Operation control method and operation control device

Abstract

A processor 10 for a driving control device 100 that controls the driving of a vehicle at a predetermined driving assistance level determines whether or not a transition request requesting a transition from a first driving assistance level to a second driving assistance level that is higher than the first driving assistance level has been input, and if the transition request is input, the transition conditions for transitioning the driving assistance level from the first driving assistance level to the second driving assistance level are relaxed.

Description

[Technical field]

[0001] The present invention relates to an operation control method and an operation control device. [Background technology]

[0002] The driving control method described in Patent Document 1 divides a target driving route of the vehicle into a plurality of sections, and sets a criterion for allowing driving assistance control for each section. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-170402 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the driving control method described in Patent Document 1, even if an occupant of the vehicle wishes to increase the driving assistance level, it may be more difficult to increase the driving assistance level in some sections in which the vehicle is traveling than in other sections.

[0005] The problem to be solved by the present invention is to provide a driving control method and a driving control device that make it easier to increase the driving assistance level when a transition request to increase the driving assistance level is input. [Means for solving the problem]

[0006] The present invention solves the above problem by determining whether a transition request has been input requesting that the driving assistance level transition from a first driving assistance level to a second driving assistance level higher than the first driving assistance level, and if a transition request has been input, relaxing the transition conditions for the driving assistance level to transition from the first driving assistance level to the second driving assistance level. Effect of the Invention

[0007] According to the present invention, when a transition request is input, the transition condition is relaxed, so that when a transition request to increase the driving assistance level is input, the driving assistance level is more likely to be increased. [Brief description of the drawings]

[0008] [Figure 1] 1 is a block diagram showing a configuration of an operation control device according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a diagram showing an example of the positional relationship between a host vehicle and a preceding vehicle; [Diagram 3] 11 is a diagram showing an example of a relationship between the speed of the host vehicle and a vehicle speed threshold for changing a driving assistance level. FIG. [Figure 4] 4 is a diagram showing an example of the relationship between the vehicle speed of the host vehicle and the vehicle speed threshold for changing the driving assistance level, and is a diagram showing an example in which the vehicle speed threshold shown in FIG. 3 is changed to a higher value. FIG. [Diagram 5] 2 is a flowchart showing the steps of an operation control method executed by the operation control device shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 1 is a block diagram showing the configuration of a host vehicle 1 and a driving control device 100 that controls autonomous driving of the host vehicle 1. The host vehicle 1 includes the driving control device 100, a detection device 101, a host vehicle position acquisition unit 102, a map database 103, an in-vehicle device 104, an input device 105, a user interface 106, and a drive control device 107.

[0010] The driving control device 100 autonomously controls the vehicle speed and steering of the host vehicle 1 by executing a program stored in the ROM with the CPU, using an autonomous driving control function. The driving control device 100 can set a driving mode according to a driving support level, and can support the driving of the host vehicle according to the set driving mode. The driving support level is a level indicating the degree of intervention when the driving control device 100 supports the driving of the vehicle using the autonomous driving control function. The higher the driving support level, the lower the contribution of the driver to the driving of the vehicle. Specifically, the driving support level can be set to levels 0 to 5 using definitions based on SAE J3016 of the Society of Automotive Engineers (SAE). At level 0, the driving operation of the host vehicle is entirely performed manually by the driver. At level 1, the driving operation of the host vehicle is mainly performed by the driver's manual driving, but the driving control device 100 appropriately supports the manual driving of the driver using any of the functions such as automatic braking, following, and lane keeping. At level 2, the driving operation of the vehicle is mainly performed by the driver's manual driving, but under certain conditions, the driving control device 100 can perform driving assistance by combining multiple functions such as automatic braking, following, and lane keeping. At level 3, the driving control device 100 performs all driving tasks, but the driver must regain control and prepare to drive manually when requested by the driving control device 100. At level 4, manual driving by the driver is not required, and the driving control device 100 can perform all driving tasks and monitor the surrounding conditions of the vehicle under certain conditions. At level 5, the driving control device 100 can perform all driving tasks under all conditions.

