Vehicle control device, vehicle control method, and vehicle control program

Abstract

To prevent a vehicle from moving into a road departing from a predetermined operation route during manual operation when the vehicle is driven along the predetermined operation route.SOLUTION: A vehicle control device of the present disclosure acquires a predetermined operation route and allows a vehicle to be driven along the operation route in either of an automatic operation mode and a manual operation mode. The automatic operation mode is a mode in which the vehicle is driven by automatic operation. The manual operation mode is a mode in which the vehicle is driven by manual operation by which at least steering is manually performed. The vehicle control device of the present disclosure generates, in response to detection of steering by which the vehicle moves into a road departing from the operation route during operation in the manual operation mode, steering torque in the direction to return the vehicle to the operation route.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to an apparatus, a method, and a program for controlling a vehicle that travels along a preset travel route.

Background Art

[0002] Examples of documents indicating the technical level of the technical field related to the present disclosure include Japanese Patent Application Laid-Open No. 2010-513123 and Japanese Patent Application Laid-Open No. 2001-151137. For example, Japanese Patent Application Laid-Open No. 2010-513123 discloses a method of generating a target trajectory that conforms to the surrounding situation and adjusting a steering system so that a vehicle follows the target trajectory. According to the method, a permissible travel path is assigned to the target trajectory, and a basic steering torque for guiding within the permissible travel path is generated. When the vehicle leaves the permissible travel path, a steering induction torque acting on the vehicle in the direction of the permissible travel path is superimposed on the basic steering torque.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, in a vehicle in which manual operation by a driver is permitted, steering may be performed toward a road deviating from the travel route. The techniques described in each of the above patent documents are techniques for operating a vehicle at a preferable position within a lane by assisting steering, but are not techniques for preventing the vehicle from deviating from the travel route.

[0005] The present disclosure has been made in view of the above problems. One object of the present disclosure is to be able to suppress the vehicle from traveling on a road that deviates from the travel route during manual driving when the vehicle is traveling along a preset travel route.

Means for Solving the Problems

[0006] The present disclosure provides a vehicle control device, a vehicle control method, and a vehicle control program as vehicle control technologies for achieving the above object.

[0007] The vehicle control device of the present disclosure includes at least one processor and a memory communicably coupled to the at least one processor and storing a plurality of executable instructions. The plurality of instructions are configured to cause the at least one processor to execute the following processes. The processes include acquiring a preset travel route, operating the vehicle along the travel route in either an automatic driving mode or a manual driving mode, and generating a steering torque in a direction to return the vehicle to the travel route in response to detecting a steering toward a road that deviates from the travel route during operation in the manual driving mode. The automatic driving mode is a mode in which the vehicle is operated by automatic driving, and the manual driving mode is a mode in which the vehicle is operated by manual driving with at least the steering being manual.

[0008] The vehicle control method of the present disclosure is a method for controlling a vehicle by a computer. The vehicle control method of the present disclosure includes acquiring a preset travel route, operating the vehicle along the travel route in either an automatic driving mode or a manual driving mode, and generating a steering torque in a direction to return the vehicle to the travel route in response to detecting a steering toward a road that deviates from the travel route during operation in the manual driving mode.

[0009] The vehicle control program of the present disclosure is configured to cause a computer to execute the vehicle control method of the present disclosure. In other words, the vehicle control program of the present disclosure is configured to function the computer as the vehicle control device of the present disclosure when executed by the computer. Note that the vehicle control program of the present disclosure may be stored in a computer-readable recording medium or may be provided via a network.

[0010] In the vehicle control technology of the present disclosure, in response to detecting an intervention by the driver in steering during operation in the automatic driving mode, the vehicle may be switched from the automatic driving mode to the manual driving mode. In that case, until a predetermined time has elapsed since the detection of the driver's intervention, or until the vehicle has moved a predetermined distance since the detection of the driver's intervention, the generation of steering torque in the direction of returning the vehicle to the driving route may be suppressed. According to this, it is possible to suppress the generation of steering resistance that obstructs the driver's intention with respect to an intentional intervention by the driver in steering.

