AUTOMATIC DRIVING CONTROL METHOD, AUTOMATIC DRIVING CONTROL DEVICE, AND AUTOMATIC DRIVING CONTROL PROGRAM

Abstract

To enable a predetermined schedule which a driver intended to perform while on board a vehicle under automatic drive control to be completed without interruption.SOLUTION: According to an automatic drive control method, a vehicle's travel route to a destination is searched, a travel plan for the vehicle to be automatically driven in an automatic drive control section included in the travel route is generated, in which automatic drive control is possible, and the vehicle is automatically drive controlled using the travel plan. The automatic drive control method includes: acquiring a predetermined schedule which the driver of a vehicle carries out while aboard the vehicle; searching for a travel plan that would include a section in which the automatic drive control is exercised in accordance with the travel plan and a section in which manual drive control is exercised, and with which traveling in the automatic drive control section will be completed in the time slot of the predetermined schedule; and automatically controlling the drive of the vehicle in the automatic drive control section using the drive plan.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to an automatic driving control method, an automatic driving control device, and an automatic driving control program.

Background Art

[0002] In recent years, technologies that consider a driver's schedule when searching for a vehicle's driving route have been studied. Patent Document 1 discloses a technology for generating a driving plan to perform refueling or power supply during a time period when the driver's schedule is not registered.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the technology disclosed in Patent Document 1, the schedule that the driver plans to carry out while boarding a vehicle during automatic driving is not considered. Therefore, if the vehicle arrives at the destination before the scheduled schedule is completed and the automatic driving control cannot be continued, there is a risk that the driver's scheduled schedule will be interrupted.

[0005] An object of the present invention is to provide an automatic driving control method that reduces the risk of interruption of a scheduled schedule that a driver intends to perform while the vehicle is under automatic driving control.

Means for Solving the Problems

[0006] ​According to the automatic driving control method of an aspect of the present invention, a driving route of a vehicle to a destination is searched, a driving plan is generated such that the vehicle automatically drives in an automatic driving control section included in the driving route where automatic driving control is possible, and the vehicle is automatically driven and controlled using the driving plan. The automatic driving control method acquires a scheduled schedule to be implemented while the driver of the vehicle is on board, includes a section where forward driving control is performed and a section where manual driving control is performed according to the driving plan, and generates a driving plan such that driving in the automatic driving control section is completed at the time zone of the scheduled schedule, and automatically drives and controls the vehicle in the automatic driving control section using the driving plan. After the start of the automatic driving control, it is determined whether the scheduled end time of the scheduled schedule is before the scheduled arrival time at the end point of the automatic driving control section. If the scheduled end time is after the scheduled arrival time, the driver is prompted to input whether or not it is necessary to regenerate the driving plan.

Advantages of the Invention

[0007] It becomes possible to complete the scheduled schedule that the driver had planned to implement without interrupting while on board the vehicle under automatic driving control.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings and the like.

[0010] Figure 1 is a schematic configuration diagram of an automatic driving control device 100 for a vehicle according to an embodiment of the present invention. As shown in this figure, the automatic driving control device 100 includes a camera 110, a GPS receiver 120, a sensor 130, a communication interface 140, a map database 150, a user input / output unit 160, an actuator 170, and a controller 180. The automatic driving control device 100 is mounted on a vehicle that can be controlled by an automatic driving function.

[0011] The camera 110 is an imaging device that images the external situation of the host vehicle and acquires imaging information regarding the external situation of the host vehicle. The camera 110 is, for example, an around view monitor camera provided on the outside of the vehicle body of the front, rear, and left and right doors of the host vehicle, a front camera provided on the inside or outside of the windshield inside the vehicle compartment, and a rear camera installed at the rear of the host vehicle. The camera 110 outputs imaging information regarding the external situation to the controller 180.

[0012] The GPS receiver 120 periodically receives a signal (GPS data) indicating position information transmitted from GPS satellites. The GPS receiver 120 outputs the position information indicated by the received GPS data to the controller 180.