[0011] The driving mode corresponding to level 2 is the eyes-on mode. That is, when the driving assistance level is set to level 2, the driver needs to visually monitor the situation around the vehicle 1. When the driving assistance level is set to level 2, the direction of the driver's face and eye movements are monitored by an in-car camera or the like, and the vehicle 1 is permitted to travel if the driver is looking ahead. The driving mode corresponding to level 2 is the hands-on mode. In the hands-on mode, the driver uses the steering wheel 104a If the driver does not have a steering wheel, the autonomous steering control by the processor 10 does not operate. 104a Whether you have a steering wheel or not 104a The torque is detected by a touch sensor (not shown) provided in the EPS or a steering torque sensor (not shown) of the EPS. In addition, "the driver is 104a "The driver has to have a steering wheel 104a Not only when the driver is holding the steering wheel firmly, but also when the driver is 104a This also includes the state of lightly placing your hand on the

[0012] On the other hand, the driving mode corresponding to level 3 is the eyes-off mode. That is, when the driving assistance level is set to level 3, the processor 10 controls the driving of the host vehicle 1 in the eyes-off mode, which allows the host vehicle 1 to travel when the driver is not looking ahead. At this time, the system of the driving control device 100 autonomously monitors the surroundings of the host vehicle using a camera, radar, etc. Also, the driving mode corresponding to level 3 is the hands-off mode. In the hands-off mode, the driver does not use the steering wheel 104a In this mode, the processor 10 continues to control the steering even if the driver takes his / her hands off the steering wheel. That is, when the driving assistance level is set to level 3, the processor 10 controls the driving of the host vehicle 1 in a hands-off mode that allows the host vehicle 1 to travel when the driver takes his / her hands off the steering wheel of the host vehicle 1. In addition, the driving control device 100 Figure 2As shown in FIG. 1, on the condition that the host vehicle 1 is traveling behind the leading vehicle 2, a driving mode corresponding to level 3 can be executed. Here, "the host vehicle 1 travels behind the preceding vehicle 2" includes not only the host vehicle 1 traveling following the preceding vehicle 2, but also the host vehicle 1 traveling behind the preceding vehicle 2 on the travel route already traveled by the preceding vehicle 2 without following the preceding vehicle 2. This allows the driving control device 100 to confirm that there is no obstacle on the travel route already traveled by the preceding vehicle 2, i.e., in front of the host vehicle 1, and control the driving of the host vehicle 1. In addition, "the host vehicle 1 travels following the preceding vehicle 2" means that the host vehicle 1 travels in a state in which the driving control device 100 controls the driving of the host vehicle 1 so as to link with the movement of the preceding vehicle 2, and controls the vehicle speed V1 of the host vehicle 1 so as to maintain a certain distance between the host vehicle 1 and the preceding vehicle 2.

[0013] The classification of driving assistance levels is not limited to the classification according to the definition of the Society of Automotive Engineers, and the driving assistance levels may be defined based on ISO / TC204 of the International Organization for Standardization (ISO). In addition, the classification of driving assistance levels may be defined according to other standards as long as the classification is appropriate according to the degree of intervention of the driving control device 100.

[0014] The detection device 101 has either an on-board camera that captures images of the surroundings of the vehicle 1 or a radar that detects other vehicles and obstacles around the vehicle 1, or both. The detection results of the detection device 101 are output to the driving control device 100 at predetermined time intervals.

[0015] The vehicle position acquisition unit 102 is composed of a GPS unit, a gyro sensor, a vehicle speed sensor, etc. The vehicle position acquisition unit 102 detects radio waves transmitted from multiple satellite communications by the GPS unit, periodically acquires position information of the vehicle 1, and detects the current position of the vehicle 1 based on the acquired position information of the vehicle 1, angle change information acquired from the gyro sensor, and vehicle speed acquired from the vehicle speed sensor. The position information of the vehicle 1 detected by the vehicle position acquisition unit 102 is output to the driving control device 100 at predetermined time intervals.

[0016] The map database 103 is a memory configured to store three-dimensional high-precision map information including position information of various facilities and specific points and to be accessible from the driving control device 100. The map database 103 stores high-precision digital map information (high-precision maps, dynamic maps). The high-precision map information includes identification information of multiple lanes that a road has. The map information in the map database 103 includes three-dimensional position information about roads and / or lane curves and the magnitude of the curves (e.g., curvature or curvature radius), merging points, branching points, and positions where the number of lanes is reduced. The high-precision map information also includes information about facilities such as service areas / parking areas.