Effects of the Invention

[0011] According to the vehicle control technology of the present disclosure, when the driver steers the vehicle in the manual driving mode toward a road deviating from the driving route, a steering torque in the direction of returning the vehicle to the driving route is generated. Thereby, when the vehicle is operated along a preset driving route, the vehicle is suppressed from advancing on a road deviating from the driving route during manual driving.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Mode for Carrying Out the Invention

[0013] 1. Premise The vehicle control method according to an embodiment of the present disclosure is applied to a vehicle capable of level 2 or higher automated driving in the SAE automated driving level definition. Hereinafter, the vehicle according to the present embodiment means a vehicle capable of automated driving to which the vehicle control method according to the present embodiment is applied.

[0014] The vehicle according to the present embodiment is used to provide a transportation service by automated driving in an area where the driving environment conditions for level 4 automated driving are satisfied (hereinafter referred to as the Lv4 service area). That is, the vehicle according to the present embodiment is a vehicle capable of level 4 automated driving. However, as shown in FIG. 1, the Lv4 service area is a limited area, and cases where the garage where the vehicle is parked and the transfer points with surrounding transportation facilities such as stations are located outside the Lv4 service area are common. In addition, the Lv4 service area does not exist as a single continuous area, but a plurality of Lv4 service areas exist discretely. An operation route for running the vehicle is set in the section connecting the garage, station, etc. and the Lv4 service area, and in the section connecting two Lv4 service areas. The vehicle according to the present embodiment moves on the operation route outside the Lv4 service area by level 2 automated driving or manual driving.

[0015] In the Lv4 service area, since the vehicle itself is the main driver of the vehicle, there is no possibility of road mistakes. Also, in Level 2 automated driving, assistance for steering is provided. If the driving route leading to the Lv4 service area is set as the target route, the steering will be automatically performed to move the vehicle along that driving route. Therefore, while the driver is accepting the assistance of Level 2 automated driving, it can be considered that there is no risk of the vehicle entering a road that deviates from the driving route.

[0016] However, if the driver intervenes in the steering for some reason, the Level 2 automated driving is canceled and switched to manual driving. Generally, in manual driving after the Level 2 automated driving is canceled, since the steering is performed based on the driver's judgment, there is a risk of road mistakes. Road mistakes cause delays in operation. Also, outside the Lv4 service area, localization based on map information is performed to detect entry into the Lv4 service area. However, if the vehicle accidentally enters a road without map information, it becomes necessary to re-perform the localization.

[0017] 2. Vehicle control method 2-1. During operation in manual driving mode In the following description, the mode of operating the vehicle by Level 2 automated driving is referred to as the automated driving mode, and the mode of operating the vehicle by manual driving is referred to as the manual driving mode. In the vehicle control method according to this embodiment, during operation in the manual driving mode, instead of allowing the driver's free steering, constraints are added to the steering to suppress the vehicle from entering a road that deviates from the driving route. Hereinafter, the steering control performed during operation in the manual driving mode will be specifically described with reference to FIGS. 2A and 2B.

[0018] In FIGS. 2A and 2B, the vehicle control method according to the present embodiment is applied to vehicle 2. Vehicle 2 is operating in the manual driving mode and is approaching a point where branch road 8 branches off to the right from main line road 6. In the case shown in FIG. 2A, branch road 8 is the operating route of vehicle 2, and the main line road 6 beyond the branch point is a road outside the operating route. In the case shown in FIG. 2B, main line road 6 is the operating route of vehicle 2, and branch road 8 is a road outside the operating route.