[0013] The sensor 130 includes a radar 131, a gyro sensor 132, a vehicle speed sensor 133, etc., and detects the traveling state of the host vehicle and the state of an object existing around the host vehicle. The radar 131 detects an object outside the host vehicle using radio waves. The radar 131, for example, transmits millimeter-wave radio waves around the host vehicle, receives the radio waves reflected by the object, and detects the object. The radar 131 can acquire, for example, the distance or direction to a surrounding object as object information. The gyro sensor 132 detects the orientation of the host vehicle. The vehicle speed sensor 133 detects the vehicle speed of the host vehicle. The sensor 130 outputs the acquired object information, the detected orientation of the host vehicle, and the vehicle speed to the controller 180. Note that the sensor 130 may have a configuration other than those described above and may acquire other sensor information.

[0014] The communication interface 140 acquires various information from an advanced road traffic system (ITS) that transmits traffic information such as traffic jam information and traffic control information, and weather information, etc. in real time as the surrounding situation of the host vehicle by wireless communication.

[0015] In addition to the surrounding situation, the communication interface 140 is also used to acquire information related to the driver such as a schedule. For example, by performing synchronization processing based on an identification ID associated with the driver via the communication interface 140, the driver's schedule can be acquired from a server on the network or an electronic device owned by the driver.

[0016] The map database 150 stores map information. The map information includes information on the shape of the road including the curvature of the curve, gradient, width, speed limit, intersections, traffic lights, number of lanes, etc. The map information stored in the map database 150 is in a state that can be constantly referred to by a controller 180 described later.

[0017] The user input / output unit 160 includes a display unit 161 that performs image display and an input unit 162 that receives input from the driver. The display unit 161 is, for example, a display, and performs display according to a signal input from the controller 180. The input unit 162 is a button or the like that can receive input from the driver, and transmits a signal corresponding to the input to the controller 180. The user input / output unit 160 may be configured by different devices (for example, a display and a keyboard) for the display unit 161 and the input unit 162, or may be configured by the same device (for example, a touch panel).

[0018] The actuator 170 is a device that executes running control of the host vehicle based on an instruction from the controller 180. The actuator 170 includes a drive actuator 171, a brake actuator 172, a steering actuator 173, and the like.

[0019] The drive actuator 171 is a device for adjusting the driving force of the host vehicle. When the host vehicle is a hybrid vehicle or an electric vehicle equipped with a motor as a driving power source, the drive actuator 171 is composed of a circuit (such as an inverter and a converter) capable of adjusting the power supplied to the motor, etc.

[0020] The brake actuator 172 is a device that operates the brake system according to a command from the controller 180 and adjusts the braking force applied to the wheels of the host vehicle. The brake actuator 172 is composed of a hydraulic brake, a regenerative brake, or the like.

[0021] The steering actuator 173 is composed of an assist motor that controls the steering torque in an electric power steering system. The operation of the steering actuator 173 can be controlled by the controller 180 to control the steering angle of the wheels.

[0022] The controller 180 generates a driving plan based on the current location of the host vehicle, the input destination, the surrounding information of the host vehicle, etc., and in addition, based on the driver's schedule and the like acquired via the communication interface 140 and / or the input unit 162. The controller 180 is configured to be able to execute automatic driving control at a level (level 3) that does not require the driver's operation except in an emergency, and can automatically drive the host vehicle using the generated driving plan. Note that such automatic driving control may be performed not for the entire driving route but for a part of it.

[0023] The controller 180 includes a schedule management unit 181, an information acquisition unit 182, a driving plan generation unit 183, and an automatic driving control unit 184. These configurations will be described below.

[0024] Note that the controller 180 is composed of a computer including a central processing unit (CPU), a read-only memory (ROM), a random access memory (RAM), and an input / output interface (I / O interface). The controller 180 executes a process for realizing specific control by executing a specific program. Note that the controller 180 may be composed of one computer or a plurality of computers.