[0017] The in-vehicle devices 104 are various devices mounted on a vehicle, and are operated by the driver. The in-vehicle devices 104 include a steering wheel 104a. Other in-vehicle devices 104 include an accelerator pedal, a brake pedal, a navigation device, a turn signal, wipers, lights, a horn, and other specific switches. When the in-vehicle devices 104 are operated by the driver, the information is output to the driving control device 100.

[0018] The input device 105 is, for example, a button switch that allows the driver to manually input information, a touch panel arranged on a display screen, or a microphone that allows the driver to input information by voice.

[0019] The user interface 106 outputs information in the form of images, characters, or voice. The user interface 106 is, for example, a display or a microphone. Also, a single touch panel display may function as both the input device 105 and the user interface 106.

[0020] The drive control device 107 controls the driving of the host vehicle 1 based on the control command of the driving control device 100. For example, the drive control device 107 controls the operation of the drive mechanism for adjusting the acceleration / deceleration and vehicle speed (including the operation of the internal combustion engine in an engine vehicle, the operation of the driving motor in an electric vehicle, and the torque distribution between the internal combustion engine and the driving motor in a hybrid vehicle) and the brake operation by using an autonomous speed control function. In addition, the drive control device 107 executes steering control of the host vehicle by controlling the operation of the steering actuator by using an autonomous steering control function. For example, the drive control device 107 detects lane markers of the lane in which the host vehicle is traveling, and controls the traveling position (lateral position) of the host vehicle in the width direction so that the host vehicle travels in the center of the lane in which the host vehicle is traveling. In addition, the drive control device 107 controls the host vehicle to overtake a preceding vehicle, change the traveling direction, and the like. In addition, the drive control device 107 performs driving control to turn right or left at an intersection, etc. In addition, other known methods can be used as a driving control method by the drive control device 107.

[0021] Next, the configuration of the operation control device 100 will be described in detail with reference to FIGS. In the following description, the first driving assistance level is level 2, and the second driving assistance level is level 3. The relationship between the first driving assistance level and the second driving assistance level is such that the second driving assistance level is relatively higher than the first driving assistance level. The driving assistance levels are not limited to level 2 and level 3. The processor 10 can set driving modes according to other driving assistance levels in addition to level 2 and level 3.

[0022] As shown in FIG. 1, the driving control device 100 includes a processor 10. The processor 10 includes a ROM (Read Only Memory) that stores a program for controlling the driving of the vehicle, a CPU (Central Processing Unit) that executes the program stored in the ROM, and a RAM (Random Access Memory) that functions as an accessible storage device. As the operating circuit, a MPU (Micro Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), etc. can be used instead of or in addition to the CPU (Central Processing Unit). The processor 10 includes an evaluation value calculation unit 11, a transition request determination unit 12, a transition condition setting unit 13, an evaluation value determination unit 14, and a vehicle control unit 15. The evaluation value calculation unit 11, the transition request determination unit 12, the transition condition setting unit 13, the evaluation value determination unit 14, and the vehicle control unit 15 execute programs for implementing the respective functions of the processor 10. In FIG. 1, the driving control device 100 is mounted on the vehicle 1, but is not limited to this. The driving control device 100 may be a device that remotely operates the vehicle 1.

[0023] The evaluation value calculation unit 11 calculates an evaluation value indicating the degree of satisfaction of a transition condition for the driving assistance level to transition from a first driving assistance level to a second driving assistance level higher than the first driving assistance level. The transition condition is, for example, that the host vehicle 1 is traveling at a predetermined set speed or less. In this example, the evaluation value calculation unit 11 calculates the evaluation value such that the evaluation value corresponding to the second vehicle speed lower than the first vehicle speed is higher than the evaluation value corresponding to the first vehicle speed. That is, the evaluation value calculation unit 11 calculates and sets a higher evaluation value as the vehicle speed of the host vehicle 1 is lower.

[0024] The transition condition may be, for example, that the host vehicle 1 is traveling behind the preceding vehicle 2. In this example, as shown in FIG. 2, the evaluation value calculation unit 11 calculates an evaluation value based on the inter-vehicle distance D between the host vehicle 1 and the preceding vehicle 2 so that an evaluation value corresponding to a second inter-vehicle distance shorter than the first inter-vehicle distance is higher than an evaluation value corresponding to a first inter-vehicle distance. That is, the evaluation value calculation unit 11 calculates and sets a higher evaluation value as the inter-vehicle distance D between the host vehicle 1 and the preceding vehicle 2 is shorter. The evaluation value calculation unit 11 may also calculate an evaluation value based on the elapsed time since the preceding vehicle 2 was detected so that an evaluation value corresponding to a second elapsed time shorter than the first elapsed time is higher than an evaluation value corresponding to the first elapsed time. That is, the evaluation value calculation unit 11 calculates and sets a higher evaluation value as the elapsed time since the preceding vehicle 2 was detected is shorter, since there is less possibility that an obstacle exists on the route already traveled by the preceding vehicle 2.

