Operation control system

Abstract

To provide a driving control system capable of reducing a delay from an estimated time of arrival by controlling a traveling speed setting of a self vehicle in a case where an estimated time of arrival based on a travel route generated by a driving control device becomes later than an estimated time of arrival based on a travel route generated by a navigation device during an automatic driving travel.SOLUTION: A driving control system 1 comprises a vehicle navigation device 100 and a driving control device 200. The driving control device 200 includes a processor 210 and a memory 220. In a case where the processor 210 determines that a driving entity of a self vehicle is a vehicle and that the self vehicle is deviated from a route, the processor 210 calculates a second destination arrival time and in a case where the second destination arrival time is later than a first destination arrival time, the processor executes control for increasing an average speed of the self vehicle to the destination.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to an operation control system.

Background Art

[0002] Recently, technologies related to autonomous driving, including driving assistance technologies, have made remarkable progress, and companies from different industries have successively entered the field, attracting great attention from all over the world. Among these, autonomous driving with a level of 3 or higher (including the driving assistance mode at level 3 of autonomous driving) is approaching the practical stage. In autonomous driving with a level of 3 or higher, for example, it is assumed that a high-definition map composed of the latest information including detailed information on ground features and the like is obtained from a server or the like, and autonomous driving is performed based on that information. In a vehicle capable of autonomous driving, when a destination is input and autonomous driving is started, the driver does not need to grasp the driving situation of the vehicle until reaching the destination, so the driver can concentrate on things other than driving.

[0003] Here, as a method of utilizing the input information to the navigation device in the autonomous driving system, for example, an autonomous driving system is disclosed in which destination setting is performed using a navigation device mounted on a vehicle capable of autonomous driving, and the autonomous driving system determines an autonomous driving route to the destination from the destination information. (For example, refer to Patent Document 1).

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Since the high-precision map information used for autonomous driving always obtains the map information updated to the latest state from the server, there is a difference in information between the navigation map information used by the navigation device, and the driving route to the destination may be different between the autonomous driving system and the navigation device. Therefore, when driving along the driving route generated by the autonomous driving system, there is a problem that it may be later than the arrival time when driving along the route generated by the navigation device, which causes stress to the passengers.

[0006] Therefore, the present invention has been made in view of the above problems, and when driving autonomously, if the arrival prediction time of the driving route generated by the driving control device of the autonomous driving system is later than the arrival prediction time of the driving route generated by the navigation device, the average speed of the host vehicle to the destination is controlled to provide a driving control system that reduces the delay in the arrival prediction time.

Means for Solving the Problems

[0007] Aspect 1; One or more embodiments of the present invention include a storage unit that stores first map information, When the driving entity is the driver, a route setting unit that sets a route to the destination based on the first map information, a first arrival time calculation unit that calculates a first destination arrival time when driving along the set route, a position information acquisition unit that acquires the position information of the host vehicle, and a display unit that displays at least the first map information, the route, the position information of the host vehicle, and the first destination arrival time to the passengers of the host vehicle, a vehicle navigation device including, and the the driving subject information acquisition unit that acquires the the driving subject whether it is the driver or the vehicle of the host vehicle, When the driving entity changes from the driver to the vehicle, based on the position information of the host vehicle and the second map information which is the map information used when the driving entity of the host vehicle is in the vehicle, set the route to the destination. a driving control unit that controls the average speed of the host vehicle to the destination, When traveling on the route set in the driving control unit A driving control device including a second arrival time calculation unit that calculates a second destination arrival time, and the driving control device includes one or more processors and one or more memories communicably connected to the one or more processors. The one or more processors determine from the information acquired by the driving subject information acquisition unit that the driving subject of the host vehicle is changed from the driver to the vehicle determined as, and when the host vehicle deviates from the set in the route setting unit route, the second arrival time calculation unit calculates the second destination arrival time. When the second destination arrival time is later than the first destination arrival time, the driving control unit controls to increase the traveling speed of the host vehicle. A driving control system is proposed.

Advantages of the Invention

[0010] According to one or more embodiments of the present invention, when the arrival prediction time of the travel route generated by the driving control device of the automatic driving system is later than the arrival prediction time of the travel route generated by the navigation device during automatic driving, by controlling the average speed of the host vehicle to the destination, there is an effect that the delay in the arrival prediction time can be reduced.

Brief Description of the Drawings

[0011]

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Embodiments for Carrying Out the Invention

[0012] Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 to 10.

[0013] <First Embodiment> The driving control system 1 according to the present embodiment will be described with reference to FIGS. 1 to 4.

[0014] <Configuration of Driving Control System 1> As shown in FIG. 1, the driving control system 1 according to the present embodiment includes a vehicle navigation device 100 and a driving control device 200.

