and steering operation. In other words, the driving request notification is a driving change request to request the driver to perform lane change by manual driving.

[0166] On the other hand, if the scheduled consecutive LC is normal consecutive LC (S615: NO), the presentation control unit 88 performs consecutive LC notification processing (S617). In the consecutive LC notification processing, substantially the same processing as S16 to S28 (see FIG. 16) in the first embodiment is performed. In this consecutive LC notification processing, the implementation of a driving request notification regarding acceleration / deceleration operation and steering operation is restricted. In other words, a driving request notification that requests a driver to take over is not performed.

[0167] The seventh embodiment described so far also has the same effect as the first embodiment, and even if multiple lane changes are performed, the anxiety of passengers such as the driver can be suppressed. In addition, in the seventh embodiment, in the case of special continuous LC in which multiple lane changes are scheduled within a second predetermined section that is shorter than the first predetermined section, or within a second predetermined time that is shorter than the first predetermined time, the presentation control unit 88 issues a driving request notification to request the driver to perform a driving action. Therefore, even if the continuous LC is difficult for the automatic driving ECU 50b, it can be smoothly performed by handing over the driving to the driver.

[0168] In the seventh embodiment, in the case of a special continuous LC in which multiple lane changes are scheduled within the second predetermined section or the second time, the presentation control unit 88 issues a driving request notification to request the driver to perform acceleration / deceleration operations and steering operations as driving behaviors. On the other hand, in the case of a normal continuous LC in which multiple lane changes are scheduled within a section shorter than the first predetermined section and longer than the second predetermined section, or within a time shorter than the first predetermined time and longer than the second predetermined time, the implementation of the driving request notification regarding acceleration / deceleration operations and steering operations is restricted. Therefore, the continuous LC that can be performed by the automatic driving ECU 50b can be completed by the automatic driving ECU 50b without the driver taking over the acceleration / deceleration operations and steering operations. According to the above, even if there is a limit to the performance of the automatic driving ECU 50b, it is possible to suppress a decrease in the convenience of the automatic driving function.

[0169] Eighth embodiment The eighth embodiment of the present disclosure is a modified example of the seventh embodiment. In the notification control process (see FIG. 26) of the eighth embodiment, when a special consecutive LC is scheduled (S615: YES), the presentation control unit 88 performs a driving request notification requesting the driver to perform surrounding monitoring as a driving behavior (S616). On the other hand, when a normal consecutive LC is scheduled (S615: NO), the presentation control unit 88 restricts the execution of the driving request notification regarding surrounding monitoring in the consecutive LC notification process (S617), which is a sub-process. That is, the driving request notification requesting the driver to perform surrounding monitoring is not performed in the consecutive LC notification process.

[0170] In the eighth embodiment described above, in the case of a special continuous LC in which multiple lane changes are scheduled within the second predetermined section or the second predetermined time, the presentation control unit 88 issues a driving request notification to request the driver to perform surrounding monitoring as a driving behavior. Therefore, when the autonomous driving ECU 50b is unable to continue driving operation, the driving can be smoothly handed over from the system to the driver.

[0171] In addition, in the eighth embodiment, in the case of normal continuous LC in which multiple lane changes are scheduled within a section shorter than the first predetermined section and longer than the second predetermined section, or within a time shorter than the first predetermined time and longer than the second predetermined time, the implementation of a driving request notification related to periphery monitoring is limited. Therefore, in the case of normal continuous LC, the autonomous driving ECU 50b can complete multiple lane changes without interfering with the driver's second task. Therefore, even if the performance of the autonomous driving ECU 50b is limited, it is possible to suppress a decrease in the convenience of the autonomous driving function.

[0172] Ninth embodiment The ninth embodiment of the present disclosure is yet another modified example of the first embodiment. The autonomous driving ECU 50b (see FIG. 2 and FIG. 3) of the ninth embodiment switches between control for repeating lane changes one lane at a time (normal continuous LC control) and control for performing lane changes for multiple lanes at once (integrated continuous LC control) according to the driving environment. In normal continuous LC control, a section (time) for driving along the lane is secured between the end point of the first section LCS1 and the start point of the second section LCS2 (see FIG. 7). On the other hand, in integrated continuous LC control, the first section LCS1 and the second section LCS2 are continuous, and a section (time) for driving along the lane is not secured.

[0173] The lane change control unit 79 (see FIG. 2) decides whether or not to permit integral continuous LC control depending on the presence of other vehicles around the host vehicle grasped by the other vehicle grasping unit 72 and the road environment during travel grasped by the road information grasping unit 73. Specifically, the lane change control unit 79 decides to implement normal continuous LC control when another vehicle is recognized within a predetermined range around the host vehicle Am by the other vehicle grasping unit 72. On the other hand, when no other vehicle is recognized within the predetermined range around the host vehicle, the lane change control unit 79 decides to implement integral continuous LC.

[0174] Furthermore, when the road on which the host vehicle Am is traveling is a general road, the lane change control unit 79 decides to implement normal continuous LC control. On the other hand, when the road on which the host vehicle Am is traveling is an expressway, the lane change control unit 79 decides to implement integral continuous LC control. Also, when the host vehicle Am is traveling around a curve section or an intersection, the lane change control unit 79 decides to implement normal continuous LC control. On the other hand, when the host vehicle Am is not traveling around a curve section or an intersection, the lane change control unit 79 decides to implement integral continuous LC.