[0019] In the case shown in FIG. 2A, in order to operate vehicle 2 along the operating route, vehicle 2 must be advanced toward branch road 8. The steering amount expected for vehicle 2 to advance to branch road 8 can be calculated from the map information, specifically, the road shape of the branch point where branch road 8 branches off from straight road 6 and the posture of vehicle 2. If the steering amount by the driver's manual operation satisfies the expected steering amount, vehicle 2 advances toward branch road 8 along the operating route.

[0020] However, when the steering amount by the manual operation is different from the expected steering amount, specifically, when the current steering amount is maintained without performing a rightward steering, vehicle 2 continues to travel on main line road 6 as it is and deviates from the operating route. Therefore, in such a case, a rightward steering torque is applied to the vehicle steering device operated by the driver, specifically, steering wheel 4. The application of this steering torque prompts the driver to steer rightward, and the driver operates steering wheel 4 so that vehicle 2 advances to branch road 8. Thereby, the deviation of vehicle 2 from the operating route is suppressed. In the case where the branch road branches off to the left from the main line road, a leftward steering torque is applied to prompt the driver to steer leftward.

[0021] In the case shown in FIG. 2B, in order to operate the vehicle 2 along the operation route, it is necessary to keep the vehicle 2 running on the main line road 6. The amount of steering expected for the vehicle 2 to continue running on the main line road 6 can be calculated from the map information, specifically, the road shape of the main line road 6 and the posture of the vehicle 2. When the amount of steering by the driver's manual operation satisfies the expected amount of steering, the vehicle 2 continues to run on the main line road 6 along the operation route.

[0022] However, when the amount of steering by manual operation is different from the expected amount of steering, specifically, when the steering to the right is performed without maintaining the current amount of steering, the vehicle 2 will proceed towards the branch road 8 and deviate from the operation route. Therefore, in such a case, a left-turning steering torque is applied to the steering wheel 4 so as to counteract the right-turning steering torque applied by the driver to the steering wheel 4. This steering torque acts as a resistance when the driver operates the steering wheel 4 to steer the vehicle 2 to the right, and prompts the driver to maintain the current amount of steering. As a result, the vehicle 2 is prevented from deviating from the operation route. In the case where the branch road branches to the left from the main line road, a left-turning steering torque is applied so as to resist the driver's steering to the left.

[0023] As described above, the vehicle control method according to the present embodiment generates a steering torque for steering assistance according to rules different from those during the operation of the vehicle 2 in the automatic driving mode during the operation of the vehicle 2 in the manual driving mode. In the automatic driving mode, a steering torque for steering assistance is generated so that the vehicle 2 travels along the target trajectory. The target trajectory is a trajectory that the vehicle 2 should pass through in order to operate the vehicle 2 along the operation route, and is set based on information about obstacles around the vehicle 2. On the other hand, the steering torque generated in the manual driving mode is intended to prevent the driver from choosing a road different from the operation route. Therefore, in the manual driving mode, when the vehicle 2 is likely to head towards a road that deviates from the operation route at a location where there are multiple road options such as a branch point or an intersection, a steering torque in the direction of returning the vehicle 2 to the operation route is generated.

[0024] 2-2. Immediately after switching the driving mode When the driver intervenes in steering in the automatic driving mode, the driving mode is switched from the automatic driving mode to the manual driving mode. The driver's intervention in steering is performed, for example, when a road different from the driving route is selected according to the driver's clear intention. When the above steering torque is generated at that time, the driver may not be able to operate the steering wheel 4 as desired, which may interfere with the intervention operation.

[0025] As a countermeasure against the above problems, the vehicle control method according to the present embodiment stops applying the steering torque for steering assistance until a predetermined time elapses when the driver's intervention in steering is detected in the automatic driving mode. Hereinafter, the steering control executed immediately after switching from the automatic driving mode to the manual driving mode in the vehicle control method according to the present embodiment will be specifically described with reference to FIG. 3.

[0026] In FIG. 3, the state of the traveling vehicle 2 is depicted in time series. At time T1, the vehicle 2 is traveling on the main road 6 in the automatic driving mode. In the automatic driving mode, steering assistance is performed to make the vehicle 2 travel along the target trajectory set on the driving route.

