Vehicle control device and vehicle control method

Abstract

To enable suppressing the deterioration of convenience during automatic driving with no monitoring obligation.SOLUTION: The vehicle controller comprises: a guidance presence / absence determination unit 103 configured to determine whether or not an own vehicle is performing occupant-set-route guidance that is guidance for a route to a destination that is set by an occupant of the own vehicle; and a notification control unit 100 configured to cause to perform, at a predetermined timing, attention attracting notification upon the guidance presence / absence determination unit 103 determining, during automatic driving with no monitoring obligation, that the own vehicle is not performing the occupant-set-route guidance, wherein the attention attracting notification is at least one of confirmation notification for prompting confirmation relating to setting of the route, and state notification for notifying of a traveling state.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a vehicle control device and a vehicle control method. [Background technology]

[0002] Patent Document 1 discloses a technology for implementing a high level of automated driving in which the driver is not required to monitor the surroundings. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2019 / 043847 Summary of the Invention [Problem to be solved by the invention]

[0004] In autonomous driving that does not require the obligation to monitor the surroundings (hereinafter, autonomous driving without monitoring obligation), there are cases where route guidance is provided and cases where route guidance is not provided. When route guidance is not provided, it is considered that the destination is not set by user input. Furthermore, in autonomous driving without monitoring obligation, since the driver does not perform driving operations, it is possible that the driver may forget to set the destination even if he or she intends to do so. If the destination is not set by the driver's input, it is difficult for the autonomous driving system to identify the driving route that the driver desires. Therefore, in autonomous driving without monitoring obligation, there is a risk that the vehicle may drive in a way that is different from the driver's intention, resulting in reduced convenience.

[0005] In addition, depending on the state of the destination setting, even if the vehicle is in the same autonomous driving state without a monitoring obligation, it is considered that there may be some processing that reduces the convenience for the driver.

[0006] One object of the present disclosure is to provide a vehicle control device and a vehicle control method that make it possible to suppress a decrease in convenience during autonomous driving without a monitoring obligation. [Means for solving the problem]

[0007] The above object is achieved by the combination of features recited in the independent claims, and the subclaims define further advantageous embodiments of the disclosure. The reference characters in parentheses in the claims indicate a correspondence with specific means described in the following embodiment as one aspect, and do not limit the technical scope of the present disclosure.

[0008] In order to achieve the above object, a first vehicle control device disclosed herein is a vehicle control device that can be used in a vehicle that performs automatic driving without a monitoring obligation, which is automatic driving without a monitoring obligation for the surroundings, and includes a guidance presence / absence specification unit (103) that specifies whether or not route guidance to a destination set by a vehicle occupant is in progress, and a notification control unit (100, 100a, 100b, 100f, 100g, 100h) that issues a reminder notification, which is at least one of a confirmation notification that prompts confirmation related to route setting and a status notification that notifies the driving status, at a predetermined timing when the guidance presence / absence specification unit specifies that route guidance is not in progress during automatic driving without a monitoring obligation of the vehicle, and when the notification control unit issues the reminder notification, issues multiple types of reminder notifications in sequence, including at least two types of notifications out of a setting promotion notification that prompts setting of a destination as a confirmation notification, a setting status notification that indicates the current route setting status as a confirmation notification, and a status notification. The vehicle includes a repetition specification unit (104) that specifies whether the vehicle is traveling on a route that has been traveled repeatedly a predetermined number of times or more in the past, and the notification control unit does not issue a wake-up notification at a predetermined timing when the repetition specification unit specifies that the vehicle is traveling on a route that has been traveled repeatedly in the past, even if the guidance presence / absence specification unit specifies that route guidance is not being performed during automatic driving of the vehicle without a monitoring obligation. . In order to achieve the above object, the second vehicle control device disclosed herein is a vehicle control device that can be used in a vehicle that performs automatic driving without a monitoring obligation, which is automatic driving without a monitoring obligation in the vicinity, and includes a guidance presence / absence specification unit (103) that specifies whether or not route guidance to a destination set by a vehicle occupant is in progress, and a notification control unit (100, 100a, 100b, 100f, 100g, 100h) that issues a reminder notification, which is at least one of a confirmation notification that prompts confirmation related to route setting and a situation notification that notifies the driving situation, at a predetermined timing when the guidance presence / absence specification unit specifies that route guidance is not in progress during automatic driving without a monitoring obligation of the vehicle, and the notification control unit issues a setting promotion notification that prompts setting of a destination as the reminder notification, and when the guidance presence / absence specification unit specifies that route guidance is not in progress during automatic driving without a monitoring obligation of the vehicle, issues at least one of a setting state notification that indicates a current route setting state and a situation notification that notifies the driving situation from before the predetermined timing, while issuing a setting promotion notification at a predetermined timing. The vehicle includes a repetition specification unit (104) that specifies whether the vehicle is traveling on a route that has been traveled repeatedly a predetermined number of times or more in the past, and the notification control unit does not issue a wake-up notification at a predetermined timing when the repetition specification unit specifies that the vehicle is traveling on a route that has been traveled repeatedly in the past, even if the guidance presence / absence specification unit specifies that route guidance is not being performed during automatic driving of the vehicle without a monitoring obligation. . In order to achieve the above object, a third vehicle control device disclosed herein is a vehicle control device that can be used in a vehicle that performs automated driving without a monitoring obligation, which is automated driving without the obligation to monitor the surroundings, and includes a guidance presence / absence determination unit (103) that determines whether route guidance to a destination set by an occupant of the vehicle is in progress, and a notification control unit (100, 100a, 100b, 100f, 100g, 100h) that, when it is determined by the guidance presence / absence determination unit that route guidance is not in progress during automated driving without the obligation to monitor the vehicle, issues a warning notification, which is at least one of a confirmation notification that prompts confirmation related to route setting and a situation notification that notifies the driving situation, at a predetermined timing, and the notification control unit When the predetermined timing is set, at least one of a setting promotion notification that prompts the user to set a destination as a confirmation notification, a setting status notification that indicates the current route setting status as a confirmation notification, and a situation notification can be issued as a warning notification at at least two types of timing among a time timing when the elapsed time from the start of automatic driving without a monitoring obligation reaches a specified time, a distance timing when the travel distance of the vehicle from the start of automatic driving without a monitoring obligation reaches a specified distance, and a location timing when the vehicle reaches a specified location that is a specified area or point. The type or combination of types of warning notifications can be changed depending on which type of timing the warning notification is issued. 。

[0009] In order to achieve the above object, a first vehicle control method disclosed herein is a vehicle control method usable in a vehicle that performs automated driving without a monitoring obligation, which is automated driving without a monitoring obligation for the surroundings, and includes a guidance presence / absence specifying step executed by at least one processor for specifying whether route guidance to a destination set by an occupant of the vehicle is in progress, and a notification control step for issuing a reminder notification, which is at least one of a confirmation notification that prompts confirmation related to route setting and a status notification that notifies the driving status, at a predetermined timing when it is determined in the guidance presence / absence specifying step that route guidance is not in progress during the automated driving without a monitoring obligation of the vehicle, and when issuing a reminder notification in the notification control step, a plurality of types of reminder notifications are issued in sequence, including at least two types of notifications out of a setting promotion notification that prompts setting of a destination as a confirmation notification, a setting status notification that indicates the current route setting status as a confirmation notification, and a status notification. The method includes a repetition specification step of specifying whether or not the vehicle is traveling on a route that has been traveled repeatedly a predetermined number of times in the past, and in the notification control step, even if the guidance presence / absence specification step specifies that route guidance is not being performed during automatic driving of the vehicle without a monitoring obligation, if the repetition specification step specifies that the vehicle is traveling on a route that has been traveled repeatedly in the past, a wake-up notification is not issued at a predetermined timing. . In order to achieve the above object, a second vehicle control method disclosed herein is a vehicle control method usable in a vehicle that performs automated driving without a monitoring obligation, which is automated driving without a monitoring obligation for the surroundings, and includes a guidance presence / absence specifying step executed by at least one processor for specifying whether or not route guidance to a destination set by an occupant of the vehicle is in progress, and a notification control step for, when it is determined in the guidance presence / absence specifying step that route guidance is not in progress during the automated driving without the monitoring obligation of the vehicle, issuing a reminder notification that is at least one of a confirmation notification that prompts confirmation related to route setting and a situation notification that notifies the driving situation at a predetermined timing, in which the notification control step issues a setting promotion notification that prompts setting of a destination as the reminder notification, and when it is determined in the guidance presence / absence specifying step that route guidance is not in progress during the automated driving without the monitoring obligation of the vehicle, issuing at least one of a setting state notification that indicates a current route setting state and a situation notification that notifies the driving situation from before the predetermined timing, and issuing a setting promotion notification at the predetermined timing. The method includes a repetition specification step of specifying whether or not the vehicle is traveling on a route that has been traveled repeatedly a predetermined number of times in the past, and in the notification control step, even if the guidance presence / absence specification step specifies that route guidance is not being performed during automatic driving of the vehicle without a monitoring obligation, if the repetition specification step specifies that the vehicle is traveling on a route that has been traveled repeatedly in the past, a wake-up notification is not issued at a predetermined timing. . In order to achieve the above object, a third vehicle control method disclosed herein is a vehicle control method usable in a vehicle that performs automated driving without a monitoring obligation, which is automated driving without a monitoring obligation for the surroundings, and includes a guidance presence / absence specifying step executed by at least one processor for specifying whether or not route guidance to a destination set by an occupant of the vehicle is in progress, and a notification control step for, when it is determined in the guidance presence / absence specifying step that route guidance is not in progress during the automated driving without the monitoring obligation of the vehicle, issuing a warning notification at a predetermined timing, which is at least one of a confirmation notification that prompts confirmation related to route setting and a situation notification that notifies the driving situation, and in the notification control step, when it is determined in the guidance presence / absence specifying step that route guidance is not in progress during the automated driving without the monitoring obligation of the vehicle, In this case, at least one of a setting promotion notification that prompts the user to set a destination as a confirmation notification, a setting status notification that indicates the current route setting status as a confirmation notification, and a situation notification can be issued as a warning notification at at least two types of timing among a time timing when the elapsed time from the start of automatic driving without a monitoring obligation reaches a specified time, a distance timing when the travel distance of the vehicle from the start of automatic driving without a monitoring obligation reaches a specified distance, and a location timing when the vehicle reaches a specified location that is a specified area or point, and the type or combination of types of warning notifications can be changed depending on which type of timing the warning notification is issued at. 。

[0010] According to the above configuration, when the route guidance set by the occupant of the vehicle is not being performed during autonomous driving without a monitoring obligation, a warning notification is issued at a predetermined timing, which is at least one of a confirmation notification that prompts confirmation related to the route setting and a situation notification that notifies the driving situation. When a confirmation notification that prompts confirmation related to the route setting or a situation notification that notifies the driving situation is issued, it becomes an opportunity for the driver to check whether the vehicle is traveling differently from the driver's intention. Therefore, when the driver realizes that the vehicle is traveling differently from the driver's intention by issuing a warning notification, it becomes possible to change the route to one that matches the driver's intention. As a result, it is possible to suppress a decrease in convenience during autonomous driving without a monitoring obligation. [Brief description of the drawings]

[0017] [Figure 1] 1 is a diagram showing an example of a schematic configuration of a vehicle system 1. FIG. [Diagram 2] FIG. 2 is a diagram illustrating an example of a schematic configuration of an HCU 10. [Diagram 3] 13 is a flowchart showing an example of the flow of notification control-related processes in the HCU 10. [Figure 4] FIG. 2 illustrates an example of a schematic configuration of an HCU 10a. [Diagram 5] 13 is a flowchart showing an example of the flow of notification control-related processes in the HCU 10a. [Figure 6] FIG. 2 illustrates an example of a schematic configuration of an HCU 10b. [Figure 7] 13 is a flowchart showing an example of the flow of notification control-related processes in the HCU 10b. [Figure 8] FIG. 2 is a diagram showing an example of a schematic configuration of a vehicle system 1c. [Figure 9] FIG. 2 illustrates an example of a schematic configuration of an HCU 10c. [Figure 10] 13 is a flowchart showing an example of the flow of second task restriction-related processing in the HCU 10c. [Figure 11]FIG. 2 is a diagram showing an example of a schematic configuration of a vehicle system 1d. [Figure 12] FIG. 2 illustrates an example of a schematic configuration of an HCU 10d. [Figure 13] FIG. 2 is a diagram showing an example of a schematic configuration of a vehicle system 1e. [Figure 14] FIG. 2 is a diagram illustrating an example of a schematic configuration of an autonomous driving ECU 17e. [Figure 15] FIG. 2 is a diagram for explaining an example of a surrounding situation image. [Figure 16] FIG. 13 is a diagram for explaining an example of an LC restricted image. [Figure 17] 10 is a flowchart showing an example of the flow of LC restriction-related processing in an autonomous driving ECU 17e. [Figure 18] FIG. 2 is a diagram showing an example of a schematic configuration of a vehicle system 1f. [Figure 19] FIG. 2 illustrates an example of a schematic configuration of an HCU 10f. [Figure 20] FIG. 2 is a diagram showing an example of a schematic configuration of a vehicle system 1g. [Figure 21] FIG. 2 is a diagram illustrating an example of a schematic configuration of an HCU 10g. [Figure 22] FIG. 2 is a diagram showing an example of a schematic configuration of a vehicle system 1h. [Figure 23] FIG. 2 is a diagram illustrating an example of a schematic configuration of an HCU 10h. [Figure 24] FIG. 2 is a diagram showing an example of a schematic configuration of a vehicle system 1i. [Diagram 25] FIG. 2 is a diagram illustrating an example of a schematic configuration of an autonomous driving ECU 17i. [Figure 26] FIG. 2 is a diagram showing an example of a schematic configuration of a vehicle system 1j. [Figure 27] FIG. 2 is a diagram illustrating an example of a schematic configuration of an automatic driving ECU 17j. [Figure 28] FIG. 2 is a diagram showing an example of a schematic configuration of a vehicle system 1k. [Figure 29] FIG. 2 is a diagram illustrating an example of a schematic configuration of an autonomous driving ECU 17k. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] A number of embodiments for disclosure will be described with reference to the drawings. For convenience of description, in a number of embodiments, parts having the same functions as parts shown in the drawings used in the previous description may be given the same reference numerals and their description may be omitted. For parts given the same reference numerals, the description in other embodiments may be referred to.

[0019] (Embodiment 1) <Overall configuration of vehicle system 1> Hereinafter, a first embodiment of the present disclosure will be described with reference to the drawings. The vehicle system 1 shown in FIG. 1 can be used in a vehicle capable of automatic driving (hereinafter, an automatic driving vehicle). As shown in FIG. 1, the vehicle system 1 includes an HCU (Human Machine Interface Control Unit) 10, a communication module 11, a locator 12, a map database (hereinafter, a map DB) 13, a vehicle state sensor 14, a surroundings monitoring sensor 15, a vehicle control ECU 16, an automatic driving ECU 17, an alarm device 18, and a user input device 19. For example, the HCU 10, the communication module 11, the locator 12, the map DB 13, the vehicle state sensor 14, the surroundings monitoring sensor 15, the vehicle control ECU 16, and the automatic driving ECU 17 may be configured to be connected to an in-vehicle LAN (see the LAN in FIG. 1). The vehicle using the vehicle system 1 is not necessarily limited to an automobile, but the following description will be given taking the case of using the system in an automobile as an example.

[0020] There are multiple levels of autonomous driving for autonomous vehicles (hereinafter referred to as "automation levels"), as defined by the SAE, for example. Automation levels are classified into LV0 to 5, for example, as follows:

[0021] LV0 is the level at which the driver performs all driving tasks without the system intervening. The driving task may be rephrased as a dynamic driving task. The driving task may be, for example, steering, acceleration / deceleration, and surrounding monitoring. LV0 corresponds to so-called manual driving. LV1 is the level at which the system assists with either steering or acceleration / deceleration. LV1 corresponds to so-called driving assistance. LV2 is the level at which the system assists with both steering and acceleration / deceleration. LV2 corresponds to so-called partial driving automation. LV1-2 are also considered to be part of autonomous driving.

[0022] For example, LV1-2 autonomous driving is autonomous driving in which the driver has a duty to monitor safe driving (hereinafter, simply referred to as the duty to monitor). The duty to monitor includes visual monitoring of the surroundings. LV1-2 autonomous driving can be rephrased as autonomous driving in which a second task is not permitted. A second task is an act other than driving that is permitted for the driver and is a specific act that is specified in advance. A second task can also be rephrased as a secondary activity, other activity, etc. It is considered that a second task must not prevent the driver from responding to a request from the autonomous driving system to take over driving operations. As an example, actions such as watching content such as videos, operating a smartphone, reading, and eating are assumed to be second tasks.

[0023] LV3 autonomous driving is a level where the system can perform all driving tasks under certain conditions, and the driver takes over driving operations in an emergency. LV3 autonomous driving requires the driver to be able to respond quickly when the system requests a handover of driving. This handover of driving can also be said to be a transfer of the responsibility of monitoring the surroundings from the vehicle's system to the driver. LV3 corresponds to so-called conditional driving automation. LV3 includes area-limited LV3, which is limited to a specific area. The specific area referred to here may be an expressway. The specific area may be, for example, a specific lane. LV3 also includes traffic jam-limited LV3, which is limited to traffic jams. Traffic jam-limited LV3 may be configured to be limited to traffic jams on an expressway, for example. The expressway may include a motorway.

[0024] LV4 autonomous driving is a level where the system can perform all driving tasks, except in certain circumstances such as on incompatible roads and in extreme environments. LV4 corresponds to so-called high-level driving automation. LV5 autonomous driving is a level where the system can perform all driving tasks in any environment. LV5 corresponds to so-called full driving automation. For example, autonomous driving at LV3 to 5 is autonomous driving where the driver has no obligation to monitor. In other words, it corresponds to autonomous driving without obligation to monitor. Autonomous driving at LV3 to 5 can be rephrased as autonomous driving where a second task is permitted. Of autonomous driving at LV3 to 5, autonomous driving at LV4 or higher corresponds to autonomous driving where the driver is permitted to sleep. In other words, it corresponds to autonomous driving with sleep permission. Of autonomous driving at LV3 to 5, autonomous driving at level 3 corresponds to autonomous driving where the driver is not permitted to sleep. In other words, it corresponds to autonomous driving without sleep permission.

[0025] In the autonomous vehicle of this embodiment, the automation level is switchable. The automation level may be switchable only between some of the levels LV0 to 5. In this embodiment, an example will be described in which the autonomous vehicle can switch between autonomous driving at LV3 or higher and driving at less than LV3. Note that driving at less than LV3 may include manual driving at LV0.