[0175] Here, the lane change control unit 79 may determine whether to permit integral continuous LC control by combining the above-mentioned multiple conditions. For example, when the host vehicle Am is traveling on a general road or a curved section, or when there is another vehicle around the host vehicle, the lane change control unit 79 does not permit the implementation of integral continuous LC and decides to implement normal continuous LC control. On the other hand, when the host vehicle Am is traveling on a straight section of a highway and there is no other vehicle around the host vehicle, the lane change control unit 79 decides to implement integral continuous LC.

[0176] When the automatic driving ECU 50b plans to perform multiple lane changes, the HCU 100 notifies the driver of the mode of movement control in the continuous LC. That is, one of the normal continuous LC control and the integrated continuous LC control that is scheduled to be performed is notified to the driver. The mode of movement control in the continuous LC is started at the point or time when the first lane change becomes possible.

[0177] Specifically, when the host vehicle Am is traveling on a general road, a curved section, or around an intersection, and the lane change control unit 79 is to perform normal continuous LC control, the presentation control unit 88 notifies the user that normal continuous LC control will be performed. Also, when another vehicle is present around the host vehicle and the lane change control unit 79 is to perform normal continuous LC control, the presentation control unit 88 notifies the user that normal continuous LC control will be performed.

[0178] The presentation control unit 88 notifies the implementation of normal continuous LC control by displaying the vehicle status StA including a first trajectory IP1 extending from the initial lane Ln1 to the middle lane Ln2 and a second trajectory IP2A extending from the middle lane Ln2 to the destination lane Ln3 (see FIG. 21). In this case, the presentation control unit 88 performs a driving request notification that requests the driver to implement periphery monitoring, or a monitoring recommendation notification (display of a monitoring recommendation icon IcM) that prompts the driver to implement periphery monitoring, together with the notification of the mode of movement control.

[0179] On the other hand, when the host vehicle Am is traveling on a highway or a straight section and the lane change control unit 79 performs integral continuous LC control, the presentation control unit 88 notifies the implementation of integral continuous LC. Similarly, when there are no other vehicles around the host vehicle and the lane change control unit 79 performs integral continuous LC control, the presentation control unit 88 notifies the implementation of integral continuous LC. The presentation control unit 88 notifies the implementation of integral continuous LC control by displaying the host vehicle status StA including an arrow-shaped planned trajectory IPP extending from the initial lane Ln1 to the destination lane Ln3 while crossing the intermediate lane Ln2 (see FIG. 27). In this case, the presentation control unit 88 does not need to perform a notification such as a request to perform periphery monitoring or a recommendation to perform periphery monitoring.

[0180] The ninth embodiment described so far also has the same effect as the first embodiment, and even if multiple lane changes are performed, the anxiety of passengers such as the driver can be suppressed. In addition, in the ninth embodiment, when multiple lane changes are scheduled within a predetermined section or within a predetermined time, whether to perform normal continuous LC control or integral continuous LC control is determined according to the driving environment in which the host vehicle Am is traveling. Therefore, in a driving environment where the difficulty of continuous LC is low, the automatic driving ECU 50b can complete multiple lane changes in a short time by integral continuous LC control. As a result of the above, the convenience of the automatic driving function can be further improved.

[0181] In the ninth embodiment, when multiple lane changes are planned, the presentation control unit 88 notifies the driver of the mode of movement control before the start of lateral movement in the continuous LC. Therefore, the driver can know in advance the behavior of the host vehicle Am in the continuous LC, specifically, whether the lateral movement of the host vehicle Am will be temporarily interrupted in the middle lane Ln2. As a result, even when multiple lane changes are performed, the anxiety of the driver and other passengers can be further suppressed.

[0182] Furthermore, in the ninth embodiment, when the host vehicle Am is traveling on a general road, the presentation control unit 88 notifies the implementation of normal continuous LC control. Also, when the host vehicle Am is traveling on a highway, the presentation control unit 88 notifies the implementation of integral continuous LC control. As described above, if the mode of movement control in continuous LC is switched depending on the type of road and the mode is notified, the driver or other occupants are less likely to feel uneasy even when multiple lane changes are performed.

[0183] In addition, in the ninth embodiment, when another vehicle is recognized around the vehicle Am, the presentation control unit 88 notifies the implementation of normal continuous LC control. Also, when no other vehicle is recognized, the presentation control unit 88 notifies the implementation of integral continuous LC control. In this way, if the mode of movement control in continuous LC is switched depending on the presence or absence of another vehicle around the vehicle and the mode is notified, the driver and other occupants are less likely to feel uneasy even when multiple lane changes are performed.

[0184] In the ninth embodiment, the normal continuous LC control corresponds to the "first mode of movement control", and the integral continuous LC control corresponds to the "second mode of movement control".

[0185] (Other embodiments) Although several embodiments of the present disclosure have been described above, the present disclosure should not be construed as being limited to the above-described embodiments, and can be applied to various embodiments and combinations within the scope not departing from the gist of the present disclosure.

[0186] In the first embodiment, the continuous LC display for notifying the scheduled execution of multiple lane changes was started slightly earlier than the first start time t1s or substantially simultaneously with the first start time t1s. In addition, the continuous LC display in the second embodiment was started at the passing time t1m. However, as long as the scheduled execution of the second or subsequent lane changes can be notified between the first start time t1s and the first completion time t1f, the start timing of the continuous LC display may be changed as appropriate. That is, notifying the scheduled execution of multiple lane changes in accordance with the first lane change means that the scheduled execution of the second or subsequent lane changes is notified before the first completion time t1f. For example, the continuous LC display in the first modification is started after the first start time t1s and before the passing time t1m. In addition, the continuous LC display in the second modification is started after the passing time t1m and before the first completion time t1f.

[0187] In the third modification of the above embodiment, the same continuous LC display is performed when the continuous LC is performed due to approaching the LC required point P3 and when the continuous LC is performed due to overtaking. That is, the process of changing the vehicle status StA to the content according to the type of continuous LC is omitted in the third modification.

