Vehicle control device, location notification method, and location notification computer program

Abstract

To provide a vehicle control device capable of notifying a driver of a point at which a vehicle enters an area to which automatic driving control can be applied.SOLUTION: The vehicle control device has a storage unit (5, 22) for storing map information including information used in automatic operation control of a vehicle 10 for a predetermined area, a point identification unit 31 for identifying, with reference to the map information, a possible automatic operation start point where the vehicle 10 enters the predetermined area along a planned route from a current position of the vehicle 10 outside the predetermined area to a destination of the vehicle 10, and a notification unit 33 for notifying the driver of the vehicle 10 of the possible automatic operation start point via a notification device 6 installed in the cabin of the vehicle 10. The point identification unit 31 detects at least one point where entry into the predetermined area is possible as a candidate for an alternative entry point, by referring to the map information. The notification unit 33 further notifies the driver of the at least one candidate alternative entry point via the notification device 6.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a vehicle control device capable of controlling automatic driving of a vehicle, and a location notification method and a location notification computer program for notifying a predetermined location. [Background technology]

[0002] Research into technology for autonomous driving control of vehicles and the construction of infrastructure for this purpose are progressing. As a result, the route that a vehicle plans to travel to its destination may include a mixture of sections where autonomous driving control can be applied and sections where it cannot. In such cases, in order to improve the convenience of the driver, a technology has been proposed that notifies the driver of information regarding sections where autonomous driving control can be applied (see Patent Documents 1 and 2).

[0003] The driving assistance system disclosed in Patent Document 1 determines the start point of a section where autonomous driving control can be applied on a planned route for a vehicle that is determined in advance by a navigation system. Then, the driving assistance system calculates the distance from the current position of the vehicle to the start point and notifies the driver of the distance.

[0004] Furthermore, the information display device disclosed in Patent Document 2 searches for a route to a destination and determines whether a section included in the route is a section where autonomous driving is possible or a section where autonomous driving is not possible. Then, this information display device displays information showing the point where the section where autonomous driving is possible switches to a section where autonomous driving is not possible on a point guide image in which information related to event points is arranged in order from the current location to the destination. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] US Patent Application Publication No. 2016 / 0231743 [Patent Document 2] JP 2018-77086 A Summary of the Invention [Problem to be solved by the invention]

[0006] In order to improve convenience for drivers, it is necessary to notify the driver of information about the point where the vehicle enters a section where autonomous driving control is applicable.

[0007] Therefore, an object of the present invention is to provide a vehicle control device that can notify a driver of a point at which the vehicle enters an area where autonomous driving control can be applied. [Means for solving the problem]

[0008] According to one embodiment, a vehicle control device capable of controlling an automatic driving of a vehicle is provided. The vehicle control device includes a storage unit that stores map information including information used in automatic driving control of the vehicle for a predetermined area, a point identification unit that refers to the map information and identifies an automatic driving start possible point where the vehicle enters the predetermined area along a planned driving route from a current position of the vehicle outside the predetermined area to a destination of the vehicle, and a notification unit that notifies a driver of the vehicle of the automatic driving start possible point via a notification device provided in a cabin of the vehicle, the point identification unit refers to the map information and detects at least one point where the predetermined area can be entered as a candidate for an alternative entry point, and the notification unit further notifies the driver of the at least one candidate for the alternative entry point via the notification device.

[0009] This vehicle control device further has a distance calculation unit that calculates the manual driving section distance from the vehicle's current position to a point where automatic driving can be started along the planned driving route, the notification unit further notifies the driver of the manual driving section distance via a notification device, the memory unit further stores map information for driving route search, and the distance calculation unit searches for a route from the vehicle's current position to each of at least one candidate alternative entry point by referring to the map information for driving route search, and calculates the distance from the vehicle's current position to the candidate alternative entry point along the searched route, and the notification unit notifies the driver of the at least one candidate alternative entry point or the distance from the vehicle's current position to the at least one candidate alternative entry point via the notification device.

[0010] In addition, in this vehicle control device, the distance calculation unit selects as the alternative entry point one of at least one candidate alternative entry point whose distance from the current position of the vehicle is shorter than the manual driving section distance, and the notification unit notifies the driver of the alternative entry point or the distance from the current position of the vehicle to the alternative entry point via the notification device.

[0011] Alternatively, in this vehicle control device, the storage unit further stores map information for route search, and when a planned route is not set, the point identification unit refers to the map information and detects at least one point where the vehicle can enter the predetermined area within a range where the distance from the current position of the vehicle to the predetermined area is equal to or less than a predetermined distance, as an entry point candidate. The vehicle control device further has a distance calculation unit that refers to the map information for route search for each of the at least one entry point candidate, searches for a route from the current position of the vehicle to the entry point candidate, calculates the distance from the current position of the vehicle to the entry point candidate along the route, and sets one of the at least one entry point as the entry point, and the notification unit notifies the driver of the entry point and the distance from the current position of the vehicle to the entry point via a notification device.

[0012] According to another embodiment, a point notification method is provided, which includes a processor mounted on a vehicle referring to map information including information used in automatic driving control of the vehicle for a predetermined area, identifying an automatic driving start possible point where the vehicle enters the predetermined area along a planned driving route from a current position of the vehicle outside the predetermined area to a destination of the vehicle, the processor notifying a driver of the vehicle of the automatic driving start possible point via a notification device provided in a passenger compartment of the vehicle, the processor referring to the map information, detecting at least one point where the predetermined area can be entered as a candidate for an alternative entry point, and the processor further notifying the driver of the at least one candidate for the alternative entry point via the notification device.