[0026] The communication module 11 transmits and receives information to and from a center outside the vehicle via wireless communication. That is, it performs wide-area communication. The communication module 11 receives information distributed from the center via wide-area communication. The communication module 11 may transmit and receive information to and from other vehicles via wireless communication. That is, it may perform vehicle-to-vehicle communication. The communication module 11 may transmit and receive information to and from a roadside device installed on the roadside via wireless communication. That is, it may perform road-to-vehicle communication. When performing road-to-vehicle communication, the communication module 11 may receive information on surrounding vehicles transmitted from surrounding vehicles of the vehicle via the roadside device. Also, the communication module 11 may receive information on surrounding vehicles transmitted from surrounding vehicles of the vehicle via the center via wide-area communication.

[0027] Locator 12 includes a GNSS (Global Navigation Satellite System) receiver and an inertial sensor. The GNSS receiver receives positioning signals from a plurality of positioning satellites. The inertial sensor includes, for example, a gyro sensor and an acceleration sensor. Locator 12 sequentially measures the position of the vehicle (hereinafter, the vehicle position) on which locator 12 is mounted, by combining the positioning signals received by the GNSS receiver with the measurement results of the inertial sensor. The vehicle position may be expressed, for example, in latitude and longitude coordinates. Note that the vehicle position may also be measured using a travel distance calculated from a signal sequentially output from a vehicle speed sensor, which will be described later.

[0028] The map DB 13 is a non-volatile memory that stores high-precision map data. The high-precision map data is map data with higher precision than the map data used for route guidance in the navigation function. The map DB 13 also stores map data used for route guidance (hereinafter, route guidance map data).

[0029] The high-precision map data includes information that can be used for automated driving, such as three-dimensional shape information of the road, information on the number of lanes, and information indicating the travel direction permitted for each lane. In addition, the high-precision map data may include node point information indicating the positions of both ends of road markings such as dividing lines. The locator 12 may be configured to use the three-dimensional shape information of the road and a detection result of a perimeter monitoring sensor 15 such as a LIDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging) or a perimeter monitoring camera that detects a point cloud of characteristic points of the road shape and structures, thereby identifying the vehicle position. The three-dimensional shape information of the road may be generated based on a captured image by REM (Road Experience Management).

[0030] The route guidance map data stores map data such as link data and node data. The link data consists of data such as a link ID, which is a unique number that identifies the link, a link length that indicates the length of the link, the link direction, link shape information, node coordinates of the start and end of the link, and road attribute data. Road attributes include road name, road type, road width, and speed limit value. Meanwhile, the node data consists of data such as a node ID, which is a unique number assigned to each node on the map, node coordinates, node name, node type, connecting link ID, which describes the link ID of the link connecting to the node, and intersection type.

[0031] Map data distributed from an external server may be received by wide area communication via the communication module 11 and stored in the map DB 13. In this case, the map DB 13 may be a volatile memory, and the communication module 11 may successively acquire map data of an area corresponding to the vehicle position.

[0032] The vehicle state sensor 14 is a group of sensors for detecting various states of the vehicle. The vehicle state sensor 14 includes a vehicle speed sensor. The vehicle speed sensor outputs a vehicle speed pulse. The vehicle state sensor 14 outputs the detected sensing information to an in-vehicle LAN. The sensing information detected by the vehicle state sensor 14 may be configured to be output to the in-vehicle LAN via an ECU mounted in the vehicle.

[0033] The perimeter monitoring sensor 15 monitors the environment around the vehicle. As an example, the perimeter monitoring sensor 15 detects obstacles around the vehicle, such as moving objects such as pedestrians and other vehicles, and stationary objects such as objects fallen on the road. In addition, the perimeter monitoring sensor 15 detects road markings such as lane markings around the vehicle. The perimeter monitoring sensor 15 is, for example, a perimeter monitoring camera that captures a predetermined range around the vehicle, a millimeter wave radar that transmits a search wave to a predetermined range around the vehicle, a sonar, a LIDAR, or other sensor. The perimeter monitoring camera sequentially outputs the captured images as sensing information to the automatic driving ECU 17. The sonar, millimeter wave radar, LIDAR, or other sensor that transmits a search wave sequentially outputs a scan result based on a received signal obtained when receiving a reflected wave reflected by an obstacle to the automatic driving ECU 17 as sensing information. The sensing information detected by the perimeter monitoring sensor 15 may be configured to be output to the automatic driving ECU 17 without passing through an in-vehicle LAN.

[0034] The vehicle control ECU 16 is an electronic control device that performs driving control of the vehicle. Examples of driving control include acceleration / deceleration control and / or steering control. The vehicle control ECU 16 includes a steering ECU that performs steering control, a power unit control ECU that performs acceleration / deceleration control, and a brake ECU. The vehicle control ECU 16 performs driving control by outputting control signals to each driving control device mounted on the vehicle, such as an electronically controlled throttle, a brake actuator, and an EPS (Electric Power Steering) motor.

[0035] The autonomous driving ECU 17 includes, for example, a processor, a memory, an I / O, and a bus connecting these, and executes processes related to autonomous driving by executing a control program stored in the memory. The memory referred to here is a non-transitory tangible storage medium that non-temporarily stores computer-readable programs and data. The non-transitory tangible storage medium is realized by a semiconductor memory or a magnetic disk. The autonomous driving ECU 17 includes, as functional blocks, a driving environment recognition unit, an action determination unit, and a control execution unit.

[0036] The driving environment recognition unit recognizes the driving environment of the vehicle from the vehicle position acquired from locator 12, map data acquired from map DB 13, and sensing information acquired from surrounding monitoring sensor 15. As an example, the driving environment recognition unit uses these pieces of information to recognize the positions, shapes, and movement states of objects around the vehicle, and generates a virtual space that reproduces the actual driving environment. The driving environment recognition unit may recognize the vehicle position on the map from the vehicle position and map data. When the driving environment recognition unit can acquire position information, speed information, and the like of surrounding vehicles, etc. via communication module 11, it may also use these pieces of information to recognize the driving environment.

[0037] The driving environment recognition unit may also determine whether the driving area is a manual driving area (hereinafter, MD area) in the driving area of ​​the vehicle. The driving environment recognition unit may also determine whether the driving area is an automatic driving area (hereinafter, AD area) in the driving area of ​​the vehicle. The driving environment recognition unit may also determine whether the AD area is an ST section and a non-ST section, which will be described later.

[0038] An MD area is an area where automated driving is prohibited. In other words, an MD area is an area where it is specified that the driver is to perform all of the longitudinal control, lateral control, and surrounding monitoring of the vehicle. The longitudinal direction is the direction that coincides with the front-to-rear direction of the vehicle. The lateral direction is the direction that coincides with the width direction of the vehicle. The longitudinal control corresponds to the acceleration / deceleration control of the vehicle. The lateral control corresponds to the steering control of the vehicle. For example, the MD area may be a general road. The MD area may also be a driving section of a general road for which high-precision map data is not available.

[0039] An AD area is an area where autonomous driving is permitted. In other words, an AD area is an area where it is specified that the vehicle can substitute for one or more of longitudinal control, lateral control, and periphery monitoring. For example, an AD area may be a highway. An AD area may be a driving section where high-precision map data is available. For example, area-limited LV3 autonomous driving may be permitted only on highways. Traffic jam-limited LV3 autonomous driving may be permitted only when there is a traffic jam in an AD area.

[0040] AD areas are divided into ST sections and non-ST sections. ST sections are sections where area-limited LV3 autonomous driving (hereinafter, area-limited autonomous driving) is permitted. Non-ST sections are sections where LV2 or lower autonomous driving and congestion-limited LV3 autonomous driving are possible. In this embodiment, there is no distinction between non-ST sections where LV1 autonomous driving is permitted and non-ST sections where LV2 autonomous driving is permitted. Non-ST sections may be sections of AD areas that do not fall under the ST section category.

[0041] The behavior determination unit switches the control entity of the driving operation between the driver and the system of the vehicle. When the control right of the driving operation is on the system side, the behavior determination unit determines a driving plan for driving the vehicle based on the recognition result of the driving environment by the driving environment recognition unit. As the driving plan, a long-term and mid-term driving plan and a short-term driving plan are generated. In the long-term and mid-term driving plan, a route for directing the vehicle to a set destination is generated. This route is a route consisting of multiple links. The autonomous driving ECU 17 may generate this route in the same manner as the route search of the navigation function. This route search may be performed, for example, by cost calculation using the Dijkstra method. In the cost calculation using the Dijkstra method, the link cost of the link that satisfies the search conditions such as distance priority, time priority, etc. is set to be small. Then, the route with the smaller link cost value is searched for as the recommended route.

[0042] For example, when the behavior determination unit has received a destination input from an occupant via a user input device 19 described later, the behavior determination unit may set the input destination as the destination of the route. The behavior determination unit may acquire the destination input received via the user input device 19 via the HCU 10. When the behavior determination unit has received a destination input from an occupant via a terminal external to the vehicle, the behavior determination unit may set the input destination as the destination of the route. The behavior determination unit may acquire the destination input received via a terminal external to the vehicle via the communication module 11. Here, a user who inputs the destination of the vehicle via a terminal external to the vehicle is also considered to be an occupant of the vehicle.

[0043] When the behavior determination unit does not receive input of a destination from the occupant, it may estimate a tentative destination (hereinafter, tentative destination) based on the driving history of the vehicle and set the tentative destination as the destination. In this case, it may estimate a destination with a high driving frequency in the driving history as the tentative destination for the vehicle position measured by locator 12, the current time, the current day of the week, etc. The driving history may be configured to be stored in a non-volatile memory mounted on the vehicle, or may be configured to be stored in the center via communication module 11. When the driving history of the vehicle is stored in the center, the behavior determination unit may estimate the tentative destination based on the driving history of the vehicle by accessing the center via communication module 11.

[0044] In the short-term driving plan, the action determination unit uses the generated virtual space around the vehicle to generate a planned driving trajectory for realizing driving according to the long-term and mid-term driving plan. Specifically, it determines the execution of steering for lane changes, acceleration / deceleration for speed adjustment, steering and braking for obstacle avoidance, etc.

[0045] In addition, the behavior determination unit switches the automation level of the autonomous driving of the vehicle as necessary. The behavior determination unit determines whether or not the automation level can be increased. For example, when the vehicle moves from an MD area to a non-ST section of an AD area, it may determine that it is possible to switch from LV0 manual driving to LV2 or lower autonomous driving. When the vehicle moves from an MD area to a ST section of an AD area, it may determine that it is possible to switch from LV0 manual driving to area-limited LV3 autonomous driving. When the vehicle moves from a non-ST section of an AD area to a ST section, it may determine that it is possible to switch from LV2 or lower autonomous driving to LV3 autonomous driving. When the vehicle is located in an AD area and the automation level is LV2 or lower, and all the conditions for congestion-limited LV3 are met, it may determine that it is possible to switch from LV2 or lower autonomous driving to congestion-limited LV3 autonomous driving. In addition, when the start conditions for LV4 are met, it may determine that it is possible to switch from LV3 or lower to LV4. When the behavior determination unit 140 determines that it is possible to increase the automation level, and when the driver approves the increase in the automation level, it may increase the automation level.

[0046] The behavior judgment unit may lower the automation level when it determines that a lowering of the automation level is necessary. Scenario for determining that a lowering of the automation level is necessary includes when an override is detected, when a planned driving changeover occurs, and when an unplanned driving changeover occurs. An override is an operation by which the driver of the vehicle voluntarily acquires control of the vehicle. In other words, an override is an operational intervention by the driver of the vehicle. A planned driving changeover is a planned driving changeover determined by the system. An unplanned driving changeover is an unplanned, sudden driving changeover determined by the system.

[0047] When the control authority of the driving operation is on the side of the vehicle's system, the control execution unit executes acceleration / deceleration control, steering control, etc. of the vehicle in accordance with the driving plan determined by the action determination unit in cooperation with the vehicle control ECU 16. The control execution unit executes, for example, ACC (Adaptive Cruise Control) control, LTA (Lane Tracing Assist) control, and LCA (Lane Change Assist) control.

[0048] ACC control is a control that allows the host vehicle to travel at a constant speed at a set vehicle speed, or to follow a preceding vehicle. In following travel, acceleration / deceleration control is performed to maintain the distance between the host vehicle and the nearest preceding vehicle at a target distance. The target distance may be set according to the speed of the host vehicle, for example. LTA control is a control that keeps the host vehicle traveling within its lane. In LTA control, steering control is performed to keep the host vehicle traveling within its lane. LCA control is a control that automatically changes lanes from the host vehicle's lane to an adjacent lane. In LCA control, lane changes are made by performing acceleration / deceleration control and steering control.

[0049] The notification device 18 is provided in the vehicle and notifies the driver of the vehicle. The notification device 18 makes the notification according to an instruction from the HCU 10. The notification device 18 only needs to make a notification at least to the driver. The notification device 18 may also notify passengers other than the driver. The notification device 18 includes a display 181 and an audio output device 182.

[0050] The display 181 notifies by displaying information. For example, a meter MID (Multi Information Display), a CID (Center Information Display), a HUD (Head-Up Display), etc. can be used as the display 181. The meter MID is a display device provided in front of the driver's seat inside the vehicle. As an example, the meter MID may be configured to be provided in a meter panel. The CID is a display device arranged in the center of the instrument panel of the vehicle. The HUD is provided in the vehicle interior, for example, on the instrument panel. The HUD projects a display image formed by a projector onto a projection area that is set on the front windshield as a projection member. The light of the image reflected by the front windshield into the vehicle interior is perceived by the driver sitting in the driver's seat. This allows the driver to view a virtual image of the display image formed in front of the front windshield, superimposed on a part of the foreground. The HUD may be configured to project a display image onto a combiner provided in front of the driver's seat instead of the front windshield. The audio output device 182 outputs sound to give a notification. An example of the audio output device 182 is a speaker.

[0051] The user input device 19 accepts input from a user. The user input device 19 may be an operation device that accepts operation input from a user. The operation device may be a mechanical switch or a touch switch integrated with the display 181. Note that the user input device 19 is not limited to an operation device that accepts operation input, so long as it is a device that accepts input from a user. For example, the user input device 19 may be a voice input device that accepts voice command input from a user.

[0052] The HCU10 is mainly composed of a computer including a processor, a volatile memory, a non-volatile memory, I / O, and a bus connecting these. The HCU10 is connected to the notification device 18, the user input device 19, and the in-vehicle LAN. By executing a control program stored in the non-volatile memory, the HCU10 controls the notification at the notification device 18. This HCU10 corresponds to a vehicle control device. In the present embodiment, the case where the HCU10 is used in a vehicle capable of at least non-monitoring automatic driving as automatic driving will be described as an example. The configuration of the HCU10 regarding the control of the notification at the notification device 18 will be described in detail below.

[0053] <Schematic Configuration of HCU10> Subsequently, the schematic configuration of the HCU10 will be described with reference to FIG. 2. Regarding the control of the notification at the notification device 18, as shown in FIG. 2, the HCU10 includes a notification control unit 100, an information acquisition unit 101, a level identification unit 102, a guidance presence / absence identification unit 103, a repetition identification unit 104, and a timing identification unit 105 as functional blocks. Also, the execution of the processing of each functional block of the HCU10 by a computer corresponds to the execution of the vehicle control method. Note that part or all of the functions executed by the HCU10 may be configured hardware-wise by one or a plurality of ICs or the like. Also, part or all of the functional blocks included in the HCU10 may be realized by a combination of software execution by a processor and hardware members.

[0054] The information acquisition unit 101 acquires information input from the outside of the HCU10. The information acquisition unit 101 acquires information via, for example, the in-vehicle LAN. The information acquisition unit 101 acquires, for example, the recognition result of the driving environment recognition unit of the automatic driving ECU 17. The information acquisition unit 101 acquires the judgment result of the action judgment unit of the automatic driving ECU 17. The information acquisition unit 101 acquires the sensing information detected by the vehicle state sensor 14. The information acquisition unit 101 acquires the above-described driving history from a non-volatile memory mounted on the own vehicle, a communication module 11, etc.

[0055] The level identification unit 102 identifies the current automation level of the vehicle. The level identification unit 102 may identify the current automation level of the vehicle based on, for example, the judgment result of the action determination unit acquired from the autonomous driving ECU 17 by the information acquisition unit 101. More specifically, the level identification unit 102 may identify the current automation level of the vehicle based on information on switching of the automation level by the action determination unit.

[0056] The guidance presence / absence specification unit 103 determines whether or not route guidance to a destination set by an occupant of the vehicle is being performed (hereinafter, occupant-set route guidance is being performed). The processing in this guidance presence / absence specification unit 103 corresponds to a guidance presence / absence specification step. The guidance presence / absence specification unit 103 may determine whether or not occupant-set route guidance is being performed based on, for example, a determination result in the behavior determination unit acquired by the information acquisition unit 101 from the automatic driving ECU 17. More specifically, the guidance presence / absence specification unit 103 may determine whether or not occupant-set route guidance is being performed based on information on whether or not the behavior determination unit has received a destination input from the occupant and decided a long- to mid-term travel plan. The guidance presence / absence specification unit 103 may determine that occupant-set route guidance is being performed when a destination input from the occupant has been received and a long- to mid-term travel plan has been decided. The guidance presence / absence specification unit 103 may determine that occupant-set route guidance is not being performed when a tentative destination has been set as the destination and a long- to mid-term travel plan has been decided.

[0057] The repetition identification unit 104 identifies whether or not the vehicle is traveling on a route that has been traveled repeatedly a predetermined number of times or more in the past (hereinafter, the repeated route). The repetition identification unit 104 identifies whether or not the vehicle is traveling on a repeated route based on the above-mentioned travel history acquired by the information acquisition unit 101 and the recognition result by the travel environment recognition unit. The repetition identification unit 104 may identify that the vehicle is traveling on a repeated route when the vehicle position is located on a route that has been traveled repeatedly a predetermined number of times or more in the past (i.e., a repeated route). The predetermined number of times referred to here may be set to any value. The predetermined number of times may be multiple times or may be one time. It is preferable that the predetermined number of times is multiple times in order to enable a route that the driver often travels to be accurately identified as a repeated route.

[0058] The timing identifying unit 105 identifies a predetermined timing that serves as a trigger for issuing a warning notification, which will be described later. The timing identifying unit 105 may identify, as the predetermined timing, the timing at which the elapsed time from the start of autonomous driving without monitoring obligation reaches a specified time (hereinafter, time timing). The timing identifying unit 105 may determine the timing of the start of autonomous driving without monitoring obligation from the identification results sequentially identified by the level identifying unit 102. The elapsed time may be measured using a timer circuit or the like. The specified time referred to here may be a value that can be set arbitrarily.

[0059] The timing specification unit 105 may specify, as the predetermined timing, the timing when the travel distance of the vehicle from the start of the automatic driving without monitoring obligation reaches a specified distance (hereinafter, distance timing). The travel distance may be specified from the vehicle speed pulse acquired from the vehicle speed sensor by the information acquisition unit 101. The specified distance referred to here may be any value that can be set.