[0188] The continuous LC display in the fourth modified example of the above embodiment is also displayed by the CID 22. In the fourth modified example, the planned execution of multiple lane changes can be notified not only to the driver but also to passengers. In the fifth modified example of the above embodiment, the continuous LC display is displayed as a virtual image by the HUD 23. That is, the continuous LC display may be superimposed content superimposed on the foreground. In the fourth and fifth modified examples, the CID 22 and the HUD 23 each correspond to a "display device."

[0189] Additionally, the scheduled multiple lane changes may be announced via an audio message played by audio device 24. Similarly, the monitoring recommendation announcement may be announced via an audio message played by audio device 24.

[0190] In the sixth modified example of the above embodiment, a monitoring recommendation notification is implemented even when the lane change is scheduled to be implemented once. In the sixth modified example, when the lane change is scheduled to be implemented once, the monitoring recommendation notification is implemented in a weaker manner than when the lane change is scheduled to be implemented multiple times. As an example, when the lane change is scheduled to be implemented once, the monitoring recommendation icon IcM is displayed smaller than when the lane change is scheduled to be implemented multiple times. Alternatively, when the lane change is scheduled to be implemented multiple times, a notification sound is played together with the start of displaying the monitoring recommendation icon IcM, whereas when the lane change is scheduled to be implemented once, the playback of the notification sound is omitted and only the monitoring recommendation icon IcM is displayed. As described above, the implementation of the monitoring recommendation notification may be restricted in a manner different from non-implementation.

[0191] In the above embodiment, the control of turning on and off the turn indicator 44, which is performed by the request processing unit 84 of the HCU 100, may be performed by the autonomous driving ECU 50b. Furthermore, even if multiple lane changes are planned, the blinking of the turn indicator 44 may be temporarily stopped after the first lane change is completed.

[0192] In the third embodiment, a section different from the merging section and the congested section may be set as the avoidance section. Moreover, in the seventh modified example of the third embodiment, the adjustment of setting the first section LCS1 and the second section LCS2 to avoid the avoidance section is omitted. Furthermore, when the autonomous driving ECU 50b performs autonomous driving control of level 4 or higher, the implementation interval DLC is set wider than the implementation interval DLC in the driving assistance control. Moreover, the implementation interval DLC in autonomous driving control of level 4 or higher may be set to be approximately the same as the implementation interval DLC in autonomous driving control of level 3, or may be set narrower than the implementation interval DLC in autonomous driving control of level 3.

[0193] In the modification 8 of the third embodiment, the vehicle lane change to avoid the tailgating vehicle is performed only once. That is, the lane change control unit 79 performs only the vehicle lane change to retreat from the initial lane Ln1 in which the tailgating vehicle is traveling to an adjacent lane, and does not perform the vehicle lane change to return from the adjacent lane to the initial lane Ln1. Even in the modification 8, it is possible to protect the host vehicle Am from the risk of the tailgating vehicle.

[0194] In the ninth modified example of the seventh embodiment, even if normal continuous LC is scheduled to be performed (FIG. 26 S615: NO), if another vehicle is present within a predetermined range around the vehicle, a driving request notification is issued to request the driver to perform a driving operation. Also, in the tenth modified example of the eighth embodiment, even if normal continuous LC is scheduled to be performed, if another vehicle is present within a predetermined range around the vehicle, a driving request notification is issued to request the driver to monitor the surroundings. In the manners such as the ninth and tenth modified examples, the implementation of the driving request notification in a scene where normal continuous LC is performed may be restricted.

[0195] In the eleventh modification of the above embodiment, the functions of the driving assistance ECU 50a and the automatic driving ECU 50b are provided by one automatic driving ECU. That is, the automatic driving ECU 50b in the eleventh modification has the functions of the driving assistance ECU 50a implemented therein.

[0196] In addition, in a twelfth modification of the above embodiment, the functions of the driving assistance ECU 50a, the autonomous driving ECU 50b, and the HCU 100 are provided by one integrated ECU. In this type of modification 12, the integrated ECU corresponds to the "presentation control device" and the "autonomous driving control device." Furthermore, the functions of the presentation control device and the autonomous driving control device according to the present disclosure may be realized by cooperation between the autonomous driving ECU 50b and the HCU 100. In this form, a system including the autonomous driving ECU 50b and the HCU 100 corresponds to the "presentation control device" and the "autonomous driving control device."

[0197] In the above embodiment, each function provided by the autonomous driving ECU and HCU can be provided by software and hardware that executes the software, software only, hardware only, or a combination of these. Furthermore, when such a function is provided by an electronic circuit as hardware, each function can also be provided by a digital circuit including a large number of logic circuits, or an analog circuit.

[0198] Each processing unit in the above embodiment is hardware for arithmetic processing coupled with a RAM. The processing unit includes at least one arithmetic core such as a central processing unit (CPU) and a graphics processing unit (GPU). The processing unit may further include a field-programmable gate array (FPGA), a neural network processing unit (NPU), and an IP core having other dedicated functions. Such a processing unit may be individually mounted on a printed circuit board, or may be mounted on an application specific integrated circuit (ASIC) and an FPGA.

[0199] The form of the storage medium (non-transitory tangible storage medium) that stores various programs and the like in the above embodiments may be changed as appropriate. Furthermore, the storage medium is not limited to a configuration provided on a circuit board, and may be provided in the form of a memory card or the like, inserted into a slot portion, and electrically connected to a control circuit such as an autonomous driving ECU or HCU. Furthermore, the storage medium may be an optical disk or a hard disk drive that is a source from which a program is copied or distributed to the autonomous driving ECU or HCU.

