Automatic driving control device and automatic driving control program

Abstract

To provide an automatic driving control device and the like, that can perform a smooth transition to automatic driving without having an obligation to monitor a surrounding.SOLUTION: An automatic driving ECU 50b functions as an automatic driving control device that enables an own vehicle Am to travel by an automatic driving function. The automatic driving ECU 50b permits a transition from driving support control with an obligation to grip a steering wheel to autonomous traveling control without an obligation to monitor a surrounding and grip the steering wheel, based on an establishment of a plurality of transition conditions. In addition, the automatic driving ECU 50b grasps whether or not a driver is gripping the steering wheel. Then, the automatic driving ECU 50b executes a hands-on notification for prompting the driver to grip the steering wheel as an action request notification in the case that the automatic driving ECU grasps that the grip of the steering wheel has been interrupted after at least one transition condition is satisfied and before a level-3 starting notification is executed.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The disclosure in this specification relates to an automatic driving control device and an automatic driving control program that enable a vehicle to travel using an automatic driving function. [Background technology]

[0002] Patent Document 1 discloses a control system for an autonomous vehicle, in which the driver is permitted to take their hands off the steering wheel during autonomous driving. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2018-27726 Summary of the Invention [Problem to be solved by the invention]

[0004] In recent autonomous vehicles, in addition to the hands-off state described in Patent Document 1, an eyes-off state in which the driver is not required to monitor the surroundings may be permitted during autonomous driving. In such autonomous vehicles, for example, a situation may arise in which the driver transitions from a state in which the driver is required to hold the steering wheel to a state in which the driver is not required to hold the steering wheel or monitor the surroundings. In such an autonomous driving state transition situation, it becomes difficult for the driver to recognize the actions they should take. As a result, there is a risk that the system may not be able to smoothly transition to autonomous driving control in which the driver is not required to monitor the surroundings.

[0005] The present disclosure aims to provide an autonomous driving control device and an autonomous driving control program that can smoothly transition to autonomous driving without the obligation to monitor the surrounding area. [Means for solving the problem]

[0006] In order to achieve the above object, one disclosed aspect is an autonomous driving control device that enables a host vehicle (Am) to travel using an autonomous driving function, and includes: a gripping grasping unit (71, 86) that grasps whether or not a driver of the host vehicle is gripping the steering wheel; a control switching unit (78) that permits a transition from driving assistance control, in which the driver is obligated to grip the steering wheel, to autonomous driving control, in which the driver is not obligated to monitor the surroundings or grip the steering wheel, based on the satisfaction of a plurality of transition conditions; and a notification control unit (72, 88) that executes an approach notification that indicates to the driver that use of autonomous driving control is likely to become possible based on the satisfaction of at least one transition condition, and a start notification that indicates to the driver that autonomous driving control has started, and the notification control unit executes a hands-on notification that prompts the driver to grip the steering wheel when it is grasped that the driver has stopped gripping the steering wheel between the implementation of the approach notification based on the satisfaction of at least one transition condition and the implementation of the start notification. The control switching unit stops the transition to autonomous driving control if it detects that the driver has stopped gripping the steering wheel during the period from when at least one transition condition is met until before the start notification is issued, continues the driving assistance control if it detects that the driver has stopped gripping the steering wheel within a predetermined time after the start of the hands-on notification, and restricts the transition to autonomous driving control if it continues the driving assistance control based on the driver's gripping of the steering wheel. It is said to be an automatic driving control device. Another disclosed aspect is an automatic driving control device that enables the driver of the vehicle (Am) to drive using an automatic driving function, and includes a gripping detection unit (71, 86) that detects whether the driver of the vehicle is gripping the steering wheel or not, a control switching unit (78) that allows a transition from driving assistance control, in which the driver is obligated to grip the steering wheel, to autonomous driving control, in which the driver is not obligated to monitor the surroundings or grip the steering wheel, based on the satisfaction of multiple transition conditions, and a notification control unit (72, 88) that issues an approach notification to the driver that autonomous driving control is likely to become available based on the satisfaction of at least one transition condition, and a start notification to the driver that autonomous driving control has begun, where the notification control unit issues a hands-on notification to prompt the driver to grip the steering wheel if it detects that the driver has stopped gripping the steering wheel between the implementation of the approach notification based on the satisfaction of at least one transition condition and before the implementation of the start notification, and the automatic driving control device suspends the implementation of the start notification for a predetermined period of time if the hands-on notification is implemented.

[0007] Another disclosed aspect is an autonomous driving control program that enables a host vehicle (Am) to travel using an autonomous driving function, and based on the establishment of at least one transition condition, issues an approach notification to the driver indicating that it is likely that autonomous driving control will be available, which does not require the driver of the host vehicle to monitor the surroundings or hold the steering wheel (S102), determines whether the driver is holding the steering wheel (S103, S107), and based on the establishment of multiple transition conditions, permits a transition from driving assistance control, which requires the driver to hold the steering wheel, to autonomous driving control (S105), and issues a start notification to the driver indicating the start of autonomous driving control (S110), and if it is determined that the driver has stopped holding the steering wheel between the time when the approach notification is issued based on the establishment of at least one transition condition and before the start notification is issued, The transition to autonomous driving control was halted, A hands-on notification is implemented to encourage the driver to hold the steering wheel. Se(S112, S113), If the steering wheel grip is detected within a predetermined time after the start of the hands-on notification, the driving assistance control is continued (S115), and if the driving assistance control is continued based on the detection of the steering wheel grip, the transition to the autonomous driving control is restricted (S116). The automatic operation control program causes at least one processing unit (51) to execute processing including the above. Another disclosed aspect is an autonomous driving control program that enables a host vehicle (Am) to travel using an autonomous driving function, and causes at least one processing unit (51) to execute processes including: based on the satisfaction of at least one transition condition, an approach notification is issued to the driver indicating that autonomous driving control, which does not require the driver of the host vehicle to monitor the surroundings or hold the steering wheel, will likely become available (S102); determining whether the driver is holding the steering wheel (S103, S107); based on the satisfaction of multiple transition conditions, permitting a transition from driving assistance control, which requires the driver to hold the steering wheel, to autonomous driving control (S105); and issuing a start notification to the driver indicating the start of autonomous driving control (S110); and, if it is determined that the driver has stopped holding the steering wheel between the implementation of the approach notification based on the satisfaction of at least one transition condition and before the implementation of the start notification, issuing a hands-on notification to prompt the driver to hold the steering wheel (S113); and, if the hands-on notification is issued, suspending the implementation of the start notification for a predetermined period of time (S116).

[0008] In these aspects, if the driver stops holding the steering wheel during the period until the notification of the start of autonomous driving control without the obligation to monitor the surroundings is issued, a hands-on notification is issued to prompt the driver to hold the steering wheel. This hands-on notification allows the driver to recognize the actions they should take before transitioning to autonomous driving control without the obligation to monitor the surroundings. As a result, the driver can continue to hold the steering wheel until the start of autonomous driving control, allowing for a smooth transition to autonomous driving without the obligation to monitor the surroundings.

[0009] Another disclosed aspect is an autonomous driving control device that enables a host vehicle (Am) to travel using an autonomous driving function, and includes a monitoring recognition unit (71, 86) that recognizes whether or not a driver of the host vehicle is monitoring the surroundings; a control switching unit (78) that permits a transition from driving assistance control, which requires the driver to hold the steering wheel and monitor the surroundings, to autonomous driving control, which does not require the driver to hold the steering wheel or monitor the surroundings, based on the satisfaction of a plurality of transition conditions; and a notification control unit (72, 88) that issues an approach notification to the driver that the autonomous driving control is likely to be available for use based on the satisfaction of at least one transition condition, and a start notification to the driver that the autonomous driving control has started, and the notification control unit issues a monitoring request notification to prompt the driver to monitor the surroundings when it is recognized that the driver has discontinued monitoring the surroundings between the time when the approach notification is issued based on the satisfaction of at least one transition condition and the time when the start notification is issued. The control switching unit stops the transition to autonomous driving control when it is determined that the driver has discontinued peripheral monitoring during the period from when at least one transition condition is satisfied until before the start notification is issued, continues driving assistance control when it is determined that peripheral monitoring is being carried out within a predetermined time after the start of the monitoring request notification, and restricts the transition to autonomous driving control when driving assistance control is continued based on the determination that peripheral monitoring is being carried out. It is said to be an automatic driving control device.