[0013] According to yet another embodiment, a computer program for notifying a location is provided, the computer program for notifying a location includes instructions for causing a processor mounted on a vehicle to execute the following operations: by referring to map information including information used in automatic driving control of a vehicle for a predetermined area, identifying an automatic driving start possible point where the vehicle enters the predetermined area from a current position of the vehicle outside the predetermined area along a planned driving route to a destination of the vehicle, notifying a driver of the vehicle of the automatic driving start possible point via a notification device provided in a passenger compartment of the vehicle, by referring to the map information, detecting at least one point where the predetermined area can be entered as a candidate for an alternative entry point, and further notifying the driver of the at least one candidate for the alternative entry point via the notification device. Effect of the Invention

[0014] The vehicle control device according to the present invention has the advantage of being able to notify the driver of the point at which the vehicle enters an area where autonomous driving control can be applied. [Brief description of the drawings]

[0015] [Figure 1] 1 is a schematic configuration diagram of a vehicle control system in which a vehicle control device is implemented. [Diagram 2]1 is a hardware configuration diagram of an electronic control device that is an embodiment of a vehicle control device. [Diagram 3] FIG. 2 is a functional block diagram of a processor of the electronic control unit, which is related to distance notification processing and vehicle control processing. [Figure 4] 1 is a diagram for explaining an overview of calculation of a distance from a current position of a vehicle to a point where autonomous driving can start according to this embodiment. FIG. [Diagram 5] 13 is an operational flowchart of a distance notification process. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, a vehicle control device, a distance notification method executed on the vehicle control device, and a computer program for distance notification will be described with reference to the drawings. The vehicle control device is capable of performing automatic driving control of the vehicle in an area covered by map information (hereinafter referred to as a high-precision map) including information used in automatic driving control of the vehicle. Hereinafter, the area covered by the high-precision map will be referred to as an automatic driving possible area. The vehicle control device refers to a planned driving route from the current position of the vehicle to the destination and the high-precision map, and identifies a point where the planned driving route enters an automatic driving possible area, that is, a start point of a section where automatic driving control can be applied (hereinafter referred to as an automatic driving possible point). Then, the vehicle control device calculates the distance from the current position of the vehicle to the automatic driving possible point along the planned driving route, and notifies the driver of the distance.

[0017] FIG. 1 is a schematic diagram of a vehicle control system in which a vehicle control device is implemented. FIG. 2 is a hardware configuration diagram of an electronic control device, which is an embodiment of a vehicle control device. In this embodiment, a vehicle control system 1 that is mounted on a vehicle 10 and controls the vehicle 10 includes a GPS receiver 2, a navigation device 3, a camera 4, a storage device 5, a notification device 6, and an electronic control unit (ECU) 7, which is an example of a vehicle control device. The GPS receiver 2, the navigation device 3, the camera 4, the storage device 5, the notification device 6, and the ECU 7 are communicatively connected via an in-vehicle network that complies with a standard such as a controller area network. The vehicle control system 1 may further include a distance measurement sensor (not shown) such as a LiDAR or radar that measures the distance from the vehicle 10 to an object present around the vehicle 10. Furthermore, the vehicle control system 1 may include an operation switch (not shown) for switching between a manual driving mode in which the driver controls the driving of the vehicle 10 and an automatic driving mode in which the ECU 7 controls the driving of the vehicle 10.

[0018] The GPS receiver 2 receives GPS signals from GPS satellites at predetermined intervals and determines the own position of the vehicle 10 based on the received GPS signals. Then, the GPS receiver 2 outputs the positioning result of the own position of the vehicle 10 based on the GPS signals at predetermined intervals to the navigation device 3 and the ECU 7 via the in-vehicle network. Note that the vehicle control system 1 may have a receiver conforming to another satellite positioning system instead of the GPS receiver 2.

[0019] The navigation device 3 executes navigation processing for the vehicle 10 according to a navigation program running on the device itself. For example, when the driver's operation instructs the navigation device 3 to start the navigation program and the destination of the vehicle 10 is input, the navigation device 3 starts searching for a planned travel route of the vehicle 10 from the current position of the vehicle 10 to the destination. The navigation device 3 then refers to a navigation map stored in the device itself, and determines a planned travel route of the vehicle 10 from the current position of the vehicle 10 at the time of the search instruction to the destination according to a predetermined route search method such as Dijkstra's algorithm. Note that the navigation device 3 can use, for example, the vehicle 10's own position based on the latest positioning result received from the GPS receiver 2 as the current position of the vehicle 10.

[0020] When the navigation device 3 determines the planned driving route of the vehicle 10, the navigation device 3 outputs information representing the planned driving route to the ECU 7 via the in-vehicle network. Furthermore, the navigation device 3 may display the section around the current position of the vehicle 10 on the planned driving route on a display of the device itself, and may output a voice for navigating the driver according to the planned driving route via a speaker provided in the vehicle cabin. Furthermore, the navigation device 3 may correct the planned driving route so that the vehicle 10 heads to the destination from the current position of the vehicle 10 when it deviates from the planned driving route every time the current position of the vehicle 10 deviates from the planned driving route. Then, every time the navigation device 3 corrects the planned driving route, it outputs information representing the corrected planned driving route to the ECU 7 via the in-vehicle network. Hereinafter, unless otherwise specified, the original planned driving route and the corrected planned driving route are not distinguished from each other, and are simply referred to as the planned driving route. Furthermore, the information representing the planned driving route includes, for example, the length of each road section located on the route, a link ID for identifying each road section, or information representing the position of each road section. Furthermore, the information indicating the position of each road section includes, for example, the latitude and longitude of the start point and end point of the road section.