[0025] The schedule management unit 181 manages the driver's schedule input from the outside via the communication interface 140 and / or the input unit 162. Specifically, the schedule management unit 181 acquires the driver's schedule stored outside by synchronizing with an external device or a network server via the communication interface 140. As another example, the schedule to be executed during the automatic driving control set by the driver at the start of driving is acquired. As still another example, the schedule of a conference call is registered by synchronization with an external device or server, and the schedule of document creation is registered according to the driver's setting.

[0026] Note that in the following, the schedule (plan) to be executed by the driver on board the vehicle during the automatic driving control is referred to as the planned schedule. The planned schedule may have a start time and an end time set, or a required time (for example, 2 hours required for document creation) may be set.

[0027] The information acquisition unit 182 detects the position of the host vehicle in the map database 150 using the GPS data received from the GPS receiver 120. The detected position of the host vehicle serves as the starting point of the travel route generated by the travel plan generation unit 183. The information acquisition unit 182 may correct the position of the host vehicle in the map database 150 by determining the current position, traveling direction, and vehicle speed of the host vehicle from the azimuth and vehicle speed of the host vehicle detected by the sensor 130.

[0028] Furthermore, the information acquisition unit 182 acquires road information around the host vehicle from the detected position of the host vehicle on the map, the imaging information regarding the external situation acquired by the camera 110, and the object information acquired by the sensor 130. The road information includes information regarding the shape, gradient, width, speed limit, intersections, traffic signals, types of lanes, number of lanes, etc. of the roads around the host vehicle. The information acquisition unit 182 acquires the road information around the host vehicle at predetermined time intervals. Using the road information acquired periodically in this way, automatic driving control is performed.

[0029] The travel plan generation unit 183 receives an input of a destination set by the driver via the input unit 162. The travel plan generation unit 183 searches for a travel route from the current location of the host vehicle detected by the information acquisition unit 182 to the input destination using the map database 150. Note that the travel plan generation unit 183 may determine the destination according to the driver's schedule acquired by the schedule management unit 181 instead of the driver's input. When the schedule includes an implementation location, the travel plan generation unit 183 sets the implementation location of the next schedule as the destination.

[0030] Furthermore, the travel plan generation unit 183 generates operation information (including the timing of acceleration / deceleration and steering, etc.) when the host vehicle travels along the travel route. Based on the travel route and operation information generated in this way, the host vehicle can perform automatic driving. Hereinafter, the travel route and operation information are collectively referred to as driving control information used for automatic driving control of the host vehicle as information used for driving control of the host vehicle. And the travel route and the driving control information are collectively referred to as a travel plan used for automatic driving control of the host vehicle. The controller 180 can perform automatic driving control of the host vehicle along the travel route by controlling the actuator 170 of the host vehicle according to the driving control information using the travel plan.

[0031] The travel plan generation unit 183 searches not only for the shortest path with the shortest required time from the departure point to the destination, but also for a travel path such that the schedule set by the driver is completed while the host vehicle travels along the travel path under automatic driving control.

[0032] Specifically, the controller 180 (schedule management unit 181) receives and stores the driver's schedule information from the outside via the communication interface 140 and / or the input unit 162. Then, when the controller 180 (travel plan generation unit 183) registers the schedule to be implemented during automatic driving control in response to an input from the driver, it generates a travel plan such that the arrival time at the destination is later than the end time of the schedule until the schedule is completed so that the automatic driving control continues.

[0033] When such a travel plan is generated, it becomes possible for the driver to complete the scheduled schedule while the automatic driving control is being performed. Note that the travel vehicle speed when generating the travel plan may be determined according to the road type of the travel path within the range of complying with traffic rules, or may be determined so that the scheduled schedule is completed by the time of arrival at the destination.

[0034] The automatic driving control unit 184 can automatically drive the host vehicle along the travel path by controlling the actuator 170 based on the driving control information generated by the travel plan generation unit 183. In this way, by automatically driving the host vehicle, it becomes possible to travel along the travel plan of the host vehicle.