[0010] Another disclosed aspect is an autonomous driving control program that enables a host vehicle (Am) to travel using an autonomous driving function, and based on the establishment of at least one transition condition, issues an approach notification to the driver indicating that it is likely that autonomous driving control, which does not require the driver of the host vehicle to monitor the surroundings or hold the steering wheel, will become available (S102), and determines whether the driver is monitoring the surroundings (S104, S108). Based on the establishment of multiple transition conditions, the program permits a transition from driving assistance control, which requires the driver to hold the steering wheel and monitor the surroundings, to autonomous driving control (S105), and issues a start notification to the driver indicating the start of autonomous driving control (S110). If it is determined that the driver has discontinued monitoring the surroundings between the establishment of at least one transition condition and before the start notification is issued, The transition to autonomous driving control was halted, A monitoring request notification is issued to prompt the driver to monitor the surroundings. Se(S112, S113), If it is determined that peripheral monitoring is being performed within a predetermined time after the start of the monitoring request notification, the driving assistance control is continued (S115), and if the driving assistance control is continued based on the determination that peripheral monitoring is being performed, the transition to autonomous driving control is restricted (S116). The automatic operation control program causes at least one processing unit (51) to execute processing including the above.

[0011] In these aspects, if the driver stops monitoring the surroundings during the period until the start of autonomous driving control without the obligation to monitor the surroundings is notified, a monitoring request notification is issued to prompt the driver to monitor the surroundings. This monitoring request notification allows the driver to recognize the actions they should take before transitioning to autonomous driving control without the obligation to monitor the surroundings. As a result, the driver can continue monitoring the surroundings until the start of autonomous driving control, allowing for a smooth transition to automated driving without the obligation to monitor the surroundings.

[0018] Note that the reference numbers in parentheses above and in the claims merely indicate an example of the correspondence with the specific configurations in the embodiments described below, and do not in any way limit the technical scope. [Brief explanation of the drawings]

[0019] [Figure 1] 1 is a diagram illustrating an overall view of an in-vehicle network including an autonomous driving ECU according to a first embodiment of the present disclosure. [Figure 2]FIG. 2 is a block diagram showing details of an autonomous driving ECU. [Figure 3] FIG. 2 is a block diagram showing details of an HCU. [Figure 4] 10 is a time chart showing an example of notifications performed by each display device. [Figure 5] 7 is a flowchart showing details of the driving control switching process mainly performed by the autonomous driving ECU, together with FIG. 6. [Figure 6] 6 is a flowchart showing details of an operation control switching process together with FIG. 5. [Figure 7] 6 is a flowchart showing details of an operation control switching process according to a second embodiment, together with FIG. 5. [Figure 8] FIG. 10 is a block diagram showing details of an autonomous driving ECU according to a third embodiment. [Figure 9] 10 is a flowchart showing details of a transition condition setting process performed by an autonomous driving ECU. [Figure 10] 10A and 10B are diagrams illustrating an example of a plurality of congestion patterns grasped by a congestion grasping unit. [Figure 11] 10A and 10B are diagrams illustrating an example of a plurality of congestion patterns grasped by a congestion grasping unit. [Figure 12] 10A and 10B are diagrams illustrating an example of a plurality of congestion patterns grasped by a congestion grasping unit. [Figure 13] 10 is a flowchart showing details of a hands-off restriction process performed by an autonomous driving ECU according to a fourth embodiment. [Figure 14] 10 is a flowchart showing details of an area notification process. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, several embodiments will be described with reference to the drawings. Note that corresponding components in each embodiment are given the same reference numerals, and redundant description may be omitted. When only a portion of the configuration is described in each embodiment, the configuration of another embodiment described previously can be applied to the remaining portion of the configuration. Furthermore, in addition to the combinations of configurations explicitly stated in the description of each embodiment, configurations of several embodiments can also be partially combined together even if not explicitly stated, as long as there is no particular problem with the combination.

[0021] (First embodiment) The functions of the automatic driving control device according to the first embodiment of the present disclosure are realized by an automatic driving ECU (Electronic Control Unit) 50b shown in Fig. 1. The automatic driving ECU 50b is mounted on a vehicle (hereinafter referred to as the host vehicle Am) together with a driving assistance ECU 50a. The automatic driving ECU 50b, together with the driving assistance ECU 50a and the like, constitutes an automatic driving system 50 of the host vehicle Am. By mounting the automatic driving system 50, the host vehicle Am becomes an automatic driving vehicle equipped with an automatic driving function.

[0022] The driving assistance ECU 50a is an in-vehicle ECU that realizes a driving assistance function that assists the driver in driving operations in the automated driving system 50. The driving assistance ECU 50a enables advanced driving assistance or partial automated driving at approximately Level 2 of the automated driving levels defined by the Society of Automotive Engineers. The automated driving performed by the driving assistance ECU 50a is automated driving with a periphery monitoring obligation, which requires the driver to visually monitor the area around the vehicle.

[0023] The autonomous driving ECU 50b is an in-vehicle ECU that realizes an autonomous driving function that can take over driving operations from the driver. The autonomous driving ECU 50b is capable of autonomous driving at level 3 or higher, where the system is the main controller. The autonomous driving performed by the autonomous driving ECU 50b does not require monitoring of the surroundings of the vehicle, that is, it is eyes-off autonomous driving with no obligation to monitor the surroundings.

[0024] In the autonomous driving system 50, the driving control state of the autonomous driving function is switched among a plurality of states including at least driving assistance control by the driving assistance ECU 50a, which requires surrounding monitoring, and autonomous driving control by the autonomous driving ECU 50b, which does not require surrounding monitoring. In the following description, autonomous driving control of level 2 or lower by the driving assistance ECU 50a will be referred to as "driving assistance control," and autonomous driving control of level 3 or higher by the autonomous driving ECU 50b will be referred to as "autonomous driving control." Note that the autonomous driving ECU 50b may be capable of autonomous driving of level 4 or higher.

[0025] During the autonomous driving period in which the host vehicle Am is driven by the autonomous driving control of the autonomous driving ECU 50b, the driver may be permitted to perform a specific action (hereinafter referred to as a second task) other than driving as specified in advance. The second task is legally permitted to the driver until a request for execution of a driving operation performed by the autonomous driving ECU 50b in cooperation with the HCU (Human Machine Interface Control Unit) 100 (described later) occurs, i.e., a request for a driver handover occurs. For example, actions such as watching entertainment content such as video content, operating a device such as a smartphone, and eating are considered as second tasks.

[0026] The driving assistance ECU 50a and the autonomous driving ECU 50b are communicatively connected to a communication bus 99 of an in-vehicle network 1 mounted on the host vehicle Am. As shown in FIGS. 1 to 3 , the communication bus 99 is connected to a grip sensor 28, a driver monitor 29, a periphery monitoring sensor 30, a locator 35, an in-vehicle communication device 39, a cruise control ECU 40, an HCU 100, and the like. These nodes connected to the communication bus 99 can communicate with each other. Certain nodes among these ECUs, etc. may be electrically connected directly to each other and be able to communicate without going through the communication bus 99.

[0027] The grip sensor 28 is, for example, a capacitance-type touch sensor. The grip sensor 28 is provided on the rim of the steering wheel. The grip sensor 28 detects whether or not the driver is gripping the steering wheel. The grip sensor 28 provides the HCU 100 with grip detection information indicating whether or not the driver is gripping the steering wheel.