[0060] The timing specification unit 105 may specify the timing when the vehicle reaches a predetermined place (hereinafter, "place timing") as the predetermined timing. The predetermined place may be a predetermined area or a predetermined point. Examples of the predetermined place include interchanges, toll booths, etc.

[0061] The timing specification unit 105 may specify, as the predetermined timing, a timing at a predetermined time interval from the start of autonomous driving without a monitoring obligation (hereinafter, periodic timing). The predetermined time interval may be set arbitrarily. The predetermined time interval may be set to a time interval at which the notification is not bothersome, taking into account the relationship between the frequency of notification and annoyance.

[0062] The notification control unit 100 controls the notification by the notification device 18. When the guidance presence / absence determination unit 103 determines that the vehicle is not being guided to a route set by an occupant during autonomous driving without a monitoring obligation, the notification control unit 100 causes a wake-up notification to be issued at a predetermined timing determined by the timing determination unit 105. This processing by the notification control unit 100 corresponds to a notification control step. The notification control unit 100 may determine whether the vehicle is being autonomously driven without a monitoring obligation from the result of determination of the automation level by the level determination unit 102. When the automation level determined by the level determination unit 102 is LV2 or lower, the notification control unit 100 may determine that the vehicle is being driven with a monitoring obligation. When the automation level determined by the level determination unit 102 is LV3 or higher, the notification control unit 100 may determine that the vehicle is being autonomously driven without a monitoring obligation.

[0063] The alert notification is at least one of a confirmation notification that prompts confirmation related to route setting and a status notification that notifies the driving status. The confirmation notification includes a setting promotion notification that prompts setting of a destination and a setting status notification that indicates the current route setting status. An example of the setting promotion notification is a display of text such as "Do you want to set a destination?" or a voice output. The setting promotion notification allows the driver to notice that the destination has not been set by the passenger. Then, the driver can check whether the driving is being performed according to his / her intention, and if necessary, set a destination and drive according to his / her intention.

[0064] The setting state notification may be a notification indicating that a destination has not been set by the occupant of the vehicle. The setting state notification may be a notification indicating that the destination has not been set by the occupant of the vehicle and that autonomous driving without monitoring obligation is being performed. An example of the setting state notification is a display of text such as "LV3 autonomous driving is being performed without route setting" or a voice output. The setting state notification also allows the driver to notice that a destination has not been set by the occupant. Then, the driver can check whether driving is being performed according to his / her intention, and if necessary, set a destination and drive according to his / her intention.

[0065] The status notification may be a notification indicating the current driving location of the vehicle, a driving schedule, etc. Examples of the status notification include displaying text such as "Passing through an interchange" or "Continue driving on the expressway", or outputting audio. By receiving the status notification, the driver can notice whether or not the driving is being performed according to his / her intention. Then, the driver can set a destination if necessary and drive the vehicle according to his / her intention.

[0066] The notification control unit 100 may perform all or some of the setting promotion notification, setting state notification, and situation notification as the alert notification. When the vehicle is in autonomous driving without a monitoring obligation, the driver may be concentrating on the second task, so it is preferable to perform the alert notification not only by display on the display 181 but also by audio output from the audio output device 182.

[0067] When the notification control unit 100 issues a reminder notification, it is sufficient that the notification control unit 100 issues multiple types of reminder notifications in sequence, including at least two types of notifications among the setting promotion notification, the setting state notification, and the status notification. When the notification control unit 100 issues a reminder notification, the notification control unit 100 may be configured to issue only one type of reminder notification among the setting promotion notification, the setting state notification, and the status notification. Note that, among the reminder notifications, the display on the display 181 may be configured to simultaneously issue multiple types of reminder notifications, including at least two types of notifications among the setting promotion notification, the setting state notification, and the status notification.

[0068] During the automatic driving without the monitoring obligation of the host vehicle, when the guidance presence / absence specifying unit 103 specifies that the vehicle is not guiding the passenger-set route, it is preferable to cause the notification control unit 100 to notify the information of the predetermined point through which the host vehicle is scheduled to pass at the above-described periodic timing as the situation notification. According to this, even when there are a plurality of predetermined points within a predetermined time interval, it is not necessary to notify the information of the predetermined points a plurality of times. Therefore, it is possible to suppress the annoyance of notification as compared with a configuration in which notification is performed for each predetermined point. Examples of the predetermined point include, for example, a road junction or the like. The junction may be limited to a junction on an expressway.

[0069] During the automatic driving without the monitoring obligation of the host vehicle, even when the guidance presence / absence specifying unit 103 specifies that the vehicle is not guiding the passenger-set route, if the repetitive specifying unit 104 specifies that the host vehicle is traveling on the repetitive route, it is preferable not to cause the arousal notification at the predetermined timing specified by the timing specifying unit 105. According to this, it is possible to suppress the annoyance of the arousal notification being performed every time the route is used in a route such as a route used for commuting that is repeatedly used.

[0070] Note that, in order to suppress unnecessary processing, the timing specifying unit 105 may be configured not to specify the predetermined timing during the driving with the monitoring obligation of the host vehicle or during the passenger-set route guidance. The timing specifying unit 105 may determine whether the host vehicle is in the automatic driving without the monitoring obligation based on the specified result of the automation level by the level specifying unit 102. The timing specifying unit 105 may determine whether the vehicle is guiding the passenger-set route based on the specified result by the guidance presence / absence specifying unit 103.

[0071] <Notification control-related processing in HCU10> Here, an example of the flow of processing related to the control of the alert notification in the HCU 10 (hereinafter, alert control related processing) will be described with reference to the flowchart in Fig. 3. The flowchart in Fig. 3 may be configured to start, for example, when a switch (hereinafter, a power switch) for starting the internal combustion engine or motor generator of the vehicle is turned on. In addition, in the case where the automatic driving function can be switched on and off, the condition that the automatic driving function is on may also be added. Here, an example will be described in which three types of alert notifications are issued: a setting promotion notification, a setting status notification, and a situation notification.

[0072] First, in step S1, if the automation level of the vehicle identified by the level identification unit 102 is LV3 or higher (YES in S1), the process proceeds to step S2. On the other hand, if the automation level of the vehicle is lower than LV3 (NO in S1), the process proceeds to step S5.

[0073] In step S2, if the guidance presence / absence determination unit 103 determines that the occupant-predetermined route guidance is in progress (YES in S2), the process proceeds to step S5. On the other hand, if the occupant-predetermined route guidance is not in progress (NO in S2), the process proceeds to step S3.

[0074] In step S3, if timing specifying section 105 specifies the timing as the predetermined timing (YES in S3), the process proceeds to step S4. On the other hand, if timing is not specified as the predetermined timing (NO in S3), the process proceeds to step S5.

[0075] The timing specification unit 105 may specify only one of the time timing, the distance timing, and the location timing as the predetermined timing. For example, the timing specification unit 105 may specify only the first timing among the time timing, the distance timing, and the location timing that is satisfied after the start of the automatic driving without the obligation of monitoring as the predetermined timing. This makes it possible to suppress the repetition of the alert notification and suppress annoyance.

[0076] The timing specification unit 105 may specify two or more of the time timing, the distance timing, and the location timing as the predetermined timing. In this case, the alert notification may be performed each time different types of timing are satisfied. The timing specification unit 105 may be configured to use only one of the time timing and the distance timing as the predetermined timing. In this way, the alert notification can be performed each time different types of predetermined timing conditions are satisfied, making it easier to notice the alert notification.

[0077] In step S4, the notification control unit 100 sequentially issues multiple types of alert notifications, such as a setting promotion notification, a setting status notification, and a situation notification. In step S5, if it is time to end the notification control related process (YES in S5), the notification control related process ends. On the other hand, if it is not time to end the notification control related process (NO in S5), the process returns to S1 and is repeated. Examples of timing to end the notification control related process include when the power switch is turned off, or when the automatic driving function is turned off.

[0078] <Summary of the First Embodiment> According to the configuration of the first embodiment, when the route guidance set by the occupant of the vehicle is not being performed during autonomous driving without a monitoring obligation, a warning notification is performed at a predetermined timing, which is at least one of a confirmation notification that prompts confirmation related to the setting of the route and a situation notification that notifies the driving situation. When a confirmation notification that prompts confirmation related to the setting of the route or a situation notification that notifies the driving situation is performed, it becomes an opportunity for the driver to check whether the vehicle is traveling differently from the driver's intention. Therefore, when the driver realizes that the vehicle is traveling differently from the driver's intention by causing the warning notification to be performed, it becomes possible to change the route to one that matches the driver's intention. As a result, it becomes possible to suppress the decrease in convenience during autonomous driving without a monitoring obligation.

[0079] (Embodiment 2) In Embodiment 1, the notification control unit 100 was shown to be configured to perform multiple types of notifications, including setting promotion notification, setting status notification, and situation notification, as arousal notifications, but it is not necessarily limited to this. For example, the notification control unit 100 may be configured to perform only one type of notification among setting promotion notification, setting status notification, and situation notification as an arousal notification.

[0080] (Embodiment 3) Not limited to the configuration of Embodiment 1, a configuration such as the following Embodiment 3 may also be used. Hereinafter, an example of Embodiment 3 will be described with reference to the drawings. The vehicle system 1 of Embodiment 3 is the same as the vehicle system 1 of Embodiment 1, except that it includes an HCU10a instead of the HCU10.

[0081] <Schematic Configuration of HCU10a> Subsequently, the schematic configuration of the HCU10a will be described with reference to FIG. 4. As shown in FIG. 4, the HCU10a includes, with respect to the control of notifications in the notification device 18, a notification control unit 100a, an information acquisition unit 101, a level identification unit 102, a guidance presence / absence identification unit 103, a repetition identification unit 104, and a timing identification unit 105 as functional blocks. The HCU10a is the same as the HCU10 of Embodiment 1, except that it includes a notification control unit 100a instead of the notification control unit 100. This HCU10a also corresponds to a vehicle control device. Also, the execution of the processing of each functional block of the HCU10a by a computer also corresponds to the execution of a vehicle control method.

[0082] The notification control unit 100a is the same as the notification control unit 100 of Embodiment 1, except that a part of the processing is different. The processing in this notification control unit 100a also corresponds to a notification control step. Hereinafter, among the processing of the notification control unit 100a, the processing different from that of the notification control unit 100 will be described. The notification control unit 100a performs a setting promotion notification as an arousal notification. Note that the notification control unit 100a does not include setting status notification and situation notification in arousal notifications that are conditional on a predetermined timing.

[0083] When the notification control unit 100a determines that route guidance is not in progress in the guidance presence / absence specifying unit 103 during autonomous driving without the driver's monitoring obligation, it causes at least one of setting state notification and situation notification (hereinafter referred to as non-setting steady notification) to be performed from before a predetermined timing specified by the timing specifying unit 105. On the other hand, when the notification control unit 100a determines that route guidance is not in progress in the guidance presence / absence specifying unit 103 during autonomous driving without the driver's monitoring obligation, it causes setting promotion notification to be performed at the predetermined timing specified by the timing specifying unit 105. The non-setting steady notification is preferably performed not by voice output from the voice output device 182 but by the display 181 such as the meter MID. According to this, the driver who turns their eyes to the display 181 before the predetermined timing can easily confirm whether the vehicle is traveling as intended. Also, by performing the setting promotion notification at the predetermined timing, it becomes possible to more surely make the driver aware that the destination has not been set by the passenger, even for a driver who does not notice the non-setting steady notification. As a result, it becomes possible to more surely make the driver confirm whether the vehicle is traveling as intended.

[0084] <Notification control related processing in HCU10a> Next, an example of the flow of notification control related processing in HCU10a will be described using the flowchart of FIG. 5. The flowchart of FIG. 5 may also be configured to start, for example, when the power switch is turned on. Alternatively, in the case of a configuration in which the on / off of the autonomous driving function can be switched, a configuration may be adopted in which the condition that the autonomous driving function is on is added.

[0085] First, in step S21, when the automation level of the host vehicle specified by the level specifying unit 102 switches from less than LV3 to LV3 or more (YES in S21), the process proceeds to step S23. On the other hand, when the automation level of the host vehicle is less than LV3 (NO in S21), the process proceeds to step S22. Whether the automation level of the host vehicle has switched from less than LV3 to LV3 or more may be determined by the notification control unit 100a sequentially monitoring the automation level of the host vehicle specified by the level specifying unit 102.

[0086] In step S22, if it is time to end the notification control related process (YES in S22), the notification control related process is ended. On the other hand, if it is not time to end the notification control related process (NO in S22), the process returns to S21 and is repeated.

[0087] In step S23, if the guidance presence / absence determination unit 103 determines that occupant-predetermined route guidance is in progress (YES in S23), the process proceeds to step S27. On the other hand, if the guidance presence / absence determination unit 103 determines that occupant-predetermined route guidance is not in progress (NO in S23), the process proceeds to step S24.

[0088] In step S24, the notification control unit 100a causes a steady notification when a route is not set to be performed. The steady notification when a route is not set to be performed may be either a setting state notification or a situation notification. The notification control unit 100a may continue the steady notification when a route is not set by displaying on the display 181 until the guidance presence / absence determination unit 103 determines that the occupant-set route is being guided. In this case, the steady notification when a route is not set to be performed may be an icon display, etc.

[0089] In step S25, if timing identification unit 105 identifies the timing as the predetermined timing (YES in S25), the process proceeds to step S26. On the other hand, if timing is not identified as the predetermined timing (NO in S25), the process proceeds to step S27. Identification of the predetermined timing in S25 may be performed in the same manner as identification of the predetermined timing in S3.

[0090] In step S26, the notification control unit 100 causes a setting prompt notification to be issued. Unlike the non-setting steady notification, the setting prompt notification is preferably issued at least by audio output from the audio output device 182. For example, the setting prompt notification is preferably issued by audio output from the audio output device 182 in addition to display on the display 181.

[0091] In step S27, if it is time to end the notification control related process (YES in S27), the notification control related process is ended. On the other hand, if it is not time to end the notification control related process (NO in S27), the process proceeds to step S28.

[0092] In step S28, if the automation level of the host vehicle identified by the level identification unit 102 has switched from LV3 or higher to less than LV3 (YES in S28), the process returns to step S21 and is repeated. On the other hand, if the automation level of the host vehicle is LV3 or higher (NO in S28), the process returns to step S23 and is repeated. Whether or not the automation level of the host vehicle has switched from LV3 or higher to less than LV3 can be determined by the notification control unit 100a by successively monitoring the automation level of the host vehicle identified by the level identification unit 102.

[0093] Even in the configuration of the third embodiment, when route guidance set by the vehicle occupant is not being performed during autonomous driving without a monitoring obligation, a setting promotion notification is issued at a predetermined timing to prompt the driver to set a destination. When a setting promotion notification is issued to prompt the driver to set a destination, the driver can notice that the destination has not been set by the occupant. The driver can then check whether the vehicle is being driven as intended, and if necessary, set a destination to drive the vehicle as intended. As a result, it is possible to suppress a decrease in convenience during autonomous driving without a monitoring obligation.

[0094] (Embodiment 4) In the above embodiment, the timing specifying unit 105 is configured to specify a plurality of types of timing among the time timing, the distance timing, and the location timing as the predetermined timing, but this is not necessarily limited to this. For example, the timing specifying unit 105 may be configured to specify only one type of timing among the time timing, the distance timing, and the location timing as the predetermined timing.

[0095] (Embodiment 5) Not limited to the configuration of Embodiment 1, it may also be configured as in Embodiment 5 below. Hereinafter, an example of Embodiment 5 will be described with reference to the drawings. The vehicle system 1 of Embodiment 5 is the same as the vehicle system 1 of Embodiment 1 except that it includes an HCU10b instead of the HCU10.

[0096] <Schematic Configuration of HCU10b> Subsequently, the schematic configuration of the HCU10b will be described with reference to FIG. 6. As shown in FIG. 6, the HCU10b includes, with respect to the control of notification by the notification device 18, a notification control unit 100b, an information acquisition unit 101, a level identification unit 102, a guidance presence / absence identification unit 103, a repetition identification unit 104, and a timing identification unit 105 as functional blocks. The HCU10b is the same as the HCU10 of Embodiment 1 except that it includes a notification control unit 100b instead of the notification control unit 100. This HCU10b also corresponds to a vehicle control device. Also, the execution of the processing of each functional block of the HCU10b by a computer also corresponds to the execution of a vehicle control method.

[0097] The notification control unit 100b is the same as the notification control unit 100 of Embodiment 1 except that it changes the type or combination of wake-up notifications according to the type of predetermined timing. The processing in this notification control unit 100b also corresponds to a notification control step. When the guidance presence / absence identification unit 103 determines that route guidance is not in progress during autonomous driving without the obligation to monitor the host vehicle, the notification control unit 100b causes at least one of the setting promotion notification, the setting status notification, and the situation notification to be issued as a wake-up notification at at least two types of timings among the time timing, the distance timing, and the location timing specified by the timing identification unit 105. Also, the notification control unit 100b changes the type or combination of wake-up notifications according to which type of predetermined timing the wake-up notification is to be issued. It may be arbitrarily set which type or combination of wake-up notifications is to be issued for which type of predetermined timing. According to this, it becomes possible to issue a type or combination of wake-up notifications that matches the type of predetermined timing used as the condition for the wake-up notification.

[0098] <Notification control related processing in HCU10b> Next, an example of the flow of notification control related processing in HCU10b will be described using the flowchart of FIG. 7. The flowchart of FIG. 7 may also be configured to start when, for example, the power switch is turned on. Alternatively, in the case of a configuration in which the on / off of the automatic driving function can be switched, a configuration may be adopted in which it is also a condition that the automatic driving function is on.

[0099] First, in step S41, if the automation level of the host vehicle specified by the level specifying unit 102 is LV3 or higher (YES in S41), the process proceeds to step S42. On the other hand, if the automation level of the host vehicle is less than LV3 (NO in S41), the process proceeds to step S45.

[0100] In step S42, if it is specified by the guidance presence / absence specifying unit 103 that the route guidance for the occupant is in progress (YES in S42), the process proceeds to step S45. On the other hand, if it is specified that the route guidance for the occupant is not in progress (NO in S42), the process proceeds to step S43.

[0101] In step S43, if it is specified by the timing specifying unit 105 that it is a predetermined timing (YES in S43), the process proceeds to step S44. On the other hand, if it is not specified as the predetermined timing (NO in S43), the process proceeds to step S45.

[0102] The timing specifying unit 105 may specify at least two types of timings among time timing, distance timing, and location timing as the predetermined timing. The timing specifying unit 105 may be configured to use only one of the time timing and the distance timing as the predetermined timing.