[0035] In the following, for the sake of simplicity, it will be described as if automatic driving control is possible on all routes. When there are sections with manual driving control and sections with automatic driving control and automatic driving control is not possible on all routes, a driving plan is generated so that driving in the automatic driving control section is completed within the time zone of the scheduled schedule. For example, when automatic driving control can be performed only on highways, a driving plan is generated such that the vehicle travels on the highway in automatic driving within the time zone of the scheduled schedule. By doing so, the driver can execute the scheduled schedule during automatic driving control.

[0036] Also, the map database 150 stores whether automatic driving control is possible for each road on which the host vehicle travels. Therefore, based on the map database 150, a driving plan can be generated to travel in the automatic driving control mode on a route where automatic driving control is possible at the time zone of the scheduled schedule. The map data may be stored in a server connected via a network outside the host vehicle. In such a case, the controller 180 configures the map database 150 by downloading from the server. Further, the controller 180 may generate information indicating whether automatic driving control is possible for each section (road) from the driving data of the host vehicle and store the generated availability information in the map data on the server. By doing so, map data indicating the availability of highly accurate automatic driving control can be constructed.

[0037] Examples of a plurality of driving plans generated by the controller 180 are shown in FIGS. 2 and 3. FIG. 2 is an example of a driving plan when a conference call is registered as a scheduled schedule, and FIG. 3 is an example of a driving plan when watching a movie is registered as a scheduled schedule. In this example, an example is shown in which a driving plan is generated at a predetermined vehicle speed determined by the road type of the driving route, but it is not limited to this. The driving plan may be generated to travel at a vehicle speed other than the predetermined vehicle speed according to the road type.

[0038] In the example of FIG. 2, the start time (13:00) and end time (14:00) of a scheduled conference call are registered. First, the controller 180 (travel plan generation unit 183) shows a travel plan A with the shortest required time as the route from the starting point S to the arrival point G. The scheduled arrival time of the host vehicle at the destination when performing automatic driving control along travel plan A is 13:40, which is earlier than the scheduled end time of the conference call. Further, this figure shows a travel plan B that can complete the scheduled schedule during travel. When performing automatic driving control along travel plan B, the scheduled arrival time of the host vehicle at the destination is 14:20, which is later than the scheduled end time of the conference call. Therefore, by selecting travel plan B, the scheduled schedule can be completed during automatic driving control. Note that it is assumed that automatic driving control is possible in all sections in travel plan B.

[0039] In the example of FIG. 3, it is registered that it takes 2 hours to create materials, which is the scheduled schedule. First, the controller 180 (travel plan generation unit 183) shows a travel plan A with the shortest required time as the route from the starting point S to the arrival point G. When performing automatic driving control along travel plan A, the scheduled travel time is 1 hour and 40 minutes, which is shorter than the time required to create materials. Further, this figure shows a travel plan B that can complete the scheduled schedule during travel. When performing automatic driving control along travel plan B, the scheduled travel time is 2 hours and 20 minutes, which is longer than the time required to create materials. Therefore, by selecting travel plan B, the driver can complete the scheduled schedule during automatic driving control. Note that it is assumed that automatic driving control is possible in all sections in travel plan B.

[0040] FIG. 4 is a flowchart of automatic driving control executed by the controller 180. Note that this automatic driving control is repeatedly executed at a predetermined cycle. Further, the automatic driving control may be performed by executing a program stored in the controller 180.

[0041] In step S1, the controller 180 (travel plan generation unit 183) determines whether the automatic driving control is set by the driver. The driver sets whether to execute the automatic driving control via the input unit 162 or the like. If the automatic driving control is not set (S1: No), the controller 180 then performs the process of step S12, and a manual driving is executed in which the vehicle is operated according to the driver's operation. If the automatic driving control is set (S1: Yes), the controller 180 then performs the process of step S2.