[0028] The driver monitor 29 includes a near-infrared light source, a near-infrared camera, and a control unit for controlling them. The driver monitor 29 is installed, for example, on the top surface of the steering column or the top surface of the instrument panel, with the near-infrared camera facing the headrest of the driver's seat. The driver monitor 29 may be configured integrally with the meter display 21 or the center information display (hereinafter referred to as CID) 22, which will be described later, and may be provided on either screen.

[0029] The driver monitor 29 uses a near-infrared camera to capture an image of the driver's head illuminated with near-infrared light from a near-infrared light source. The image captured by the near-infrared camera is analyzed by a control unit. The control unit extracts information such as the driver's eye point position and line of sight from the captured image. The driver monitor 29 provides the driver status information extracted by the control unit to the HCU 100, the autonomous driving ECU 50b, etc.

[0030] The perimeter monitoring sensor 30 is an autonomous sensor that monitors the environment surrounding the host vehicle Am. The perimeter monitoring sensor 30 can detect moving objects and stationary objects within a detection range around the host vehicle. The perimeter monitoring sensor 30 can detect other vehicles traveling around the host vehicle Am, specifically, at least a vehicle ahead, a vehicle behind, a vehicle on either side, etc. The perimeter monitoring sensor 30 provides detection information of objects around the host vehicle to the driving assistance ECU 50a, the autonomous driving ECU 50b, etc.

[0031] The perimeter monitoring sensor 30 includes, for example, one or more of a camera unit 31, a millimeter-wave radar 32, a lidar 33, and a sonar 34. The camera unit 31 may be configured to include a monocular camera or a compound eye camera. The camera unit 31 is mounted on the host vehicle Am so as to be able to capture an image of the range ahead of the host vehicle Am. A camera unit 31 capable of capturing images of the lateral and rearward ranges of the host vehicle Am may also be mounted on the host vehicle Am. The camera unit 31 outputs at least one of image data captured of the surroundings of the host vehicle and an analysis result of the image data as detection information.

[0032] The millimeter-wave radar 32 emits millimeter waves or quasi-millimeter waves toward the surroundings of the vehicle. The millimeter-wave radar 32 receives waves reflected by moving and stationary objects, etc., and outputs detection information generated by the process. The lidar 33 emits laser light toward the surroundings of the vehicle. The lidar 33 receives laser light reflected by moving and stationary objects, etc., within the irradiation range, and outputs detection information generated by the process. The sonar 34 emits ultrasonic waves toward the surroundings of the vehicle. The sonar 34 receives ultrasonic waves reflected by moving and stationary objects, etc., near the vehicle, and outputs detection information generated by the process.

[0033] Locator 35 includes a GNSS (Global Navigation Satellite System) receiver, an inertial sensor, etc. Locator 35 sequentially determines the position and traveling direction of host vehicle Am by combining the positioning signal received by the GNSS receiver, the measurement results of the inertial sensor, and vehicle speed information output to communication bus 99. Locator 35 sequentially outputs position information and direction information of host vehicle Am based on the positioning results to communication bus 99 as locator information.

[0034] The locator 35 further includes a map database (hereinafter referred to as map DB) 36 that stores map data. The map DB 36 is primarily composed of a large-capacity storage medium that stores a large amount of 3D map data and 2D map data. The 3D map data includes information necessary for advanced driving assistance and automated driving, such as 3D road shape information and detailed information about each lane. The locator 35 reads map data about the area around the current location from the map DB 36 and provides it to the driving assistance ECU 50a, the automated driving ECU 50b, etc., along with locator information.

[0035] The in-vehicle communication device 39 is an external communication unit mounted on the host vehicle Am, and functions as a V2X (Vehicle to Everything) communication device. The in-vehicle communication device 39 transmits and receives information via wireless communication with roadside devices installed on the side of the road. As an example, the in-vehicle communication device 39 receives congestion information around the current position of the host vehicle Am and in the direction of travel from the roadside devices. The congestion information is VICS (registered trademark) information or the like. The in-vehicle communication device 39 provides the received congestion information to the autonomous driving ECU 50b or the like.

[0036] The cruise control ECU 40 is an electronic control device that mainly includes a microcontroller. The cruise control ECU 40 has at least the functions of a brake control ECU, a drive control ECU, and a steering control ECU. The cruise control ECU 40 continuously controls the braking force of each wheel, the output of the on-board power source, and the steering angle based on one of an operation command based on the driver's driving operation, a control command from the driving assistance ECU 50a, and a control command from the autonomous driving ECU 50b. In addition, the cruise control ECU 40 generates vehicle speed information indicating the current traveling speed of the host vehicle Am based on detection signals from wheel speed sensors installed in the hubs of each wheel, and sequentially outputs the generated vehicle speed information to the communication bus 99.

[0037] The HCU 100, together with a plurality of display devices, an audio device 24, an operation device 26, etc., constitutes an HMI (Human Machine Interface) system 10. The HMI system 10 has an input interface function that accepts operations by an occupant such as a driver of the host vehicle Am, and an output interface function that presents information to the driver.

[0038] The display device presents information to the driver's vision by displaying images, etc. The display devices include a meter display 21, a CID 22, and a head-up display (hereinafter referred to as HUD) 23, etc. The CID 22 has a touch panel function and detects touch operations on the display screen by the driver, etc. The audio device 24 has multiple speakers installed in the vehicle cabin surrounding the driver's seat, and reproduces alert sounds, voice messages, etc. through the speakers in the vehicle cabin.

[0039] The operation device 26 is an input unit that accepts user operations by the driver or the like. User operations related to, for example, activation and deactivation of an autonomous driving function are input to the operation device 26. As an example, a driver input instructing a transition from driving assistance control to autonomous driving control is input to the operation device 26. The operation device 26 includes a steering switch provided on the spokes of the steering wheel, an operation lever provided on the steering column, and a voice input device that recognizes what the driver is saying.

[0040] The HCU 100 functions as a presentation control device and comprehensively manages the presentation of information related to autonomous driving to the driver. The HCU 100 requests the driver to take over driving based on a request to perform driving operations from the autonomous driving ECU 50b. In addition, the HCU 100 cooperates with the autonomous driving ECU 50b to allow the driver to perform a second task, and can play video content related to the second task without interfering with the request to take over driving.

[0041] The HCU 100 mainly includes a control circuit including a processing unit 11, a RAM 12, a storage unit 13, an input / output interface 14, and buses connecting these. The processing unit 11 is hardware for arithmetic processing coupled to the RAM 12. The processing unit 11 includes at least one arithmetic core such as a central processing unit (CPU) and a graphics processing unit (GPU). The processing unit 11 may further include an IP core with a field-programmable gate array (FPGA), a neural network processing unit (NPU), or other dedicated functions. The RAM 12 may include a video RAM for generating video data. The processing unit 11 accesses the RAM 12 to execute various processes for presentation control processing. The storage unit 13 includes a non-volatile storage medium. The storage unit 13 stores various programs (such as a presentation control program) executed by the processing unit 11.

[0042] The HCU 100 has a plurality of functional units that perform integrated control of information presentation to the driver by executing a presentation control program stored in the storage unit 13 using the processing unit 11. Specifically, the HCU 100 has functional units such as an information acquisition unit 81, an information linking unit 82, a driver behavior grasping unit 86, and a presentation control unit 88 (see FIG. 3).

[0043] The information acquisition unit 81 acquires vehicle information indicating the state of the host vehicle Am from the communication bus 99. The vehicle information includes, for example, vehicle speed information provided to the communication bus 99 by the cruise control ECU 40. In addition, the information acquisition unit 81 acquires operation information indicating the content of a user operation from the CID 22, the operation device 26, etc.

[0044] The information linking unit 82 links with an information linking unit 61 (described later) of the autonomous driving ECU 50b, enabling information to be shared between the autonomous driving system 50 and the HCU 100. The information linking unit 82 provides the autonomous driving ECU 50b with operation information grasped by the information acquisition unit 81, driver behavior information (described later) grasped by the driver behavior grasping unit 86, and the like.