[0025] The transition condition may be, for example, that a traffic jam occurs around the host vehicle 1. In this example, the evaluation value calculation unit 11 calculates the evaluation value so that the evaluation value when a traffic jam occurs is higher than the evaluation value when no traffic jam occurs. The evaluation value calculation unit 11 determines whether or not a traffic jam occurs around the host vehicle 1 based on the vehicle speed V2 of the preceding vehicle 2 and the vehicle speed of another vehicle (not shown) traveling in another lane L2 adjacent to the traveling lane L1 of the host vehicle 1.

[0026] The transition condition may be, for example, that a predetermined time has elapsed since the host vehicle 1 passed through the branch road. In this example, the evaluation value calculation unit 11 may calculate and set a higher evaluation value as the predetermined time is longer since the host vehicle 1 passed through the branch road.

[0027] In addition to the above conditions, the transition conditions for increasing the driving assistance level may be that the vehicle 1 is traveling on a road where the use of high-precision map information is available, that a signal from a global navigation satellite system (GNSS) is available, that the driver is viewing the road ahead, that there is no toll booth, an exit for a motorway, a junction, an intersection, or a point where the number of lanes is reduced in the vicinity of the current position (for example, within about 800 m ahead), and that there is no sharp curve of 100R or less in the vicinity of the current position (for example, within about 500 m ahead). The evaluation value calculation unit 11 calculates an evaluation value indicating the degree of satisfaction of the conditions for the driving assistance level to transition from the first driving assistance level to the second driving assistance level based on one or more of the above conditions. For example, the evaluation value calculation unit 11 may calculate the degree of satisfaction for each of the above conditions and calculate the evaluation value by adding up the calculated degrees of satisfaction.

[0028] In addition, the transition request determination unit 12 shown in FIG. 1 determines whether a transition request requesting that the driving assistance level transition from the first driving assistance level to the second driving assistance level has been input to the input device 105. Specifically, the transition request determination unit 12 determines whether the driving environment of the vehicle 1 satisfies a predetermined transition enabling condition, and outputs a notification to the user interface 106 inquiring whether to increase the driving assistance level when the driving environment of the vehicle 1 satisfies the transition enabling condition. The occupant of the vehicle 1 decides whether to approve the transition of the driving assistance level based on the notification output to the user interface 106, and inputs a transition request to the input device 105 when the transition of the driving assistance level is approved. The transition request is input by the occupant of the vehicle 1 operating the touch panel of the input device 105 or pressing a predetermined button switch. In addition, the occupant of the vehicle 1 may input the transition request by voice to the microphone of the input device 105. The transition enabling condition is a necessary condition for the driving assistance level of the host vehicle 1 to be in a state in which it is possible to transition from the first driving assistance level to the second driving assistance level. The transition enabling condition is also a condition for notifying the occupant of the host vehicle 1 that the driving assistance level can be transitioned from the first driving assistance level to the second driving assistance level. The transition enabling condition is configured by any one or more of the following conditions, for example: the vehicle speed of the host vehicle 1 has decreased to a predetermined speed or less, a preceding vehicle has been detected ahead of the host vehicle 1, the distance between the host vehicle 1 and the preceding vehicle has become a predetermined distance or less, and congestion has occurred within a predetermined distance ahead of the host vehicle 1 on the planned driving route of the host vehicle 1.

[0029] The transition condition setting unit 13 sets a transition condition for the driving assistance level to transition from the first driving assistance level to the second driving assistance level. The transition condition is set to be stricter than the transition possible condition set by the transition request determination unit 12. The transition condition setting unit 13 also has an evaluation threshold setting unit 13a. The evaluation threshold setting unit 13a sets an evaluation threshold that is a criterion for determining whether the driving assistance level transitions from the first driving assistance level to the second driving assistance level. That is, the evaluation threshold setting unit 13a sets a value corresponding to the transition condition for the driving assistance level to transition from the first driving assistance level to the second driving assistance level as the evaluation threshold. When a transition request is input, the evaluation threshold setting unit 13a selects and sets, as the evaluation threshold, the second evaluation threshold that is lower than the first evaluation threshold when no transition request is input, from the first evaluation threshold and the second evaluation threshold that are set in advance. In other words, when a transition request is input, the evaluation threshold setting unit 13a relaxes the transition conditions for the driving assistance level to transition from the first driving assistance level to the second driving assistance level more than when a transition request is not input.