[0200] The vehicle equipped with the above-mentioned automatic driving system and HMI system is not limited to a general private passenger car, but may be a rental car vehicle, a manned taxi vehicle, a ride-sharing vehicle, a freight vehicle, a bus, etc. In addition, the vehicle equipped with the automatic driving system and HMI system may be a right-hand drive vehicle or a left-hand drive vehicle. Furthermore, the traffic environment in which the vehicle runs may be a traffic environment based on left-hand traffic or a traffic environment based on right-hand traffic. The automatic driving control and information presentation control according to the present disclosure may be appropriately optimized according to the road traffic laws of each country and region, and further the steering wheel position of the vehicle, etc.

[0201] The control unit and the method described herein may be implemented by a special-purpose computer having a processor programmed to execute one or more functions embodied in a computer program. Alternatively, the device and the method described herein may be implemented by a special-purpose hardware logic circuit. Alternatively, the device and the method described herein may be implemented by one or more special-purpose computers configured by a combination of a processor that executes a computer program and one or more hardware logic circuits. The computer program may also be stored in a computer-readable non-transitory tangible recording medium as instructions to be executed by the computer.

[0202] (Disclosure of technical ideas) This specification discloses multiple technical ideas described in the following multiple dependent claims. Some of the claims may be described in a multiple dependent form, where the subsequent claim alternatively refers to the preceding claim. Furthermore, some of the claims may be described in a multiple dependent form, where the subsequent claim alternatively refers to the preceding claim. The claims described in these multiple dependent forms define multiple technical ideas. (Technical Thought 1-16) A presentation control device that is used in a vehicle (Am) that can run by autonomous driving control without a driver having to monitor the surroundings and controls the presentation of information related to the autonomous driving control, a control understanding unit (82) that understands a driving plan generated by an automatic driving control device (50b) that performs the autonomous driving control; a notification execution unit (88) that issues a driving request notification to request the driver to perform a driving action when the driving plan includes multiple lane changes within a predetermined section or a predetermined time period; A presentation control device comprising: (Technical Thought 1-22) A presentation control program for use in a vehicle (Am) capable of traveling by autonomous driving control without a driver having to monitor the surroundings, the presentation control program controlling presentation of information related to the autonomous driving control, A driving plan generated by an automatic driving control device (50b) that performs the autonomous driving control is grasped (S411), When the driving plan includes multiple lane changes within a predetermined section or a predetermined time, a driving request notification is issued to request the driver to perform a driving action (S416, S431, S436). A presentation control program that causes at least one processing unit (11) to execute a process including the steps of:

[0203] (Technical thought 1) A presentation control device that is used in a vehicle (Am) that can run by autonomous driving control without a driver having to monitor the surroundings and controls the presentation of information related to the autonomous driving control, A control grasping unit (82) that grasps a schedule of an automobile lane change performed by the autonomous driving control; a notification unit (88) that notifies the driver of the plans to execute the multiple lane changes in accordance with a first lane change when multiple lane changes are scheduled to be executed in a predetermined section or within a predetermined time period; A presentation control device comprising: (Technical thought 2) The notification execution unit, When the scheduled lane change is a plurality of times, a monitoring recommendation notification is given to encourage the driver to monitor the surroundings. The presentation control device according to Technical Idea 1, which limits the implementation of the monitoring recommendation notification when the planned automobile lane change is only one time. (Technical Thought 3) The control grasping unit further grasps a standby state of the second or subsequent lane change, The notification execution unit, When the second lane change is in the waiting state after the first lane change is completed, a monitoring recommendation notification is issued to encourage the driver to monitor the surroundings; A presentation control device according to technical idea 1, which limits the implementation of the monitoring recommendation notification if the second lane change does not enter the waiting state after the first lane change is completed. (Technical Thought 4) The notification execution unit, A bird's-eye view content (StA) showing a situation around the vehicle is displayed on a display device (21); A presentation control device as described in any one of technical ideas 1 to 3, in which, when the planned automobile lane changes are multiple, a destination lane image section (LpG) reproducing a destination lane (Ln3) reached by repeated automobile lane changes is displayed in the bird's-eye view content in conjunction with the first automobile lane change. (Technical Thought 5) The notification implementation unit is a presentation control device described in technical idea 4, which hides the source lane image unit (LpS), which reproduces the initial lane (Ln1) that is the starting point of multiple automated lane changes in the bird's-eye view content, after the first automated lane change is completed. (Technical Thought 6) The control grasping unit further grasps whether or not the lane change may be interrupted, The notification execution unit, If there is a possibility of interrupting the first lane change, continue to display a source lane image portion (LpS) that reproduces an initial lane (Ln1) that is a starting point of the multiple lane changes in the bird's-eye view content, The presentation control device according to technical idea 4, wherein when the possibility of interrupting the first automated lane change is no longer present, the source lane image portion is hidden. (Technical Thought 7) The control understanding unit understands the reason why the vehicle lane changes are performed multiple times, The presentation control device according to any one of Technical Ideas 1 to 6, wherein the notification implementation unit changes the content of the notification depending on the reason when multiple lane changes are planned. (Technical Thought 8) The presentation control device according to any one of technical ideas 1 to 7 further includes an indicator control unit (84) that, when multiple lane changes are scheduled within a specified section or within a specified time period, continues operation of a direction indicator (44) that indicates the direction of travel of the vehicle until the multiple scheduled lane changes are completed. (Technical Thought 9) The presentation control device described in any one of technical ideas 1 to 7, wherein the notification implementation unit issues a driving request notification to request the driver to perform a driving action when multiple lane changes are scheduled within a second specified section that is shorter than a first specified section, which is a specified section, or within a second specified time that is shorter than a first specified time, which is a specified time. (Technical Thought 10) The notification execution unit, When a plurality of lane changes are scheduled within the second predetermined section or the second predetermined time, the driving request notification is performed to request the driver to perform at least one of an acceleration / deceleration operation and a steering operation as the driving behavior. A presentation control device as described in technical idea 9, which limits the implementation of the driving request notification regarding the acceleration / deceleration operation and the steering operation when multiple lane changes are scheduled within a section shorter than the first specified section and longer than the second specified section, or within a time shorter than the first specified time and longer than the second specified time. (Technical Thought 11) The notification execution unit, When a plurality of lane changes are scheduled within the second predetermined section or the second predetermined time, the driving request notification is performed to request the driver to perform surrounding monitoring as the driving behavior. The presentation control device described in technical idea 9 limits the implementation of the driving request notification regarding the surrounding monitoring when multiple lane changes are scheduled within a section shorter than the first specified section and longer than the second specified section, or within a time shorter than the first specified time and longer than the second specified time. (Technical Thought 12) When a plurality of lane changes are scheduled within a predetermined section or a predetermined time, whether to implement a first mode of movement control in which the vehicle repeatedly moves one lane at a time or a second mode of movement control in which the vehicle moves a plurality of lanes at once is determined according to a driving environment in which the vehicle is traveling; The presentation control device according to any one of Technical Ideas 1 to 11, wherein the notification implementation unit further notifies the driver of the mode of the movement control when a plurality of lane changes are scheduled. (Technical Thought 13) The presentation control device described in technical idea 12, wherein the notification implementation unit notifies of the implementation of the movement control in the first manner when the vehicle is traveling on a general road, and notifies of the implementation of the movement control in the second manner when the vehicle is traveling on a highway. (Technical Thought 14) The presentation control device described in technical idea 12, wherein the notification implementation unit notifies the implementation of the movement control in the first manner when another vehicle is recognized around the vehicle, and notifies the implementation of the movement control in the second manner when the other vehicle is not recognized. [Explanation of symbols]