[0045] The information linking unit 82 obtains control status information indicating the status of the autonomous driving function to determine the operating status of autonomous driving by the autonomous driving system 50. Based on the control status information, the information linking unit 82 determines whether the driving control being performed is driving assistance control or autonomous driving control, in other words, whether the driver is obligated to monitor the surroundings for the driving control performed by the autonomous driving function.

[0046] The information linking unit 82 acquires notification implementation requests output by a notification requesting unit 72 (described later) of the autonomous driving ECU 50b. The information linking unit 82 acquires, from the autonomous driving ECU 50b, a request to request the driver to take over driving, and a request to issue a control transition notification related to a transition from manual driving to driving assistance control and a transition from driving assistance control to autonomous driving control. Based on the request to issue each notification, the information linking unit 82 controls the content and timing of each notification in cooperation with the presentation control unit 88.

[0047] The driver behavior grasping unit 86 grasps the state and behavior of the driver based on the grip detection information acquired from the grip sensor 28 and the driver status information acquired from the driver monitor 29. The driver behavior grasping unit 86 grasps whether the driver is gripping the steering wheel (hereinafter referred to as the steering wheel), whether the driver is monitoring the surroundings of the host vehicle Am, and the like. In addition, the driver behavior grasping unit 86 grasps the content of the second task being performed by the driver during the autonomous driving period. Information indicating whether the steering wheel is being gripped, whether surroundings monitoring is being performed, the content of the second task, and the like is provided to the information linking unit 82 and the presentation control unit 88 as driver behavior information.

[0048] The presentation control unit 88 performs integrated control of the provision of information to the driver using each display device and the audio device 24. The presentation control unit 88 provides content and presents information tailored to the operating state of the autonomous driving, based on the control status information and implementation requests acquired by the information linking unit 82, and the driver behavior information grasped by the driver behavior grasping unit 86, etc. Specifically, when the information linking unit 82 grasps that autonomous driving control is being performed by the autonomous driving ECU 50b, the presentation control unit 88 enables the display device to play video content, etc. Furthermore, when it is scheduled to cancel autonomous driving control that does not require surrounding monitoring, the presentation control unit 88 issues a notification requesting the driver to take over driving (see FIG. 4).

[0049] Next, the driving assistance ECU 50a and the autonomous driving ECU 50b will be described in detail in order.

[0050] The driving assistance ECU 50a is a computer that mainly includes a control circuit equipped with a processing unit, RAM, a storage unit, an input / output interface, and a bus connecting these. The driving assistance ECU 50a realizes driving assistance functions such as ACC (Adaptive Cruise Control), LTC (Lane Trace Control), and LCA (Lane Change Assist) by executing a program in the processing unit. As an example, the driving assistance ECU 50a performs driving assistance control to drive the host vehicle Am in the host vehicle's lane by coordinating the functions of ACC and LTC.

[0051] The driving assist ECU 50a in the first embodiment does not perform level 2 driving assist control in a hands-off state in which the driver is permitted to take his or her hands off the steering wheel. In other words, the driving assist ECU 50a can only perform level 2 driving assist control in a hands-on state in which the driver holds the steering wheel.

[0052] The autonomous driving ECU 50b has a higher computing power than the driving assistance ECU 50a and can perform at least driving control equivalent to ACC, LTC, and LCA. The autonomous driving ECU 50b may be capable of performing driving assistance control in which the driver is responsible for monitoring the surroundings, in place of the driving assistance ECU 50a, in situations where the autonomous driving control is temporarily suspended. The autonomous driving ECU 50b is a computer mainly including a processing unit 51, a RAM 52, a storage unit 53, an input / output interface 54, and a control circuit including a bus connecting these. The processing unit 51 accesses the RAM 52 to execute various processes for implementing the autonomous driving control method of the present disclosure. The storage unit 53 stores various programs (e.g., autonomous driving control programs) executed by the processing unit 51. By executing the programs by the processing unit 51, the autonomous driving ECU 50b is configured with multiple functional units for implementing the autonomous driving function, such as an information linking unit 61, an environment recognition unit 62, an action determination unit 63, and a control execution unit 64 (see FIG. 2).

[0053] The information linking unit 61 provides information to the information linking unit 82 of the HCU 100 and acquires information from the information linking unit 82. Through the collaboration between these information linking units 61, 82, the autonomous driving ECU 50b and the HCU 100 share the information they have acquired. The information linking unit 61 generates control status information that indicates the operating status of the autonomous driving function, and provides the generated control status information to the information linking unit 82. The information linking unit 61 has an HMI information acquisition unit 71 and a notification request unit 72 as sub-functional units for information linking.

[0054] The HMI information acquisition unit 71 acquires operation information, driver behavior information, etc. from the information linking unit 82. Based on the operation information, the HMI information acquisition unit 71 grasps user operations input to the CID 22, the operation device 26, etc. As an example, the HMI information acquisition unit 71 grasps a level 2 transition operation (see FIG. 4) that instructs a transition from manual driving to driving assistance control, and a level 3 transition operation (see FIG. 4) that instructs a transition from driving assistance control to autonomous driving control, etc. In addition, the HMI information acquisition unit 71 grasps the driver's behavior during the driving assistance period and the autonomous driving period based on the driver behavior information. Specifically, the HMI information acquisition unit 71 grasps whether the steering wheel is being gripped, whether the driver is monitoring the surroundings, the contents of the second task performed by the driver, etc.

[0055] The HMI information acquisition unit 71 may have the same function as the driver behavior grasping unit 86 of the HCU 100. In detail, the HMI information acquisition unit 71 may acquire the grip detection information and the driver status information from the grip sensor 28 and the driver monitor 29, respectively, and may be able to grasp the details of the driver's behavior, similar to the driver behavior grasping unit 86.

[0056] The notification request unit 72 enables the HCU 100 to issue a notification synchronized with the operating state of the autonomous driving function by outputting a request to issue a notification to the information linking unit 82. As described above, the notification request unit 72 transmits, to the information linking unit 82, a request to issue a driver change request, a request to issue a control transition notification, and the like, as requests to issue notifications related to autonomous driving.

[0057] The environment recognition unit 62 recognizes the driving environment of the host vehicle Am by combining the locator information and map data acquired from the locator 35 with the detection information acquired from the perimeter monitoring sensor 30. In addition, the environment recognition unit 62 acquires vehicle information indicating the state of the host vehicle Am from the communication bus 99. As an example, the environment recognition unit 62 acquires vehicle speed information indicating the current driving speed of the host vehicle Am. The environment recognition unit 62 has an other vehicle recognition unit 74, a road information acquisition unit 75, and a traffic congestion recognition unit 76 as sub-functional units for recognizing the driving environment.

[0058] The other vehicle grasping unit 74 grasps the relative positions and relative speeds of dynamic targets around the host vehicle, such as other vehicles traveling around the host vehicle Am. The other vehicle grasping unit 74 grasps at least the vehicles ahead and behind traveling in the same lane as the host vehicle Am, and vehicles to the side traveling in adjacent lanes adjacent to the host vehicle lane.

[0059] The road information acquisition unit 75 obtains information about the road on which the host vehicle Am is traveling. The road information acquisition unit 75 obtains the type of road on which the host vehicle Am is traveling. As an example, the road information acquisition unit 75 obtains information about the shape of the road on which the host vehicle Am is traveling, specifically, information about whether the road is a straight section or a curved section, as well as the gradient of the road, etc.

[0060] In addition, the road information acquisition unit 75 determines whether the road on which the host vehicle Am is traveling or is scheduled to travel is a pre-set autonomous driving area (hereinafter referred to as an AD area, see Figure 4). An AD area is an area where traveling using the autonomous driving function is permitted. Expressways and expressways are AD areas. On the other hand, the road information acquisition unit 75 determines roads that are not included in an AD area as manual driving areas (hereinafter referred to as an MD area, see Figure 4) where traveling using the autonomous driving function is not permitted. In an MD area, autonomous driving at level 2 or higher is prohibited. Note that the use of driving assistance functions at around level 1 may be permitted even within an MD area.