[0021] The camera 4 has a two-dimensional detector configured with an array of photoelectric conversion elements sensitive to visible light, such as a CCD or C-MOS, and an imaging optical system that forms an image of the area to be photographed on the two-dimensional detector. The camera 4 is attached, for example, inside the vehicle cabin of the vehicle 10 so as to face the front of the vehicle 10. The camera 4 photographs the area in front of the vehicle 10 at a predetermined photographing period (for example, 1 / 30 to 1 / 10 seconds) and generates an image showing the area in front of the vehicle 10. The image obtained by the camera 4 may be a color image or a gray image. Note that the vehicle 10 may be provided with a plurality of cameras with different photographing directions or focal lengths. For example, a camera facing the rear of the vehicle 10 may be provided.

[0022] Every time the camera 4 generates an image, it outputs the generated image to the ECU 7 via the in-vehicle network.

[0023] The storage device 5 is an example of a storage unit, and includes, for example, a hard disk device or a non-volatile semiconductor memory. The storage device 5 stores a high-precision map including information used in the automatic driving control of the vehicle. The information used in the automatic driving control includes, for example, information representing the structure of the road in each road section included in the automatic driving possible area. Furthermore, the information used in the automatic driving control includes information representing features such as road markings such as lane markings, road signs, and structures located around the road section (for example, traffic lights, sound barriers on the side of the road) for each road section included in the automatic driving possible area. Furthermore, the high-precision map may include information on landmark points such as interchanges, toll booths, and service areas on motorways. Furthermore, the high-precision map includes information representing the link ID of each road section included in the automatic driving possible area or the position of the section. Furthermore, the high-precision map includes information indicating the outer edge of the automatic driving possible area shown on the high-precision map. For example, if the area where autonomous driving is possible is a rectangular region, the high-precision map includes information indicating the latitude and longitude of the northeastern and southwestern ends of the area where autonomous driving is possible. Therefore, each point where the outer edge of the area where autonomous driving is possible intersects with each road is a point where it is possible to enter or exit the area where autonomous driving is possible.

[0024] Furthermore, the storage device 5 may have a processor for executing an update process of the high-precision map, and a process related to a read request of the high-precision map from the ECU 7. The storage device 5 may transmit a request to acquire a high-precision map together with the current position of the vehicle 10 to a map server via a wireless communication terminal (not shown), for example, every time the vehicle 10 moves a predetermined distance. In this case, the storage device 5 receives a high-precision map for a predetermined range around the current position of the vehicle 10 from the map server via the wireless communication terminal. Furthermore, when the storage device 5 receives a read request of the high-precision map from the ECU 7, it outputs the stored high-precision map or a part of it to the ECU 7 via the in-vehicle network.

[0025] The notification device 6 is provided in the vehicle cabin of the vehicle 10, and is a device that provides a predetermined notification to the driver by voice, text display, icon display, or image display. For this purpose, the notification device 6 has, for example, at least one of a speaker or a display device. The notification device 6 notifies the driver of notification information received from the ECU 7. The notification information includes, for example, information indicating the distance from the current position of the vehicle 10 to the point where automatic driving can be started. When the notification device 6 receives information indicating the distance from the current position of the vehicle 10 to the point where automatic driving can be started, it notifies the driver of the distance by voice from the speaker or by displaying a message, icon, or image indicating the distance on the display device.

[0026] The ECU 7 controls the traveling of the vehicle 10. In this embodiment, when the self-guided driving mode is applied, the ECU 7 controls the vehicle 10 to be driven autonomously. Even when the self-guided driving mode is applied, the ECU 7 may control the vehicle 10 to be driven autonomously only when the driver's behavior satisfies a predetermined condition. The predetermined condition may be, for example, that the driver continues to monitor the area ahead of the vehicle 10.

[0027] Furthermore, when the current position of the vehicle 10 is outside the area where autonomous driving is possible covered by the high-precision map, the ECU 7 refers to the planned driving route and the high-precision map to identify a point where autonomous driving can be started. Then, the ECU 7 calculates the distance from the current position of the vehicle 10 to the point where autonomous driving can be started along the planned driving route, and notifies the driver of the distance via the notification device 6.

[0028] 2, the ECU 7 has a communication interface 21, a memory 22, and a processor 23. The communication interface 21, the memory 22, and the processor 23 may each be configured as a separate circuit, or may be integrated into a single integrated circuit.

[0029] The communication interface 21 has an interface circuit for connecting the ECU 7 to the in-vehicle network. The communication interface 21 passes the positioning result to the processor 23 every time it receives the positioning result of its own position from the GPS receiver 2. The communication interface 21 passes the received image to the processor 23 every time it receives an image from the camera 4. Furthermore, the communication interface 21 passes the planned driving route to the processor 23 when it receives the planned driving route from the navigation device 3. The communication interface 21 also passes the high-precision map read from the storage device 5 to the processor 23. The communication interface 21 also outputs notification information for the driver received from the processor 23 to the notification device 6 via the in-vehicle network.