[0015] The vehicle navigation device 100 acquires the position information of the host vehicle, searches for a route to the destination set by the user based on the first map information which is the navigation map information, and displays the searched route, the first map information, and the position information of the host vehicle, and performs route guidance using voice guidance. In addition, the vehicle navigation device 100 calculates the first destination arrival time which is the destination arrival time, and displays the calculation result together. Furthermore, the vehicle navigation device 100 receives information regarding road conditions such as traffic information, and also displays traffic jam information and the like of the surrounding roads including the searched route. The vehicle navigation device 100 outputs at least the position information of the host vehicle, the destination information, the route information, the first destination arrival time, and the first map information to the driving control device 200. Details of the configuration of the vehicle navigation device 100 will be described later.

[0016] The driving control device 200 calculates a second destination arrival time, which is the time of arrival at the destination, based on the first map information input from the vehicle navigation device 100, the position information of the host vehicle, the destination information, and the second map information, which is the map information for autonomous driving. In addition, the driving control device 200 determines whether the driving entity of the host vehicle is a vehicle. That is, the driving control device 200 determines whether the host vehicle is performing autonomous driving. In addition, the driving control device 200 controls the average speed of the host vehicle to the destination. Details of the configuration of the driving control device 200 will be described later.

[0017] <Configuration of the vehicle navigation device 100> As shown in FIG. 2, the vehicle navigation device 100 according to the present embodiment includes a position information acquisition unit 110, a storage unit 120, a navigation control unit 130, a route setting unit 140, a first arrival time calculation unit 150, a display unit 160, and an input unit 170.

[0018] The position information acquisition unit 110 receives positioning signals transmitted from a plurality of satellites and acquires the position information of the host vehicle. For example, the position information acquisition unit 110 acquires latitude information and longitude information using a satellite positioning system such as GPS, GLONASS, GALILEO, IRNSS, BeiDou, or QZSS. The position information acquisition unit 110 outputs the acquired latitude information and longitude information to the navigation control unit 130. Note that the position information acquisition unit 110 may further include a gyro sensor or the like that detects the acceleration and angular velocity of the host vehicle.

[0019] The storage unit 120 stores the first map information, which is map information for navigation. Specifically, the storage unit 120 is a storage medium and its reading device that stores information necessary for map display, facility search, route search, etc., and is configured by, for example, a hard disk device, a semiconductor memory, or the like.

[0020] The navigation control unit 130 controls the entire vehicle navigation device 100. Based on the latitude information and longitude information acquired by the position information acquisition unit 110 and the first map information stored in the storage unit 120, the navigation control unit 130 displays the position of the host vehicle on the display unit 160 described later. In addition, the navigation control unit 130 performs OSD (On Screen Display) for various settings of the vehicle navigation device 100 and acquires the user's operation information from the input unit 170 described later. For example, the navigation control unit 130 performs OSD for destination setting, zooming in and out of map display, etc., and controls the entire vehicle navigation device 100 according to the user's operation instructions acquired from the input unit 170. Note that the navigation control unit 130 outputs at least the position information of the host vehicle, the destination information (latitude information and longitude information), and the first map information to the driving control device 200.

[0021] Based on the first map information, the position information of the host vehicle, and the destination information input from the navigation control unit 130, the route setting unit 140 sets a route to the destination and outputs the route information to the navigation control unit 130. Note that the navigation control unit 130 outputs the route information to the first arrival time calculation unit 150 and the driving control device 200.

[0022] The first arrival time calculation unit 150 calculates the first destination arrival time, which is the destination arrival time when traveling on the route set by the route setting unit 140, and outputs the calculation result to the navigation control unit 130. Note that the navigation control unit 130 outputs the first destination arrival time to the driving control device 200.

[0023] The display unit 160 is constituted by, for example, an LCD (Liquid Crystal Display) or the like, and displays a video signal input from the navigation control unit 130, for example, a map image around the current position of the host vehicle, an intersection guidance image, a search result image including detailed information of a facility obtained by facility search, and the like. When a destination is set, the first destination arrival time is also displayed.

[0024] The input unit 170 is constituted by, for example, a capacitive touch panel disposed on the surface of the LCD, detects a touch position on the LCD screen, and outputs the detected touch position information to the navigation control unit 130.

[0025] <Configuration of the driving control device 200> As shown in FIG. 3, the driving control device 200 according to the present embodiment includes a processor 210 and a memory 220.

[0026] The processor 210 controls the entire driving control device 200 according to a control program stored in the memory 220 described later. In particular, in the present embodiment, the processor 210 executes functions such as a driving subject information acquisition unit 211, a driving control unit 212, and a second arrival time calculation unit 213 described later.

[0027] The memory 220 includes a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The control program and the like are stored in the ROM, and various data and the like are stored in the RAM. In the present embodiment, for example, information such as the position information of the host vehicle, destination information (latitude information, longitude information), route information, the first destination arrival time, and the first map information output from the vehicle navigation device 100 is stored.