[0061] The traffic congestion grasping unit 76 grasps traffic congestion around the host vehicle Am by combining information about other vehicles grasped by the other vehicle grasping unit 74 and vehicle speed information grasped by the environment recognition unit 62, etc. The traffic congestion grasping unit 76 may use traffic congestion information received by the in-vehicle communication device 39 to grasp traffic congestion around the host vehicle. When the traffic congestion grasping unit 76 grasps traffic congestion around the host vehicle Am within the AD area, automatic driving by autonomous driving control without the obligation to monitor the surroundings becomes possible.

[0062] The congestion grasping unit 76 determines that the area around the host vehicle is in a congestion state when the current traveling speed of the host vehicle Am is equal to or less than the congestion speed (for example, about 30 km / h) and there are both vehicles traveling ahead and behind the host vehicle in the host vehicle's lane. After determining that the area around the host vehicle is in a congestion state, the congestion grasping unit 76 predicts that the congestion around the host vehicle will be resolved if the traveling speed of the host vehicle Am exceeds the congestion speed. After predicting that the congestion will be resolved, the congestion grasping unit 76 cancels the prediction that the congestion will be resolved if the vehicle speed of the host vehicle Am again becomes equal to or less than the congestion speed. On the other hand, after predicting that the congestion around the host vehicle will be resolved, the congestion grasping unit 76 determines that the congestion has been resolved if the traveling speed of the host vehicle Am or the vehicle ahead exceeds the congestion resolution speed (for example, about 50 km / h).

[0063] The behavior determination unit 63 cooperates with the HCU 100 to control the automatic driving system 50 and driving changes between drivers. When the automatic driving system 50 has control of driving operations, the behavior determination unit 63 generates a planned driving line for the host vehicle Am to travel based on the recognition result of the driving environment by the environment recognition unit 62, and outputs the generated planned driving line to the control execution unit 64. The behavior determination unit 63 has a control switching unit 78 as a sub-function unit for controlling the operating state of the automatic driving function.

[0064] The control switching unit 78 cooperates with the driving assistance ECU 50a to control the start and end of driving assistance control requiring the driver to monitor the surroundings. Additionally, the control switching unit 78 cooperates with the driving assistance ECU 50a to switch between driving assistance control requiring the driver to monitor the surroundings and autonomous driving control requiring the driver to monitor the surroundings. Specifically, the control switching unit 78 is configured with multiple transition conditions for permitting a transition to autonomous driving control. The transition conditions substantially match the conditions for the congestion detection unit 76 to determine a traffic jam, and include requirements related to the driving state of the host vehicle Am and requirements related to the driving environment around the host vehicle. Specifically, the transition conditions include the host vehicle Am's driving speed decreasing to or below the congestion speed, the presence of both a vehicle ahead and a vehicle behind, and the like. Based on the satisfaction of all of the multiple transition conditions, the control switching unit 78 permits a transition from level 2 driving assistance control, in which the driver is responsible for holding the steering wheel and monitoring the surroundings, to autonomous driving control, in which the driver is not responsible for holding the steering wheel and monitoring the surroundings.

[0065] When the autonomous driving ECU 50b has control of driving operations, the control execution unit 64 cooperates with the cruise control ECU 40 to execute acceleration / deceleration control, steering control, and the like of the host vehicle Am in accordance with the planned driving line generated by the behavior determination unit 63. Specifically, the control execution unit 64 generates control commands based on the planned driving line and outputs the generated control commands to the cruise control ECU 40 one after another.

[0066] Next, the details of the transition scene from manual driving (autonomous driving level 0) to driving assistance control, the transition scene from driving assistance control to autonomous driving control, and the transition scene from autonomous driving control to driving assistance control will be described below based on Fig. 4 and with reference to Figs. 1 to 3. Notifications performed in each scene are performed by the HCU 100 based on an implementation request output from the notification request unit 72 to the information linking unit 82.

[0067] In situations where the vehicle transitions from manual driving to driver assistance control, notifications of approaching an AD area, entering an AD area, and starting Level 2 are implemented.

[0068] The AD area approach notification is a notification to the driver that the driver is approaching an AD area while driving in an MD area. The AD area approach notification is issued when the road information acquisition unit 75 determines that the distance from the host vehicle Am to the AD area is below a threshold distance. In the AD area approach notification, a message indicating the approach of the AD area, such as "You will soon be entering an area where autonomous driving is possible," is displayed on at least one of the HUD 23 and the meter display 21.

[0069] The AD area entry notification is a notification that notifies the driver that the vehicle has entered an AD area. The AD area entry notification is issued when the road information acquisition unit 75 determines that the host vehicle Am has entered an AD area after the AD area approach notification. In the AD area entry notification, a message indicating a method for starting level 2 autonomous driving (driving assistance control) is displayed on at least one of the HUD 23, the meter display 21, and the CID 22. As an example, the AD area entry notification displays text information such as "autonomous driving mode," text information such as "ENTER" indicating input to the operation device 26, and an arrow image pointing to the "ENTER." The AD area entry notification by the HUD 23 and the meter display 21 may be changed to a display mode with low visibility or may be hidden, for example, after a predetermined time (e.g., several seconds) has elapsed since the start of display.

[0070] The Level 2 start notification is a notification to the driver that Level 2 driving assistance control has started. The Level 2 start notification is issued in conjunction with the start of Level 2 driving assistance control when the HMI information acquisition unit 71 detects that the driver has input an operation to transition to Level 2. The Level 2 start notification displays text information related to the start of autonomous driving, such as a message such as "Autonomous driving will be canceled due to surrounding road conditions," on at least one of the HUD 23 and the meter display 21.

[0071] In situations where the system transitions from driving assistance control to autonomous driving control, Level 3 approach notification, Level 3 possible notification, and Level 3 start notification are implemented.

[0072] The level 3 approach notification is a notification to the driver that level 3 automated driving (autonomous driving control) is likely to become available. The level 3 approach notification is implemented based on the success of a transition prediction to autonomous driving control. As an example, the level 3 approach notification is implemented when an approach to a traffic jam is predicted, in other words, when at least one of a plurality of transition conditions set in the control switching unit 78 is satisfied. The level 3 approach notification may also be implemented when traffic congestion information ahead of the vehicle is received by the in-vehicle communication device 39. In the level 3 approach notification, a message such as "Traffic jam ahead, 2nd task available" is displayed on at least one of the HUD 23 and the meter display 21.

[0073] The Level 3 possible notification is a notification that notifies the driver that Level 3 autonomous driving control is now available. The Level 3 possible notification is issued when the control switching unit 78 determines that all transition conditions are met. In the Level 3 possible notification, a message such as "2nd task is now available" is displayed on at least one of the HUD 23 and the meter display 21.

[0074] The Level 3 start notification is a notification to the driver indicating the start of Level 3 autonomous driving control. The Level 3 start notification is issued in conjunction with the start of Level 3 autonomous driving control when the HMI information acquisition unit 71 detects that the driver has input an operation to transition to Level 3. The Level 3 start notification displays a message related to Level 3 autonomous driving, such as "Pay attention to information from the vehicle. Autonomous driving will be canceled due to surrounding road conditions," on at least one of the HUD 23 and the meter display 21. Furthermore, in conjunction with the Level 3 start notification, video content can be played back by the CID 22.

[0075] In situations where the vehicle transitions from autonomous driving control to driver assistance control, a request for a change of driver and a notification of the end of Level 3 will be issued.

[0076] The driving handover request is a notification to the driver indicating the planned end of Level 3 autonomous driving control, in other words, the need to take over control of driving operations. The driving handover request is made based on a predicted end of autonomous driving control, such as the end of an AD area or a congested section. In response to the driving handover request, a message such as "Automated driving will be canceled. Please hold the steering wheel" is displayed on at least one of the HUD 23 and the meter display 21. Furthermore, in response to the driving handover request, playback of video content by the CID 22 is stopped.