[0030] The memory 22 is another example of a storage unit, and includes, for example, a volatile semiconductor memory and a non-volatile semiconductor memory. The memory 22 stores various algorithms and various data used in the distance notification process and the vehicle control process executed by the processor 23 of the ECU 7. For example, the memory 22 stores a planned travel route, an image of the surroundings of the vehicle 10, a positioning result of the vehicle's own position, a high-precision map, and internal parameters of the camera 4. Furthermore, the memory 22 temporarily stores various data generated during the distance notification process or the vehicle control process. Furthermore, the memory 22 may store a map for navigation used for searching a travel route. The map for navigation is an example of map information for searching a travel route, and the map includes information (for example, a link ID) that identifies each road section included in the area covered by the map, and information that indicates the length of each road section and the connection relationship between each road section.

[0031] The processor 23 has one or more central processing units (CPUs) and their peripheral circuits. The processor 23 may further have other arithmetic circuits such as a logic arithmetic unit, a numerical arithmetic unit, or a graphic processing unit. The processor 23 executes distance notification processing and vehicle control processing for the vehicle 10.

[0032] 3 is a functional block diagram of the processor 23. The processor 23 has a point identification unit 31, a distance calculation unit 32, a notification unit 33, and a vehicle control unit 34. Each of these units in the processor 23 is, for example, a functional module realized by a computer program running on the processor 23. Alternatively, each of these units in the processor 23 may be a dedicated arithmetic circuit provided in the processor 23. Among these units in the processor 23, the point identification unit 31, the distance calculation unit 32, and the notification unit 33 relate to distance notification processing, while the vehicle control unit 34 relates to vehicle control processing.

[0033] When the planned driving route is generated or corrected, the location identification unit 31 determines whether the current position of the vehicle 10 is included in an area where automatic driving is possible that is covered by a high-precision map. If the current position of the vehicle 10 is outside the area where automatic driving is possible, the location identification unit 31 refers to the planned driving route and the high-precision map to determine whether a part of the planned driving route is included in the area where automatic driving is possible. Furthermore, if a part of the planned driving route is included in the area where automatic driving is possible, the location identification unit 31 identifies a point where automatic driving can be started. Note that the location identification unit 31 can use, for example, the self-position of the vehicle 10 based on the latest positioning result received from the GPS receiver 2 as the current position of the vehicle 10. Alternatively, the location identification unit 31 may calculate the current position of the vehicle 10 by correcting the self-position using a wheel speed measured by a wheel speed sensor (not shown) provided on the vehicle 10 that is obtained from the latest positioning of the self-position to the current time.

[0034] If the current position of the vehicle 10 is outside the range indicated by information indicating the outer edge of the area where autonomous driving is possible, which is included in the high-precision map, the location identification unit 31 determines that the current position of the vehicle 10 is outside the area where autonomous driving is possible.

[0035] When the current position of the vehicle 10 is outside the area where automatic driving is possible, the location identification unit 31 determines whether each road section on the planned driving route is included in the area where automatic driving is possible, starting from the current position of the vehicle 10. The location identification unit 31 then first identifies the road section included in the area where automatic driving is possible. In this case, the location identification unit 31 may determine whether each road section is included in the area where automatic driving is possible by referring to the position information of each road section and information indicating the outer edge of the area where automatic driving is possible. Alternatively, the location identification unit 31 may determine that each road section is included in the area where automatic driving is possible when the link ID of the road section matches the link ID of any road section included in the area where automatic driving is possible. If any road section on the planned driving route is included in the area where automatic driving is possible, the location identification unit 31 determines that a part of the planned driving route is included in the area where automatic driving is possible. On the other hand, if none of the road sections on the planned driving route are included in the area where automatic driving is possible, the location identification unit 31 determines that the planned driving route does not pass through the area where automatic driving is possible.

[0036] When the point identification unit 31 identifies the road section included in the area where autonomous driving is possible first in order from the current position of the vehicle 10 on the planned driving route, it identifies the position where the identified road section intersects with the outer edge of the area where autonomous driving is possible as the point where autonomous driving can be started. Alternatively, the point identification unit 31 may identify the boundary position between the identified road section and the road section immediately preceding the identified road section as the point where autonomous driving can be started.

[0037] The point identification unit 31 notifies the distance calculation unit 32 of the identified autonomous driving start point and the position or link ID of the road section that is included first in the autonomous driving possible area in order from the current position of the vehicle 10.

[0038] While the current position of the vehicle 10 is outside the area where automatic driving is possible, the distance calculation unit 32 calculates the distance from the current position of the vehicle 10 to the point where automatic driving can be started (hereinafter referred to as the manual driving section distance) along the planned driving route at predetermined intervals. In this embodiment, the distance calculation unit 32 calculates the total length of each road section on the planned driving route included in the middle from the current position of the vehicle 10 to the point where automatic driving can be started. Furthermore, the distance calculation unit 32 may calculate the manual driving section distance by adding to the total the distance between the end point on the planned driving route of the road section including the current position of the vehicle 10 and the current position of the vehicle 10, and the distance between the end point on the planned driving route of the road section including the automatic driving start control point and the automatic driving start control point.