[0028] In the present embodiment, second map information, which is map information used when the driving subject of the host vehicle is in the vehicle, is stored in the memory 220. That is, the second map information is map information used when the host vehicle is in an automated driving state, and for example, high-precision three-dimensional map data can be exemplified. The high-precision three-dimensional map data has three-dimensional spatial information that is more detailed than the first map information stored in the storage unit 120 of the in-vehicle navigation device 100, and for example, is map data having a level of accuracy that can recognize the position information of features and structures such as lane dividing lines on the road. The second map information is obtained, for example, via the Internet from a server that holds the latest map information using a communication module (for example, a wireless communication module compliant with the 5G communication standard) mounted on the host vehicle (not shown).

[0029] <Configuration of the processor 210> As shown in FIG. 3, the processor 210 includes a driving subject information acquisition unit 211, a driving control unit 212, and a second arrival time calculation unit 213.

[0030] The driving subject information acquisition unit 211 acquires, for example, information indicating whether the host vehicle is in an automated driving state or a normal driving state from a vehicle control device mounted on the host vehicle, determines the driving subject of the host vehicle, and outputs the determination result to the driving control unit 212. Here, the automated driving state refers to a state in which the subject of the driving operation of the host vehicle is the vehicle. The normal driving state refers to a state in which the subject of the driving operation of the host vehicle is the driver.

[0031] When a determination result indicating that the host vehicle is in an automated driving state is input from the driving subject information acquisition unit 211, the driving control unit 212 determines whether the position of the host vehicle deviates from the route based on the position information and route information of the host vehicle input from the in-vehicle navigation device 100. Further, when the driving control unit 212 determines from the information input from the driving subject information acquisition unit 211 that the host vehicle is in the automatic driving state, it compares the second destination arrival time calculated by the second arrival time calculation unit 213 described later with the first destination arrival time, and when the second destination arrival time is later than the first destination arrival time, it controls the average speed of the host vehicle. That is, when the host vehicle traveling in the automatic driving state deviates from the route and a delay occurs in the arrival time, control is performed to increase the traveling speed during the automatic driving so as to eliminate the delay. Specifically, the driving control unit 212 changes the traveling speed setting during the automatic driving so that the average speed of the host vehicle to the destination increases. More specifically, the speed limit setting during the automatic driving is changed to the legal speed limit upper limit to increase the average speed of the vehicle speed. Also, the acceleration control setting of the vehicle is changed so that the time from the stop state to reaching the legal speed becomes shorter, and the average speed is increased. Note that the details of the control of the driving control unit 212 will be described later.

[0032] When the driving control unit 212 determines that the host vehicle has deviated from the route, the second arrival time calculation unit 213 calculates a second destination arrival time, which is the destination arrival time, based on the position information of the host vehicle, the destination information, the first map information, and the second map information, and outputs the calculation result to the driving control unit 212.

[0033] <Processing of the driving control system 1> The processing of the driving control system 1 according to the present embodiment will be described with reference to FIG. 4.

[0034] As shown in FIG. 4, the navigation control unit 130 determines whether a destination has been set by the user (step S100). When the navigation control unit 130 determines that the destination has not been set (''NO'' in step S100), the process returns to step S100 and the system enters the standby state. The navigation control unit 130 in the standby state displays the position of the host vehicle acquired from the position information acquisition unit 110 and the first map information on the display unit 160. On the other hand, when the navigation control unit 130 determines that the destination has been set (``YES'' in step S100), the process proceeds to step S110.

[0035] The route setting unit 140 sets a route to the destination based on the destination information, the position information of the host vehicle, and the first map information (step S110).

[0036] The first arrival time calculation unit 150 calculates a first destination arrival time, which is the time of arrival at the destination, based on the route information set in step S110 and the first map information (step S120).

[0037] The navigation control unit 130 causes the display unit 160 to display the first map information, the position information of the host vehicle, the route information, and the first destination arrival time, and starts route guidance (step S130).

[0038] The driving control unit 212 determines whether it has received from the driving subject information acquisition unit 211 a determination result indicating that the driving operation subject of the host vehicle is the vehicle (step S140). When the driving control unit 212 has received from the driving subject information acquisition unit 211 a determination result indicating that the driving operation subject of the host vehicle is the vehicle (``YES'' in step S140), the process proceeds to step S150. On the other hand, when the driving control unit 212 determines that it has not received from the driving subject information acquisition unit 211 a determination result indicating that the driving operation subject of the host vehicle is the vehicle (``NO'' in step S140), the process proceeds to step S160.

[0039] When the driving control unit 212 receives from the driving entity information acquisition unit 211 a determination result indicating that the entity of the driving operation of the host vehicle is the vehicle ( "YES" in step S140), the driving control unit 212 determines whether the position of the host vehicle deviates from the route on which the position of the host vehicle is set, based on the route information and the position information of the host vehicle (step S150).