[0077] The Level 3 end notification is a notification to the driver indicating a transition from Level 3 autonomous driving control to hands-on driving assistance control. The Level 3 end notification is issued in conjunction with switching of the driving control state by the control switching unit 78. In the Level 3 end notification, a message indicating the end of autonomous driving, such as "Autonomous driving canceled," is displayed on at least one of the HUD 23 and the meter display 21.

[0078] Here, it is conceivable that the driver may not be able to correctly understand the state of the driving control executed by the autonomous driving ECU 50b from each notification. As an example, the driver may mistakenly interpret a Level 3 approach notification or a Level 3 possible notification as a Level 3 start notification. In this case, the driver may mistakenly believe that Level 3 autonomous driving control has started and stop holding the steering wheel and monitoring the surroundings of the vehicle, which should be necessary.

[0079] In order to prevent such misunderstandings by the driver, if the autonomous driving ECU 50b and HCU 100 detect inappropriate driver behavior between the start of the Level 3 approach notification and the start of the Level 3 start notification, they will issue an action request notification requesting the driver to take the correct action.

[0080] In more detail, the action request notification can be made during the period from when at least one transition condition is satisfied to when the input of the level 3 transition operation is recognized (hereinafter referred to as the pre-level 3 transition period, see the dotted area in FIG. 4). The action request notification is made based on the driver's behavior recognized by the HMI information acquisition unit 71. Specifically, if the HMI information acquisition unit 71 recognizes that the driver has stopped gripping the steering wheel during the pre-level 3 transition period, a hands-on notification is made as the action request notification. Also, if the HMI information acquisition unit 71 recognizes that the driver has stopped monitoring the surroundings during the pre-level 3 transition period, a monitoring request notification is made as the action request notification.

[0081] The hands-on notification is a notification that prompts the driver to grip the steering wheel. In the hands-on notification, an attention-calling message such as "Please steer" and an attention-calling image including an "!" are displayed on at least one of the HUD 23 and the meter display 21. In addition, in the hands-on notification, an audio message similar to the attention-calling message displayed on the display device is played by the audio device 24. The hands-on notification continues until the driver's grip on the steering wheel is recognized by the driver behavior recognition unit 86 and the HMI information acquisition unit 71.

[0082] The monitoring request notification is a notification that prompts the driver to monitor the surroundings. In the monitoring request notification, for example, an attention-calling message such as "Please check the surroundings of your vehicle" and an attention-calling image including an "!" are displayed on at least one of the HUD 23 and the meter display 21. In addition, in the monitoring request notification, an audio message similar to the attention-calling message displayed on the display device is played by the audio device 24. The monitoring request notification continues until the driver behavior recognition unit 86 and the HMI information acquisition unit 71 recognize that the driver has resumed monitoring the surroundings.

[0083] Next, details of the driving control switching process that is performed in the above-mentioned scene where the driving assist control is switched to the autonomous driving control will be described below based on Figures 5 and 6 and with reference to Figures 1 to 4. The driving control switching process is started by the autonomous driving ECU 50b based on the start of driving under driving assist control.

[0084] In S101, the control switching unit 78 determines whether or not the conditions for transitioning to autonomous driving control are met. If it is determined in S101 that at least one of the multiple set transition conditions is met, the process proceeds to S102. On the other hand, if it is determined that all of the transition conditions are not met, the process repeats the determination in S101. In S102, a level 3 approach notification is issued, and the process proceeds to S103.

[0085] In S103, the HMI information acquisition unit 71 determines whether the driver is gripping the steering wheel based on the driver behavior information. If it is determined in S103 that the driver is continuing to grip the steering wheel (hands-on state), the process proceeds to S104. On the other hand, if it is determined in S103 that the driver has stopped gripping the steering wheel, the process proceeds to S112.

[0086] In S104, the HMI information acquisition unit 71 determines whether the driver is monitoring the surroundings based on the driver behavior information. If it is determined in S104 that the driver is continuing to monitor the surroundings, the process proceeds to S105. On the other hand, if it is determined in S104 that the driver has stopped monitoring the surroundings, the process proceeds to S112.

[0087] In S105, the control switching unit 78 determines whether all of the multiple transition conditions set in advance are met. If it is determined that any transition condition is not met, the determinations of S103 to S105 are repeated. On the other hand, if it is determined that all transition conditions are met, a transition from driving assistance control, which has both a periphery monitoring obligation and a holding obligation, to autonomous driving control, which has neither a periphery monitoring obligation nor a holding obligation, is permitted, and the process proceeds to S106. In S106, a Level 3 feasibility notification is issued, and the process proceeds to S107.

[0088] In S107, as in S103, it is determined whether the driver is gripping the steering wheel. If it is determined in S107 that the hands-on state is continuing, the process proceeds to S108. On the other hand, if it is determined in S107 that the driver has stopped gripping the steering wheel, the process proceeds to S112.

[0089] In S108, similarly to S104, it is determined whether or not the driver is monitoring the surroundings. If it is determined in S108 that the driver is continuing to monitor the surroundings, the process proceeds to S109. On the other hand, if it is determined in S108 that the driver has stopped monitoring the surroundings, the process proceeds to S112.

[0090] In S109, the HMI information acquisition unit 71 determines whether or not the driver has input a level 3 transition operation based on the operation information. If the input of the level 3 transition operation is not detected, the determinations in S107 to S109 are repeated. On the other hand, if the input of the level 3 transition operation is detected, it decides to transition from hands-on driving assistance control to eyes-off autonomous driving control, and proceeds to S110. In S110, a level 3 start notification is issued, and the process proceeds to S111. In S111, the control switching unit 78 transitions to level 3 autonomous driving control, and the driving control switching process ends. Note that the processes in S110 and S111 may be performed substantially simultaneously.

[0091] If undesirable driver behavior is detected during the period before transition to level 3, in S112 the control switching unit 78 halts (cancels) the transition to level 3 autonomous driving control and proceeds to S113. In S113, an action request notification is issued to encourage the driver to improve their behavior, and the process proceeds to S114. If it is detected during the period before transition to level 3 that the driver has stopped gripping the steering wheel, in S113 a hands-on notification is issued to encourage the driver to grip the steering wheel. Also, if it is detected during the period before transition to level 3 that the driver has stopped monitoring their surroundings, in S113 a monitoring request notification is issued to encourage the driver to monitor their surroundings. If both gripping the steering wheel and monitoring their surroundings have been suspended, in S113 the hands-on notification and monitoring request notification may be issued alternately or simultaneously.

[0092] In S114, the HMI information acquisition unit 71 determines whether the driver has behaved correctly based on the driver behavior information. If a hands-on notification has been issued in S113, then in S114 it is determined whether the driver has resumed gripping the steering wheel. On the other hand, if a periphery monitoring notification has been issued in S113, then in S114 it is determined whether periphery monitoring has resumed. If the driver's behavior is determined to be correct in S114, the process proceeds to S115.

[0093] In S115, the control switching unit 78 determines to continue level 2 driving assist control, and proceeds to S116. In S116, the control switching unit 78 sets a transition restriction to level 3 autonomous driving control, and ends the series of driving control switching processes. According to the transition restriction set in S116, the use of level 3 autonomous driving functions is prohibited for, for example, a predetermined time (for example, about 10 minutes), until the vehicle leaves a congested section while driving or until the vehicle leaves an AD area while driving, and level 3 capability notification is also not issued.

[0094] As described above, when a hands-on notification or a monitoring request notification is issued, even if multiple transition conditions are met and a situation in which transition to Level 3 autonomous driving control is possible, the control switching unit 78 suspends permission to transition to autonomous driving control. As a result, a state in which autonomous driving control cannot be used continues for at least a predetermined time. Instead of restricting transition by the control switching unit 78, the notification request unit 72 may suspend output of a request to issue a Level 3 possible notification and a Level 3 start notification, thereby halting the implementation of the Level 3 possible notification and the Level 3 start notification for a predetermined time.