[0030] Furthermore, the evaluation value determination unit 14 compares the evaluation value calculated by the evaluation value calculation unit 11 with the evaluation threshold set by the evaluation threshold setting unit 13a to determine whether the evaluation value is higher than the evaluation threshold. Specifically, a comparison between the vehicle speed V1 and the set speeds Vx1, Vx2 when the transition conditions are "the vehicle 1 is traveling behind the preceding vehicle 2" and "the vehicle speed V1 of the vehicle 1 is equal to or lower than the predetermined set speeds Vx1, Vx2" is shown in Figs. 3 and 4. In the example shown in Figs. 3 and 4, the evaluation threshold setting unit 13a sets the set speed Vx2 (e.g., 60 km / h) when a transition request is input higher than the set speed Vx1 (e.g., 60 km / h) when no transition request is input. That is, the evaluation value determination unit 14 determines whether the evaluation value is higher than the evaluation threshold at the timing when the preceding vehicle 2 is detected. T11 Thereafter, when the vehicle speed V1 of the host vehicle 1 becomes equal to or lower than the set speeds Vx1 and Vx2, it is determined that the evaluation value is higher than the evaluation threshold value.

[0031] Furthermore, the evaluation value determination unit 14 may determine whether the inter-vehicle distance D between the vehicle 1 and the preceding vehicle 2 is equal to or less than a predetermined set inter-vehicle distance, and determine that the evaluation value is higher than the evaluation threshold when the inter-vehicle distance is equal to or less than the predetermined set inter-vehicle distance. Note that the evaluation threshold setting unit 13a sets the set inter-vehicle distance when a transition request is input longer than the set inter-vehicle distance when no transition request is input.

[0032] Furthermore, the evaluation value determination unit 14 may determine whether the elapsed time since the detection device 101 detected the leading vehicle 2 is longer than a predetermined set elapsed time, and determine that the evaluation value is higher than the evaluation threshold when the elapsed time is longer than the set elapsed time. Note that the evaluation threshold setting unit 13a sets the set elapsed time when a transition request is input to be shorter than the set elapsed time when no transition request is input.

[0033] Furthermore, when congestion occurs around the host vehicle 1 and a transition request has not been input, the evaluation value determination unit 14 may determine that the evaluation value is higher than the evaluation threshold on condition that the vehicle speed of the preceding vehicle 2 traveling in the same lane L1 as the host vehicle 1 is equal to or lower than a predetermined vehicle speed and the vehicle speed of another vehicle traveling in the adjacent lane L2 is equal to or lower than a predetermined vehicle speed. On the other hand, when a transition request has been input, the evaluation value determination unit 14 may determine that the evaluation value is higher than the evaluation threshold on condition that the vehicle speed of the preceding vehicle 2 traveling in the lane L1 is equal to or lower than a predetermined vehicle speed, regardless of the vehicle speed of another vehicle traveling in the adjacent lane.

[0034] The evaluation value determination unit 14 may also determine whether the passing time after the vehicle 1 passes through the branch road is longer than a predetermined set passing time, and determine that the evaluation value is higher than the evaluation threshold when the passing time is longer than the set passing time. Note that the evaluation threshold setting unit 13a sets the set passing time when a transition request is input to be shorter than the set passing time when no transition request is input.

[0035] The processor 10 may set the transition condition depending on whether or not a transition request is input, without setting an evaluation threshold value. The processor 10 may also determine whether or not the traveling environment of the host vehicle 1 satisfies the transition condition, without calculating an evaluation value.

[0036] Next, when the evaluation value determination unit 14 determines that the evaluation value is higher than the evaluation threshold value and the vehicle 1 is being controlled at a first driving assistance level, the vehicle control unit 15 shown in FIG. 1 controls the driving of the vehicle 1 so that the driving assistance level transitions from the first driving assistance level to the second driving assistance level.