[0040] When it is determined that the position of the host vehicle does not deviate from the route ( "NO" in step S150), the driving control unit 212 causes the process to proceed to step S200. On the other hand, when it is determined that the position of the host vehicle deviates from the route ( "YES" in step S150), the driving control unit 212 causes the process to proceed to step S170.

[0041] When the driving control unit 212 has not received from the driving entity information acquisition unit 211 a determination result indicating that the entity of the driving operation of the host vehicle is the vehicle ( "NO" in step S140), the navigation control unit 130 determines whether the host vehicle has reached the destination (step S160). When it is determined that the host vehicle has not reached the destination ( "NO" in step S160), the navigation control unit 130 returns the process to step S140 and continues route guidance. On the other hand, when it is determined that the host vehicle has reached the destination ( "YES" in step S160), the process ends.

[0042] When the driving control unit 212 determines that the position of the host vehicle deviates from the route ( "YES" in step S150), the second arrival time calculation unit 213 calculates a second destination arrival time, which is the destination arrival time, based on the position information of the host vehicle, the destination information, the first map information, and the second map information, and outputs the calculation result to the driving control unit 212 (step S170).

[0043] The driving control unit 212 determines whether the second destination arrival time calculated in step S170 is later than the first destination arrival time (step S180). That is, in step S180, it is confirmed whether a delay occurs in the arrival time when the host vehicle that is automatically driving deviates from the route and travels. When it is determined that the arrival time at the second destination is later than the arrival time at the first destination (``YES'' in step S180), the driving control unit 212 causes the process to proceed to step S190. On the other hand, when it is determined that the arrival time at the second destination is not later than the arrival time at the first destination (``NO'' in step S180), the driving control unit 212 causes the process to proceed to step S200.

[0044] When it is determined that the arrival time at the second destination is later than the arrival time at the first destination (``YES'' in step S180), the driving control unit 212 executes control to increase the traveling speed of the host vehicle (step S190), and causes the process to proceed to step S200.

[0045] Then, the driving control unit 212 determines whether or not the host vehicle that is automatically driving has arrived at the destination (step S200). When it is determined that the host vehicle has not arrived at the destination (``NO'' in step S200), the driving control unit 212 returns the process to step S140 and continues the process. On the other hand, when it is determined that the host vehicle has arrived at the destination (``YES'' in step S200), the process ends.

[0046] <Operation and Effect> As described above, the driving control system 1 according to the present embodiment includes a route setting unit 140 that sets a route to a destination based on first map information, a first arrival time calculation unit 150 that calculates a first destination arrival time when traveling on the set route, a position information acquisition unit 110 that acquires position information of the host vehicle, and a display unit 160 that displays at least the first map information, the route, the position information of the host vehicle, and the first destination arrival time to the passengers of the host vehicle. The vehicle navigation device 100 includes a driving subject information acquisition unit 211 that acquires the driving subject of the host vehicle, a second arrival time calculation unit 213 that calculates a second destination arrival time to the destination based on the destination information, the position information of the host vehicle, the first map information, and the second map information, and a driving control unit 212 that controls the average speed of the host vehicle to the destination. The driving control device 200 includes a processor 210. The processor 210 determines that the driving subject of the host vehicle is a vehicle from the information acquired by the driving subject information acquisition unit 211. When the host vehicle deviates from the route, the second arrival time calculation unit 213 calculates the second destination arrival time. When the second destination arrival time is later than the first destination arrival time, the driving control unit 212 controls to increase the traveling speed of the host vehicle. That is, when the host vehicle is automatically driving and the position of the host vehicle deviates from the route generated by the vehicle navigation device 100, the processor 210 calculates the second destination arrival time based on the destination information, the position information of the host vehicle, the first map information, and the second map information, and compares it with the first destination arrival time calculated by the vehicle navigation device 100. When the second destination arrival time is later than the first destination arrival time, the driving control unit 212 controls to increase the traveling speed of the host vehicle during automatic driving. Therefore, when a delay in the destination arrival time is detected, the control to increase the traveling speed during automatic driving is immediately executed, so that the delay in the arrival time can be reduced and the stress on the driver can be reduced.

[0047] When the host vehicle traveling in autonomous driving deviates from the route and arrives late, the driving control unit 212 executes control to increase the traveling speed of the host vehicle so as to eliminate the delay. Specifically, the driving control unit 212 changes the traveling speed setting during autonomous driving so that the average speed of the host vehicle to the destination increases. More specifically, the speed limit setting during autonomous driving is changed to the legal speed limit to increase the average speed of the vehicle speed. In addition, the acceleration control setting of the host vehicle is changed so that the time from the stop state to reaching the legal speed becomes shorter, and the average speed is increased. As a result, when a delay in the destination arrival time is detected, the driving control unit 212 immediately executes control to increase the traveling speed setting of the autonomous driving, so that the delay in the arrival time can be reduced and the stress on the driver can be reduced.