[0095] On the other hand, if the correct action by the driver is not determined in S114, the time elapsed since the start of the action request notification is determined in S117. If it is determined in S117 that the time elapsed since the start of the action request notification has not exceeded a predetermined time (for example, about 5 to 10 seconds), the process returns to S114 and waits for the driver's action. On the other hand, if it is determined in S117 that the time elapsed since the start of the action request notification has exceeded the predetermined time, the process proceeds to S118.

[0096] In S118, the control switching unit 78 transitions to MRM (Minimum Risk Maneuver), and the series of driving control switching processes is terminated. In the MRM in S118, for example, driving control is performed to automatically stop the host vehicle Am in a straight section identified by the road information acquisition unit 75, or driving control is performed to move the host vehicle Am to and stop it at a shelter on the shoulder of the road identified by the environment recognition unit 62.

[0097] In the first embodiment described so far, if the driver stops holding the steering wheel during the period until the Level 3 start notification is issued, a hands-on notification is issued to prompt the driver to hold the steering wheel. This hands-on notification allows the driver to recognize the actions they should take before transitioning to autonomous driving control, which does not require monitoring of the surroundings. In other words, the driver is less likely to mistakenly recognize the driving control state being executed by the autonomous driving ECU 50b. As a result, the driver can continue to hold the steering wheel until autonomous driving control begins, enabling a smooth transition to Level 3 autonomous driving, which does not require monitoring of the surroundings.

[0098] Additionally, in the first embodiment, if the driver stops monitoring the surroundings during the period before the Level 3 start notification is issued, a monitoring request notification is issued to prompt the driver to monitor the surroundings. This monitoring request notification allows the driver to recognize the actions they should take before transitioning to autonomous driving control, which does not require monitoring the surroundings. As a result, the driver can continue monitoring the surroundings until autonomous driving control begins, enabling a smooth transition to Level 3 autonomous driving, which does not require monitoring the surroundings.

[0099] In the first embodiment, the transition to autonomous driving control is stopped if it is determined that the driver has stopped gripping the steering wheel between the satisfaction of at least one transition condition and the issuance of a Level 3 start notification. Similarly, the transition to autonomous driving control is also stopped if it is determined that the driver has stopped monitoring the surroundings between the satisfaction of at least one transition condition and the issuance of a Level 3 start notification.

[0100] As described above, if the transition to autonomous driving control is canceled and processing that deliberately impairs driver convenience is performed, the driver will be strongly aware that taking their hands off the steering wheel and stopping peripheral monitoring before the Level 3 start notification is undesirable. As a result, in subsequent transition scenarios, the driver will be more likely to continue holding the steering wheel and monitoring the surroundings until the Level 3 start notification is received. Therefore, the transition to Level 3 automated driving, which does not require peripheral monitoring, can be implemented more smoothly.

[0101] In the first embodiment, if the steering wheel is detected as being gripped within a predetermined time after the start of the hands-on notification, the level 2 driving assistance control in the hands-on state is continued. Similarly, even if the implementation of periphery monitoring is detected within a predetermined time after the start of the monitoring request notification, the level 2 driving assistance control in the hands-on state is continued. As described above, even if the transition to level 3 autonomous driving control is canceled, as long as the level 2 driving assistance control is continued, the driver can continue driving without being confused by the transition of the driving control state.

[0102] Furthermore, in the first embodiment, if Level 2 driving assistance control is continued based on the understanding that the steering wheel is being gripped, transition to Level 3 autonomous driving control is restricted. Similarly, if Level 2 driving assistance control is continued based on the understanding that periphery monitoring is being performed, transition to Level 3 autonomous driving control is restricted. Specifically, if a hands-on notification is implemented, permission to transition to autonomous driving control is withheld after multiple transition conditions are met. Alternatively, if a hands-on notification is implemented, implementation of a Level 3 start notification is suspended for a predetermined time.

[0103] As described above, restricting the re-transition to Level 3 autonomous driving control once canceled and deliberately reducing driver convenience can make the driver strongly aware that it is undesirable to stop steering and monitoring the surroundings before the Level 3 start notification. As a result, in subsequent transition scenarios, the driver is more likely to continue appropriate behavior until the Level 3 start notification, making it possible to transition more smoothly to Level 3 automated driving, which does not require monitoring the surroundings.

[0104] In addition, in the above first embodiment, the autonomous driving ECU 50b corresponds to the "autonomous driving control device", the HMI information acquisition unit 71 corresponds to the "grasping and grasping unit" and the "monitoring and grasping unit", and the notification request unit 72 corresponds to the "notification control unit".

[0105] Second Embodiment The second embodiment of the present disclosure is a modified example of the first embodiment. In the driving control switching process of the second embodiment shown in Figures 5 and 7, if an undesirable behavior of the driver is detected in the period before transition to Level 3, the control switching unit 78 transitions the control state to manual driving.

[0106] More specifically, if the driver's hands-on state is interrupted during the period before transition to Level 3 (NO in S103 or S107) or if the driver's surroundings monitoring is interrupted, the control switching unit 78 cancels the transition to Level 3 autonomous driving control (S112), as in the first embodiment. Furthermore, the notification request unit 72 issues an action request notification to the HCU 100 to prompt the driver to improve their behavior (S113). After the action request notification, the control switching unit 78 ends Level 2 driving assistance control and transitions the control state to manual driving by the driver (S214).

[0107] The second embodiment described so far also has the same effect as the first embodiment, and the hands-on notification or monitoring request notification implemented as an action request notification can make the driver aware of the actions they should take during the period before transitioning to Level 3. As a result, a smooth transition to Level 3 automated driving, which does not require monitoring of the surroundings, can be achieved.

[0108] Additionally, in the second embodiment, if the transition to Level 3 autonomous driving control is canceled, a switch from driving assistance control to manual driving by the driver is implemented. This transition to manual driving can strongly impress upon the driver that taking their hands off the steering wheel and ceasing to monitor their surroundings before the Level 3 start notification is issued is undesirable. As a result, in subsequent transition scenarios, the driver is less likely to stop holding the steering wheel and monitoring their surroundings early, making it possible to more smoothly transition to Level 3 autonomous driving, which does not require monitoring their surroundings.

[0109] Next, the technical concepts that can be understood from the above-described first and second embodiments are added below as Supplementary Notes 1 to 4. In the above-described first and second embodiments, the driver behavior grasping unit 86 corresponds to the "grasping grasping unit" and the "monitoring grasping unit", the presentation control unit 88 corresponds to the "notification control unit", and the HCU 100 corresponds to the "presentation control device".

[0110] (Appendix 1) A presentation control device used in a vehicle (Am) equipped with an automatic driving function, which controls the presentation of information related to the automatic driving function, a gripping detection unit (86) that detects whether or not the driver of the vehicle is gripping the steering wheel; a notification control unit (88) that, when a transition from driving assistance control, in which the driver is obligated to hold the steering wheel, to autonomous driving control, in which the driver is not obligated to monitor the surroundings or hold the steering wheel, is initiated in the automatic driving function based on the establishment of a plurality of transition conditions, issues a start notification to the driver that the autonomous driving control has started; The notification control unit is a presentation control device that implements a hands-on notification to prompt the driver to hold the steering wheel when it is detected that the driver has stopped holding the steering wheel between the time when at least one of the transition conditions is met and the time when the start notification is implemented. (Appendix 2) A presentation control program used in a vehicle (Am) equipped with an automatic driving function, which controls the presentation of information related to the automatic driving function, At least one processing section (11) It is determined whether the driver of the vehicle is gripping the steering wheel (S103, S107). When a transition from driving assistance control, which requires the driver to hold the steering wheel, to autonomous driving control, which does not require the driver to monitor the surroundings or hold the steering wheel, is initiated by the automatic driving function based on the establishment of a plurality of transition conditions, a start notification is issued to indicate to the driver that the autonomous driving control has started (S110); When it is determined that the driver has stopped gripping the steering wheel during the period from when at least one of the transition conditions is satisfied until when the start notification is issued, a hands-on notification is issued to prompt the driver to grip the steering wheel (S113). A presentation control program that executes a process including the above. (Appendix 3) A presentation control device used in a vehicle (Am) equipped with an automatic driving function, which controls the presentation of information related to the automatic driving function, a monitoring determining unit (86) for determining whether or not the driver of the vehicle is monitoring the surroundings; a notification control unit (88) that, when a transition from driving assistance control, which requires the driver to monitor the surroundings, to autonomous driving control, which does not require the driver to monitor the surroundings, is initiated by the automatic driving function based on the establishment of a plurality of transition conditions, issues a start notification to the driver that the autonomous driving control has started; The notification control unit is a presentation control device that issues a monitoring request notification to prompt the driver to perform peripheral monitoring when it is determined that the driver has discontinued peripheral monitoring between the time at least one of the transition conditions is met and the time before the start notification is issued. (Appendix 4) A presentation control program used in a vehicle (Am) equipped with an automatic driving function, which controls the presentation of information related to the automatic driving function, At least one processing section (11) It is determined whether the driver of the vehicle is monitoring the surroundings (S104, S108). When a transition from driving assistance control, which requires the driver to monitor the surroundings, to autonomous driving control, which does not require the driver to monitor the surroundings, is initiated by the automatic driving function based on the establishment of a plurality of transition conditions, a start notification is issued to indicate to the driver that the autonomous driving control has started (S110); When it is determined that the driver has stopped monitoring the surroundings during the period from when at least one of the transition conditions is satisfied until when the start notification is issued, a monitoring request notification is issued to prompt the driver to start monitoring the surroundings (S113). A presentation control program that executes a process including the above.