[0027] At time T2, the driver operates the steering wheel 4 so as to direct the vehicle 2 toward the branch road 8. That is, the driver's intervention in steering is performed. The driving mode is switched from the automatic driving mode to the manual driving mode in response to the driver's intervention. At the same time as the driving mode is switched to the manual driving mode, a timer set for a predetermined time (for example, several seconds to several tens of seconds) is started.

[0028] At time T3, the vehicle 2 has deviated from the main road 6 which is the driving route and is advancing toward the branch road 8. However, until the value of the timer becomes zero, even if the vehicle 2 has deviated from the driving route, the steering torque in the direction of returning the vehicle 2 to the driving route is not applied. That is, the steering assistance for the manual driving mode is turned off until the value of the timer becomes zero from the predetermined time.

[0029] At time T4, the value of the timer becomes zero. After this, the steering assist for the manual driving mode is turned on. Therefore, when the vehicle 2 is about to head towards a road that deviates from the driving route, a steering torque in the direction of returning the vehicle 2 to the driving route is generated. Note that before the value of the timer becomes zero, the navigation device re-searches for the driving route to the destination, and a new driving route passing through the branch road 8 is set.

[0030] By performing the steering control as described above immediately after the driving mode is switched, the generation of steering resistance that obstructs the driver's intention can be suppressed against the driver's intentional intervention in steering.

[0031] 2-3. Flowchart

[0032] The vehicle control method according to the present embodiment can show its procedure in a flowchart. FIG. 4 is a flowchart showing the procedure of the vehicle control method according to the present embodiment.

[0033] In step S01, the driving mode of the vehicle 2 is determined. If the current driving mode is the automatic driving mode, the procedure proceeds to step S07.

[0034] In step S07, the process of level 2 automatic driving is continued. If an intervention by the driver in steering is detected during the operation in the automatic driving mode, the driving mode is changed from the automatic driving mode to the manual driving mode. After the implementation of step S07, this procedure ends.

[0035] If it is determined in the determination of step S01 that the current driving mode is the manual driving mode, the procedure proceeds to step S02.

[0036] In step S02, it is determined whether or not a predetermined time has elapsed since the driver's intervention in steering performed immediately before. That is, it is determined whether or not a predetermined time has elapsed since the switch from the automatic driving mode to the manual driving mode. If the predetermined time has not elapsed, this procedure ends without performing the remaining steps.

[0037] If a predetermined time has already elapsed in the determination of step S02, the procedure proceeds to step S03.

[0038] In step S03, the steering amount of the vehicle steering device is acquired. A specific example of the vehicle steering device is the steering wheel 4, and a specific example of its steering amount is the steering angle. Next, the procedure proceeds to step S04.

[0039] In step S04, an expected value of the steering amount is calculated from the road shape of the driving route and the current attitude of the vehicle 2. The expected value of the steering amount is the steering amount expected to make the vehicle 2 run along the driving route. Next, the procedure proceeds to step S05.

[0040] In step S05, the steering amount acquired in step S03 is compared with the expected value of the steering amount calculated in step S04 to determine whether the steering amount is insufficient with respect to the expected value. Specifically, if the steering amount is smaller than the expected value and the difference exceeds a threshold value A, it is determined that the steering amount is insufficient with respect to the expected value. If the steering amount is insufficient with respect to the expected value, the procedure proceeds to step S08.

[0041] In step S08, a torque is generated to guide the driver's steering operation so that the vehicle 2 runs along the driving route. That is, steering control as illustrated in FIG. 2A is performed. After the implementation of step S08, this procedure ends.

[0042] If it is determined in step S05 that the steering amount is not insufficient with respect to the expected value, the procedure proceeds to step S06.