[0037] Specifically, when a transition request is not input, as shown in FIG. 3, the vehicle control unit 15 transitions the driving assistance level from the first driving assistance level to the second driving assistance level at a transition timing T11 when the vehicle speed V1 becomes equal to or lower than the set speed Vx1. 、 When a transition request is input, as shown in FIG. 4, the vehicle control unit 15 transitions the driving support level from the first driving support level to the second driving support level at transition timing T21 when the vehicle speed V2 becomes equal to or lower than the set speed Vx2. Here, the transition timing T21 when the transition request is input is earlier than the transition timing T11 when the transition request is not input. Also, as shown in FIG. 4, the vehicle control unit 15 maintains the set speed at the speed Vx2 until a predetermined time Ta has elapsed since the transition request was input. That is, the vehicle control unit 15 maintains the evaluation threshold at the first evaluation threshold when the transition request is input until a predetermined time Ta has elapsed since the transition request was input. As a result, when a transition request is input, the set speed is maintained at the speed Vx2 even at the second transition timing T22 at which the driving support level transitions from the first driving support level to the second driving support level again until the predetermined time Ta has elapsed.

[0038] Furthermore, the vehicle control unit 15 transitions the driving assistance level from the first driving assistance level to the second driving assistance level after a predetermined transition time Tb has elapsed since the evaluation value became higher than the evaluation threshold value. The vehicle control unit 15 sets the second transition time Tb2 (see FIG. 4) when a transition request is input so as to be shorter than the first transition time Tb1 (see FIG. 3) when no transition request is input. In other words, when a transition request is input, the vehicle control unit 15 transitions the driving assistance level from the first driving assistance level to the second driving assistance level quickly.

[0039] Next, the procedure of the operation control method executed by the operation control device 100 will be described with reference to the flowchart shown in FIG. 5, in step S1, the processor 10 determines whether or not the driving of the host vehicle 1 is being controlled at a first driving assistance level. If the driving assistance level is the second driving assistance level, the processor 10 ends the process.

[0040] If the driving assistance level is the first driving assistance level, in step S2, the processor 10 calculates an evaluation value indicating the degree of satisfaction of a transition condition for the driving assistance level to transition from the first driving assistance level to the second driving assistance level.

[0041] Next, in step S3, the processor 10 determines whether or not a transition request has been input to the input device 105. If a transition request has not been input, in step S4, the processor 10 selects and sets the first evaluation threshold as the evaluation threshold. On the other hand, if a transition request has been input, in step S5, the processor 10 selects and sets a second evaluation threshold lower than the first evaluation threshold as the evaluation threshold. That is, when a transition request has been input, the processor 10 relaxes the transition conditions compared to when no transition request has been input.

[0042] Next, in step S6, the processor 10 determines whether or not the evaluation value is higher than the evaluation threshold set in step S4 or S5. If the evaluation value is higher than the evaluation threshold, in step S7, the processor 10 increases the driving assistance level, changing it from the first driving assistance level to the second driving assistance level. On the other hand, if the evaluation value is equal to or lower than the evaluation threshold, in step S8, the processor 10 maintains the driving assistance level at the first driving assistance level.

[0043] From the above, the processor 10 of the driving control device 100 in this embodiment determines whether or not a transition request for requesting that the driving support level transition from the first driving support level to the second driving support level has been input. If a transition request has been input, the processor 10 relaxes the transition condition for the driving support level to transition from the first driving support level to the second driving support level. As a result, when a transition request for increasing the driving support level of the host vehicle 1 is input, the driving control device 100 can make it easier to increase the driving support level. Therefore, in response to a request from the occupant to increase the driving support level from the first driving support level to the second driving support level, the driving control device 100 can advance the transition timing T21 at which the driving support level transitions from the first driving support level to the second driving support level, as shown in FIG. 4. In addition, as shown in Figure 4, when a transition request is input, the transition conditions for increasing the driving assistance level are relaxed, so the driving assistance level changes less frequently than when a transition request is not input as shown in Figure 3, making it easier for the occupants of the vehicle 1 to understand the timing when the driving assistance level will change.