[0103] In step S44, the notification control unit 100 performs a reminder notification of a type or a combination of types according to the type of the predetermined timing identified in the most recent S43. The types of the predetermined timing are at least two types among time timing, distance timing, and location timing. The types of the reminder notification are at least two types among setting promotion notification, setting status notification, and situation notification.

[0104] In step S45, if it is time to end the notification control related process (YES in S45), the notification control related process is ended. On the other hand, if it is not time to end the notification control related process (NO in S45), the process returns to S41 and is repeated.

[0105] Even in the configuration of the fifth embodiment, when the route guidance set by the occupant of the vehicle is not being performed during autonomous driving without a monitoring obligation, at least one of the setting prompt notification, the setting status notification, and the situation notification is issued at a predetermined timing. Therefore, it is possible to suppress the decrease in convenience during autonomous driving without a monitoring obligation.

[0106] (Embodiment 6) The configuration is not limited to that of the above-described embodiment, and may be that of the following embodiment 6. An example of the configuration of embodiment 6 will be described below with reference to the drawings.

[0107] <Schematic configuration of vehicle system 1c> The vehicle system 1c shown in Fig. 8 can be used in an autonomous driving vehicle. As shown in Fig. 8, the vehicle system 1c includes an HCU 10c, a communication module 11, a locator 12, a map DB 13, a vehicle state sensor 14, a surroundings monitoring sensor 15, a vehicle control ECU 16, an autonomous driving ECU 17, an alarm device 18, and a user input device 19. The vehicle system 1c of the sixth embodiment is similar to the vehicle system 1 of the first embodiment, except that the vehicle system 1c includes an HCU 10c instead of the HCU 10.

[0108] The automatic driving ECU 17 of Embodiment 6 preferably performs a re-route for re-exploring the recommended route. The re-route may be performed by the action determination unit when the vehicle occupant newly inputs a destination. In this case, the route from the vehicle's position to the newly input destination may be re-explored. The re-route may be performed by the action determination unit when the explored recommended route deviates for some reason. In this case, the route from the vehicle's position to the already set destination may be re-explored.

[0109] Hereinafter, the state of the host vehicle during non-monitored automatic driving in which the destination is set by the occupant of the host vehicle is referred to as Mode A. Hereinafter, the state of the host vehicle during non-monitored automatic driving in which the destination is not set by the occupant of the host vehicle is referred to as Mode B. Hereinafter, the state of the host vehicle during non-monitored automatic driving different from Mode A and Mode B when a re-route occurs is referred to as Mode C. Note that Mode C may be limited to the case where a re-route occurs in Mode A.

[0110] <Schematic Configuration of HCU10c> Subsequently, the schematic configuration of HCU10c will be described with reference to FIG. 9. As shown in FIG. 9, with regard to the control of the notification by the notification device 18, HCU10c includes a notification control unit 100c, an information acquisition unit 101, a level identification unit 102, a setting state identification unit 106, and a tolerance range change unit 107 as functional blocks. HCU10c includes a notification control unit 100c instead of the notification control unit 100. HCU10c includes a setting state identification unit 106 and a tolerance range change unit 107. Except for these points, HCU10c is the same as HCU10 of Embodiment 1. This HCU10c also corresponds to a vehicle control device. Also, the execution of the processing of each functional block of HCU10c by a computer also corresponds to the execution of a vehicle control method.

[0111] The setting state specification unit 106 specifies a setting state that is a state related to the setting of the destination of the vehicle. The processing in the setting state specification unit 106 corresponds to a setting state specification step. The setting state specification unit 106 specifies whether or not the destination has been set by the occupant of the vehicle as the setting state. The setting state specification unit 106 may specify whether or not the destination has been set by the occupant of the vehicle based on the judgment result in the behavior judgment unit. The judgment result in the behavior judgment unit may be acquired by the information acquisition unit 101 from the automatic driving ECU 17. As the judgment result, information on whether or not the behavior judgment unit has received an input of the destination from the occupant and decided a long- to mid-term travel plan may be used. The setting state specification unit 106 may specify that the destination has been set by the occupant of the vehicle when the input of the destination has been received from the occupant and a long- to mid-term travel plan has been decided. The setting state specification unit 106 may specify that the destination has not been set by the occupant of the vehicle when the tentative destination has been set as the destination and a long- to mid-term travel plan has been decided.

[0112] The setting state specification unit 106 preferably specifies whether or not a reroute has occurred as the setting state. The setting state specification unit 106 may specify whether or not a reroute has occurred based on the result of the determination by the behavior determination unit. The result of the determination by the behavior determination unit may be obtained by the information acquisition unit 101 from the automatic driving ECU 17. Information on whether or not a reroute has been performed by the behavior determination unit may be used as the result of this determination. The setting state specification unit 106 may specify that a reroute has occurred when the behavior determination unit has performed a reroute. The setting state specification unit 106 may specify that a reroute has not occurred when the behavior determination unit has not performed a reroute. The setting state specification unit 106 preferably specifies whether or not a reroute has been completed as the setting state. The setting state specification unit 106 may specify whether or not a reroute has been completed based on the result of the determination by the behavior determination unit. Completion of the search for a new recommended route by the reroute may be regarded as completion of the reroute.

[0113] The allowable range change unit 107 changes the allowable range of the second task between mode A and mode B based on the setting state specified by the setting state specification unit 106. The processing by the allowable range change unit 107 corresponds to an allowable range change step. The allowable range change unit 107 may determine whether the vehicle is in mode A or mode B from the automation level specified by the level specification unit 102 and the above-mentioned setting state. The allowable range change unit 107 may instruct the notification control unit 100c to change the allowable range of the second task. Mode A is a state of the vehicle during automatic driving without monitoring obligation in which a destination is set by the occupant of the vehicle. Mode B is a state of the vehicle during automatic driving without monitoring obligation in which a destination is not set by the occupant of the vehicle. The allowable range change unit 107 narrows the allowable range of the second task in the case of mode B compared to the case of mode A. As an example, the display of content with a long viewing time may be permitted in mode A, while the display of content with a long viewing time may be prohibited in mode B. An example of content that requires a long viewing time is a movie.

[0114] In mode B, the destination is not set by the vehicle occupants, and it is difficult to identify the driving route desired by the driver. Therefore, it is preferable that the driver can quickly correct the driving route by overriding when the driving route deviates from the driving route desired by the driver. According to the above configuration, the tolerance range of the second task is narrowed, so that it is possible to make it difficult for the driver to be immersed in the second task. Therefore, even if the driving route deviates from the driving route desired by the driver, it is easy for the driver to quickly correct the driving route by overriding. As a result, it is possible to suppress the decrease in convenience during automatic driving without a monitoring obligation.

[0115] As another example of narrowing the allowable range of second tasks, the following may be used. For example, when prohibited second tasks are displayed on the display 181, the number of items displayed as prohibited second tasks may be increased. Note that the allowable range changing unit 107 may be configured not to permit the execution of a second task when the automation level identified by the level identifying unit 102 is level 2 or lower.

[0116] In the case of mode C, the allowable range change unit 107 preferably makes the allowable range of the second task narrower than those in mode A and mode B. The allowable range change unit 107 may determine whether the host vehicle is in mode C based on the specific result of whether a re-route has occurred and the automation level specified by the level specifying unit 102. In the case of mode C, the allowable range change unit 107 preferably does not permit the execution of the second task. In mode C in which a re-route has occurred, since a route is being searched, there is a higher possibility that the driver's override is required than in mode A and mode B. According to the above configuration, in the case of mode C, since the allowable range of the second task is made narrower than those in mode A and mode B, it becomes possible to make it difficult for the driver to be immersed in the second task. Therefore, in a situation where the driver's override is more necessary, it is possible to more quickly and easily perform the driver's override. As an example of making it not permit the execution of the second task, there is prohibiting the display and voice output from the notification device 18 corresponding to the second task. In addition, when representing the prohibited second task by the display on the display 181, there is performing a display indicating that all types of second tasks are prohibited.

[0117] The notification control unit 100c controls the notification by the notification device 18. The notification control unit 100c changes the allowable range of the second task according to the instruction of the allowable range change unit 107.

[0118] <Second task restriction related processing in HCU10c> Here, an example of the flow of processing related to the restriction of the second task in HCU10c (hereinafter, second task restriction related processing) will be described using the flowchart of FIG. 10. The flowchart of FIG. 10 may be configured to start, for example, when the power switch is turned on. In addition, in the case of a configuration in which the on / off of the automatic driving function can be switched, a configuration may be adopted in which it is also a condition that the automatic driving function is on.

[0119] First, in step S61, if the automation level of the host vehicle identified by the level identification unit 102 is LV3 or higher (YES in S61), the process proceeds to step S63. On the other hand, if the automation level of the host vehicle is lower than LV3 (NO in S61), the process proceeds to step S62. In step S62, the allowable range change unit 107 does not permit execution of the second task, and the process proceeds to step S69. In other words, the second task is not permitted, and the process proceeds to S69.

[0120] In step S63, if the setting state specifying unit 106 specifies that the destination has been set by an occupant of the vehicle (YES in S63), the process proceeds to step S64. On the other hand, if the setting state specifying unit 106 specifies that the destination has not been set by an occupant of the vehicle (NO in S63), the process proceeds to step S65.

[0121] In step S64, the allowable range change unit 107 does not restrict the second task, and the process proceeds to step S66. Not restricting the second task means that all types of second tasks that are targeted by the vehicle are permitted. In step S65, the allowable range change unit 107 restricts some of the second tasks, and the process proceeds to step S66. As an example, viewing of movie content may be prohibited.

[0122] In step S66, if the setting state identifying unit 106 identifies that a reroute has occurred (YES in S66), the process proceeds to step S67. On the other hand, if the setting state identifying unit 106 identifies that a reroute has not occurred (NO in S66), the process proceeds to step S69.

[0123] In step S67, the allowable range changing unit 107 does not permit the execution of the second task, and the process proceeds to step S68. In step S68, if the setting state identifying unit 106 identifies that the reroute is complete (YES in S68), the process proceeds to S64 and the process is repeated. On the other hand, if the setting state identifying unit 106 identifies that the reroute is not complete (NO in S68), the process of S68 is repeated.

[0124] In step S69, when it is the end timing of the second task restriction related process (YES in S69), the second task restriction related process is ended. On the other hand, when it is not the end timing of the second task restriction related process (NO in S69), the process returns to S61 and the process is repeated. As an example of the end timing of the second task restriction related process, the power switch being turned off, the automatic driving function being turned off, etc. can be cited.

[0125] (Embodiment 7) Not limited to the configuration of the above-described embodiment, the configuration of the following Embodiment 7 may also be used. Hereinafter, an example of the configuration of Embodiment 7 will be described with reference to the drawings.

[0126] <Schematic configuration of vehicle system 1d> The vehicle system 1d shown in FIG. 11 can be used in an autonomous vehicle. As shown in FIG. 11, the vehicle system 1d includes an HCU 10d, a communication module 11, a locator 12, a map DB 13, a vehicle state sensor 14, a peripheral monitoring sensor 15, a vehicle control ECU 16, an autonomous driving ECU 17, a notification device 18, and a user input device 19. The vehicle system 1d of Embodiment 7 is the same as the vehicle system 1c of Embodiment 6 except that it includes an HCU 10d instead of the HCU 10c.

[0127] Note that in the action determination unit of the autonomous driving ECU 17, when an input of a destination from the occupant has not been received, a route for directing the own vehicle to a temporary destination is generated. In this case, the route generates a route that prioritizes traveling straight rather than turning right or left. That is, in mode B, compared to mode A, there are more straight runs in the route traveled by autonomous driving.

[0128] <Schematic configuration of HCU 10d> Next, a schematic configuration of the HCU 10d will be described with reference to FIG. 12. As shown in FIG. 12, the HCU 10d includes a notification control unit 100d, an information acquisition unit 101, a level specification unit 102, a setting state specification unit 106, and an allowable range change unit 107d as functional blocks for controlling notification in the notification device 18. The HCU 10d includes the notification control unit 100d instead of the notification control unit 100c. The HCU 10d includes the allowable range change unit 107d instead of the allowable range change unit 107. Except for these points, the HCU 10d is similar to the HCU 10c of the sixth embodiment. This HCU 10d also corresponds to a vehicle control device. In addition, the execution of the processing of each functional block of the HCU 10d by a computer also corresponds to the execution of a vehicle control method.

[0129] The notification control unit 100d is similar to the notification control unit 100c of the sixth embodiment, except that the notification control unit 100d changes the allowable range of the second task according to an instruction from the allowable range changing unit 107d. The allowable range changing unit 107d is similar to the allowable range changing unit 107 of the sixth embodiment, except that some processing is different. The processing in this allowable range changing unit 107d also corresponds to the allowable range changing step. The following describes the differences from the allowable range changing unit 107 of the sixth embodiment. In the case of mode B, the allowable range changing unit 107d widens the allowable range of the second task compared to the case of mode A. In other words, in the case of mode A, the allowable range changing unit 107d narrows the allowable range of the second task compared to the case of mode B.

[0130] As an example, display of content with a long viewing time may be permitted in mode B, while display of content with a long viewing time may be prohibited in mode A. An example of content with a long viewing time is a movie. As another example of widening the allowable range of second tasks, the following may be used. For example, when prohibited second tasks are shown by display on the display 181, the number of items displayed as prohibited second tasks may be reduced.

[0131] As described above, in mode B, it is considered that the route traveled by autonomous driving will include more straight lines than in mode A. Therefore, compared to mode A, the behavior of the vehicle is more likely to be stable, making it easier to enjoy the second task. According to the above configuration, in a situation where the second task is easy to enjoy, the tolerance range of the second task is widened, making it easier for the driver to enjoy the second task. As a result, it is possible to suppress the decrease in convenience during autonomous driving without the obligation to monitor.

[0132] (Embodiment 8) The configuration is not limited to that of the above-described embodiment, and may be that of the following embodiment 8. An example of the configuration of embodiment 8 will be described below with reference to the drawings.

[0133] <Outline of the configuration of the vehicle system 1e> The vehicle system 1e shown in Fig. 13 can be used in an autonomous driving vehicle. As shown in Fig. 13, the vehicle system 1e includes an HCU 10e, a communication module 11, a locator 12, a map DB 13, a vehicle state sensor 14, a surrounding monitoring sensor 15, a vehicle control ECU 16, an autonomous driving ECU 17e, an alarm device 18, and a user input device 19. The vehicle system 1e of the eighth embodiment includes an HCU 10e instead of the HCU 10. The vehicle system 1e of the eighth embodiment includes an autonomous driving ECU 17e instead of the autonomous driving ECU 17. The vehicle system 1e of the eighth embodiment is similar to the vehicle system 1 of the first embodiment except for these points.

[0134] The HCU 10e is similar to the HCU 10 of the first embodiment except that the HCU 10e performs notification in accordance with an instruction from the autonomous driving ECU 17e. The HCU 10e may be configured not to perform the notification control-related processing described in the first embodiment.

[0135] <Outline of Autonomous Driving ECU 17e> Next, a schematic configuration of the automatic driving ECU 17e will be described with reference to FIG. 14. As shown in FIG. 14, the automatic driving ECU 17e includes a driving environment recognition unit 171, an action determination unit 172, a control execution unit 173, and an HCU communication unit 174 as functional blocks. The automatic driving ECU 17e is similar to the automatic driving ECU 17 of the first embodiment, except for some different processing. This automatic driving ECU 17e also corresponds to a vehicle control device. In addition, the execution of processing of each functional block of the automatic driving ECU 17e by a computer also corresponds to the execution of a vehicle control method. Note that some or all of the functions executed by the automatic driving ECU 17e may be configured in the form of hardware using one or more ICs or the like. In addition, some or all of the functional blocks included in the automatic driving ECU 17e may be realized by a combination of software execution by a processor and hardware members.

[0136] The traveling environment recognition unit 171 is similar to the traveling environment recognition unit described in the embodiment 1. The behavior determination unit 172 is similar to the behavior determination unit described in the embodiment 1, except for some different processing. The differences between the behavior determination unit 172 and the behavior determination unit of the embodiment 1 will be described later.

[0137] The control execution unit 173 is similar to the control execution unit described in the first embodiment, except for some different processes. The control execution unit 173 differs from the control execution unit of the first embodiment in the following ways. The control execution unit 173 includes an LCA control unit 1731 as a sub-functional block. Although not described for convenience in this embodiment, the control execution unit 173 may perform other driving controls such as ACC control and LTA control in addition to LCA control. When starting a lane change under LCA control, the LTA control may be temporarily suspended to allow the vehicle to leave its own lane. Then, after the lane change is completed, the LTA control may be resumed.

[0138] The LCA control unit 1731 automatically changes lanes. The LCA control unit 1731 performs LCA control to change the vehicle's lane from the vehicle's lane (hereinafter, the vehicle's lane) to an adjacent lane. In the LCA control, a planned driving trajectory is generated that smoothly connects the target position of the vehicle's lane and the center of the adjacent lane based on the recognition result of the driving environment by the driving environment recognition unit 171. Then, the vehicle changes lane from the vehicle's lane to the adjacent lane by automatically controlling the steering angle of the steering wheel of the vehicle according to the planned driving trajectory. For example, the vehicle changes lane after moving the driving position in the vehicle's lane to the end of the vehicle's lane on the side where the vehicle is to change lanes (hereinafter, the LC side end). The processing in the standby driving control unit 132, the cancellation unit 133, and the cancellation driving control unit 134 will be described later.

[0139] The control execution unit 173 restricts the lane change performed by the LCA control unit 1731 according to the judgment result of the action judgment unit 172. The restriction on the lane change may be prohibition of the lane change when the lane change has not started. The restriction on the lane change may be cancellation of the lane change when the lane change is in progress, or standby of the lane change. Cancellation of the lane change may be cancellation of the LCA control and return to the LTA control. Standby of the lane change may be maintenance of the lane change by keeping the vehicle's driving position close to the LC end of the lane without crossing lanes.

[0140] The HCU communication unit 174 performs processing for outputting information to the HCU 10e and processing for acquiring information from the HCU 10e. The HCU communication unit 174 acquires information such as input information accepted by the user input device 19. The HCU communication unit 174 includes a notification processing unit 1741 as a sub-functional block. The notification processing unit 1741 indirectly controls notifications in the notification device 18 by sending instructions to the HCU 10e. This notification processing unit 1741 corresponds to a notification instruction unit.

[0141] It is preferable that the behavior determination unit 172 performs rerouting to re-search for a recommended route. Rerouting may be performed when a new destination is input from the occupant. In this case, a route from the vehicle's position to the newly input destination may be re-searched. Rerouting may also be performed when the vehicle deviates from a recommended route that has already been searched for for some reason. In this case, a route from the vehicle's position to the already set destination may be re-searched.