[0048] In addition, since the host vehicle traveling in autonomous driving may deviate from the route generated by the vehicle navigation device 100, the driving control unit 212 continuously monitors whether the position of the host vehicle deviates from the route based on the route information acquired from the navigation control unit 130 and the position information of the host vehicle. As a result, a delay in the destination arrival time can be immediately detected, so that the delay in the arrival time can be minimized and the stress on the driver can be reduced.

[0049] <Second Embodiment> The driving control system 1A according to the present embodiment will be described with reference to FIGS. 5 to 7.

[0050] <Configuration of Driving Control System 1A> As shown in FIG. 5, the driving control system 1A according to the present embodiment includes a vehicle navigation device 100 and a driving control device 200A. Note that components denoted by the same reference numerals as those in the first embodiment have the same functions, and thus detailed descriptions thereof are omitted.

[0051] <Configuration of Driving Control Device 200A> As shown in FIG. 6, the driving control device 200A according to the present embodiment includes a processor 210A and a memory 220.

[0052] The processor 210A controls the entire driving control device 200A according to a control program stored in the memory 220. In particular, in the present embodiment, it executes functions such as a driving subject information acquisition unit 211, a driving control unit 212A, and a second arrival time calculation unit 213.

[0053] <Configuration of Processor 210A> When a determination result that the vehicle is in the automatic driving state is input from the driving subject information acquisition unit 211, the driving control unit 212A compares the first destination arrival time with the second destination arrival time calculated by the second arrival time calculation unit 213. When the second destination arrival time is later than the first destination arrival time, it executes control to shorten the inter-vehicle distance between the host vehicle and the preceding vehicle. In the driving control unit 212 according to the first embodiment, when the second destination arrival time is later than the first destination arrival time, it performs control to increase the traveling speed of the host vehicle, thereby increasing the average speed to the destination. However, in the driving control unit 212A according to the present embodiment, it further performs control to shorten the inter-vehicle distance between the host vehicle and the preceding vehicle, thereby increasing the average speed to the destination. For example, the driving control unit 212A determines the inter-vehicle distance based on the braking distance at the current traveling speed of the host vehicle (the distance from when the brakes are applied until the host vehicle completely stops), and applies it to the inter-vehicle distance between the host vehicle and the preceding vehicle during automatic driving. Note that the above-described inter-vehicle distance is determined in consideration of the braking distance, variations in the braking distance due to weather, road surface conditions, etc., and a margin for avoiding collisions with the preceding vehicle, etc.

[0054] <Processing of Driving Control System 1A> The processing of the driving control system 1A according to the present embodiment will be described with reference to FIG. 7.

[0055] As shown in FIG. 7, the navigation control unit 130 determines whether or not a destination has been set by the user (step S300). When the navigation control unit 130 determines that the destination has not been set (''NO'' in step S300), the process returns to step S300 and the system enters a standby state. Note that the navigation control unit 130 in the standby state displays the position of the host vehicle acquired from the position information acquisition unit 110 and the first map information on the display unit 160. On the other hand, when the navigation control unit 130 determines that the destination has been set (''YES'' in step S300), the process proceeds to step S310.

[0056] The route setting unit 140 sets a route to the destination based on the destination information, the position information of the host vehicle, and the first map information (step S310).

[0057] The first arrival time calculation unit 150 calculates a first destination arrival time, which is the time of arrival at the destination, based on the route information set in step S310 and the first map information (step S320).

[0058] The navigation control unit 130 displays the first map information, the position information of the host vehicle, the route information, and the first destination arrival time on the display unit 160 and starts route guidance (step S330).

[0059] The driving control unit 212A determines whether or not it has received from the driving subject information acquisition unit 211 a determination result indicating that the driving operation subject of the host vehicle is the vehicle (step S340). When the driving control unit 212A has received from the driving subject information acquisition unit 211 a determination result indicating that the driving operation subject of the host vehicle is the vehicle (''YES'' in step S340), the process proceeds to step S350. On the other hand, when the driving control unit 212A determines that it has not received from the driving subject information acquisition unit 211 a determination result indicating that the driving operation subject of the host vehicle is the vehicle (''NO'' in step S340), the process proceeds to step S360.

[0060] When the driving control unit 212A receives from the driving subject information acquisition unit 211 a determination result indicating that the driving operation subject of the host vehicle is the vehicle (''YES'' in step S340), the driving control unit 212A determines whether the position of the host vehicle deviates from the route on which the position of the host vehicle is set, based on the route information and the position information of the host vehicle (step S350).

[0061] When it is determined that the position of the host vehicle does not deviate from the route (''NO'' in step S350), the driving control unit 212A causes the process to proceed to step S400. On the other hand, when it is determined that the position of the host vehicle deviates from the route (''YES'' in step S350), the driving control unit 212A causes the process to proceed to step S370.