[0044] Moreover, the processor 10 of the driving control device 100 calculates an evaluation value indicating the degree of satisfaction of the transition condition. When a transition request is input, the driving control device 100 selects a second evaluation threshold lower than the first evaluation threshold when the transition request is not input as the evaluation threshold. Then, when the evaluation value is higher than the evaluation threshold and the driving control device 100 controls the driving of the vehicle 1 so that the driving support level transitions from the first driving support level to the second driving support level when the evaluation value is higher than the evaluation threshold and the vehicle 1 is controlled at the first driving support level. As a result, the driving control device 100 sets the evaluation threshold so that the second evaluation threshold when the transition request is input is lower than the first evaluation threshold when the transition request is not input, so that the transition condition when the transition request is input can be relaxed more than the transition condition when the transition request is not input. Moreover, the driving control device 100 can determine whether or not to increase the driving support level based on a comparison between a specific evaluation value and the evaluation threshold.

[0045] Furthermore, the processor 10 of the driving control device 100 maintains the evaluation threshold at the second evaluation threshold until a predetermined time Ta has elapsed since the transition request was input, as shown in Fig. 4. As a result, the driving control device 100 can transition the driving assistance level from the first driving assistance level to the second driving assistance level again based on the second evaluation threshold, even if the driving assistance level returns from the second driving assistance level to the first driving assistance level during the predetermined time Ta from the input of the transition request.

[0046] Furthermore, the processor 10 of the driving control device 100 sets the transition time Tb from the first driving support level to the second driving support level after the evaluation value becomes higher than the evaluation threshold value so that the second transition time Tb2 when a transition request is input is shorter than the first transition time Tb1 when no transition request is input. This allows the driving control device 100 to shorten the time it takes to transition the driving support level in response to a request from the occupant to increase the driving support level from the first driving support level to the second driving support level when a transition request is input.

[0047] Furthermore, the processor 10 of the driving control device 100 calculates the evaluation value such that an evaluation value corresponding to a second vehicle speed of the host vehicle 1, which is lower than the first vehicle speed, is higher than an evaluation value corresponding to the first vehicle speed of the host vehicle 1. This enables the driving control device 100 to more easily increase the driving assistance level from the first driving assistance level to the second driving assistance level as the vehicle speed V1 of the host vehicle 1 is lower.

[0048] Furthermore, the processor 10 of the driving control device 100 may calculate an evaluation value based on the inter-vehicle distance D between the host vehicle 1 and the preceding vehicle 2 such that an evaluation value corresponding to a second inter-vehicle distance shorter than the first inter-vehicle distance is higher than an evaluation value corresponding to the first inter-vehicle distance. This allows the driving control device 100 to easily increase the driving assistance level from the first driving assistance level to the second driving assistance level, because the shorter the inter-vehicle distance D between the host vehicle 1 and the preceding vehicle 2, the easier it is for the host vehicle 1 to travel behind the preceding vehicle 2 and the lower the possibility of an obstacle being present between the host vehicle 1 and the preceding vehicle 2.

[0049] Furthermore, the processor 10 of the driving control device 100 may calculate the evaluation value based on the elapsed time since the preceding vehicle 2 was detected ahead of the host vehicle 1 so that the evaluation value corresponding to a second inter-vehicle distance shorter than the first inter-vehicle distance is higher than the evaluation value corresponding to the first inter-vehicle distance. This allows the driving control device 100 to more easily increase the driving assistance level from the first driving assistance level to the second driving assistance level because the shorter the elapsed time since the preceding vehicle 2 was detected, the lower the possibility that an obstacle or the like exists ahead of the host vehicle 1.

[0050] Furthermore, the processor 10 of the driving control device 100 may determine whether or not there is a traffic jam around the host vehicle 1, and calculate the evaluation value so that the evaluation value when there is a traffic jam is higher than the evaluation value when there is no traffic jam. This makes it easier for the driving control device 100 to increase the driving assistance level from the first driving assistance level to the second driving assistance level when there is a traffic jam around the host vehicle 1, since it is easier for the host vehicle 1 to travel behind the leading vehicle 2 compared to when there is no traffic jam.

[0051] When the processor 10 of the driving control device 100 is controlling the driving of the host vehicle 1 at the second driving assistance level, it controls the driving of the host vehicle 1 in a hands-off mode that permits the host vehicle 1 to travel with the driver's hands off the steering wheel of the host vehicle 1. As a result, when the driving of the host vehicle 1 is controlled at the second driving assistance level, the driving control device 100 controls the driving of the host vehicle 1 in the hands-off mode, thereby reducing the driving burden on the driver.