[0039] In addition, once the distance calculation unit 32 calculates the manual driving section distance, it may update the manual driving section distance thereafter by correcting the manual driving section distance with the distance traveled by the vehicle 10. For example, the distance calculation unit 32 may update the manual driving section distance by subtracting the distance traveled by the vehicle 10 from the position of the vehicle 10 at the time of calculating the previous manual driving section distance to the position of the vehicle 10 at the time of calculating the current manual driving section distance from the previous manual driving section distance. In addition, the distance calculation unit 32 may calculate the distance traveled by the vehicle 10 between the previous and current calculations of the manual driving section distance based on, for example, the wheel speed obtained during that period.

[0040] 4 is a diagram for explaining an outline of calculation of the distance from the current position of the vehicle 10 to the point where automatic driving can be started according to this embodiment. A point where the vehicle 10 enters the area 400 where automatic driving can be started is searched for along a planned driving route 402 of the vehicle 10 heading from a current position 401 of the vehicle 10 located outside the area 400 where automatic driving can be started to a destination 404. In this example, the planned driving route 402 enters the area 400 where automatic driving can be started at the point 403. Therefore, the point 403 is identified as the point where automatic driving can be started. When the point 403 where automatic driving can be started is identified, a distance L from the current position 401 to the point 403 where automatic driving can be started along the planned driving route 402 is calculated as a manual driving section distance.

[0041] The distance calculation unit 32 notifies the notification unit 33 of the calculated manual driving section distance every time the distance calculation unit 32 calculates the manual driving section distance.

[0042] The notification unit 33 notifies the driver of the manual driving section distance via the notification device 6 every time the distance calculation unit 32 notifies the driver of the manual driving section distance. For example, the notification unit 33 displays a message indicating the manual driving section distance (for example, a message such as "XX km remaining until automatic driving becomes possible") or an icon indicating the manual driving section distance on a display device of the notification device 6. Alternatively, the notification unit 33 causes a speaker of the notification device 6 to emit a voice indicating the manual driving section distance. The notification unit 33 may notify the driver of the manual driving section distance every time the manual driving section distance becomes a multiple of a predetermined unit distance (for example, 1 km or 500 m).

[0043] The notification unit 33 may further refer to the high-precision map to identify a structure or landmark that is closest to the point where autonomous driving can be started, and notify the driver of the identified structure or landmark together with the manual driving section distance via the notification device 6. This allows the driver to easily understand that the vehicle 10 has reached the point where autonomous driving can be started.

[0044] Furthermore, the destination may be located outside the area where automatic driving is possible. In this case, if automatic driving control is applied while the vehicle 10 is traveling within the area where automatic driving is possible, the notification unit 33 determines whether the vehicle 10 has reached a position on the planned travel route that is a predetermined distance before the point where the vehicle 10 exits the area where automatic driving is possible. When the vehicle 10 reaches a position that is a predetermined distance before the exit point, the notification unit 33 notifies the driver via the notification device 6 of the exit point and a message to notify the driver that the driving will be switched to manual driving.

[0045] 5 is an operational flowchart of distance notification processing executed by the processor 23. The processor 23 may execute the distance notification processing in accordance with the following operational flowchart at predetermined intervals.

[0046] The point identification unit 31 of the processor 23 determines whether the current position of the vehicle 10 is included in an area where automatic driving is possible that is covered by a high-precision map (step S101). If the current position of the vehicle 10 is included in the area where automatic driving is possible (step S101-Yes), automatic driving control for the vehicle 10 is already applicable, so the processor 23 ends the distance notification process.

[0047] On the other hand, if the current location of the vehicle 10 is outside the area where autonomous driving is possible (step S101-No), the point identification unit 31 refers to the planned driving route and the high-precision map to identify a point where autonomous driving can be started where the planned driving route enters the area where autonomous driving is possible (step S102).

[0048] When the automatic driving start possible point is specified, the distance calculation unit 32 of the processor 23 calculates the manual driving section distance from the current position of the vehicle 10 to the automatic driving start possible point along the planned travel route (step S103). The notification unit 33 of the processor 23 notifies the driver of the manual driving section distance via the notification device 6 (step S104). Then, the processor 23 ends the distance notification process.

[0049] The vehicle control unit 34 controls the vehicle 10 to operate in an automatic driving mode when the current location of the vehicle 10 is included in an area where automatic driving is possible and when the driver operates an operation switch (not shown) provided in the vehicle cabin to apply the automatic driving mode.

[0050] For example, the vehicle control unit 34 sets one or more planned travel trajectories of the vehicle 10 in a predetermined section (e.g., 500 m to 1 km) from the current position of the vehicle 10 to a predetermined distance ahead. The planned travel trajectory is expressed, for example, as a set of target positions of the vehicle 10 at each time when the vehicle 10 travels in the predetermined section. Then, the vehicle control unit 34 controls each unit of the vehicle 10 so that the vehicle 10 travels along the planned travel trajectory.