[0062] When the driving control unit 212A has not received from the driving subject information acquisition unit 211 a determination result indicating that the driving operation subject of the host vehicle is the vehicle (''NO'' in step S340), the navigation control unit 130 determines whether the host vehicle has reached the destination (step S360). When it is determined that the host vehicle has not reached the destination (''NO'' in step S360), the navigation control unit 130 returns the process to step S340 and continues the route guidance. On the other hand, when it is determined that the host vehicle has reached the destination (''YES'' in step S360), the process ends.

[0063] When the driving control unit 212A determines that the position of the host vehicle has deviated from the route ( "YES" in step S350), the second arrival time calculation unit 213 calculates a second destination arrival time, which is the destination arrival time, based on the position information of the host vehicle, the destination information, the first map information, and the second map information, and outputs the calculation result to the driving control unit 212A (step S370).

[0064] The driving control unit 212A determines whether the second destination arrival time calculated in step S370 is later than the first destination arrival time (step S380). That is, in step S380, it is confirmed whether a delay occurs in the arrival time when the host vehicle traveling in the autonomous driving mode deviates from the route and travels. When it is determined that the second destination arrival time is later than the first destination arrival time ( "YES" in step S380), the driving control unit 212A causes the process to proceed to step S390. On the other hand, when it is determined that the second destination arrival time is not later than the first destination arrival time ( "NO" in step S380), the driving control unit 212A causes the process to proceed to step S400.

[0065] When it is determined that the second destination arrival time is later than the first destination arrival time ( "YES" in step S380), the driving control unit 212A executes control to increase the traveling speed of the host vehicle and control to shorten the inter-vehicle distance between the host vehicle and the preceding vehicle (step S390), and causes the process to proceed to step S400.

[0066] Then, the driving control unit 212A determines whether the host vehicle traveling in the autonomous driving mode has reached the destination (step S400). When it is determined that the host vehicle has not reached the destination ( "NO" in step S400), the driving control unit 212A returns the process to step S340 and continues the process. On the other hand, when it is determined that the host vehicle has reached the destination ( "YES" in step S400), the process ends.

[0067] <Function and Effect> As described above, in the driving control system 1A according to the present embodiment, the processor 210A determines from the information acquired by the driving subject information acquisition unit 211 that the driving subject of the host vehicle is a vehicle. When the host vehicle deviates from the route, the second arrival time calculation unit 213 calculates the second destination arrival time. When the second destination arrival time is later than the first destination arrival time, the driving control unit 212A further controls to shorten the inter-vehicle distance between the host vehicle and the vehicle ahead. That is, by shortening the inter-vehicle distance setting during autonomous driving, the average speed of the host vehicle to the destination can be further increased, so that the delay in the arrival time can be further reduced, and the stress on the driver can be reduced.

[0068] <Third Embodiment> The driving control system 1B according to the present embodiment will be described with reference to FIGS. 8 to 10.

[0069] <Configuration of Driving Control System 1B> As shown in FIG. 8, the driving control system 1B according to the present embodiment includes a vehicle navigation device 100 and a driving control device 200B. Note that components denoted by the same reference numerals as those in the first embodiment and the second embodiment have the same functions, and thus detailed descriptions thereof are omitted.

[0070] <Configuration of Driving Control Device 200B> As shown in FIG. 9, the driving control device 200B according to the present embodiment includes a processor 210B and a memory 220.

[0071] The processor 210B controls the entire driving control device 200B according to a control program stored in the memory 220. In particular, in the present embodiment, functions such as a driving subject information acquisition unit 211, a driving control unit 212B, and a second arrival time calculation unit 213 are executed.

[0072] <Configuration of Processor 210B> When the driving control unit 212B receives from the driving subject information acquisition unit 211 a determination result indicating that the vehicle is in an autonomous driving state, it compares the arrival time at the first destination with the arrival time at the second destination calculated by the second arrival time calculation unit 213. When the arrival time at the second destination is later than the arrival time at the first destination, the driving control unit 212B executes control to delay the braking timing of the host vehicle. In the driving control unit 212 according to the first embodiment, when the arrival time at the second destination is later than the arrival time at the first destination, control is performed to increase the traveling speed of the host vehicle, thereby increasing the average speed to the destination. However, the driving control unit 212B according to the present embodiment further performs control to delay the braking timing of the host vehicle, thereby increasing the average speed to the destination. For example, the driving control unit 212B performs control to delay the braking timing of the host vehicle by changing the deceleration characteristics during deceleration of the host vehicle. That is, the driving control unit 212B changes the brake control so that the time required to decelerate to a predetermined speed is shortened, thereby delaying the braking timing. Note that the braking timing may be determined in further consideration of the current traveling speed of the host vehicle, the inter-vehicle distance between the host vehicle and the preceding vehicle, and the like.

[0073] <Processing of Driving Control System 1B> The processing of the driving control system 1B according to the present embodiment will be described with reference to FIG. 10.