[0043] In step S06, the steering amount acquired in step S03 is compared with the expected value of the steering amount calculated in step S04 to determine whether the steering amount is excessive with respect to the expected value. Specifically, if the steering amount is larger than the expected value and the difference exceeds a threshold value B, it is determined that the steering amount is excessive with respect to the expected value. If the steering amount is excessive with respect to the expected value, the procedure proceeds to step S09.

[0044] In step S09, the vehicle 2 generates a torque that resists the driver's steering so as to follow the driving route. That is, the steering control as illustrated in FIG. 2B is performed. After the execution of step S09, this procedure ends.

[0045] 3. Vehicle control device Next, the vehicle control device according to the present embodiment will be described.

[0046] FIG. 5 is a block diagram showing the configuration of the vehicle control device according to the present embodiment. The vehicle control device 10 according to the present embodiment is a computer that executes the above vehicle control method. The vehicle control device 10 includes a navigation device 102, an automatic driving device 104, a steering assist device 106, an intervention determination device 110, a first selector 112, a state machine 114, a second selector 116, and a vehicle drive device 118. These are functions of the vehicle control device 10 realized by executing a predetermined complex instruction by at least one processor that physically constitutes the vehicle control device 10.

[0047] The navigation device 102 generates a driving route based on the driving plan of the vehicle 2. The driving plan includes information such as, for example, the departure place, the planned departure time, the destination, the planned arrival time, the relay place, and the relay place passing time. The driving plan is defined in advance and registered in the memory. Alternatively, the driving plan is distributed wirelessly from a management server that manages the operation of the vehicle 2. The navigation device 102 distributes the latest driving route to the automatic driving device 104 and the steering assist device 106 each time the driving route is updated. Note that the navigation device 102 may be a device physically independent of the vehicle control device 10.

[0048] The automatic driving device 104 acquires sensor information from the recognition sensors mounted on the vehicle 2, and performs recognition and determination based on the sensor information. Then, based on the results of the recognition and determination, it generates a target trajectory along the driving route. The target trajectory is represented by the target position of the vehicle 2 and the target speed or target acceleration at that target position, and is updated every time the vehicle 2 moves. The automatic driving device 104 transmits the target trajectory to the vehicle drive device 118. Note that the automatic driving device 104 is always operating regardless of whether it is in the automatic driving mode or the manual driving mode.

[0049] The steering assist device 106 calculates the steering amount expected for running the vehicle 2 along the driving route based on the road shape of the driving route and the current attitude of the vehicle 2. Then, it compares the actual steering amount with the expected steering amount. When the actual steering amount is insufficient with respect to the expected steering amount, for example, when the vehicle 2 is likely to go straight at a place where a right turn or a left turn is required, the steering assist device 106 gives a steering torque to the vehicle steering device 30 to prompt the driver to make a right turn or a left turn. When the actual steering amount is excessive with respect to the expected steering amount, for example, when the vehicle 2 is likely to make a right turn or a left turn at a place where going straight is required, the steering assist device 106 adjusts the steering torque applied to the vehicle steering device 30 to generate a steering resistance to prompt the driver to go straight. Note that the steering assist device 106 is always operating regardless of whether it is in the automatic driving mode or the manual driving mode.

[0050] The vehicle drive device 118 drives the vehicle 2 by operating an actuator mounted on the vehicle 2. The vehicle drive device 118 is selectively connected to either the automatic driving device 104 or the vehicle steering device 30. When connected to the automatic driving device 104, the vehicle drive device 118 operates the drive actuator, the brake actuator, and the steering actuator based on the target trajectory generated by the automatic driving device 104. When connected to the vehicle steering device 30, the vehicle drive device 118 operates the steering actuator according to the steering amount input from the vehicle steering device 30. At this time, for the drive actuator and the brake actuator, the vehicle drive device 118 operates them according to the operation amounts of the accelerator pedal and the brake pedal by the driver.