[0051] The vehicle control unit 34 generates a planned travel trajectory along the planned travel route. That is, the vehicle control unit 34 refers to a map for navigation or a high-precision map to determine whether or not there is a point at which the vehicle 10 turns right or left on the planned travel route in a predetermined section. If there is no such point, the vehicle control unit 34 may set the planned travel trajectory so that the vehicle 10 travels along the lane in which the vehicle 10 is currently traveling. On the other hand, if there is a point at which the vehicle 10 turns right or left on the planned travel route in a predetermined section, the vehicle control unit 34 sets the planned travel trajectory so that the vehicle 10 can turn right or left at that point. Similarly, the vehicle control unit 34 refers to a map for navigation or a high-precision map to determine whether or not there is a point at which the road on which the vehicle 10 is traveling on the planned travel route branches into two or more branching roads in a predetermined section. If there is such a point, the vehicle control unit 34 sets the planned travel trajectory so that the vehicle 10 heads toward the branching road leading to the destination at that point. At that time, when the vehicle 10 needs to move to a target lane different from the lane in which the vehicle 10 is traveling in order to turn right or left, or to enter a branch road leading to the destination, the vehicle control unit 34 sets a planned traveling trajectory so that the vehicle 10 changes lanes to the target lane. The vehicle control unit 34 may identify the lane in which the vehicle 10 is currently traveling and the current position of the vehicle 10 by comparing features shown in an image of the vehicle 10 around the vehicle 10 obtained by the camera 4 with features shown in the high-precision map around the vehicle 10. Furthermore, the vehicle control unit 34 may identify the target lane by referring to the high-precision map.

[0052] Furthermore, the vehicle control unit 34 sets a planned travel trajectory so that the vehicle 10 does not collide with objects (e.g., other vehicles) existing around the vehicle 10. To this end, the vehicle control unit 34 inputs each of a series of time-series images obtained by the camera 4 in a recent predetermined period to a classifier, thereby detecting one or more objects existing around the vehicle 10 from each image. Alternatively, the vehicle control unit 34 inputs each of a series of time-series distance measurement signals obtained by a distance measurement sensor (not shown) in a recent predetermined period to a classifier, thereby detecting one or more objects existing around the vehicle 10 from each distance measurement signal. The vehicle control unit 34 can use, as such a classifier, for example, a so-called deep neural network (hereinafter simply referred to as DNN) having a convolutional neural network (hereinafter simply referred to as CNN) type architecture. Such a classifier is trained in advance according to a learning method such as an error backpropagation method using a large number of images or distance measurement signals showing objects to be detected. The vehicle control unit 34 executes a predetermined tracking process for each object detected from each image or each ranging signal to track each object and obtain the trajectory of each object in a recent predetermined period. The vehicle control unit 34 then applies a predetermined prediction process to the obtained trajectory to estimate a predicted trajectory along which each object is expected to pass. Based on the predicted trajectory of each object being tracked, the vehicle control unit 34 sets a planned travel trajectory of the vehicle 10 such that the predicted value of the distance between each object being tracked and the vehicle 10 up to a predetermined time ahead for each object is equal to or greater than a predetermined distance.

[0053] When the vehicle control unit 34 sets the planned travel path, it controls each part of the vehicle 10 so that the vehicle 10 travels along the planned travel path. For example, the vehicle control unit 34 calculates the acceleration of the vehicle 10 according to the planned travel path and the current vehicle speed of the vehicle 10 measured by a vehicle speed sensor (not shown), and sets the accelerator opening or brake amount so as to achieve the acceleration. Then, the vehicle control unit 34 calculates the fuel injection amount according to the set accelerator opening, and outputs a control signal corresponding to the fuel injection amount to a fuel injection device of the engine of the vehicle 10. Alternatively, the vehicle control unit 34 controls a drive circuit of the motor so that power corresponding to the set accelerator opening is supplied to the motor. Alternatively, the vehicle control unit 34 outputs a control signal corresponding to the set brake amount to the brake of the vehicle 10.

[0054] Furthermore, when the vehicle 10 changes its course so that the vehicle 10 travels along a planned travel path, the vehicle control unit 34 determines a steering angle of the vehicle 10 according to the planned travel path. Then, the vehicle control unit 34 outputs a control signal corresponding to the steering angle to an actuator (not shown) that controls the steered wheels of the vehicle 10.

[0055] As described above, the vehicle control device refers to the planned driving route from the current position of the vehicle to the destination and the high-precision map to identify the automatic driving start possible point on the planned driving route, which is an area covered by the high-precision map and on which the automatic driving can be started. Then, the vehicle control device calculates the manual driving section distance from the current position of the vehicle to the automatic driving start possible point along the planned driving route, and notifies the driver of the calculated manual driving section distance. In this way, the vehicle control device refers to the planned driving route and the high-precision map to identify the automatic driving start possible point, so that the automatic driving start possible point can be accurately identified. Therefore, the vehicle control device can accurately calculate the manual driving section distance, and as a result, can notify the driver of the accurate distance to the automatic driving start possible point. Therefore, the driver can leave the driving of the vehicle to the ECU without delay after passing the automatic driving start possible point.

[0056] According to a modified example, the point identification unit 31 and the distance calculation unit 32 may search for an entry point (hereinafter referred to as an alternative entry point) into the area where automatic driving is possible, where the distance from the current position of the vehicle 10 to the area where automatic driving is possible is shorter than the manual driving section distance.