[0142] As in the above-described embodiment, the state of the vehicle during autonomous driving without monitoring obligation in which the destination is set by the vehicle occupant is called mode A. Also, the state of the vehicle during autonomous driving without monitoring obligation in which the destination is not set by the vehicle occupant is called mode B. When a reroute occurs, the state of the vehicle during autonomous driving without monitoring obligation, which is different from modes A and B, is called mode C. Note that mode C may be limited to the case where a reroute occurs in mode A.

[0143] The behavior determination unit 172 identifies a situation in which the vehicle needs to change lanes (hereinafter, lane change necessary situation). An example of a lane change necessary situation is a situation in which the number of lanes ahead of the vehicle's running path decreases, and therefore the vehicle needs to change lanes from the vehicle's lane to another lane. Another example of a lane change necessary situation is a situation in which the vehicle needs to change lanes from the vehicle's lane to another lane in order to turn right or left along a planned route or enter a branching road. When the behavior determination unit 172 identifies a lane change necessary situation, it identifies whether or not the lane change is possible. As an example, it is sufficient to identify whether or not the lane change is possible depending on whether or not there are no surrounding vehicles in the target range of the lane to which the lane change is to be made. The target range may be arbitrarily set. When the behavior determination unit 172 identifies a lane change necessary situation and a situation in which the lane change is possible, it decides to perform an automatic lane change (hereinafter, lane change for automobiles). When the action determination unit 172 determines to perform an automated lane change, the LCA control unit 1731 of the control execution unit 173 starts the automated lane change.

[0144] The behavior determination unit 172 includes a setting state specification unit 1721, a searcher specification unit 1722, and an LC restriction unit 1723 as sub-functional blocks. The setting state specification unit 1721 specifies a setting state that is a state related to the setting of the destination of the vehicle. The processing in the setting state specification unit 1721 also corresponds to a setting state specification step. The setting state specification unit 1721 specifies whether or not the destination has been set by the occupant of the vehicle as the setting state. When the behavior determination unit 172 accepts an input of a destination from the occupant and determines a long- to mid-term driving plan, the setting state specification unit 1721 may specify that the destination has been set by the occupant of the vehicle. When the behavior determination unit 172 sets a tentative destination as the destination and determines a long- to mid-term driving plan, the setting state specification unit 1721 may specify that the destination has not been set by the occupant of the vehicle.

[0145] The setting state specifying unit 1721 preferably specifies whether or not a reroute has occurred as the setting state. The setting state specifying unit 1721 may specify whether or not a reroute has occurred based on the determination result of the behavior determining unit 172. The setting state specifying unit 1721 may specify that a reroute has occurred when the behavior determining unit 172 has performed a reroute. The setting state specifying unit 1721 may specify that a reroute has not occurred when the behavior determining unit 172 has not performed a reroute. The setting state specifying unit 1721 preferably specifies whether or not a reroute has been completed as the setting state. The setting state specifying unit 1721 may specify whether or not a reroute has been completed based on the determination result of the behavior determining unit 172. Completion of a search for a new recommended route by a reroute may be regarded as completion of a reroute.

[0146] The searcher identification unit 1722 identifies that a destination search is being performed. The searcher identification unit 1722 may identify that a destination search is being performed from information of an input for searching a destination received by the user input device 19. The searcher identification unit 1722 may acquire this information via the HCU communication unit 174. The searcher identification unit 1722 may identify whether the destination search is being performed by an instruction from the driver of the vehicle or a passenger other than the driver. This processing may be performed when the searcher identification unit 1722 identifies that a destination search is being performed. When the destination search is performed by operating a button on a touch panel or the like, the following may be performed. The searcher identification unit 1722 may identify whether the destination search is being performed by an instruction from the driver or the passenger by performing image recognition on an image captured by an interior camera of the vehicle. When the destination search is performed by voice input, the searcher identification unit 1722 may identify whether the destination search is being performed by an instruction from the driver or the passenger by using voiceprint authentication. The searcher identification unit 1722 may use another method to identify whether the destination search is being performed by an instruction from the driver or a passenger.

[0147] The LC limiting unit 1723 restricts the execution of the automatic lane change of the vehicle when a new destination is searched for in mode A or mode B, or in mode C, based on the setting state specified by the setting state specifying unit 1721. This LC limiting unit 1723 corresponds to a lane change restricting unit. The processing in this LC limiting unit 1723 corresponds to a lane change restricting step. The LC limiting unit 1723 may determine the mode of the vehicle from the automation level specified by the level specifying unit 102 and the above-mentioned setting state. The LC limiting unit 1723 may determine that a new destination is being searched for from the result of the searcher specifying unit 1722. The LC limiting unit 1723 may instruct the LCA control unit 1731 to restrict the execution of the automatic lane change. Mode A is a state of the vehicle during automatic driving without monitoring obligation in which a destination is set by the occupant of the vehicle. Mode B is a state of the vehicle during automatic driving without monitoring obligation in which a destination is not set by the occupant of the vehicle. The LC restriction unit 1723 may prohibit the lane change when the lane change has not started. The LC restriction unit 1723 may stop the lane change when the vehicle is in the lane change. The LC restriction unit 1723 may put the lane change on hold when the vehicle is in the lane change.

[0148] When the vehicle is searching for a new destination in mode A and mode B, it is highly likely that the vehicle will need to change its traveling direction. In addition, in the case of mode C, it is also highly likely that the vehicle will need to change its traveling direction. When the vehicle needs to change its traveling direction in a direction different from the lane change during lane change during automatic driving without a monitoring obligation, the driver may be required to respond to the sudden driving operation. In contrast, according to the above configuration, it is possible to restrict the execution of lane change when it is highly likely that the vehicle will need to change its traveling direction. Therefore, the vehicle is less likely to be required to respond to a sudden driving operation during automatic driving without a monitoring obligation. As a result, it is possible to suppress a decrease in convenience during automatic driving without a monitoring obligation. In addition, according to the above configuration, it is possible to prevent a malfunction that causes the occupant to mistakenly believe that an operation by the occupant, such as setting a destination, is affecting the behavior of the vehicle, such as changing lanes.

[0149] When the searcher identification unit 1722 identifies that the destination search is performed by the driver's instruction, it is preferable that the LC restriction unit 1723 restricts the execution of lane change when a new destination is searched for in mode A or mode B. On the other hand, when the searcher identification unit 1722 identifies that the destination search is performed by the passenger's instruction, it is preferable that the LC restriction unit 1723 does not restrict the execution of lane change even when a new destination is searched for in mode A or mode B. When the destination search is performed by the passenger's instruction, the driver is more likely to respond to a sudden driving operation than when the destination search is performed by the driver's instruction. Therefore, according to the above configuration, it is possible to restrict the execution of lane change only in cases where the driver is less likely to respond to a sudden driving operation.

[0150] When the LC restriction unit 1723 restricts the execution of a lane change, the notification processing unit 1741 of the HCU communication unit 174 may cause the notification device 18 to notify that the execution of a lane change is restricted. Examples of notification that the execution of a lane change is restricted may be as follows. The notification indicating that the execution of a lane change is restricted will be referred to as an LC restriction notification below.

[0151] Here, an example of the LC restriction notification will be described with reference to Figs. 15 and 16. Fig. 15 is a display example of an image (hereinafter, a surrounding situation image) for showing the surrounding situation of the vehicle when lane change is not restricted. Fig. 16 is a display example of the surrounding situation image when lane change is restricted. The surrounding situation image is displayed on the meter MID, for example. The surrounding situation image may be an overhead image of the vehicle and its surroundings seen from a virtual viewpoint above the vehicle. This virtual viewpoint may be directly above the vehicle, or may be a position shifted from directly above the vehicle. For example, it may be an overhead view seen from a virtual viewpoint above and behind the vehicle. The surrounding situation image may be a virtual image for showing the surrounding situation of the vehicle, or may be a processed image captured by a surrounding monitoring camera of the surrounding monitoring sensor 15.

[0152] Sc in Figs. 15 to 16 shows the display screen of the meter MID. PLI in Figs. 15 to 16 shows an image representing lane markings (hereinafter, lane marking image). HVI in Figs. 15 to 16 shows an image representing the vehicle (hereinafter, vehicle image). LCI in Figs. 15 to 16 shows an image representing the vehicle's automatic lane change (hereinafter, LC image). In Figs. 15 to 16, an arrow icon indicating the direction in which the vehicle will make an automatic lane change is shown as an example of an LC image. Note that the surrounding situation image may also display an image representing the vehicle speed, etc.

[0153] As shown in Fig. 15, the fact that lane changing of the vehicle is not restricted may be expressed by displaying an LC image. As shown in Fig. 16, the fact that lane changing of the vehicle is restricted may be expressed by displaying an LC restriction image in which a mark indicating interruption is superimposed on the LC image. LCRI in Fig. 16 indicates the LC restriction image. Note that the fact that lane changing of the vehicle is restricted may be expressed in other ways, such as by displaying text. Also, the fact that lane changing is restricted may be notified by audio output from the audio output device 182.

[0154] <LC standby related processing in autonomous driving ECU17e> Here, an example of the flow of processing related to the restriction of automatic lane changing in the automatic driving ECU 17e (hereinafter, LC restriction related processing) will be described with reference to the flowchart of Fig. 17. The flowchart of Fig. 17 may be configured to be started, for example, when the power switch is turned on. In addition, in the case of a configuration in which the automatic driving function can be switched on and off, the condition that the automatic driving function is on may also be added.

[0155] First, in step S81, if the automation level of the vehicle identified by the level identification unit 102 is LV3 or higher (YES in S81), the process proceeds to step S82. On the other hand, if the automation level of the vehicle is lower than LV3 (NO in S81), the process proceeds to step S91.

[0156] In step S82, if the searcher identification unit 1722 determines that a destination search is being performed (YES in S82), the process proceeds to step S83. On the other hand, if the searcher identification unit 1722 determines that a destination search is not being performed (NO in S82), the process proceeds to step S87.

[0157] In step S83, if the searcher identification unit 1722 determines that the destination search is being performed at the driver's instruction (YES in S83), the process proceeds to step S84. On the other hand, if the searcher identification unit 1722 determines that the destination search is being performed at the passenger's instruction (NO in S83), the process proceeds to S91. In step S84, the LC restriction unit 1723 restricts the execution of an automated lane change by the vehicle. In step S85, the notification processing unit 1741 issues an LC restriction notification.

[0158] In step S86, if the setting state identifying unit 1721 identifies that the destination search is complete (YES in S86), the process proceeds to step S87. On the other hand, if the setting state identifying unit 1721 identifies that the destination search is not complete (NO in S86), the process repeats step S86. The setting state identifying unit 1721 may identify that the destination search is complete when, for example, a recommended route search is performed for a newly set destination.

[0159] In step S87, if the setting state identifying unit 1721 identifies that a reroute has occurred (YES in S87), the process proceeds to step S88. On the other hand, if the setting state identifying unit 1721 identifies that a reroute has not occurred (NO in S87), the process proceeds to step S91. In step S88, the LC restriction unit 1723 restricts the execution of an automatic lane change by the vehicle. In step S89, the notification processing unit 1741 issues an LC restriction notification.

[0160] In step S90, if the setting state identifying unit 1721 identifies that the rerouting is complete (YES in S90), the process proceeds to S91. On the other hand, if the setting state identifying unit 1721 identifies that the rerouting is not complete (NO in S90), the process of S90 is repeated.

[0161] In step S91, if it is the end timing of the LC limit related process (YES in S91), the LC limit related process is terminated. On the other hand, if it is not the end timing of the LC limit related process (NO in S91), the process returns to S81 and the process is repeated. Examples of the end timing of the LC limit related process include that the power switch is turned off, the automatic driving function is turned off, and the like.

[0162] (Embodiment 9) Not limited to the configuration of the foregoing embodiments, the configuration of the following Embodiment 9 may also be used. Hereinafter, an example of the configuration of Embodiment 9 will be described with reference to the drawings.

[0163] <Schematic configuration of vehicle system 1f> The vehicle system 1f shown in FIG. 18 can be used in an autonomous vehicle. As shown in FIG. 18, the vehicle system 1f includes an HCU 10f, a communication module 11, a locator 12, a map DB 13, a vehicle state sensor 14, a peripheral monitoring sensor 15, a vehicle control ECU 16, an autonomous driving ECU 17f, a notification device 18, and a user input device 19. The vehicle system 1f of Embodiment 9 includes an HCU 10f instead of the HCU 10. The vehicle system 1f includes an autonomous driving ECU 17f instead of the autonomous driving ECU 17. The vehicle system 1f is the same as the vehicle system 1 of Embodiment 1 except for these points.

[0164] The autonomous driving ECU 17f is the same as the autonomous driving ECU 17 of Embodiment 1 except that it suppresses the speed of the host vehicle according to the information from the HCU 10f. The HCU 10f is the same as the HCU 10 of Embodiment 1 except that some processes are different.

[0165] <Schematic configuration of HCU 10f> Next, a schematic configuration of the HCU 10f will be described with reference to FIG. 19. As shown in FIG. 19, the HCU 10f includes a notification control unit 100f, an information acquisition unit 101, a level identification unit 102, a guidance presence / absence identification unit 103, a repetition identification unit 104, a timing identification unit 105, and a control instruction unit 108 as functional blocks for controlling notification in the notification device 18. The HCU 10f includes the notification control unit 100f instead of the notification control unit 100. The HCU 10f includes the control instruction unit 108. Except for these points, the HCU 10f is similar to the HCU 10 of the first embodiment. This HCU 10f also corresponds to a vehicle control device. In addition, the execution of the processing of each functional block of the HCU 10f by a computer also corresponds to the execution of a vehicle control method.

[0166] The control instruction unit 108 performs output processing of a signal directed to the automatic driving ECU 17f. When the distance between the vehicle and the predetermined place becomes equal to or less than a threshold, the control instruction unit 108 outputs information to the automatic driving ECU 17f to suppress the speed of the vehicle to a specified value or less. As a result, when the distance between the vehicle and the predetermined place becomes equal to or less than the threshold, the speed of the vehicle is suppressed to a specified value or less. The threshold may be 0 or a value greater than 0. The specified value may be arbitrarily set. The specified value may be a speed that can be considered to be low. This makes it possible to suppress the speed of the vehicle to a low speed when the vehicle approaches or reaches the predetermined place. This control instruction unit 108 corresponds to a speed control instruction unit. The control instruction unit 108 may acquire information on the distance between the vehicle and the predetermined place from the driving environment recognition unit of the automatic driving ECU 17 via the information acquisition unit 101.

[0167] The notification control unit 100f is the same as the notification control unit 100 of the first embodiment, except for some different processing. The following describes these differences. The notification control unit 100f at least issues the above-mentioned driving situation notification as a warning notification. When the guidance presence / absence determination unit 103 determines that the vehicle is not being guided along a route set by an occupant during autonomous driving without a monitoring obligation of the vehicle, the notification control unit 100f issues a situation notification to inform the driver of the driving situation at the location and timing when the vehicle reaches the above-mentioned predetermined location. The processing in the notification control unit 100f also corresponds to a notification control step.

[0168] According to the configuration of the ninth embodiment, it is possible to keep the vehicle at a low speed from or before the predetermined location where the situation notification is performed, so that the driver can more easily understand the driving situation of the vehicle. The configuration of the ninth embodiment may be combined with the configurations of the second to fifth embodiments. In the ninth embodiment, the configuration in which the HCU 10f performs the function of the speed control instruction unit is shown, but this is not necessarily limited to this. For example, the function of the speed control instruction unit may be performed by the automatic driving ECU 17f. In this case, the configuration including the HCU 10f and the automatic driving ECU 17f corresponds to a vehicle control device.

[0169] (Embodiment 10) The configuration is not limited to that of the above-described embodiment, and may be that of the following embodiment 10. An example of the configuration of embodiment 10 will be described below with reference to the drawings.

[0170] <Outline of the configuration of the vehicle system 1g> The vehicle system 1g shown in FIG. 20 can be used in an autonomous vehicle. An autonomous vehicle in which the vehicle system 1g is used can switch between sleep-permitting autonomous driving and sleep-non-permitting autonomous driving. Sleep-permitting autonomous driving is autonomous driving of LV4 or higher. In this embodiment, as an example, the sleep-permitting autonomous driving is autonomous driving of LV4. Sleep-non-permitting autonomous driving is autonomous driving of LV3.

[0171] As shown in FIG. 20, the vehicle system 1g includes an HCU 10g, a communication module 11, a locator 12, a map DB 13, a vehicle state sensor 14, a peripheral monitoring sensor 15, a vehicle control ECU 16, an automatic driving ECU 17, a notification device 18, and a user input device 19. The vehicle system 1g is the same as the vehicle system 1 of Embodiment 1 except that it includes an HCU 10g instead of the HCU 10.

[0172] <Schematic Configuration of HCU10g> Subsequently, the schematic configuration of the HCU 10g will be described with reference to FIG. 21. As shown in FIG. 21, the HCU 10g includes, as functional blocks, a notification control unit 100g, an information acquisition unit 101, a level identification unit 102, a guidance presence / absence identification unit 103, a repetition identification unit 104, and a timing identification unit 105 with respect to the control of notification by the notification device 18. The HCU 10g is the same as the HCU 10 of Embodiment 1 except that it includes a notification control unit 100g instead of the notification control unit 100. This HCU 10g also corresponds to a vehicle control device. Also, the execution of the processing of each functional block of the HCU 10g by a computer corresponds to the execution of a vehicle control method.

[0173] The notification control unit 100g is the same as the notification control unit 100 of Embodiment 1 except that some of the processing is different. Hereinafter, this difference will be described. When the guidance presence / absence identification unit 103 determines that the vehicle is not in the process of guiding the set route of the occupant during the unsupervised automatic driving of the host vehicle, the notification control unit 100g changes the frequency of the notification indicating that the host vehicle is not in the process of guiding the set route of the occupant as a situation notification according to whether the host vehicle is in the sleep-permitted automatic driving or the sleep-non-permitted automatic driving. This notification is hereinafter referred to as a non-route guidance notification. Whether the host vehicle is in the sleep-permitted automatic driving or the sleep-non-permitted automatic driving may be determined from the automation level identified by the level identification unit 102. According to the above configuration, when it is preferable for the occupant of the host vehicle that the frequency of the non-route guidance notification differs depending on whether the host vehicle is in the sleep-permitted automatic driving or the sleep-non-permitted automatic driving, it is possible to perform the non-route guidance notification at a frequency preferable for the occupant of the host vehicle. The processing in this notification control unit 100g also corresponds to a notification control step.

[0174] It is preferable that the notification control unit 100g increases the frequency of non-route guidance notifications when the vehicle is in sleep-permitted automatic driving compared to when the vehicle is in sleep-non-permitted automatic driving. When the vehicle is in sleep-permitted automatic driving, the driver may fall asleep. Therefore, compared to when the vehicle is in sleep-non-permitted automatic driving, there is a risk that the vehicle will continue to drive without setting a destination. According to the above configuration, the frequency of non-route guidance notifications can be increased as the possibility of continuing to drive without setting a destination increases. Therefore, it becomes easier to prevent the vehicle from continuing to drive without setting a destination.