[0051] The intervention determination device 110 receives the steering amount from the vehicle steering device 30. When the intervention determination device 110 detects a change in the steering amount exceeding the threshold value, it determines that there has been an intervention in the steering by the driver. The intervention determination device 110 records the time when the intervention is determined as the intervention time. The intervention determination device 110 notifies the first selector 112 of the determination result of the presence or absence of the intervention and the intervention time. Also, the intervention determination device 110 notifies the state machine 114 of the determination result of the presence or absence of the intervention.

[0052] The first selector 112 is provided on the transmission line of the steering torque from the steering assist device 106 to the vehicle steering device 30. The first selector 112 connects or disconnects the transmission line based on the determination result of the presence or absence of the intervention and the intervention time notified from the intervention determination device 110. When it is determined that there has been an intervention, the first selector 112 disconnects the transmission line and blocks the transmission of the steering torque applied from the steering assist device 106 to the vehicle steering device 30. Even after the intervention ends, the first selector 112 disconnects the transmission line until a predetermined time has elapsed since the previous intervention. Then, when it is determined that there is no intervention and a predetermined time has elapsed since the previous intervention, the first selector 112 connects the transmission line and transmits the steering torque applied from the steering assist device 106 to the vehicle steering device 30.

[0053] The state machine 114 manages the driving mode of the vehicle 2. The state machine 114 is notified of the determination result of the presence or absence of driver intervention from the intervention determination device 110, and is notified of the operating state of the automatic driving device 104 from the automatic driving device 104. When it is continuously determined that the automatic driving device 104 is operating normally and there is no driver intervention, the state machine 114 determines the driving mode to be the automatic driving mode. When it is determined that there is driver intervention and when the automatic driving device 104 is not operating normally, the state machine 114 determines the driving mode to be the manual driving mode. The state machine 114 notifies the second selector 116 of the determined driving mode.

[0054] The second selector 116 switches the connection to the vehicle drive device 118 between the automatic driving device 104 and the vehicle steering device 30 according to the driving mode notified from the state machine 114. When the notified driving mode is the manual driving mode, the second selector 116 connects the vehicle steering device 30 to the vehicle drive device 118. When the notified driving mode is the automatic driving mode, the second selector 116 connects the automatic driving device 104 to the vehicle drive device 118.

[0055] 4. Configuration of the vehicle Finally, an example of the configuration of the vehicle 2 equipped with the vehicle control device 10 will be described. FIG. 6 is a block diagram showing an example of the configuration of the vehicle 2. In addition to the vehicle control device 10, the vehicle 2 is equipped with a recognition sensor 22, a vehicle state sensor 24, an actuator 26, a communication device 28, and a vehicle steering device 30. These are connected to the vehicle control device 10 using an in-vehicle network.

[0056] The vehicle control device 10 includes at least one processor 11 (hereinafter simply referred to as the processor 11). The processor 11 may be, for example, a CPU, an FPGA, or an ASIC. Alternatively, the processor 11 may be a combination of two or more of a CPU, an FPGA, or an ASIC.

[0057] The vehicle control device 10 includes at least one memory 12 (hereinafter simply referred to as the memory 12) communicably coupled to the processor 11. The memory 12 stores at least one program 13 (hereinafter simply referred to as the program 13) executable by the processor 11 and various data including the travel route data 15. The program 13 is composed of a plurality of instructions 14. By executing the program 13 by the processor 11, various processes by the processor 11 are realized. The instruction 14 includes an instruction for implementing the vehicle control method according to the present embodiment.

[0058] The recognition sensor 22 is a sensor that acquires information for recognizing the situation around the vehicle 2. The recognition sensor 22 includes at least a camera that images the front of the vehicle 2. The vehicle state sensor 24 is a sensor that acquires information regarding the attitude and movement of the vehicle 2. The actuator 26 includes a steering actuator that steers the vehicle 2, a drive actuator that drives the vehicle 2, and a braking actuator that brakes the vehicle 2. The communication device 28 is a device that controls wireless communication between the vehicle 2 and the outside. The communication device 28 communicates with the management server via a communication network. The vehicle steering device 30 is an input device used by the driver to steer the vehicle 2 and is typically a steering mechanism including the steering wheel 4. The vehicle steering device 30 includes a steering angle sensor 31 that acquires the steering angle of the steering wheel 4 and a reaction force motor 32 that applies a steering torque to the steering wheel 4.