[0042] In step S2, the controller 180 (travel plan generation unit 183) receives the setting input of the destination. When the controller 180 causes the display unit 161 to display a prompt for inputting the destination, the driver sets the destination via the input unit 162 or the like according to the display content on the display unit 161. The controller 180 records the destination set in this way.

[0043] In step S3, when the controller 180 (schedule management unit 181) receives the driver's schedule information from the outside via the communication interface 140 and / or the input unit 162, it stores the received schedule.

[0044] In step S4, the controller 180 causes the display unit 161 to display a message prompting the driver to input the schedule to be executed during the automatic driving. The driver registers the schedule to be executed during the automatic driving control via the input unit 162 or the like according to the display content on the display unit 161. The controller 180 records the schedule input in this way.

[0045] FIG. 5 is an example of a screen prompting the driver to input the schedule to be executed during the automatic driving in step S4. This screen is assumed to be displayed on the touch panel which is the display unit 161 and the input unit 162.

[0046] On the screen, display areas 31 to 33 are provided in three areas: upper, middle, and lower. In display area 31, it is indicated that the user is prompted to register the schedule to be implemented during the automatic driving. In display area 32, an interface where candidates for the schedule can be selected is shown, and the schedule is registered according to the driver's operation. Also, in display area 32, in addition to selecting candidates for the schedule, the schedule can be manually input and set using the input interface shown in display area 33.

[0047] Specifically, in display area 32, among the schedule information acquired by the controller 180 through the synchronization process in step S3, the schedule for the current day is shown as selectable. In this figure, the left column shows the time, the middle column shows the outline of the schedule, and according to the operation of the "Select" button shown in the right column, the controller 180 (schedule management unit 181) can register the schedule in the same row as the operated "Select" button as the scheduled schedule.

[0048] Also, for the bottom row of display area 32, an "Input" button is shown in the right column. When this button is operated, it becomes possible to manually input the scheduled schedule using the input interface in display area 33. In the example of this figure, although it prompts the input of the required time of the scheduled schedule to be input, the start time and end time may also be input.

[0049] In display area 33, as a character input interface, an interface for inputting general numbers and hiragana is shown on the left, and on the right, pre-stored schedule candidates ("Meeting", "Document Creation", "Movie Viewing", and "Others") are shown.

[0050] The driver can register it as the scheduled schedule to be implemented during the automatic driving control by operating the touch panel according to the display content in this way.

[0051] Referring again to FIG. 4, in step S5, the controller 180 (travel plan generation unit 183) uses the position of the host vehicle acquired by the information acquisition unit 182 as the starting point and searches for a plurality of travel routes to the destination set in step S2. Then, the controller 180 generates driving control information for automatically controlling the host vehicle along the searched travel route, and generates a plurality of travel plans for automatically controlling the host vehicle along the travel route using the driving control information. For example, as shown in FIGS. 2 and 3, in addition to the travel plan A with the shortest required time, a travel plan B that can complete the scheduled schedule during driving by automatic driving control is generated.

[0052] In step S6, the controller 180 (travel plan generation unit 183) displays the plurality of travel plans generated in step S5 on the display unit 161. The driver selects a travel plan via the input unit 162. In the following, it is assumed that the travel plan B that can implement the scheduled schedule during automatic driving control is selected.

[0053] In step S7, the controller 180 (automatic driving control unit 184) starts automatic driving control using the driving control information included in the travel plan set in step S6.

[0054] In step S8, the controller 180 (travel plan generation unit 183) determines whether the scheduled end time of the scheduled schedule is earlier than the scheduled arrival time when the host vehicle automatically controlled based on the travel plan arrives at the destination. If the scheduled end time of the scheduled schedule is earlier than the scheduled arrival time (S8: Yes), then, the process of step S9 is performed next to determine whether the destination has been reached. If the destination has not been reached (S9: No), the process of step S8 is executed again. On the other hand, if the scheduled end time of the scheduled schedule is not earlier than the scheduled arrival time (the scheduled end time of the scheduled schedule is later than the scheduled arrival time) (S8: No), since there is a possibility that the scheduled schedule will not be completed during automatic driving control, next, the process of step S10 is executed.