[0052] When the processor 10 of the driving control device 100 is controlling the driving of the host vehicle 1 at the second driving assistance level, the processor 10 controls the driving of the host vehicle 1 in an eyes-off mode that permits the host vehicle 1 to travel when the driver is not viewing the road ahead. As a result, when the driving control device 100 is controlling the driving of the host vehicle 1 at the second driving assistance level, the processor 10 controls the driving of the host vehicle 1 in the eyes-off mode, thereby reducing the driving burden on the driver. [Explanation of symbols]

[0053] 1…Own vehicle 2… Leading vehicle 100...Operation control device 10…Processor 11...Evaluation value calculation section 12…Transition request determination unit 13...Transition condition setting section 15...Vehicle control unit

Claims

1. A driving control method for controlling driving of a host vehicle at a predetermined driving assistance level using a processor, comprising: The processor, determining whether or not a transition request for requesting that the driving assistance level be transitioned from a first driving assistance level to a second driving assistance level higher than the first driving assistance level has been input; A driving control method, in which, when the transition request is input, a transition condition for transitioning the driving assistance level from the first driving assistance level to the second driving assistance level is relaxed compared to when the transition request is not input.

2. The processor, Calculating an evaluation value indicating a degree of satisfaction of the transition condition; When the transition request is input, a second evaluation threshold is selected as the evaluation threshold, the second evaluation threshold being lower than the first evaluation threshold when the transition request is not input; 2. The driving control method according to claim 1, further comprising: controlling driving of the host vehicle so that the driving assistance level transitions from the first driving assistance level to the second driving assistance level when the evaluation value is higher than the evaluation threshold and the host vehicle is being controlled at the first driving assistance level.

3. The processor, The operation control method according to claim 2 , wherein the evaluation threshold is maintained at the second evaluation threshold until a predetermined time has elapsed since the transition request was input.

4. The driving control method according to claim 2 or 3, wherein the processor sets a transition time from when the evaluation value becomes higher than the evaluation threshold value until the driving assistance level transitions from the first driving assistance level to the second driving assistance level so that a second transition time when the transition request is input is shorter than a first transition time when the transition request is not input.

5. The driving control method according to any one of claims 2 to 4, wherein the processor calculates the evaluation value so that the evaluation value corresponding to a second vehicle speed of the vehicle, which is lower than the first vehicle speed, is higher than the evaluation value corresponding to a first vehicle speed of the vehicle.

6. The driving control method according to any one of claims 2 to 4, wherein the processor calculates the evaluation value based on the inter-vehicle distance between the host vehicle and a preceding vehicle traveling in front of the host vehicle, so that the evaluation value corresponding to a second inter-vehicle distance that is shorter than the first inter-vehicle distance is higher than the evaluation value corresponding to a first inter-vehicle distance.

7. The driving control method according to any one of claims 2 to 4, wherein, when a preceding vehicle traveling in front of the vehicle is detected, the processor calculates the evaluation value based on the elapsed time since the preceding vehicle was detected, so that the evaluation value corresponding to a second elapsed time shorter than the first elapsed time is higher than the evaluation value corresponding to a first elapsed time.

8. The processor, determining whether or not a traffic jam has occurred around the vehicle; The driving control method according to any one of claims 2 to 4, wherein the evaluation value is calculated so that the evaluation value when a traffic jam occurs is higher than the evaluation value when no traffic jam occurs.

9. The driving control method according to any one of claims 1 to 7, wherein, when the processor is controlling the driving of the vehicle at the second driving assistance level, the processor controls the driving of the vehicle in a hands-off mode that allows the vehicle to travel when the driver releases his / her hands from the steering wheel of the vehicle.

10. The driving control method according to any one of claims 1 to 8, wherein, when the processor is controlling the driving of the vehicle at the second driving assistance level, the processor controls the driving of the vehicle using an eyes-off mode that allows the vehicle to travel when the driver is not looking ahead.

11. A driving control device that uses a processor to control autonomous driving of a vehicle at a predetermined driving assistance level, a transition request determination unit that determines whether a transition request for a transition of the driving assistance level from a first driving assistance level to a second driving assistance level higher than the first driving assistance level has been input; A driving control device comprising: a transition condition setting unit that, when the transition request is input, relaxes the transition condition for the driving assistance level to transition from the first driving assistance level to the second driving assistance level compared to when the transition request is not input.

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