[0175] The notification control unit 100g may be configured to reduce the frequency of non-route guidance notifications when the vehicle is in sleep-permitting autonomous driving compared to when the vehicle is in sleep-non-permitting autonomous driving. When the vehicle is in sleep-permitting autonomous driving, the driver may fall asleep. Therefore, it is conceivable that the occupants may request that the frequency of notifications be reduced compared to when the vehicle is in sleep-non-permitting autonomous driving. With the above configuration, it becomes possible to reduce the frequency of non-route guidance notifications in response to the occupants' requests to reduce the frequency of notifications.

[0176] (Embodiment 11) The configuration is not limited to that of the above-described embodiment, and may be that of the following embodiment 11. An example of the configuration of embodiment 11 will be described below with reference to the drawings.

[0177] <Outline of the Vehicle System 1h> The vehicle system 1h shown in Fig. 22 can be used in an autonomous driving vehicle. As shown in Fig. 22, the vehicle system 1h includes an HCU 10h, a communication module 11, a locator 12, a map DB 13, a vehicle state sensor 14, a surrounding monitoring sensor 15, a vehicle control ECU 16, an autonomous driving ECU 17h, an alarm device 18, and a user input device 19. The vehicle system 1h includes an HCU 10h instead of the HCU 10. The vehicle system 1h includes an autonomous driving ECU 17h instead of the autonomous driving ECU 17. Except for these points, the vehicle system 1h is similar to the vehicle system 1 of the first embodiment.

[0178] The automatic driving ECU 17h is the same as the automatic driving ECU 17 in Embodiment 1, except that it switches the continuation of the automatic driving without supervision obligation of the host vehicle according to the information from the HCU 10h. When the automatic driving ECU 17h does not continue the automatic driving without supervision obligation, it causes a driving change from the automatic driving without supervision obligation. The driving change here is a driving change to the automatic driving with supervision obligation or manual driving, which is an automatic driving without peripheral supervision obligation. When causing a driving change, the automatic driving ECU 17h may give an instruction to the HCU 10h and cause it to give a notification prompting the driving change. For example, when detecting the grasping of the steering wheel of the host vehicle, a driving change may be caused. The detection of the grasping of the steering wheel may be performed based on the signal of a sensor such as a pressure sensor provided on the steering wheel.

[0179] <Schematic configuration of HCU10h> Subsequently, the schematic configuration of the HCU 10h will be described with reference to FIG. 23. As shown in FIG. 23, with regard to the control of the notification by the notification device 18 and the like, the HCU 10h includes a notification control unit 100h, an information acquisition unit 101h, a level identification unit 102, a guidance presence / absence identification unit 103, a repetition identification unit 104, a timing identification unit 105h, and a continuation determination unit 109 as functional blocks. The HCU 10h includes a notification control unit 100h instead of the notification control unit 100. The HCU 10h includes an information acquisition unit 101h instead of the information acquisition unit 101. The HCU 10h includes a timing identification unit 105h instead of the timing identification unit 105. The HCU 10h includes a continuation determination unit 109. The HCU 10h is the same as the HCU 10 in Embodiment 1 except for these points. This HCU 10h also corresponds to a vehicle control device. Also, the execution of the processing of each functional block of the HCU 10h by a computer corresponds to the execution of a vehicle control method.

[0180] The information acquisition unit 101h is similar to the HCU 10 of the first embodiment, except for some different processing. The different processing will be described below. The information acquisition unit 101h acquires information that can determine whether or not the driver is performing a steering operation. As an example, a signal from a steering torque sensor may be acquired. The steering torque sensor is a sensor that detects the steering torque applied to the steering wheel. The following description will be given by taking as an example a case where the steering torque is used as information that can determine whether or not the driver is performing a steering operation.

[0181] The timing specifying unit 105h is similar to the timing specifying unit 105 of the first embodiment, except for some different processing. The different processing will be described below. The timing specifying unit 105h specifies, as the predetermined timing, the timing (hereinafter, transition timing) at which the guidance presence / absence specifying unit 103 transitions from a state specified as being in occupant-set route guidance to a state specified as not being in occupant-set route guidance. The transition from a state specified as being in occupant-set route guidance by the guidance presence / absence specifying unit 103 to a state specified as not being in occupant-set route guidance is hereinafter referred to as a non-route guidance transition. Note that the non-route guidance transition occurs when an occupant of the host vehicle cancels route guidance while the host vehicle is traveling. The cancellation of route guidance may be accepted by the user input device 19. The cancellation of route guidance may be rephrased as the cancellation of the destination setting.

[0182] The notification control unit 100h is the same as the notification control unit 100 of the first embodiment, except for some different processing. The following describes the differences. The notification control unit 100h may issue a setting promotion notification to prompt the setting of a destination as a confirmation notification when a non-route guidance transition occurs during the automatic driving without monitoring obligation of the vehicle. That is, the notification control unit 100h issues a setting promotion notification at a transition timing specified by the timing specification unit 105h during the automatic driving without monitoring obligation of the vehicle. The notification control unit 100h may determine that a non-route guidance transition has occurred from the result of specification by the guidance presence / absence specification unit 103. In addition, the notification control unit 100h may issue a notification (hereinafter, a continuation confirmation notification) to confirm whether or not the automatic driving without monitoring obligation is to be continued when a non-route guidance transition occurs during the automatic driving without monitoring obligation of the vehicle. An example of the continuation confirmation notification is a display of text such as "Do you want to continue LV3 automatic driving?", a voice output, or the like. The notification control unit 100h performs at least one of a setting prompt notification and a continuation confirmation notification when a transition to non-route guidance occurs during autonomous driving without a monitoring obligation of the vehicle. The processing in the notification control unit 100h also corresponds to a notification control step.

[0183] According to the above configuration, the occupant of the vehicle can confirm that the transition to non-route guidance has occurred by at least one of the setting prompt notification and the continuation confirmation notification. Therefore, the occupant of the vehicle can easily confirm that the cancellation of the route guidance by the occupant of the vehicle while the vehicle is traveling is reflected in the vehicle system.

[0184] When the vehicle transitions to non-route guidance during autonomous driving without monitoring obligation, the continuation determination unit 109 preferably determines whether or not to continue autonomous driving without monitoring obligation, depending on at least one of the driver's operation related to the second task and the driver's steering operation. The continuation determination unit 109 may determine the driver's operation related to the second task from, for example, a signal of an operation device used for the second task among the user input device 19. An example of the operation device used for the second task is a touch switch of a CID used for watching videos. The continuation determination unit 109 may determine the driver's steering operation from, for example, a steering torque acquired by the information acquisition unit 101h.

[0185] It is considered that the driver's operation and the driver's steering operation related to the second task differ depending on whether or not the automated driving without monitoring obligation continues. Therefore, according to the above configuration, it is possible to more accurately determine whether or not the automated driving without monitoring obligation continues based on at least one of the driver's operation and the driver's steering operation related to the second task.

[0186] When the vehicle transitions to non-route guidance during automatic driving without monitoring obligation of the vehicle, the continuation determination unit 109 can preferably determine whether or not to continue automatic driving without monitoring obligation in response to both the driver's operation related to the second task and the driver's steering operation. When there is an operation by the driver related to the second task, the continuation determination unit 109 may determine that automatic driving without monitoring obligation is to be continued and continue automatic driving without monitoring obligation. When automatic driving without monitoring obligation is to be continued, the continuation determination unit 109 may output information for continuing automatic driving without monitoring obligation to the automatic driving ECU 17h. As a result, the automatic driving ECU 17h continues automatic driving without monitoring obligation. On the other hand, when there is a steering operation by the driver, the continuation determination unit 109 may determine that automatic driving without monitoring obligation is not to be continued and transition to driving change. When transitioning to driving change, the continuation determination unit 109 may output information for transitioning to driving change to the automatic driving ECU 17h. As a result, the automatic driving ECU 17h executes processing for transitioning to driving change. The processes for transitioning to a driving handover include a process for prompting the driver to take over driving, and a process for transitioning from automated driving without a supervisory obligation to automated driving with a supervisory obligation or manual driving.

[0187] When the host vehicle transitions to non-route guidance during autonomous driving without monitoring obligation, if there is an operation by the driver related to the second task, it is highly likely that the driver wishes to continue autonomous driving without monitoring obligation. On the other hand, when the host vehicle transitions to non-route guidance during autonomous driving without monitoring obligation, if there is a steering operation by the driver, it is highly likely that the driver does not wish to continue autonomous driving without monitoring obligation. Therefore, when the host vehicle transitions to non-route guidance during autonomous driving without monitoring obligation, it becomes possible to switch between continuing autonomous driving without monitoring obligation and not continuing according to the driver's request.

[0188] The continuation determination unit 109 may be configured to determine not to continue the automated driving without monitoring obligation and to transition to driving handover when the driver performs an operation related to the second task. The continuation determination unit 109 may be configured to determine to continue the automated driving without monitoring obligation and to continue the automated driving without monitoring obligation when the driver performs a steering operation.

[0189] The configuration of the 11th embodiment may be combined with the configurations of the 2nd to 5th embodiments. The configuration of the 11th embodiment may be combined with the configurations of the 6th to 7th embodiments. When the configuration of the 11th embodiment is combined with the configuration of the 6th embodiment, the HCUs 10c and 10d may include the continuation determination unit 109 as a functional block. When the configuration of the 11th embodiment is combined with the configuration of the 6th embodiment, the notification control unit 100c may be made to perform the function of the notification control unit 100h. In this case, the notification control unit 100c corresponds to the notification instruction unit. When the configuration of the 11th embodiment is combined with the configuration of the 7th embodiment, the notification control unit 100d may be made to perform the function of the notification control unit 100h. In this case, the notification control unit 100d corresponds to the notification instruction unit.

[0190] (Embodiment 12) The configuration is not limited to that of the above-described embodiment, and may be that of the following embodiment 12. An example of the configuration of embodiment 12 will be described below with reference to the drawings.

[0191] <Outline of the configuration of the vehicle system 1i> The vehicle system 1i shown in Fig. 24 can be used in an autonomous driving vehicle. As shown in Fig. 24, the vehicle system 1i includes an HCU 10i, a communication module 11, a locator 12, a map DB 13, a vehicle state sensor 14, a surrounding monitoring sensor 15, a vehicle control ECU 16, an autonomous driving ECU 17i, an alarm device 18, and a user input device 19. The vehicle system 1i includes an HCU 10i instead of the HCU 10e. The vehicle system 1i includes an autonomous driving ECU 17i instead of the autonomous driving ECU 17e. Except for these points, the vehicle system 1i is similar to the vehicle system 1e of the eighth embodiment.

[0192] The HCU 10i is similar to the HCU 10e of the eighth embodiment, except that the HCU 10i performs notification in accordance with an instruction from the autonomous driving ECU 17i. The HCU 10i may be configured not to perform the notification control-related processing described in the first embodiment.

[0193] <Outline of Autonomous Driving ECU 17i> Next, a schematic configuration of the automatic driving ECU 17i will be described with reference to FIG. 25. As shown in FIG. 25, the automatic driving ECU 17i includes a driving environment recognition unit 171, a behavior determination unit 172i, a control execution unit 173, and an HCU communication unit 174i as functional blocks. The automatic driving ECU 17i includes a behavior determination unit 172i instead of the behavior determination unit 172. The automatic driving ECU 17i includes an HCU communication unit 174i instead of the HCU communication unit 174. Except for these points, the automatic driving ECU 17i is similar to the automatic driving ECU 17e of the eighth embodiment. This automatic driving ECU 17i also corresponds to a vehicle control device. In addition, the execution of the processing of each functional block of the automatic driving ECU 17i by a computer also corresponds to the execution of a vehicle control method.

[0194] The HCU communication unit 174i includes a notification processing unit 1741i as a sub-functional block. The HCU communication unit 174i is similar to the HCU communication unit 174 of the eighth embodiment except that the notification processing unit 1741i is included instead of the notification processing unit 1741.

[0195] The notification processing unit 1741i may issue a setting promotion notification to prompt the user to set a destination when the vehicle is in a non-route guidance state during automatic driving without a monitoring obligation. The notification processing unit 1741i may determine whether the vehicle is in automatic driving without a monitoring obligation from the determination result of the action determination unit 172i. The notification processing unit 1741i may send an instruction to the HCU 10i to cause the notification device 18 to issue a setting promotion notification. The setting promotion notification is the same as the setting promotion notification described in the first embodiment. The non-route guidance transition, as described in the eleventh embodiment, refers to a transition from a state specified as being in occupant-set route guidance to a state specified as not being in occupant-set route guidance. The notification processing unit 1741i may determine that a non-route guidance transition has occurred from the determination result of the guidance presence / absence determination unit 103 of the HCU 10i. In addition, the notification processor 1741i may perform the above-mentioned continuation confirmation notification when a non-route guidance transition occurs during autonomous driving without a monitoring obligation of the vehicle. The notification processor 1741i performs at least one of a setting promotion notification and a continuation confirmation notification when a non-route guidance transition occurs during autonomous driving without a monitoring obligation of the vehicle. The processing in the notification processor 1741i also corresponds to a notification control step.

[0196] According to the above configuration, the occupant of the vehicle can confirm that the transition to non-route guidance has occurred by at least one of the setting prompt notification and the continuation confirmation notification. Therefore, the occupant of the vehicle can easily confirm that the cancellation of the route guidance by the occupant of the vehicle while the vehicle is traveling is reflected in the vehicle system.

[0197] The behavior determining unit 172i includes, as sub-functional blocks, a setting state identifying unit 1721, a searcher identifying unit 1722, an LC limiting unit 1723, and a continuation determining unit 1724. The behavior determining unit 172i is similar to the behavior determining unit 172 of the eighth embodiment, except that it includes the continuation determining unit 1724.

[0198] When the vehicle transitions to non-route guidance during autonomous driving without monitoring obligation, the continuation determination unit 1724 preferably determines whether or not to continue autonomous driving without monitoring obligation, depending on at least one of the driver's operation related to the second task and the driver's steering operation. The continuation determination unit 1724 may determine the driver's operation related to the second task from, for example, a signal of an operation device used for the second task among the user input devices 19. The signal of the operation device may be acquired via the HCU communication unit 174i. An example of the operation device used for the second task is a touch switch of a CID used for watching videos. The continuation determination unit 1724 may determine the driver's steering operation from a steering torque acquired via a LAN.

[0199] It is considered that the driver's operation and the driver's steering operation related to the second task differ depending on whether or not the automated driving without monitoring obligation continues. Therefore, according to the above configuration, it is possible to more accurately determine whether or not the automated driving without monitoring obligation continues based on at least one of the driver's operation and the driver's steering operation related to the second task.

[0200] When the vehicle is in a non-route guidance state during automatic driving without monitoring obligation, the continuation determination unit 1724 can preferably determine whether or not to continue automatic driving without monitoring obligation in response to both the driver's operation related to the second task and the driver's steering operation. When the driver's operation related to the second task is present, the continuation determination unit 1724 may determine that automatic driving without monitoring obligation is to be continued and continue automatic driving without monitoring obligation. As a result, the control execution unit 173 continues automatic driving without monitoring obligation. On the other hand, when the driver's steering operation is present, the continuation determination unit 1724 may determine that automatic driving without monitoring obligation is not to be continued and shift to driving change. When shifting to driving change, the continuation determination unit 1724 may cause the HCU 10i to issue a notification to prompt the driver to change driving via the HCU communication unit 174i. Then, the continuation determination unit 1724 may cause the driving change to be performed when, for example, the steering wheel of the vehicle is gripped. The gripping of the steering wheel may be detected based on a signal from a sensor such as a pressure sensor provided on the steering wheel.

[0201] When the host vehicle transitions to non-route guidance during autonomous driving without monitoring obligation, if there is an operation by the driver related to the second task, it is highly likely that the driver wishes to continue autonomous driving without monitoring obligation. On the other hand, when the host vehicle transitions to non-route guidance during autonomous driving without monitoring obligation, if there is a steering operation by the driver, it is highly likely that the driver does not wish to continue autonomous driving without monitoring obligation. Therefore, when the host vehicle transitions to non-route guidance during autonomous driving without monitoring obligation, it becomes possible to switch between continuing autonomous driving without monitoring obligation and not continuing according to the driver's request.

[0202] The continuation determination unit 1724 may be configured to determine not to continue the automated driving without monitoring obligation and to transition to driving handover when the driver performs an operation related to the second task. The continuation determination unit 1724 may be configured to determine to continue the automated driving without monitoring obligation and to continue the automated driving without monitoring obligation when the driver performs a steering operation.

[0203] (Embodiment 13) The configuration is not limited to that of the above-described embodiment, and may be that of the following embodiment 13. An example of the configuration of embodiment 13 will be described below with reference to the drawings.

[0204] <Overall configuration of vehicle system 1j> The vehicle system 1j shown in Fig. 26 can be used in an autonomous driving vehicle. As shown in Fig. 26, the vehicle system 1j includes an HCU 10j, a communication module 11, a locator 12, a map DB 13, a vehicle state sensor 14, a surrounding monitoring sensor 15, a vehicle control ECU 16, an autonomous driving ECU 17j, an alarm device 18, and a user input device 19. The vehicle system 1j includes an HCU 10j instead of the HCU 10e. The vehicle system 1j includes an autonomous driving ECU 17j instead of the autonomous driving ECU 17e. Except for these points, the vehicle system 1j is similar to the vehicle system 1e of the eighth embodiment.

[0205] The HCU 10j is similar to the HCU 10e of the eighth embodiment, except that the HCU 10j performs notification in accordance with an instruction from the automatic driving ECU 17j. The HCU 10j may be configured not to perform the notification control-related processing described in the first embodiment.

[0206] <Outline of Autonomous Driving ECU17j> Next, a schematic configuration of the automatic driving ECU 17j will be described with reference to FIG. 27. As shown in FIG. 27, the automatic driving ECU 17j includes a driving environment recognition unit 171, a behavior determination unit 172, a control execution unit 173, and an HCU communication unit 174j as functional blocks. The automatic driving ECU 17j includes a behavior determination unit 172j instead of the behavior determination unit 172. The automatic driving ECU 17j includes an HCU communication unit 174j instead of the HCU communication unit 174. Except for these points, the automatic driving ECU 17j is similar to the automatic driving ECU 17e of the eighth embodiment. This automatic driving ECU 17j also corresponds to a vehicle control device. In addition, the execution of the processing of each functional block of the automatic driving ECU 17j by a computer also corresponds to the execution of a vehicle control method.