[0055] In step S10, the controller 180 (travel plan generation unit 183) causes the display unit 161 to display a message prompting the input of whether or not to regenerate the travel plan, together with the currently executing travel plan and the arrival time at the destination. Then, the driver inputs whether or not to regenerate the route via the input unit 162 or the like.

[0056] When an input indicating that it is not necessary to regenerate the travel plan is received (S11: No), next, the process of step S9 is performed. If it has not been determined that it is necessary to regenerate the travel plan (S11: No) and the destination has not been reached (S9: No), the process of S7 is performed again, but the subsequent determination process of step S8 is not performed, and the process of S9 is executed after S7. Thus, by omitting the process of step S8, it becomes unnecessary to confirm whether or not to regenerate the travel plan in step S10, so the operation load on the driver can be reduced.

[0057] On the other hand, when an input indicating that it is necessary to regenerate the travel plan is received (S11: Yes), next, the process of step S6 is performed. Here, the regenerated travel plan will be described with reference to FIG. 6.

[0058] FIGS. 6 and 7 show examples of travel plans regenerated by the controller 180. In this figure, similar to FIG. 2, it is assumed that a conference call is registered as the scheduled schedule.

[0059] In the example of FIG. 6, it is assumed that, for reasons such as the resolution of traffic congestion, if the automatic driving control using driving plan B is continued, the arrival time at the destination is predicted to be earlier (13:50) than the completion time of the planned schedule (14:00). In such a case, since there is a risk that the conference call (planned schedule) may be interrupted when arriving at the destination, it is necessary to regenerate the driving plan. Therefore, when driving based on driving plan B, if there is a service area (SA) on the driving route ahead of the host vehicle, the controller 180 regenerates a driving plan B' that stops at the SA. By performing the automatic driving control along such a driving plan B', the end time of the planned schedule (14:00) becomes earlier than the predicted arrival time at the destination (14:20), so the driver can complete the planned schedule during the automatic driving control.

[0060] Also, in the example of FIG. 7, it is assumed that the controller 180 detects that the completion time of the planned schedule becomes later (14:30) due to an operation by the driver or the like, such as an extension of the conference call. In such a case, since the arrival time at the destination (14:20) becomes later than the completion time of the conference call (planned schedule) (14:30), it is necessary to regenerate the driving plan. Therefore, the controller 180 regenerates a driving plan B' that stops at the SA and makes the predicted arrival time at the destination later (14:50). By performing the automatic driving control along such a driving plan B', the end time of the planned schedule becomes later than the predicted arrival time at the destination, so the driver can perform the planned schedule during the automatic driving control.

[0061] Note that the stop at the SA is an example of the regenerated driving plan and is not limited thereto. For example, the driving plan may be regenerated so as to stop at a stoppable location such as around a park. Also, the driving plan may be regenerated so that the predicted arrival time becomes later by driving slower than the currently set vehicle speed within the range of complying with traffic rules.

[0062] In addition, when automatic driving control is not possible for all routes and there are sections of manual driving control and sections of automatic driving control, in the process of step S8 in FIG. 2, the controller 180 (travel plan generation unit 183) determines whether the scheduled end time of the scheduled schedule is earlier than the scheduled arrival time at the end point of the automatic driving section that is automatically driven based on the travel plan. And when not arriving at the end point of the automatic driving section (S9: No), in step S10, the controller 180 (travel plan generation unit 183) displays on the display unit 161 a message prompting an input on whether it is necessary to regenerate the travel plan.

[0063] In such a case, in the examples of FIGS. 2 and 3, a route A that travels the shortest route and a route B that travels through the automatic driving control section during the time period of the scheduled schedule are shown. For example, in route B, the highway is the automatic driving control section, and it is assumed that the exit of the highway exists on the shortest route A. In such a case, in the process of step S9, it is determined whether the scheduled end time of the scheduled schedule is earlier than the scheduled arrival time at the exit of the highway.