[0204] Am: vehicle; DLC: execution interval (interval); Ln1: initial lane; Ln3: destination lane; LpG: destination lane icon (destination lane image portion); LpS: source lane icon (source lane image portion); P1s: first start point (first location); P2s: second start point (second location); StA: vehicle status (bird's-eye view content); 11,51: processing portion; 21: meter display (display device); 44: turn indicator; 50b: autonomous driving ECU (autonomous driving control device); 72: other vehicle recognition portion; 73: road information recognition portion (road condition recognition portion); 78: control switching portion; 79: lane change control portion; 82: information linking portion (control recognition portion); 84: request processing portion (indicator control portion); 88: presentation control portion (notification execution portion); 100: HCU (presentation control device)

Claims

1. A presentation control device that is used in a vehicle (Am) that can run by autonomous driving control without a driver having to monitor the surroundings, and controls the presentation of information related to the autonomous driving control, A control grasping unit (82) that grasps a schedule of an automobile lane change performed by the autonomous driving control; and a notification unit (88) that notifies the driver of the plans to execute the multiple lane changes in accordance with the first lane change when multiple lane changes are scheduled within a predetermined section or a predetermined time period, The notification execution unit, When the scheduled lane change is a plurality of times, a monitoring recommendation notification is given to encourage the driver to monitor the surroundings. A presentation control device that limits the implementation of the monitoring recommendation notification when the planned lane change is only one time.

2. A presentation control device that is used in a vehicle (Am) that can run by autonomous driving control without a driver having to monitor the surroundings, and controls the presentation of information related to the autonomous driving control, A control grasping unit (82) that grasps a schedule of an automobile lane change performed by the autonomous driving control; and a notification unit (88) that notifies the driver of the plans to execute the multiple lane changes in accordance with the first lane change when multiple lane changes are scheduled within a predetermined section or a predetermined time period, The control grasping unit further grasps a standby state of the second or subsequent lane change, The notification execution unit, When a second lane change is in the waiting state after a first lane change is completed, a monitoring recommendation notification is issued to prompt the driver to monitor a surrounding area; A presentation control device that limits the implementation of the monitoring recommendation notification if a second lane change does not enter the standby state after a first lane change is completed.

3. A presentation control device that is used in a vehicle (Am) that can run by autonomous driving control without a driver having to monitor the surroundings, and controls the presentation of information related to the autonomous driving control, A control grasping unit (82) that grasps a schedule of an automobile lane change performed by the autonomous driving control; and a notification unit (88) that notifies the driver of the plans to execute the multiple lane changes in accordance with the first lane change when multiple lane changes are scheduled within a predetermined section or a predetermined time period, The notification execution unit, A bird's-eye view content (StA) showing a situation around the vehicle is displayed on a display device (21); When the planned lane change is a plurality of times, a destination lane image portion (LpG) reproducing a destination lane (Ln3) to be reached by repeating the lane change is displayed in the bird's-eye view content in accordance with the first lane change; A presentation control device that hides a source lane image section (LpS), which reproduces an initial lane (Ln1) that is the starting point of multiple automated lane changes in the bird's-eye view content, after the first automated lane change is completed.