[0074] As shown in FIG. 10, the navigation control unit 130 determines whether a destination has been set by the user (step S500). When the navigation control unit 130 determines that the destination has not been set (''NO'' in step S500), the process returns to step S500 and the system enters a standby state. Note that the navigation control unit 130 in the standby state displays the position of the host vehicle acquired from the position information acquisition unit 110 and the first map information on the display unit 160. On the other hand, when the navigation control unit 130 determines that the destination has been set ( "YES" in step S500), the process proceeds to step S510.

[0075] The route setting unit 140 sets a route to the destination based on the destination information, the position information of the own vehicle, and the first map information (step S510).

[0076] The first arrival time calculation unit 150 calculates a first destination arrival time, which is the time of arrival at the destination, based on the route information set in step S510 and the first map information (step S520).

[0077] The navigation control unit 130 displays the first map information, the position information of the own vehicle, the route information, and the first destination arrival time on the display unit 160 and starts route guidance (step S530).

[0078] The driving control unit 212B determines whether it has received from the driving subject information acquisition unit 211 a determination result indicating that the driving operation subject of the own vehicle is the vehicle (step S540). When the driving control unit 212B has received from the driving subject information acquisition unit 211 a determination result indicating that the driving operation subject of the own vehicle is the vehicle ( "YES" in step S540), the driving control unit 212B causes the process to proceed to step S550. On the other hand, when the driving control unit 212B determines that it has not received from the driving subject information acquisition unit 211 a determination result indicating that the driving operation subject of the own vehicle is the vehicle ( "NO" in step S540), the driving control unit 212B causes the process to proceed to step S560.

[0079] When the driving control unit 212B has received from the driving subject information acquisition unit 211 a determination result indicating that the driving operation subject of the own vehicle is the vehicle ( "YES" in step S540), the driving control unit 212B determines whether the position of the own vehicle has deviated from the set route based on the route information and the position information of the own vehicle (step S550).

[0080] When it is determined that the position of the host vehicle has not deviated from the route (\"NO\" in step S550), the driving control unit 212B causes the process to proceed to step S600. On the other hand, when it is determined that the position of the host vehicle has deviated from the route (\"YES\" in step S550), the driving control unit 212B causes the process to proceed to step S570.

[0081] When the driving control unit 212B has not received from the driving subject information acquisition unit 211 a determination result indicating that the subject of the driving operation of the host vehicle is the vehicle (\"NO\" in step S540), the navigation control unit 130 determines whether or not the host vehicle has reached the destination (step S560). When it is determined that the host vehicle has not reached the destination (\"NO\" in step S560), the navigation control unit 130 returns the process to step S540 and continues route guidance. On the other hand, when it is determined that the host vehicle has reached the destination (\"YES\" in step S560), the process ends.

[0082] When the driving control unit 212B determines that the position of the host vehicle has deviated from the route (\"YES\" in step S550), the second arrival time calculation unit 213 calculates a second destination arrival time, which is the destination arrival time, based on the position information of the host vehicle, the destination information, the first map information, and the second map information, and outputs the calculation result to the driving control unit 212B (step S570).

[0083] The driving control unit 212B determines whether or not the second destination arrival time calculated in step S570 is later than the first destination arrival time (step S580). That is, in step S580, it is confirmed whether or not a delay occurs in the arrival time due to the host vehicle traveling automatically deviating from the route. When it is determined that the second destination arrival time is later than the first destination arrival time (\"YES\" in step S580), the driving control unit 212B causes the process to proceed to step S590. On the other hand, when it is determined that the arrival time at the second destination is not later than the arrival time at the first destination (``NO'' in step S580), the driving control unit 212B causes the process to proceed to step S600.

[0084] When it is determined that the arrival time at the second destination is later than the arrival time at the first destination (``YES'' in step S580), the driving control unit 212B executes control to increase the traveling speed of the host vehicle and control to delay the braking timing (step S590), and causes the process to proceed to step S600.

[0085] Then, the driving control unit 212B determines whether or not the host vehicle that is automatically driving has arrived at the destination (step S600). When it is determined that the host vehicle has not arrived at the destination (``NO'' in step S600), the driving control unit 212B returns the process to step S540 and continues the process. On the other hand, when it is determined that the host vehicle has arrived at the destination (``YES'' in step S600), the process ends.

[0086] <Operation and Effect> As described above, in the driving control system 1B according to the present embodiment, the processor 210B determines from the information acquired by the driving subject information acquisition unit 211 that the driving subject of the host vehicle is a vehicle, and when the host vehicle deviates from the route, the second arrival time calculation unit 213 calculates the second destination arrival time, and when the second destination arrival time is later than the first destination arrival time, the driving control unit 212B further performs control to delay the braking timing of the host vehicle. That is, by delaying the braking timing during automatic driving, the average speed of the host vehicle to the destination can be further increased, so that the delay in the arrival time can be further reduced, and the stress on the driver can be reduced.