[0207] The HCU communication unit 174j includes, as sub-functional blocks, a notification processing unit 1741 and a setting request unit 1742. The HCU communication unit 174j is similar to the HCU communication unit 174 of the eighth embodiment, except that the HCU communication unit 174j includes the setting request unit 1742.

[0208] The setting request unit 1742 makes a setting request to the occupants of the vehicle to set a destination, which is more urgent than the setting promotion notification that prompts the setting of a destination. The setting promotion notification is the same as the setting promotion notification described in the first embodiment. The setting request unit 1742 may send an instruction to the HCU 10j to make a setting request from the notification device 18. The setting request is a notification with more urgency than the setting promotion notification. For example, a notification may be made to instruct the setting of a destination, rather than to prompt the setting of a destination. An example of the setting request is a display of text such as "Please set a destination", a voice output, or the like. The setting request may be made by displaying an icon for the setting request. The setting request may be displayed on the meter MID, CID, or a display for the rear seat.

[0209] The setting request unit 1742 may make a setting request when detecting a situation in which it is estimated that the urgency of setting a destination is high. An example of a situation in which it is estimated that the urgency of setting a destination is high is a case in which automatic driving without a monitoring obligation continues for more than a specified time with a destination not being set. This specified time may be set arbitrarily. Another example is a situation in which a branch point where the distance to the next branch point is more than a specified value is approached. This is because, if the vehicle enters a section where driving along the road continues for a long time, it becomes difficult to search for an appropriate route that can quickly get to the destination even if the destination is set. The specified value may be set arbitrarily. Approach may be defined as a situation in which the distance to the target branch point is less than a threshold value that can be set arbitrarily.

[0210] The behavior determining unit 172j includes a setting state identifying unit 1721, a searcher identifying unit 1722, and an LC limiting unit 1723j as sub-functional blocks. The behavior determining unit 172j is similar to the behavior determining unit 172 of the eighth embodiment except that the behavior determining unit 172j includes an LC limiting unit 1723j instead of the LC limiting unit 1723.

[0211] The LC limiting unit 1723j, like the LC limiting unit 1723, restricts the execution of the automatic lane change of the vehicle when a new destination is searched for in mode A or mode B, or when the vehicle is in mode C, based on the setting state specified by the setting state specifying unit 1721. Mode A is a state of the vehicle during automatic driving without monitoring obligation in which a destination is set by the occupant of the vehicle. Mode B is a state of the vehicle during automatic driving without monitoring obligation in which a destination is not set by the occupant of the vehicle. Mode C is a state of the vehicle during automatic driving without monitoring obligation in which a reroute has occurred. The LC limiting unit 1723j is similar to the LC limiting unit 1723 of the eighth embodiment, except for some different processing. The following describes this difference. When the setting request unit 1742 has not made a setting request, the LC limiting unit 1723j does not restrict the execution of the automatic lane change of the vehicle. In other words, when a new destination is searched for and a reroute is performed due to the setting of a destination by the occupant without a setting request, the LC limiting unit 1723j does not restrict the execution of the automatic lane change of the vehicle. In other words, when a new destination is searched for and rerouted due to the destination setting of the occupant after the setting request, the LC limiting unit 1723j also limits the execution of lane change of the vehicle. The LC limiting unit 1723j also corresponds to a lane change limiting unit. The process in the LC limiting unit 1723j also corresponds to a lane change limiting step.

[0212] When a setting request is made from the vehicle system side, it is considered that there is a high degree of urgency. With the above configuration, it is possible to limit the implementation of lane changes only when a destination search and rerouting are performed in such a situation where the occupant is likely to panic. Therefore, it is possible to prevent situations in which the vehicle is required to respond to sudden driving operations in a situation where the occupant is likely to panic. On the other hand, when the occupant is not likely to panic, the implementation of lane changes is not restricted, and it is possible to reduce the inconvenience to the occupant that may be caused by the restriction.

[0213] (Embodiment 14) The configuration is not limited to that of the above-described embodiment, and may be that of the following embodiment 14. An example of the configuration of embodiment 14 will be described below with reference to the drawings.

[0214] <Outline of the configuration of the vehicle system 1k> The vehicle system 1k shown in Fig. 28 can be used in an autonomous driving vehicle. As shown in Fig. 28, the vehicle system 1k includes an HCU 10k, a communication module 11, a locator 12, a map DB 13, a vehicle state sensor 14, a surrounding monitoring sensor 15, a vehicle control ECU 16, an autonomous driving ECU 17k, an alarm device 18, and a user input device 19. The vehicle system 1k includes an HCU 10k instead of the HCU 10e. The vehicle system 1k includes an autonomous driving ECU 17k instead of the autonomous driving ECU 17e. Except for these points, the vehicle system 1k is similar to the vehicle system 1e of the eighth embodiment.

[0215] The HCU 10k is similar to the HCU 10e of the eighth embodiment, except that the HCU 10k performs notification in accordance with an instruction from the autonomous driving ECU 17k. The HCU 10k may be configured not to perform the notification control-related processing described in the first embodiment.

[0216] <Outline of Autonomous Driving ECU 17k> Next, a schematic configuration of the automatic driving ECU 17k will be described with reference to FIG. 29. As shown in FIG. 29, the automatic driving ECU 17k includes a driving environment recognition unit 171, a behavior determination unit 172k, a control execution unit 173, and an HCU communication unit 174j as functional blocks. The automatic driving ECU 17k includes the behavior determination unit 172k instead of the behavior determination unit 172. The automatic driving ECU 17k includes the HCU communication unit 174j instead of the HCU communication unit 174. Except for these points, the automatic driving ECU 17k is similar to the automatic driving ECU 17e of the eighth embodiment. This automatic driving ECU 17k also corresponds to a vehicle control device. In addition, the execution of the processing of each functional block of the automatic driving ECU 17k by a computer also corresponds to the execution of a vehicle control method.

[0217] The HCU communication unit 174j includes a notification processing unit 1741 and a setting request unit 1742 as sub-functional blocks. The HCU communication unit 174j is similar to the HCU communication unit 174j of the embodiment 13. The setting request unit 1742 of the embodiment 14 may cause the notification device 18 to make a setting request by sending an instruction to the HCU 10k.

[0218] The behavior determining unit 172k includes, as sub-functional blocks, a setting state identifying unit 1721, a searcher identifying unit 1722, an LC limiting unit 1723, and a speed limiting unit 1725. The behavior determining unit 172k is similar to the behavior determining unit 172 of the eighth embodiment, except that it includes the speed limiting unit 1725.

[0219] The speed limiting unit 1725 limits the speed of the vehicle to be slower than the set vehicle speed during automatic driving without monitoring obligation when a new destination is searched for in mode A or mode B, or in mode C, based on the setting state identified by the setting state identifying unit 1721. In other words, when a new destination is searched for in mode A or mode B, or in mode C, the speed of the vehicle is limited more than when these conditions are not satisfied. The set vehicle speed during automatic driving without monitoring obligation may be a vehicle speed determined according to the speed limit of the road on which the vehicle is traveling, for example. The set vehicle speed during automatic driving without monitoring obligation may be a vehicle speed set by an input operation from the occupant. The speed of the vehicle may be limited by setting a speed upper limit value lower than the set vehicle speed. Alternatively, the speed of the vehicle may be limited by decelerating the vehicle.

[0220] When the vehicle is searching for a new destination in mode A and mode B, there is a high possibility that the planned route will be changed. In addition, in mode C, there is also a high possibility that the planned route will be changed. When the planned route is changed in this way, a sudden change in traveling direction may be required. With the above configuration, by limiting the speed of the vehicle, it becomes easier to respond to a sudden change in traveling direction.

[0221] When the setting request unit 1742 has not made a setting request, it is preferable that the speed limiting unit 1725 not limit the speed of the vehicle when a new destination is searched for in mode A or mode B, or even in mode C. In other words, when a new destination is searched for and a reroute is performed due to the occupant setting a destination without a setting request, the speed limiting unit 1725 does not limit the speed of the vehicle. In other words, when a new destination is searched for and a reroute is performed due to the occupant setting a destination after a setting request, the speed limiting unit 1725 limits the speed of the vehicle.

[0222] When a setting request is made from the vehicle system side, it is considered that there is a high degree of urgency. With the above configuration, it is possible to limit the speed of the vehicle only when a destination search and rerouting are performed in such a situation where the occupant is likely to panic. This makes it possible to prevent the occurrence of a situation where the vehicle is required to respond to a sudden driving operation in a situation where the occupant is likely to panic. On the other hand, when the occupant has set the destination and is not in a situation where the occupant is likely to panic, it is not necessary to limit the speed of the vehicle. This makes it possible to reduce the inconvenience to the occupant that may be caused by limiting the speed.

[0223] The configuration of the 14th embodiment may be combined with the configurations of the 12th to 13th embodiments. The configuration of the 14th embodiment may be combined with the configurations of the 1st to 7th, 9th to 11th embodiments. In the 14th embodiment, the automatic driving ECU 17k performs the functions of the setting state specifying unit 1721, the speed limiting unit 1725, and the setting request unit 1742, but this is not necessarily limited to this. For example, the HCUs 10, 10a, 10b, 10c, 10d, 10f, 10g, and 10h may perform at least some of the functions of the setting state specifying unit 1721, the speed limiting unit 1725, and the setting request unit 1742. The function of the setting state specifying unit 1721 may be performed by a functional block similar to that of the setting state specifying unit 106 in the HCUs 10, 10a, 10b, 10c, 10d, 10f, 10g, and 10h. The function of the speed limiting unit 1725 may be performed in the HCUs 10, 10a, 10b, 10c, 10d, 10f, 10g, and 10h by a functional block similar to that of the control instruction unit 108. The function of the setting request unit 1742 may be performed in the HCUs 10, 10a, 10b, 10c, 10d, 10f, 10g, and 10h by a functional block similar to that of the notification control units 100, 100a, 100b, 100c, 100d, 100f, 100g, and 100h. In this case, a configuration including the HCUs 10, 10a, 10b, 10c, 10d, 10f, 10g, and 10h, or the HCUs 10, 10a, 10b, 10c, 10d, 10f, 10g, and 10h and the automatic driving ECU 17k corresponds to a vehicle control device.

[0224] (Embodiment 15) The configuration of the embodiment 15 described below may be adopted without being limited to the configuration of the above-mentioned embodiment. An example of the configuration of the embodiment 15 will be described below. In the embodiment 15, it is assumed that a mobile terminal of a passenger of the vehicle and the vehicle system 1, 1c, 1d, 1e, 1f, 1g, 1h, 1i, 1j, and 1k can be communicatively connected. An example of the mobile terminal is a multi-function mobile phone such as a smartphone. It is assumed that the mobile terminal has a navigation function. This communication connection may be performed, for example, by short-range communication. An example of the short-range communication is wireless communication conforming to the Bluetooth Low Energy (Bluetooth is a registered trademark) standard. In this case, the vehicle system 1, 1c, 1d, 1e, 1f, 1g, 1h, 1i, 1j, and 1k may be communicatively connected to the mobile terminal via, for example, a short-range communication module.

[0225] The HCUs 10, 10a, 10b, 10c, 10d, 10e, 10f, 10g, 10h, 10i, 10j, and 10k determine whether route guidance is being performed on the mobile terminal. This determination may be made from information on the navigation function of the mobile terminal acquired from the mobile terminal. Note that even if the mobile terminal and the vehicle system 1, 1c, 1d, 1e, 1f, 1g, 1h, 1i, 1j, and 1k are connected for communication, the route search on the mobile terminal is not reflected in the driving plan of the automatic driving ECU 17, 17e. A notification indicating that the route search on the mobile terminal is not reflected in the driving plan of the automatic driving ECU 17, 17e, 17f, 17h, 17i, 17j, and 17k is hereinafter referred to as a non-reflection notification. When the HCUs 10, 10a, 10b, 10c, 10d, 10e, 10f, 10g, 10h, 10i, 10j, and 10k determine that route guidance is being performed on a mobile terminal, they cause a non-reflection notification to be issued from the notification device 18. This makes it possible to prevent the occupants from misunderstanding that the route search on the mobile terminal is reflected in the driving plan of the autonomous driving ECUs 17, 17e, 17f, 17h, 17i, 17j, and 17k.

[0226] The present disclosure is not limited to the above-described embodiment, and various modifications are possible within the scope of the claims. The embodiments obtained by appropriately combining the technical means disclosed in the different embodiments are also included in the technical scope of the present disclosure. The control unit and the method described in the present disclosure may be realized by a dedicated computer constituting a processor programmed to execute one or more functions embodied by a computer program. Alternatively, the device and the method described in the present disclosure may be realized by a dedicated hardware logic circuit. Alternatively, the device and the method described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor that executes a computer program and one or more hardware logic circuits. The computer program may be stored in a computer-readable non-transient tangible recording medium as instructions executed by the computer.

[0227] (Disclosed technical idea) 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.

[0228] (Technical thought 1) A vehicle control device that can be used in a vehicle that performs automatic driving without a monitoring obligation, which is automatic driving without a surrounding monitoring obligation, a guidance availability determination unit (103) for determining whether or not a route to a destination set by an occupant of the vehicle is being guided; and a notification control unit (100, 100a, 100b, 100f, 100g, 100h) that, when the guidance presence / absence determination unit determines that the route guidance is not being performed during the monitoring-free autonomous driving of the vehicle, issues a warning notification at a predetermined timing, which is at least one of a confirmation notification that prompts confirmation related to route setting and a status notification that notifies the driving status.

[0229] (Technical thought 2) A vehicle control device according to Technical Concept 1, The notification control unit is a vehicle control device that, when the guidance presence / absence determination unit determines that route guidance is not being performed during the monitoring-free autonomous driving of the vehicle, issues the alert notification at the specified timing, which is the time when the elapsed time from the start of the monitoring-free autonomous driving reaches a specified time.

[0230] (Technical Thought 3) The vehicle control device according to Technical Concept 1 or 2, The notification control unit is a vehicle control device that, when the guidance presence / absence determination unit determines that route guidance is not being performed during the vehicle's autonomous driving without monitoring obligation, issues the warning notification at the specified timing, which is the distance timing when the vehicle's travel distance from the start of the autonomous driving without monitoring obligation reaches a specified distance.

[0231] (Technical Thought 4) A vehicle control device according to any one of Technical Ideas 1 to 3, The notification control unit is a vehicle control device that, when the guidance presence / absence determination unit determines that route guidance is not being performed during the vehicle's autonomous driving without monitoring obligation, causes the notification control unit to notify, as the specified timing, of information on specified points that the vehicle is scheduled to pass through at specified time intervals from the start of the autonomous driving without monitoring obligation.

[0232] (Technical Thought 5) A vehicle control device according to any one of Technical Ideas 1 to 4, The notification control unit is a vehicle control device that, when the guidance presence / absence determination unit determines that route guidance is not being performed during the monitoring-free autonomous driving of the vehicle, issues the alert notification at the specified timing, which is the timing when the vehicle reaches a specified location, which is a specified area or point.

[0233] (Technical Thought 6) A vehicle control device according to Technical Concept 5, a speed control instruction unit (108) that suppresses the speed of the vehicle to a specified value or less when a distance between the vehicle and the predetermined location becomes equal to or less than a threshold value; The notification control unit (100f) is a vehicle control device that, when the guidance presence / absence determination unit determines that the route guidance is not being performed during the monitoring-free autonomous driving of the vehicle, issues the situation notification to inform the driver of the driving situation at the location and timing when the vehicle reaches the specified location.

[0234] (Technical Thought 7) A vehicle control device according to any one of Technical Ideas 1 to 6, The notification control unit is a vehicle control device that, when issuing the alert notification, sequentially issues multiple types of alert notifications including at least two types of notifications among a setting promotion notification that prompts the driver to set a destination as the confirmation notification, a setting status notification that indicates the current route setting status as the confirmation notification, and the status notification.

[0235] (Technical Thought 8) A vehicle control device according to any one of Technical Ideas 1 to 6, The notification control unit issues a setting promotion notification to encourage the setting of a destination as the alert notification, and when the guidance presence / absence determination unit determines that route guidance is not in progress during the monitoring-free autonomous driving of the vehicle, the notification control unit issues at least one of a setting status notification indicating the current route setting status and a status notification informing the driving status, from before the specified timing, while also issuing the setting promotion notification at the specified timing.

[0236] (Technical Thought 9) A vehicle control device according to any one of Technical Ideas 1 to 5, When the guidance presence / absence determination unit determines that the route guidance is not being performed during the autonomous driving of the vehicle without monitoring obligation, the notification control unit is capable of issuing at least one of the following alert notifications as the warning notification: a setting promotion alert that prompts the user to set a destination as the confirmation notification, a setting status alert that indicates the current route setting status as the confirmation notification, and the situation alert, at at least two of the following specified timings: a time timing when the elapsed time since the start of the autonomous driving without monitoring obligation reaches a specified time, a distance timing when the distance traveled by the vehicle since the start of the autonomous driving without monitoring obligation reaches a specified distance, and a location timing when the vehicle reaches a specified location that is a specified area or point, and the vehicle control device changes the type or combination of types of the alert notification depending on at which type of timing the alert notification is to be issued.

[0237] (Technical Thought 10) A vehicle control device according to any one of Technical Ideas 1 to 9, a repetition identification unit (104) for identifying whether the vehicle is traveling on a route that has been traveled repeatedly a predetermined number of times or more in the past; The notification control unit is a vehicle control device that does not issue the alert notification at the specified timing when the guidance presence / absence determination unit determines that the vehicle is not undergoing route guidance during the monitoring-free autonomous driving of the vehicle, but when the repetition determination unit determines that the vehicle is traveling on a route that it has traveled repeatedly in the past.

[0238] (Technical Thought 11) A vehicle control device according to any one of Technical Ideas 1 to 10, The present invention can be used in a vehicle that switches between a sleep-permitted autonomous driving mode in which the driver of the vehicle is permitted to sleep and a sleep-non-permitted autonomous driving mode in which the driver of the vehicle is not permitted to sleep, among the autonomous driving modes without a monitoring obligation; The notification control unit (100g) is a vehicle control device that, when the guidance presence / absence determination unit determines that the vehicle is not undergoing route guidance during the monitoring-free autonomous driving of the vehicle, changes the frequency of the notification, as the situation notification, indicating that the vehicle is not undergoing route guidance, depending on whether the vehicle is undergoing sleep-permitted autonomous driving or sleep-non-permitted autonomous driving.

[0239] (Technical Thought 12) A vehicle control device according to Technical Concept 11, The notification control unit is a vehicle control device that increases the frequency of notifications indicating that the vehicle is not performing route guidance as the situation notification when the vehicle is in sleep-permitting automatic driving compared to when the vehicle is in sleep-non-permitting automatic driving.