[0057] For example, the point identification unit 31 detects one or more entry points into an area where automatic driving is possible that exists within a range of the manual driving section distance from the current position of the vehicle 10 as candidates for the alternative entry point, with reference to the current position of the vehicle 10 and a high-precision map. For each of the detected candidates for the alternative entry point, the distance calculation unit 32 searches for a route from the current position of the vehicle 10 to the candidate for the alternative entry point according to a predetermined route search method such as the Dijkstra algorithm, with reference to a map for navigation. Furthermore, for each of the detected candidates for the alternative entry point, the distance calculation unit 32 searches for a route from the candidate for the alternative entry point to a destination. Then, for each of the detected candidates for the alternative entry point, the distance calculation unit 32 calculates the distance along the route from the current position of the vehicle 10 to the candidate for the alternative entry point. The distance calculation unit 32 determines any of the candidates for the alternative entry point whose calculated distance is shorter than the manual driving section distance as an alternative entry point, and determines a route from the current position to the destination via the alternative entry point as an alternative planned driving route. The notification unit 33 then notifies the driver of the alternative entry point and the distance from the current position of the vehicle 10 to the alternative entry point via the notification device 6 along with a message indicating that the alternative entry point has been found. If there are multiple candidates for the alternative entry point whose distance from the current position of the vehicle 10 is shorter than the manual driving section distance, the distance calculation unit 32 determines the candidate having the shortest distance from the current position of the vehicle 10 as the alternative entry point among the multiple candidates. Alternatively, the distance calculation unit 32 may determine the candidate having the shortest overall route length from the current position of the vehicle 10 to the destination via the alternative entry point candidate as the alternative entry point among the multiple candidates. Alternatively, the notification unit 33 may notify the driver of the alternative entry point candidate and the distance from the current position of the vehicle 10 to the alternative entry point candidate via the notification device 6 for each of the multiple alternative entry point candidates.

[0058] When the driver selects the alternative entry point through an operation switch (not shown) provided in the vehicle cabin, the processor 23 may notify the navigation device 3 of an alternative planned driving route that passes through the alternative entry point through the communication interface 21. The navigation device 3 may navigate the vehicle 10 along the notified alternative planned driving route. Furthermore, when the vehicle 10 reaches the alternative entry point and the driver performs an operation to apply the automatic driving mode through the operation switch, the vehicle control unit 34 automatically controls the vehicle along the alternative planned driving route. Also, similar to the above embodiment, when the destination is located outside the area where automatic driving is possible, the notification unit 33 determines whether the vehicle 10 has reached a position on the alternative planned driving route that is a predetermined distance before the point where the vehicle 10 exits the area where automatic driving is possible. When the vehicle 10 reaches that position, the notification unit 33 notifies the driver of the exit point and a message to switch to manual driving through the notification device 6.

[0059] 4 again, distance L' from current position 401 of vehicle 10 to entry point 411 into automatic driving possible area 400 is shorter than manual driving section distance L from current position 401 to automatic driving possible start point 403. Therefore, entry point 411 is specified as an alternative entry point, and an alternative planned driving route 412 that travels from current position 401 to destination 404 via alternative entry point 411 is specified. Then, alternative entry point 411 and distance L' from current position 401 to alternative entry point 411 along alternative planned driving route 412 are notified to the driver.

[0060] According to this modification, the driver can know the existence of an alternative entry point that is closer than the autonomous driving start point and allows the driver to enter the autonomous driving area. Therefore, by driving the vehicle 10 toward the alternative entry point, the driver can utilize the autonomous driving control earlier, improving the convenience for the driver.

[0061] In addition, the planned driving route from the current position of the vehicle 10 to the destination may not pass through any area where automatic driving is possible. According to another modified example, in such a case, the point identification unit 31 may refer to the current position of the vehicle 10 and the high-precision map, and detect one or more points where the vehicle 10 can enter the area where automatic driving is possible within a range of a predetermined distance or less from the current position of the vehicle 10 as candidate entry points. Then, similar to the above modified example, the distance calculation unit 32 refers to a map for navigation and searches for a route from the current position of the vehicle 10 to the candidate entry point and a route from the candidate entry point to the destination according to a predetermined route search method for each detected candidate entry point. Furthermore, the distance calculation unit 32 calculates the distance along the route from the current position of the vehicle 10 to the candidate entry point for each of the detected candidate entry points. Then, the distance calculation unit 32 may determine the candidate with the shortest distance from the current position of the vehicle 10 as the entry point, and may determine the route from the current position to the destination via the entry point as the alternative planned driving route. The notification unit 33 then notifies the driver via the notification device 6 of the entry point and the distance from the current position of the vehicle 10 to the entry point, along with a message indicating that an entry point into the autonomous driving area has been found. Alternatively, the notification unit 33 may notify the driver via the notification device 6 of each of a plurality of entry point candidates, the entry point candidate, and the distance from the current position of the vehicle 10 to the entry point candidate.

[0062] According to this modification, even if the automatic driving control cannot be applied to the original planned driving route, the vehicle control device can present the driver with an alternative planned driving route in which the automatic driving control can be applied at least in a part of the route, thereby improving the convenience for the driver.

[0063] Furthermore, even if the planned driving route to the destination is not set, the point identification unit 31 may detect one or more points where the vehicle can enter the area where automatic driving is possible as candidates for the entry point at each predetermined period, as in the above-mentioned modified example. In this case, the point identification unit 31 may detect the candidate entry point within a range of a predetermined distance or less from the current position of the vehicle 10 by referring to the current position of the vehicle 10 and the high-precision map. Furthermore, the distance calculation unit 32 may search for a planned driving route including a route from the current position of the vehicle 10 to the candidate entry point and a route from the candidate entry point to the destination by referring to a map for navigation, as in the above-mentioned modified example. Then, the distance calculation unit 32 may determine the candidate with the shortest distance from the current position of the vehicle 10 as the entry point, and may determine the route from the current position to the destination via the entry point as the alternative planned driving route. Then, the notification unit 33 may notify the driver of the entry point and the distance from the current position of the vehicle 10 to the entry point via the notification device 6, together with a message indicating that the entry point into the area where automatic driving is possible has been found. Alternatively, when multiple entry point candidates are found, the distance calculation unit 32 may determine each of the candidates as an entry point. Then, the notification unit 33 may notify the driver via the notification device 6 of each of the multiple entry points and the distance from the current position of the vehicle 10 to the entry point.