4. A presentation control device that is used in a vehicle (Am) that can run by autonomous driving control without a driver having to monitor the surroundings, and controls the presentation of information related to the autonomous driving control, A control grasping unit (82) that grasps a schedule of an automobile lane change performed by the autonomous driving control; and a notification unit (88) that notifies the driver of the plans to execute the multiple lane changes in accordance with the first lane change when multiple lane changes are scheduled within a predetermined section or a predetermined time period, The control grasping unit further grasps whether or not the lane change may be interrupted, The notification execution unit, A bird's-eye view content (StA) showing a situation around the vehicle is displayed on a display device (21); When the planned lane change is a plurality of times, a destination lane image portion (LpG) reproducing a destination lane (Ln3) to be reached by repeating the lane change is displayed in the bird's-eye view content in accordance with the first lane change; If there is a possibility of interrupting the first lane change, continue to display a source lane image portion (LpS) that reproduces an initial lane (Ln1) that is a starting point of the multiple lane changes in the bird's-eye view content, A presentation control device that hides the source lane image portion when the possibility of interrupting the first automated lane change is eliminated.

5. The control understanding unit understands the reason why the vehicle lane changes are performed multiple times, The presentation control device according to claim 1 , wherein the notification implementation unit changes the content of the notification depending on the reason when a plurality of lane changes are planned.

6. The presentation control device according to any one of claims 1 to 4, further comprising an indicator control unit (84) that, when multiple lane changes are scheduled within a specified section or within a specified time period, continues operation of a direction indicator (44) indicating the direction of movement of the vehicle until the multiple scheduled lane changes are completed.

7. A presentation control device that is used in a vehicle (Am) that can run by autonomous driving control without a driver having to monitor the surroundings, and controls the presentation of information related to the autonomous driving control, A control grasping unit (82) that grasps a schedule of an automobile lane change performed by the autonomous driving control; and a notification unit (88) that notifies the driver of the plans to execute the multiple lane changes in accordance with the first lane change when multiple lane changes are scheduled within a predetermined section or a predetermined time period, The notification implementation unit is a presentation control device that issues a driving request notification to request the driver to perform driving action when multiple lane changes are scheduled within a second specified section that is shorter than a first specified section, which is a specified section, or within a second specified time that is shorter than a first specified time, which is a specified time.

8. The notification execution unit, When a plurality of lane changes are scheduled within the second predetermined section or the second predetermined time, the driving request notification is performed to request the driver to perform at least one of an acceleration / deceleration operation and a steering operation as the driving behavior. The presentation control device described in claim 7, which limits the implementation of the driving request notification regarding the acceleration / deceleration operation and the steering operation when multiple lane changes are scheduled within a section shorter than the first specified section and longer than the second specified section, or within a time shorter than the first specified time and longer than the second specified time.

9. The notification execution unit, When a plurality of lane changes are planned within the second predetermined section or the second predetermined time, the driving request notification is performed to request the driver to perform surrounding monitoring as the driving behavior. The presentation control device described in claim 7, which limits the implementation of the driving request notification regarding the surrounding monitoring when multiple lane changes are scheduled within a section shorter than the first specified section and longer than the second specified section, or within a time shorter than the first specified time and longer than the second specified time.

10. A presentation control device that is used in a vehicle (Am) that can run by autonomous driving control without a driver having to monitor the surroundings, and controls the presentation of information related to the autonomous driving control, A control grasping unit (82) that grasps a schedule of an automobile lane change performed by the autonomous driving control; and a notification unit (88) that notifies the driver of the plans to execute the multiple lane changes in accordance with the first lane change when multiple lane changes are scheduled within a predetermined section or a predetermined time period, When a plurality of lane changes are scheduled within a predetermined section or a predetermined time, whether to implement a first mode of movement control in which the vehicle repeatedly moves one lane at a time or a second mode of movement control in which the vehicle moves a plurality of lanes at once is determined according to a driving environment in which the vehicle is traveling; The notification unit is a presentation control device that further notifies the driver of a mode of the movement control when multiple lane changes are planned.

11. The presentation control device according to claim 10, wherein the notification implementation unit notifies of the implementation of the movement control in the first manner when the vehicle is traveling on a general road, and notifies of the implementation of the movement control in the second manner when the vehicle is traveling on a highway.

12. The presentation control device according to claim 10, wherein the notification implementation unit notifies the implementation of the movement control in the first manner when another vehicle is recognized around the vehicle, and notifies the implementation of the movement control in the second manner when the other vehicle is not recognized.

13. A presentation control program for controlling presentation of information related to the autonomous driving control, which is used in a vehicle (Am) capable of traveling by autonomous driving control without a driver having to monitor the surroundings, A schedule for lane changes to be performed by the autonomous driving control is grasped (S11); When a plurality of lane changes are scheduled within a predetermined section or a predetermined time, the execution of the plurality of lane changes is notified in accordance with the first lane change (S14, S18). When the scheduled lane change is a plurality of times, a monitoring recommendation notification is given to encourage the driver to monitor the surroundings. If the planned lane change is only one time, the execution of the monitoring recommendation notification is limited. A presentation control program that causes at least one processing unit (11) to execute a process including the steps of:

14. A presentation control program for controlling presentation of information related to the autonomous driving control, which is used in a vehicle (Am) capable of traveling by autonomous driving control without a driver having to monitor the surroundings, A schedule for lane changes to be performed by the autonomous driving control is grasped (S11); When a plurality of lane changes are scheduled within a predetermined section or a predetermined time, the execution of the plurality of lane changes is notified in accordance with the first lane change (S14, S18). Further grasp the waiting state of the second or subsequent lane change; When a second lane change is in the waiting state after a first lane change is completed, a monitoring recommendation notification is issued to prompt the driver to monitor a surrounding area; When a second lane change does not enter the standby state after a first lane change is completed, the execution of the monitoring recommendation notification is limited. A presentation control program that causes at least one processing unit (11) to execute a process including the steps of:

15. A presentation control program for controlling presentation of information related to the autonomous driving control, which is used in a vehicle (Am) capable of traveling by autonomous driving control without a driver having to monitor the surroundings, A schedule for lane changes to be performed by the autonomous driving control is grasped (S11); When a plurality of lane changes are scheduled within a predetermined section or a predetermined time, the execution of the plurality of lane changes is notified in accordance with the first lane change (S14, S18). A bird's-eye view content (StA) showing a situation around the vehicle is displayed on a display device (21); When the planned lane change is a plurality of times, a destination lane image portion (LpG) reproducing a destination lane (Ln3) to be reached by repeating the lane change is displayed in the bird's-eye view content in accordance with the first lane change; A source lane image portion (LpS) reproducing an initial lane (Ln1) which is a starting point of the multiple lane changes in the bird's-eye view content is hidden after the first lane change is completed. A presentation control program that causes at least one processing unit (11) to execute a process including the steps of:

16. A presentation control program for controlling presentation of information related to the autonomous driving control, which is used in a vehicle (Am) capable of traveling by autonomous driving control without a driver having to monitor the surroundings, A schedule for lane changes to be performed by the autonomous driving control is grasped (S11); When a plurality of lane changes are scheduled within a predetermined section or a predetermined time, the execution of the plurality of lane changes is notified in accordance with the first lane change (S14, S18). A bird's-eye view content (StA) showing a situation around the vehicle is displayed on a display device (21); When the planned lane change is a plurality of times, a destination lane image portion (LpG) reproducing a destination lane (Ln3) to be reached by repeating the lane change is displayed in the bird's-eye view content in accordance with the first lane change; Further grasp whether the lane change may be interrupted (S20); If there is a possibility of interrupting the first lane change, continue to display a source lane image portion (LpS) that reproduces an initial lane (Ln1) that is a starting point of the multiple lane changes in the bird's-eye view content, When the possibility of interrupting the first lane change is eliminated, the source lane image portion is hidden (S21). A presentation control program that causes at least one processing unit (11) to execute a process including the steps of:

17. A presentation control program for controlling presentation of information related to the autonomous driving control, which is used in a vehicle (Am) capable of traveling by autonomous driving control without a driver having to monitor the surroundings, A schedule for lane changes to be performed by the autonomous driving control is grasped (S11); When a plurality of lane changes are scheduled within a predetermined section or a predetermined time, the execution of the plurality of lane changes is notified in accordance with the first lane change (S14, S18). When a plurality of lane changes are scheduled within a second predetermined section that is shorter than a first predetermined section, which is a predetermined section, or within a second predetermined time that is shorter than a first predetermined time, which is a predetermined time, a driving request notification is issued to request the driver to perform a driving action (S616). A presentation control program that causes at least one processing unit (11) to execute a process including the steps of:

18. A presentation control program for controlling presentation of information related to the autonomous driving control, which is used in a vehicle (Am) capable of traveling by autonomous driving control without a driver having to monitor the surroundings, A schedule for lane changes to be performed by the autonomous driving control is grasped (S11); When a plurality of lane changes are scheduled within a predetermined section or a predetermined time, the execution of the plurality of lane changes is notified in accordance with the first lane change (S14, S18). When a plurality of lane changes are scheduled within a predetermined section or a predetermined time, whether to implement a first mode of movement control in which the vehicle repeatedly moves one lane at a time or a second mode of movement control in which the vehicle moves a plurality of lanes at once is determined according to a driving environment in which the vehicle is traveling; If a plurality of lane changes are planned, the mode of the movement control is further notified. A presentation control program that causes at least one processing unit (11) to execute a process including the steps of:

19. A presentation control device that is used in a vehicle (Am) that can run by autonomous driving control without a driver having to monitor the surroundings, and controls the presentation of information related to the autonomous driving control, A control understanding unit (82) that understands a driving plan generated by an automatic driving control device (50b) that performs the autonomous driving control; and a notification execution unit (88) that issues a driving request notification to request the driver to perform a driving action when the driving plan includes multiple lane changes within a predetermined section or a predetermined time period. The notification implementation unit is a presentation control device that switches between the driving request notification that requests the driver to perform the lane change by manual driving, and the driving request notification that requests the driver to determine the start timing of the automobile lane change performed by the autonomous driving control.

20. The notification execution unit, When the execution of the lane change multiple times is planned while the vehicle is traveling on a general road, the driving request notification is made to request the driver to execute the lane change by manual driving. The presentation control device according to claim 19 , wherein, when a plurality of lane changes are planned while the host vehicle is traveling on a highway, the driving request notification is performed to request the driver to determine the start timing.

21. A presentation control device that is used in a vehicle (Am) that can run by autonomous driving control without a driver having to monitor the surroundings, and controls the presentation of information related to the autonomous driving control, A control understanding unit (82) that understands a driving plan generated by an automatic driving control device (50b) that performs the autonomous driving control; and a notification execution unit (88) that issues a driving request notification to request the driver to perform a driving action when the driving plan includes multiple lane changes within a predetermined section or a predetermined time period. The notification implementation unit is a presentation control device that, when the first lane change is performed by the autonomous driving control, requests the driver to perform the second and subsequent lane changes by manual driving through the driving request notification.

22. A presentation control device that is used in a vehicle (Am) that can run by autonomous driving control without a driver having to monitor the surroundings, and controls the presentation of information related to the autonomous driving control, A control understanding unit (82) that understands a driving plan generated by an automatic driving control device (50b) that performs the autonomous driving control; and a notification execution unit (88) that issues a driving request notification to request the driver to perform a driving action when the driving plan includes multiple lane changes within a predetermined section or a predetermined time period. The notification implementation unit is a presentation control device that requests the driver to perform the lane change by manual driving through the driving request notification when the second or subsequent lane change initiated by the autonomous driving control enters a standby state.