[0064] And when regenerating the travel plan, according to the examples of FIGS. 6 and 7, when the scheduled end time of the scheduled schedule is changed (FIG. 7), a travel route B' that stops at SA is generated so that the scheduled end time of the changed scheduled schedule is earlier than the scheduled arrival time at the exit of the highway.

[0065] According to the present embodiment, the following effects can be obtained.

[0066] According to the automatic driving control method of the present embodiment, the scheduled schedule that the driver plans to implement during the automatic driving control is acquired (FIG. 4, S4), a travel plan is generated so that the driver can complete the scheduled schedule during the automatic driving control (S5), and the vehicle is automatically driven according to the travel plan. By doing so, the driver can complete the implementation of the scheduled schedule without interruption during the automatic driving.

[0067] According to the automatic driving control method of the present embodiment, the travel plan is determined such that the completion time of the scheduled schedule is before the arrival time at the destination (S5). Thereby, during the automatic driving control, the driver can more surely implement the scheduled schedule.

[0068] According to the automatic driving control method of the present embodiment, for the scheduled schedule, the start time and the end time are acquired. In such a case, the start time of the scheduled schedule is after the start time of the vehicle's travel, and the travel plan is generated such that the completion time of the scheduled schedule is before the arrival time at the destination. Thereby, during the automatic driving control, the driver can more surely implement the scheduled schedule.

[0069] According to the automatic driving control method of the present embodiment, the required time of the scheduled schedule is acquired. In such a case, the completion time of the scheduled schedule is the time after the required time of the scheduled schedule from the start time of travel. Then, by obtaining the travel plan such that the completion time of the scheduled schedule is before the arrival time at the destination, the driver can more surely implement the scheduled schedule during the automatic driving control.

[0070] According to the automatic driving control method of the present embodiment, when automatic driving control is possible only in some sections of the travel route, manual driving control is performed in other sections. In such a case, in the travel route where automatic driving control is performed, the travel plan is determined so that the driver can implement the scheduled schedule during the automatic driving control. Thus, even when automatic driving control is not possible in all sections of the travel route, by determining the travel plan so that the driver can implement the scheduled schedule while traveling in the automatic driving control section, it is possible to more surely implement the scheduled schedule.

[0071] According to the automatic driving control method of this embodiment, while being automatically driven according to a driving plan, if it is determined that the automatic driving control cannot be continued until the implementation of the scheduled schedule is completed (S8: No), a driving plan that can continue the automatic driving control until the scheduled schedule is completed is regenerated (S11). By doing so, even when the scheduled schedule is changed, by regenerating a driving route that can continue the automatic driving control until the implementation of the changed scheduled schedule is completed, it becomes more certain that the scheduled schedule can be implemented.

[0072] In addition, although the scheduled schedule has been described as being that of the driver in this embodiment, it is not limited to this. The scheduled schedule may be that of a passenger who does not perform driving operations. When the vehicle is under fully automatic driving control that does not require any operation, it is assumed that a driving plan is generated so that the scheduled schedule of any passenger is completed.

[0073] Each process shown in this embodiment is executed based on a program for causing a computer to execute each process step. Therefore, this embodiment can also be understood as an embodiment of a program that realizes the functions of executing those processes and a recording medium that stores the program. For example, the program can be stored in the storage device of the information processing device by an update process for adding a new function to the information processing device. As a result, it becomes possible to cause the updated information processing device to execute each process shown in this embodiment.

[0074] As described above, the embodiments of the present invention have been described. However, the above embodiments merely show a part of the application examples of the present invention, and are not intended to limit the technical scope of the present invention to the specific configurations of the above embodiments. Also, although the above-described embodiments and modified examples have been described as individual embodiments and modified examples, they may be combined as appropriate.