[0064] According to this modification, even if the planned driving route is not set, the vehicle control device can generate a new planned driving route in which automatic driving control can be applied in at least a part of the route and present the new route to the driver, thereby improving convenience for the driver.

[0065] In addition, a computer program that realizes functions related to distance notification processing of processor 23 of ECU 7 according to the above embodiment or variant example may be provided in a form recorded on a computer-readable portable recording medium such as a semiconductor memory, a magnetic recording medium or an optical recording medium.

[0066] As described above, those skilled in the art can make various modifications to the embodiments within the scope of the present invention. [Explanation of symbols]

[0067] 1 Vehicle Control System 10 Vehicles 2 GPS receiver 3. Navigation devices 4. Camera 5. Storage Devices 6 Notification device 7 Electronic Control Unit (ECU) 21 Communication Interface 22 Memory 23 Processors 31 Point identification part 32 Distance calculation unit 33 Notification Department 34 Vehicle control unit

Claims

1. A vehicle control device capable of automatically controlling a vehicle, A storage unit that stores map information including information used in automatic driving control of the vehicle for a predetermined area and map information for route search; a point identification unit that identifies an autonomous driving start point where the vehicle enters the specified area along a planned driving route from a current position of the vehicle, which is outside the specified area, to a destination of the vehicle, with reference to the map information, and detects at least one point where the vehicle can enter the specified area as a candidate for an alternative entry point with reference to the map information; a distance calculation unit that searches for a route from the current position of the vehicle to each of the at least one alternative entry point candidates by referring to the map information for travel route search and calculates a distance from the current position of the vehicle to each of the alternative entry point candidates along the route; a notification unit that notifies a driver of the vehicle of the autonomous driving start possible point via a notification device provided in a passenger compartment of the vehicle, The notification unit further notifies the driver via the notification device of the at least one alternative entry point candidate and a distance from the current position of the vehicle to the at least one alternative entry point candidate. Vehicle control device.

2. The distance calculation unit further calculates a manual driving section distance from a current position of the vehicle to the automatic driving start point along the planned driving route, The vehicle control device according to claim 1 , wherein the notification unit further notifies the driver of the manual driving section distance via the notification device.

3. The distance calculation unit determines, as an alternative entry point, any of the at least one alternative entry point candidates whose distance from the current position of the vehicle is shorter than the manual driving section distance, The vehicle control device according to claim 2 , wherein the notification unit notifies the driver of the alternative entry point or a distance from a current position of the vehicle to the alternative entry point via the notification device.

4. When the planned driving route is not set, the point identification unit refers to the map information and detects at least one point from which the predetermined area can be entered within a range where a distance from the current position of the vehicle to the predetermined area is equal to or less than a predetermined distance, as a candidate entry point; the distance calculation unit searches for a route from the current position of the vehicle to the candidate entry point with reference to the map information for searching a driving route, calculates a distance from the current position of the vehicle to the candidate entry point along the route, and determines any one of the at least one entry point as the entry point; The vehicle control device according to claim 1 , wherein the notification unit notifies the driver of the entry point and a distance from a current position of the vehicle to the entry point via the notification device.

5. A processor mounted on the vehicle refers to map information including information for a predetermined area used in automatic driving control of the vehicle, and identifies an automatic driving start point where the vehicle enters the predetermined area along a planned driving route from a current position of the vehicle, which is outside the predetermined area, to a destination of the vehicle, and also refers to the map information to detect at least one point from which the vehicle can enter the predetermined area as a candidate for an alternative entry point; the processor searches for a route from the current position of the vehicle to each of the at least one alternative entry point candidates by referring to map information for travel route search, and calculates a distance from the current position of the vehicle to each of the alternative entry point candidates along the route; The processor notifies a driver of the vehicle of the autonomous driving start possible point via a notification device provided in a passenger compartment of the vehicle; the processor further notifies the driver via the notification device of the at least one potential alternative entry point and a distance from the current position of the vehicle to the at least one potential alternative entry point. A location notification method including the steps of:

6. By referring to map information including information used in automatic driving control of the vehicle for a predetermined area, an automatic driving start point at which the vehicle enters the predetermined area along a planned driving route from a current position of the vehicle, which is outside the predetermined area, to a destination of the vehicle is identified, and by referring to the map information, at least one point from which the vehicle can enter the predetermined area is detected as a candidate for an alternative entry point; searching for a route from the current position of the vehicle to the alternative entry point candidate with reference to map information for travel route search for each of the at least one alternative entry point candidate, and calculating a distance from the current position of the vehicle to the alternative entry point candidate along the route; notifying a driver of the vehicle of the autonomous driving start possible point via a notification device provided in a passenger compartment of the vehicle; further notifying the driver via the notification device of the at least one alternative entry point candidate and a distance from the current position of the vehicle to the at least one alternative entry point candidate. A computer program for location notification that causes a processor mounted on the vehicle to execute the above-mentioned steps.

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