23. The presentation control device according to any one of claims 19 to 22, wherein the notification implementation unit does not implement the driving request notification related to multiple lane changes when congestion around the vehicle is detected.

24. A presentation control device that is used in a vehicle (Am) that can run by autonomous driving control without a driver having to monitor the surroundings, and controls the presentation of information related to the autonomous driving control, A control understanding unit (82) that understands a driving plan generated by an automatic driving control device (50b) that performs the autonomous driving control; and a notification execution unit (88) that issues a driving request notification to request the driver to perform a driving action when the driving plan includes multiple lane changes within a predetermined section or a predetermined time period. The notification implementation unit is a presentation control device that does not implement the driving request notification related to multiple lane changes when congestion around the vehicle is detected.

25. A presentation control program for controlling presentation of information related to the autonomous driving control, which is used in a vehicle (Am) capable of traveling by autonomous driving control without a driver having to monitor the surroundings, A driving plan generated by an automatic driving control device (50b) that performs the autonomous driving control is grasped (S411), When the driving plan includes a plurality of lane changes within a predetermined section or a predetermined time, a driving request notification is issued to request the driver to perform a driving action (S416, S431, S436). The driving request notification is switched between requesting the driver to perform the lane change by manual driving and requesting the driver to determine the start timing of the lane change performed by the autonomous driving control. A presentation control program that causes at least one processing unit (11) to execute a process including the steps of:

26. A presentation control program for controlling presentation of information related to the autonomous driving control, which is used in a vehicle (Am) capable of traveling by autonomous driving control without a driver having to monitor the surroundings, A driving plan generated by an automatic driving control device (50b) that performs the autonomous driving control is grasped (S411), When the driving plan includes a plurality of lane changes within a predetermined section or a predetermined time, a driving request notification is issued to request the driver to perform a driving action (S416, S431, S436). When the first lane change is performed by the autonomous driving control, the driver is requested to perform the second and subsequent lane changes by manual driving through the driving request notification (S536). A presentation control program that causes at least one processing unit (11) to execute a process including the steps of:

27. A presentation control program for controlling presentation of information related to the autonomous driving control, which is used in a vehicle (Am) capable of traveling by autonomous driving control without a driver having to monitor the surroundings, A driving plan generated by an automatic driving control device (50b) that performs the autonomous driving control is grasped (S411), When the driving plan includes a plurality of lane changes within a predetermined section or a predetermined time, a driving request notification is issued to request the driver to perform a driving action (S416, S431, S436). When the second or subsequent lane change initiated by the autonomous driving control is in a standby state, the driver is requested to perform the lane change by manual driving by the driving request notification (S536). A presentation control program that causes at least one processing unit (11) to execute a process including the steps of:

28. A presentation control program for controlling presentation of information related to the autonomous driving control, which is used in a vehicle (Am) capable of traveling by autonomous driving control without a driver having to monitor the surroundings, A driving plan generated by an automatic driving control device (50b) that performs the autonomous driving control is grasped (S411), When the driving plan includes a plurality of lane changes within a predetermined section or a predetermined time, a driving request notification is issued to request the driver to perform a driving action (S416, S431, S436). When a traffic jam around the vehicle is detected, the driving request notification related to the multiple lane changes is not performed. A presentation control program that causes at least one processing unit (11) to execute a process including the steps of:

29. A control switching unit (78) for switching between a driving assistance control in which a driver is required to monitor the surroundings and an autonomous driving control in which the driver is not required to monitor the surroundings; A lane change control unit (79) that plans the execution of an automated lane change of the host vehicle (Am) by the autonomous driving control, The lane change control unit is an automatic driving control device that, when planning multiple automated lane changes, sets the distance (DLC) from the first point (P1s) where the first automated lane change is performed to the second point (P2s) where the second automated lane change is performed wider than the distance when the automated lane change by the driving assistance control is planned multiple times.

30. A road condition grasping unit (73) for grasping the condition of the road on which the vehicle is traveling, The automatic driving control device according to claim 29 , wherein the lane change control unit sets at least one of the first point and the second point depending on a condition of the road.

31. The road condition grasping unit grasps the existence of an avoidance section existing in a traveling direction of the host vehicle, The automatic driving control device according to claim 30 , wherein the lane change control unit sets the first point and the second point so as to avoid the avoidance section.

32. Further, the vehicle recognition unit (72) recognizes at least a rear vehicle traveling behind the vehicle, The automatic driving control device according to any one of claims 29 to 31, wherein the lane change control unit plans to execute the automatic lane change from the initial lane (Ln1) in which the vehicle is traveling to an adjacent lane when the inter-vehicle distance between the vehicle and the rear vehicle is narrower than a predetermined value.

33. The automatic driving control device according to claim 32, wherein the lane change control unit plans to execute the automated lane change to return to the initial lane when the other vehicle recognition unit recognizes that the rear vehicle is overtaking the host vehicle.

34. Switching between driving assistance control requiring the driver to monitor the surroundings and autonomous driving control not requiring the driver to monitor the surroundings (S101 to S107), A plan is made for executing an automatic lane change of the host vehicle (Am) by the autonomous driving control (S121 to S123), When multiple automated lane changes are planned, an interval (DLC) from a first point (P1s) where a first automated lane change is performed to a second point (P2s) where a second automated lane change is performed is set wider than the interval when multiple automated lane changes are planned by the driving assistance control. An automatic driving control program that causes at least one processing unit (51) to execute a process including the steps of:

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