[0087] <Other Embodiments> In the above-described driving control units 212, 212A, and 212B, as control for increasing the average speed of the host vehicle to the destination when a delay occurs in the arrival time, control such as setting the speed limit during curve driving and setting the intrusion distance during lane change is performed to reduce the delay in the arrival time. That is, when the driving control units 212, 212A, and 212B detect a delay in the destination arrival time, they can increase the average speed of the host vehicle during autonomous driving by performing control such as increasing the speed limit during curve driving and shortening the setting of the intrusion distance during lane change. Thereby, the delay in the arrival time can be further reduced, and the stress on the driver can be alleviated.

[0088] Also, even if the above-described driving control units 212, 212A, and 212B perform control to increase the average speed of the host vehicle to the destination, if the delay in the destination arrival time cannot be resolved due to traffic congestion, road closures, accidents, etc., the vehicle navigation device 100 may execute route re - setting and calculation of the destination arrival time on the re - set route, update the calculation result to a new first destination arrival time, and continue the processing of the driving control systems 1, 1A, and 1B. At this time, the display unit 160 may also execute processing to display that a delay has occurred in the destination arrival time and notify the driver. Thereby, since the delay can be notified before arriving at the destination, the stress on the driver can be reduced.

[0089] Note that the processing of the processors 210, 210A, and 210B can be recorded on a computer - readable recording medium, and the program recorded on this recording medium can be read by the processors 210, 210A, and 210B and executed to realize the driving control system of the present invention. Here, the computer system includes hardware such as an OS and peripheral devices.

[0090] In addition, if the "computer system" uses the WWW (World Wide Web) system, it shall also include a homepage providing environment (or display environment). Further, the above program may be transmitted from a computer system storing the program in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the "transmission medium" for transmitting the program refers to a medium having a function of transmitting information, such as a network (communication network) like the Internet or a communication line (communication wire) like a telephone line.

[0091] In addition, the above program may be for realizing a part of the functions described above. Furthermore, it may be a so-called difference file (difference program) that can realize the functions described above in combination with a program already recorded in the computer system.

[0092] As described above, the embodiments of the present invention have been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and designs and the like within the scope not departing from the gist of the present invention are also included.

Explanation of Reference Numerals

[0093] 1; Driving control system 1A; Driving control system 1B; Driving control system 100; Vehicle navigation device 110; Position information acquisition unit 120; Storage unit 130; Navigation control unit 140; Route setting unit 150; First arrival time calculation unit 160; Display unit 170; Input unit 200; Driving control device 200A; Driving control device 200B; Driving control device 210; Processor 210A; Processor 210B; Processor 211; Driving entity information acquisition unit 212; Driving control unit 212A; Driving control unit 212B; Driving control unit 213; Second arrival time calculation unit 220; Memory

Claims

1. A memory unit that stores first map information; When the driver is the driving entity, a route setting unit that sets a route to the destination based on the first map information; A first arrival time calculation unit that calculates a first destination arrival time when traveling on the set route; A position information acquisition unit that acquires the position information of the host vehicle; A display unit that displays at least the first map information, the route, the position information of the host vehicle, and the first destination arrival time to the passengers of the host vehicle; A vehicle navigation device including: A driving entity information acquisition unit that acquires whether the driving entity of the host vehicle is a driver or a vehicle; When the driving entity changes from a driver to a vehicle, based on the position information of the host vehicle and second map information, which is the map information used when the driving entity of the host vehicle is a vehicle, set a route to the destination and control the average speed of the host vehicle to the destination. A driving control unit; A second arrival time calculation unit that calculates a second destination arrival time when traveling on the route set by the driving control unit; A driving control device including: Comprising: The driving control device includes one or more processors and one or more memories communicably connected to the one or more processors; The one or more processors determine from the information acquired by the driving entity information acquisition unit that the driving entity of the host vehicle has changed from a driver to a vehicle. When the host vehicle deviates from the route set by the route setting unit, the second arrival time calculation unit calculates the second destination arrival time. When the second destination arrival time is later than the first destination arrival time, the driving control unit controls to increase the traveling speed of the host vehicle. A driving control system characterized by that.

2. When the one or more processors determine from the information acquired by the driving subject information acquisition unit that the driving subject of the host vehicle has changed from a driver to a vehicle, and when the host vehicle travels off the route set by the route setting unit, the second arrival time calculation unit calculates the second destination arrival time, and when the second destination arrival time is later than the first destination arrival time, the driving control unit further performs control to shorten the inter-vehicle distance between the host vehicle and the preceding vehicle. The driving control system according to claim 1, characterized in that.

3. When the one or more processors determine from the information acquired by the driving subject information acquisition unit that the driving subject of the host vehicle has changed from a driver to a vehicle, and when the host vehicle has deviated from the route set by the route setting unit, the second arrival time calculation unit calculates the second destination arrival time, and when the second destination arrival time is later than the first destination arrival time, the driving control unit further performs control to delay the braking timing of the host vehicle. The driving control system according to claim 1, characterized in that.

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