[0240] (Technical Thought 13) A vehicle control device according to any one of Technical Ideas 1 to 11, The notification control unit (100h) is a vehicle control device that, when a non-route guidance transition occurs during the vehicle's autonomous driving without monitoring obligation, which is a transition from a state in which the guidance presence / absence determination unit determines that route guidance is not in progress to a state in which route guidance is not in progress, issues at least one of a setting promotion notification that prompts the user to set a destination as the confirmation notification, and a notification that confirms whether or not the autonomous driving without monitoring obligation will continue.

[0241] (Technical Thought 14) A vehicle control device according to Technical Concept 13, A vehicle control device comprising: a continuation judgment unit (109) that judges whether or not to continue the automated driving without monitoring obligation when the non-route guidance transition occurs during the automated driving without monitoring obligation of the vehicle, depending on at least one of the driver's operation related to a second task, which is an act other than driving that is permitted to the driver of the vehicle, and the driver's steering operation.

[0242] (Technical Thought 15) A vehicle control device according to Technical Concept 14, The continuation judgment unit, when the driver performs an operation related to the second task, judges to continue the autonomous driving without monitoring obligation and continues the autonomous driving without monitoring obligation, while, when the driver performs a steering operation, judges not to continue the autonomous driving without monitoring obligation and transitions to a driving handover.

[0243] (Technical Thought 16) A vehicle control device that can be used in a vehicle that performs automatic driving without a monitoring obligation, which is automatic driving without a surrounding monitoring obligation, a setting state specification unit (106) for specifying a setting state which is a state related to setting of a destination of the vehicle; A vehicle control device comprising: a tolerance range change unit (107, 107d) that changes the tolerance range of a second task, which is an act other than driving, that is permitted to the driver of the vehicle, between mode A, which is a state of the vehicle during autonomous driving without monitoring obligation in which the destination is set by an occupant of the vehicle, and mode B, which is a state of the vehicle during autonomous driving without monitoring obligation in which the destination is not set by an occupant of the vehicle, based on the setting state identified by the setting state identification unit.

[0244] (Technical Thought 17) A vehicle control device according to Technical Concept 16, The vehicle control device, wherein the tolerance change unit (107) narrows the tolerance of the second task in the mode B compared to the mode A.

[0245] (Technical Thought 18) A vehicle control device according to Technical Concept 16, The vehicle control device, wherein the tolerance change unit (107d) widens the tolerance of the second task in the mode B compared to the mode A.

[0246] (Technical Thought 19) A vehicle control device according to any one of Technical Ideas 16 to 18, When a reroute occurs, which is a re-search for a new route to the destination, the vehicle transitions to mode C, which is a state of the vehicle during autonomous driving without a monitoring obligation that is different from mode A and mode B, The vehicle control device, wherein the tolerance change unit narrows the tolerance of the second task in the mode C compared to the modes A and B.

[0247] (Technical Thought 20) A vehicle control device according to Technical Concept 19, The vehicle control device, wherein the tolerance change unit, in the case of the mode C, does not permit execution of the second task.

[0248] (Technical Thought 21) A vehicle control device that can be used in a vehicle that performs automatic driving without a monitoring obligation, which is automatic driving without a surrounding monitoring obligation, A setting state specification unit (1721) that specifies a setting state that is a state related to setting of a destination of the vehicle; A vehicle control device comprising: a lane change restriction unit (1723, 1723j) that restricts the vehicle from changing lanes in mode C, which is a state of the vehicle during autonomous driving without monitoring obligation different from mode A and mode B, into which the vehicle enters when a new destination is searched for or a reroute, which is a re-search for a new route to the destination, occurs in mode A, which is a state of the vehicle during autonomous driving without monitoring obligation in which the destination is set by an occupant of the vehicle, based on the setting state identified by the setting state identification unit, or in mode B, which is a state of the vehicle during autonomous driving without monitoring obligation in which the destination is not set by an occupant of the vehicle.

[0249] (Technical Thought 22) A vehicle control device according to Technical Concept 21, A vehicle control device comprising: a notification instruction unit (1741) that notifies a driver that the lane change is being restricted when the lane change restriction unit restricts the lane change.

[0250] (Technical Thought 23) A vehicle control device according to Technical Idea 21 or 22, a searcher identification unit (1722) for identifying whether the destination search is being performed by an instruction from the driver of the vehicle or a passenger other than the driver; The lane change restriction unit, when the searcher identification unit determines that the search for the destination is being performed at the instruction of the driver, restricts the execution of the lane change when a new search for the destination is being performed in mode A or mode B, and, when the searcher identification unit determines that the search for the destination is being performed at the instruction of the passenger, does not restrict the execution of the lane change even when a new search for the destination is being performed in mode A or mode B.

[0251] (Technical Thought 24) A vehicle control device according to any one of Technical Ideas 21 to 23, A setting request unit (1742) is provided for making a setting request for a passenger of the vehicle to set the destination, which is more urgent than a setting promotion notification for prompting the passenger to set the destination, The lane change restricting unit (1723j) is a vehicle control device that does not restrict the execution of the lane change when the setting request unit has not made the setting request.

[0252] (Technical Thought 25) A vehicle control device according to any one of Technical Ideas 1 to 24, A setting state specification unit (1721) that specifies a setting state that is a state related to setting of a destination of the vehicle, A vehicle control device comprising: a speed limiting unit (1725) that limits the speed of the vehicle to be slower than the set vehicle speed during autonomous driving without monitoring obligation in mode A, which is a state of the vehicle during autonomous driving without monitoring obligation that is different from mode A and mode B, and which is entered when a new destination is searched for or a reroute, which is a re-search for a new route to the destination, occurs in mode A, which is a state of the vehicle during autonomous driving without monitoring obligation in which the destination is set by an occupant of the vehicle, based on the setting state identified by the setting state identifying unit, or in mode B, which is a state of the vehicle during autonomous driving without monitoring obligation in which the destination is not set by an occupant of the vehicle.

[0253] (Technical Thought 26) A vehicle control device according to Technical Concept 25, A setting request unit (1742) is provided for making a setting request for a passenger of the vehicle to set the destination, which is more urgent than a setting promotion notification for prompting the passenger to set the destination, The vehicle control device, wherein the speed limiting unit does not limit the speed when the setting requesting unit has not made the setting request.

[0254] (Technical Thought 27) A vehicle control device according to any one of Technical Ideas 16 to 23, A vehicle control device comprising a notification instruction unit (100c, 100d, 1741i) that, when a non-route guidance transition occurs during the autonomous driving of the vehicle without monitoring obligation, which is a transition from a state in which the guidance presence / absence determination unit determines that route guidance is not in progress to a state in which route guidance is not in progress, issues at least one of a setting promotion notification that prompts the user to set a destination, and a notification that confirms whether or not the autonomous driving without monitoring obligation will continue.

[0255] (Technical Thought 28) A vehicle control device according to Technical Concept 27, A vehicle control device comprising: a continuation judgment unit (109, 1724) that judges whether or not to continue the automated driving without monitoring obligation when the non-route guidance transition occurs during the automated driving without monitoring obligation of the vehicle, based on at least one of the driver's operation related to a second task, which is an act other than driving that is permitted to the driver of the vehicle, and the driver's steering operation.

[0256] (Technical Thought 29) A vehicle control device according to Technical Concept 28, The continuation judgment unit, when the driver performs an operation related to the second task, judges to continue the autonomous driving without monitoring obligation and continues the autonomous driving without monitoring obligation, while, when the driver performs a steering operation, judges not to continue the autonomous driving without monitoring obligation and transitions to a driving handover. [Explanation of symbols]

[0257] 1, 1c, 1d, 1e, 1f, 1g, 1h, 1i, 1j, 1k Vehicle system, 10, 10a, 10b, 10c, 10d, 10f, 10g, 10h, 10i, 10j, 10k HCU (vehicle control device), 10e HCU, 17e, 17i, 17j, 17k Autonomous driving ECU (vehicle control device), 18 Notification device, 100, 100a, 100b, 100f, 100g, 100h Notification control unit, 100c, 100d Notification control unit (notification instruction unit), 103 Guidance presence / absence determination unit, 104 Repetition determination unit, 105 Timing determination unit, 106 Setting state determination unit, 107, 107d Tolerance range change unit, 108 Control instruction unit (speed control instruction unit), 109 Continuation determination unit, 181 display unit, 182 audio output device, 1721 setting state identification unit, 1722 searcher identification unit, 1723, 1723j LC restriction unit (lane change restriction unit), 1724 continuation determination unit, 1725 speed restriction unit, 1741, 1741i notification processing unit (notification instruction unit), 1742 setting request unit

Claims

1. A vehicle control device that can be used in a vehicle that performs automatic driving without a monitoring obligation, which is automatic driving without a surrounding monitoring obligation, a guidance availability determination unit (103) for determining whether or not a route to a destination set by an occupant of the vehicle is being guided; and a notification control unit (100, 100a, 100b, 100f, 100g, 100h) that, when it is determined that the route guidance is not being performed by the guidance presence / absence determination unit during the monitoring-obligation-free autonomous driving of the vehicle, issues a warning notification, which is at least one of a confirmation notification that prompts a user to confirm a setting of a route and a situation notification that notifies the user of a driving situation, at a predetermined timing; the notification control unit, when issuing the alert notification, sequentially issues a plurality of types of alert notifications including at least two types of notifications among a setting promotion notification for prompting setting of a destination as the confirmation notification, a setting status notification indicating a current route setting status as the confirmation notification, and the situation notification; a repetition identification unit (104) for identifying whether the vehicle is traveling on a route that has been traveled repeatedly a predetermined number of times or more in the past; The notification control unit is a vehicle control device that does not issue the alert notification at the specified timing when the guidance presence / absence determination unit determines that the vehicle is not undergoing route guidance during the monitoring-free autonomous driving of the vehicle, but when the repetition determination unit determines that the vehicle is traveling on a route that it has traveled repeatedly in the past.

2. A vehicle control device that can be used in a vehicle that performs automatic driving without a monitoring obligation, which is automatic driving without a surrounding monitoring obligation, a guidance availability determination unit (103) for determining whether or not a route to a destination set by an occupant of the vehicle is being guided; and a notification control unit (100, 100a, 100b, 100f, 100g, 100h) that, when it is determined that the route guidance is not being performed by the guidance presence / absence determination unit during the monitoring-obligation-free autonomous driving of the vehicle, issues a warning notification, which is at least one of a confirmation notification that prompts a user to confirm a setting of a route and a situation notification that notifies the user of a driving situation, at a predetermined timing; the notification control unit issues a setting promotion notification to prompt the user to set a destination as the alert notification, and when the guidance presence / absence determination unit determines that the route guidance is not being performed during the monitoring-free autonomous driving of the vehicle, issues at least one of a setting state notification indicating a current route setting state and a situation notification notifying the user of a driving situation from before the predetermined timing, while issuing the setting promotion notification at the predetermined timing; a repetition identification unit (104) for identifying whether the vehicle is traveling on a route that has been traveled repeatedly a predetermined number of times or more in the past; The notification control unit is a vehicle control device that does not issue the alert notification at the specified timing when the guidance presence / absence determination unit determines that the vehicle is not undergoing route guidance during the monitoring-free autonomous driving of the vehicle, but when the repetition determination unit determines that the vehicle is traveling on a route that it has traveled repeatedly in the past.

3. A vehicle control device that can be used in a vehicle that performs automatic driving without a monitoring obligation, which is automatic driving without a surrounding monitoring obligation, a guidance availability determination unit (103) for determining whether or not a route to a destination set by an occupant of the vehicle is being guided; and a notification control unit (100, 100a, 100b, 100f, 100g, 100h) that, when it is determined that the route guidance is not being performed by the guidance presence / absence determination unit during the monitoring-obligation-free autonomous driving of the vehicle, issues a warning notification, which is at least one of a confirmation notification that prompts a user to confirm a setting of a route and a situation notification that notifies the user of a driving situation, at a predetermined timing; The notification control unit, when the guidance presence / absence determination unit determines that the route guidance is not being performed during the autonomous driving without monitoring obligation of the vehicle, is capable of issuing at least one of the following alert notifications as the warning notification: a setting promotion alert that prompts the user to set a destination as the confirmation notification, a setting status alert that indicates the current route setting status as the confirmation notification, and the situation alert, at at least two of the following specified timings: a time timing when the elapsed time since the start of the autonomous driving without monitoring obligation reaches a specified time, a distance timing when the distance traveled by the vehicle since the start of the autonomous driving without monitoring obligation reaches a specified distance, and a location timing when the vehicle reaches a specified location that is a specified area or point, and the vehicle control device changes the type or combination of types of the alert notification depending on at which type of timing the alert notification is to be issued.

4. The vehicle control device according to claim 3, a repetition identification unit (104) for identifying whether the vehicle is traveling on a route that has been traveled repeatedly a predetermined number of times or more in the past; The notification control unit is a vehicle control device that does not issue the alert notification at the specified timing when the guidance presence / absence determination unit determines that the vehicle is not undergoing route guidance during the monitoring-free autonomous driving of the vehicle, but when the repetition determination unit determines that the vehicle is traveling on a route that it has traveled repeatedly in the past.

5. The vehicle control device according to any one of claims 1 to 4, The notification control unit is a vehicle control device that, when the guidance presence / absence determination unit determines that route guidance is not being performed during the monitoring-free autonomous driving of the vehicle, issues the alert notification at the specified timing, which is the time when the elapsed time from the start of the monitoring-free autonomous driving reaches a specified time.

6. The vehicle control device according to any one of claims 1 to 4, The notification control unit is a vehicle control device that, when the guidance presence / absence determination unit determines that route guidance is not being performed during the vehicle's autonomous driving without monitoring obligation, issues the warning notification at the specified timing, which is the distance timing when the vehicle's travel distance from the start of the autonomous driving without monitoring obligation reaches a specified distance.

7. The vehicle control device according to any one of claims 1 to 4, The notification control unit is a vehicle control device that, when the guidance presence / absence determination unit determines that route guidance is not being performed during the vehicle's autonomous driving without monitoring obligation, causes the notification control unit to notify, as the specified timing, of information on specified points that the vehicle is scheduled to pass through at specified time intervals from the start of the autonomous driving without monitoring obligation.

8. The vehicle control device according to any one of claims 1 to 4, The notification control unit is a vehicle control device that, when the guidance presence / absence determination unit determines that route guidance is not being performed during the monitoring-free autonomous driving of the vehicle, issues the alert notification at the specified timing, which is the timing when the vehicle reaches a specified location, which is a specified area or point.

9. The vehicle control device according to claim 8, a speed control instruction unit (108) for suppressing the speed of the vehicle to a specified value or less when a distance between the vehicle and the predetermined location becomes equal to or less than a threshold value; The notification control unit (100f) is a vehicle control device that, when the guidance presence / absence determination unit determines that the route guidance is not being performed during the monitoring-free autonomous driving of the vehicle, issues the situation notification to inform the driver of the driving situation at the location and timing when the vehicle reaches the specified location.

10. A vehicle control method that can be used in a vehicle that performs automatic driving without a monitoring obligation, which is automatic driving without a surrounding monitoring obligation, Executed by at least one processor, a guidance presence / absence determination step of determining whether or not route guidance to a destination set by an occupant of the vehicle is being performed; and a notification control step of, when it is determined that the route guidance is not being performed in the guidance presence / absence determination step during the monitoring-obligation automatic driving of the vehicle, issuing a warning notification at a predetermined timing, which is at least one of a confirmation notification that prompts the driver to make a confirmation related to setting of a route and a situation notification that notifies the driver of a driving situation, In the notification control step, when the alert notification is issued, a plurality of types of alert notifications including at least two types of notifications among a setting promotion notification for prompting setting of a destination as the confirmation notification, a setting state notification showing a current route setting state as the confirmation notification, and the situation notification are issued in sequence, a repetition identification step of identifying whether the vehicle is traveling on a route that has been traveled repeatedly a predetermined number of times or more in the past; In the notification control process, even if the guidance presence / absence determination process determines that the vehicle is not undergoing route guidance during the automatic driving of the vehicle without a monitoring obligation, if the repetition determination process determines that the vehicle is traveling on a route that it has traveled repeatedly in the past, the vehicle control method does not issue the alert notification at the specified timing.

11. A vehicle control method that can be used in a vehicle that performs automatic driving without a monitoring obligation, which is automatic driving without a surrounding monitoring obligation, Executed by at least one processor, a guidance presence / absence determination step of determining whether or not route guidance to a destination set by an occupant of the vehicle is being performed; and a notification control step of, when it is determined that the route guidance is not being performed in the guidance presence / absence determination step during the monitoring-obligation automatic driving of the vehicle, issuing a warning notification at a predetermined timing, which is at least one of a confirmation notification that prompts the driver to make a confirmation related to setting of a route and a situation notification that notifies the driver of a driving situation, In the notification control step, a setting promotion notification is issued as the alert notification to encourage setting of a destination. When it is determined that the route guidance is not being performed in the guidance presence / absence specifying step during the monitoring-free autonomous driving of the vehicle, at least one of a setting state notification indicating a current route setting state and a situation notification notifying the driving situation is issued from before the predetermined timing, while the setting promotion notification is issued at the predetermined timing. a repetition identification step of identifying whether the vehicle is traveling on a route that has been traveled repeatedly a predetermined number of times or more in the past; In the notification control process, even if the guidance presence / absence determination process determines that the vehicle is not undergoing route guidance during the automatic driving of the vehicle without a monitoring obligation, if the repetition determination process determines that the vehicle is traveling on a route that it has traveled repeatedly in the past, the vehicle control method does not issue the alert notification at the specified timing.

12. A vehicle control method that can be used in a vehicle that performs automatic driving without a monitoring obligation, which is automatic driving without a surrounding monitoring obligation, Executed by at least one processor, a guidance presence / absence determination step of determining whether or not route guidance to a destination set by an occupant of the vehicle is being performed; and a notification control step of, when it is determined that the route guidance is not being performed in the guidance presence / absence determination step during the monitoring-obligation automatic driving of the vehicle, issuing a warning notification at a predetermined timing, which is at least one of a confirmation notification that prompts the driver to make a confirmation related to setting of a route and a situation notification that notifies the driver of a driving situation, In the notification control step, when it is determined in the guidance presence / absence specifying step that the route guidance is not being performed during the autonomous driving without monitoring obligation of the vehicle, at least two of the following notification can be issued as the alert notification: a setting promotion notification that prompts the user to set a destination as the confirmation notification, a setting status notification that indicates the current route setting status as the confirmation notification, and the situation notification, at least two of the following specified timings: a time timing when the elapsed time from the start of autonomous driving without monitoring obligation reaches a specified time, a distance timing when the distance traveled by the vehicle from the start of autonomous driving without monitoring obligation reaches a specified distance, and a location timing when the vehicle reaches a specified location that is a specified area or point. This is a vehicle control method that changes the type or combination of types of the alert notification depending on at which type of timing the alert notification is to be issued.

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