Explanation of Reference Numerals

[0075] 100 Automatic Driving Support Device 180 Controller 181 Schedule Management Department 182 Information Acquisition Department 183 Travel Plan Generation Department 184 Automatic Driving Control Department

Claims

1. An automatic driving control method for searching for a driving route of a vehicle to a destination, generating a driving plan for automatically driving the vehicle in an automatic driving control section where automatic driving control is possible included in the driving route, and automatically driving the vehicle using the driving plan, comprising: obtaining a scheduled schedule to be implemented while the driver of the vehicle is on board; including a section where the automatic driving control is performed according to the driving plan and a section where the manual driving control is performed, and generating the driving plan for continuing the driving in the automatic driving control section at the time zone of the scheduled schedule; automatically driving the vehicle in the automatic driving control section using the driving plan; after the start of the automatic driving control, determining whether the scheduled end time of the scheduled schedule is earlier than the scheduled arrival time at the end point of the automatic driving control section; when the scheduled end time is later than the scheduled arrival time, prompting the driver to input whether regeneration of the driving plan is necessary; An automatic driving control method.

2. The automatic driving control method according to claim 1, wherein the driving plan is determined such that the completion time of the scheduled schedule is before the arrival time at the destination.

3. The automatic driving control method according to claim 2, wherein for the scheduled schedule, obtaining a start time and an end time, the start time is after the start time of the vehicle driving, and the completion time of the scheduled schedule is the end time.

4. The automatic driving control method according to claim 2, wherein for the scheduled schedule, obtaining a required time, and the completion time of the scheduled schedule is the time after the required time from the start time of the vehicle driving.

5. An automatic driving control method according to any one of claims 1 to 4, wherein an automatic driving control section in the travel route is determined based on information on whether automatic driving is possible included in map data.

6. An automatic driving control method according to claim 5, wherein the map data is stored in a server connected to the vehicle via a network outside the vehicle, and in the automatic driving control method, further, based on travel data of the vehicle, it is determined whether automatic driving is possible for each section, and the determination result of the possibility is reflected in the map data stored in the server.

7. An automatic driving control method according to any one of claims 1 to 6, wherein when it is determined that the automatic driving control cannot be continued until the scheduled schedule is completed, a travel plan that enables the automatic driving control to be continued until the scheduled schedule is completed is regenerated.

8. A controller that searches for a travel route of a vehicle to a destination, generates a travel plan for automatically driving the vehicle in an automatic driving control section included in the travel route, and automatically controls the vehicle using the travel plan, and an input unit that receives an input of a schedule to be implemented during boarding from a driver of the vehicle. An automatic driving control device comprising: wherein the controller acquires the scheduled schedule from the driver via the input unit, includes a section in which the automatic driving control is performed according to the travel plan and a section in which the manual driving control is performed, and generates the travel plan such that the travel in the automatic driving control section is completed in the time zone of the scheduled schedule, automatically controls the vehicle in the automatic driving control section using the travel plan, After the start of the automatic driving control, it is determined whether the scheduled end time of the scheduled schedule is earlier than the scheduled arrival time at the end point of the automatic driving control section. When the scheduled end time is later than the scheduled arrival time, the driver is prompted to input whether it is necessary to regenerate the driving plan. Automatic driving control device.

9. An automatic driving control program that searches for a driving route of a vehicle to a destination and generates a driving plan for the vehicle to automatically drive in an automatic driving control section that can perform automatic driving control included in the driving route, and controls the vehicle using the driving plan, The automatic driving control program is acquires a scheduled schedule to be implemented while the driver of the vehicle is on board, includes a section where the automatic driving control is performed according to the driving plan and a section where the manual driving control is performed, and generates the driving plan such that the driving in the automatic driving control section is completed during the time zone of the scheduled schedule, causes the vehicle to be automatically driven in the automatic driving control section using the driving plan, After the start of the automatic driving control, it is determined whether the scheduled end time of the scheduled schedule is earlier than the scheduled arrival time at the end point of the automatic driving control section. When the scheduled end time is later than the scheduled arrival time, the driver is prompted to input whether it is necessary to regenerate the driving plan. Automatic driving control program.

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