[0059] 5. Other Embodiments Instead of the method of generating a travel route on the vehicle by the navigation device, a method of acquiring a travel route from the management server by wireless communication may be used. That is, the travel route data 15 shown in FIG. 6 may be generated by calculation within the vehicle control device 10 or may be acquired from the outside via the communication device 28.

[0060] In the case of driver intervention in steering during automatic driving, instead of the elapsed time since the intervention occurred, the travel distance since the intervention occurred may be measured. That is, until the vehicle has traveled a predetermined distance from the detection of the intervention, the generation of steering torque in the direction of returning the vehicle to the driving route may be suppressed. Specifically, absolute coordinates such as waypoints may be held as map information, and the timing of the generation of steering torque may be determined based on this.

[0061] In the manual driving mode, at least the steering may be manual. That is, in the manual driving mode, the driving and braking of the vehicle 2 may be performed automatically.

Explanation of Signs

[0062] 2 Vehicles 4 Steering Wheel 6 Main Road 8 Branch Road 10 Vehicle Control Device

Claims

1. An apparatus for controlling a vehicle, comprising at least one processor, and a memory communicably coupled to the at least one processor and storing a plurality of executable instructions, the plurality of instructions causing the at least one processor to acquire a preset travel route, operate the vehicle along the travel route in either an automatic driving mode in which the vehicle is operated by automatic driving or a manual driving mode in which at least steering is manual, upon detecting a steering towards a road deviating from the travel route during operation in the manual driving mode, generate a steering torque in a direction to return the vehicle to the travel route, upon detecting an intervention by a driver in steering during operation in the automatic driving mode, switch from the automatic driving mode to the manual driving mode, and suppress generation of a steering torque in a direction to return the vehicle to the travel route until a predetermined time has elapsed since the detection of the intervention or until the vehicle has traveled a predetermined distance since the detection of the intervention, characterized by the above.

2. The apparatus according to claim 1, the plurality of instructions causing the at least one processor to acquire the travel route from a server communicably connected by wireless communication, characterized by the above.

3. A method for controlling a vehicle by a computer, comprising acquiring a preset travel route, Operating the vehicle in either an automatic driving mode in which the vehicle is operated by automatic driving or a manual driving mode in which the vehicle is operated by manual driving with at least steering being manual, and operating the vehicle along the operation route. Upon detecting a steering towards a road deviating from the operation route during operation in the manual driving mode, generating a steering torque in a direction to return the vehicle to the operation route. Upon detecting an intervention by a driver in steering during operation in the automatic driving mode, switching from the automatic driving mode to the manual driving mode. Suppressing generation of a steering torque in a direction to return the vehicle to the operation route until a predetermined time has elapsed since the detection of the intervention, or until the vehicle has moved a predetermined distance since the detection of the intervention. A method characterized by the above.

4. A program for causing a computer to execute a process for controlling a vehicle, The process includes Obtaining a preset operation route, Operating the vehicle in either an automatic driving mode in which the vehicle is operated by automatic driving or a manual driving mode in which the vehicle is operated by manual driving with at least steering being manual, and operating the vehicle along the operation route. Upon detecting a steering towards a road deviating from the operation route during operation in the manual driving mode, generating a steering torque in a direction to return the vehicle to the operation route. Upon detecting an intervention by a driver in steering during operation in the automatic driving mode, switching from the automatic driving mode to the manual driving mode. Suppressing generation of a steering torque in a direction to return the vehicle to the operation route until a predetermined time has elapsed since the detection of the intervention, or until the vehicle has moved a predetermined distance since the detection of the intervention. A program characterized by the above.

Images