[0111] (Third embodiment) 8 to 12 is another modified example of the first embodiment. The driving assistance ECU 50a of the third embodiment can permit not only Level 2 autonomous driving with a gripping obligation (hereinafter referred to as "hands-on Level 2"), but also Level 2 autonomous driving without a gripping obligation (hereinafter referred to as "hands-off Level 2"). Therefore, the autonomous driving ECU 50b can transition from Hands-on Level 2 to Level 3 autonomous driving control, as well as from Hands-off Level 2 to Level 3 autonomous driving control.

[0112] As Level 3 autonomous driving control, the autonomous driving ECU 50b can implement not only congestion-limited control that is implemented only when driving in congestion (hereinafter referred to as congestion level 3), but also area-limited control that is implemented only in a specific area within the AD area (hereinafter referred to as area level 3). At area level 3, driving at a higher speed than at congestion level 3 is permitted.

[0113] The behavior determination unit 63 of the autonomous driving ECU 50b is provided with a holding obligation grasping unit 79 and a control switching unit 78. The holding obligation grasping unit 79 and the control switching unit 78 jointly execute a transition condition setting process (see FIG. 9) and set a transition condition from driving assistance control to autonomous driving control.

[0114] The gripping obligation grasping unit 79 determines whether the driving assist control executed by the driving assist ECU 50a requires the driver to grip the steering wheel. In other words, the gripping obligation grasping unit 79 grasps whether the driving assist control being executed by the autonomous driving ECU 50b is hands-off level 2 or hands-on level 2 (S301).

[0115] As in the first embodiment, when all of a plurality of preset transition conditions are met, the control switching unit 78 permits a transition from Level 2 driving assistance control, which requires monitoring of the surroundings, to Level 3 autonomous driving control, which does not require monitoring of the surroundings (FIG. 5, S105). The control switching unit 78 changes the transition condition to Level 3 depending on whether or not there is a gripping obligation in the driving assistance control currently being executed.

[0116] Specifically, when it is determined by gripping duty grasping unit 79 that hands-off level 2 is being executed (S301: YES), control switching unit 78 selects a hands-off transition condition (S302). As a result, control switching unit 78 determines whether to transition from hands-off level 2 to autonomous driving control based on the hands-off transition condition (FIG. 5, S105).

[0117] On the other hand, if the holding duty grasping unit 79 determines that hands-on level 2 is being executed (S301: NO), the control switching unit 78 selects the hands-on transition condition (S303). As a result, the control switching unit 78 permits a transition from hands-on level 2 to autonomous driving control based on the hands-on transition condition (FIG. 5, S105).

[0118] The above hands-on transition conditions are set stricter than the hands-off transition conditions. As a result, it is more difficult to permit a transition from hands-on level 2 to autonomous driving control than a transition from hands-off level 2 to autonomous driving control. These hands-on transition conditions and hands-off transition conditions include multiple common individual conditions, such as road type (road shape) conditions, driving speed conditions, and target conditions around the vehicle. For each of these multiple individual conditions, the hands-on transition conditions are set with stricter restrictions than the hands-off transition conditions.

[0119] More specifically, the hands-on transition condition specifies that the road type condition is that the vehicle is traveling on a straight section. On the other hand, the hands-off transition condition specifies that the road type condition is that the vehicle is traveling on a straight section or a curved section. As a result, when the road information acquisition unit 75 determines that the vehicle is traveling on a curved section, the control switching unit 78 permits the transition from hands-off level 2 to autonomous driving control, but does not permit the transition from hands-on level 2 to autonomous driving control.

[0120] Furthermore, the hands-on transition condition and hands-off transition condition for transitioning to congestion level 3 stipulate that the traveling speed of the host vehicle Am must be lower than the congestion speed. The congestion speed (e.g., 20 km / h) in the hands-on transition condition is set lower than the congestion speed (e.g., 30 km / h) in the hands-off transition condition. As a result, the transition from hands-on level 2 to congestion level 3 is performed at a slower speed than the transition from hands-off level 2 to congestion level 3.

[0121] Furthermore, the hands-on transition conditions for transitioning to congestion level 3 stipulate that the other vehicle grasping unit 74 must grasp both the front vehicle Af (see FIG. 10) and the rear vehicle Ab (see FIG. 10) as target conditions around the host vehicle. On the other hand, the hands-off transition conditions stipulate that the other vehicle grasping unit 74 must grasp only the front vehicle Af as target conditions around the host vehicle. As described above, in congestion patterns 1 and 2 (see FIG. 10) in which both the front vehicle Af and the rear vehicle Ab are detected, transitions from hands-off level 2 to congestion level 3 and from hands-on level 2 to congestion level 3 are both permitted. In contrast, in congestion patterns 3 and 4 (see FIG. 11) in which the rear vehicle Ab is not detected, transitions from hands-off level 2 to congestion level 3 are permitted, but transitions from hands-on level 2 to congestion level 3 are not permitted.

[0122] Here, the hands-on transition condition may stipulate that the other vehicle grasping unit 74 grasps both of the side vehicles As (see FIG. 10). Alternatively, the hands-on transition condition may stipulate that all of the front vehicle Af, rear vehicle Ab, and side vehicle As are grasped. The side vehicle As is a vehicle traveling parallel to the vehicle traveling in an adjacent lane. If there are adjacent lanes on both sides of the host vehicle lane, and if there is an adjacent lane without a side vehicle As, the other vehicle grasping unit 74 determines that the side vehicle As is not grasped.

[0123] With these target condition settings, in congestion patterns 1 and 2, where both a forward vehicle Af and a lateral vehicle As are detected, a transition from hands-off level 2 to congestion level 3 and a transition from hands-on level 2 to congestion level 3 are both permitted. In contrast, in congestion patterns 5 and 6 (see FIG. 12), where a lateral vehicle As is not detected, a transition from hands-off level 2 to congestion level 3 is permitted, but a transition from hands-on level 2 to congestion level 3 is not permitted.

[0124] In the third embodiment described above, the hands-on transition condition that permits a transition from driving assistance control with a gripping obligation to autonomous driving control is set stricter than the hands-off transition condition that permits a transition from driving assistance control with no gripping obligation to autonomous driving control. Therefore, the transition from driving assistance control with a gripping obligation to autonomous driving control can be performed under driving conditions that place less strain on the driver than the transition from driving assistance control with no gripping obligation to autonomous driving control. As a result, the driver can take their hands off the steering wheel under stable driving conditions. Therefore, a smooth transition to Level 3 autonomous driving without the obligation to monitor the surroundings can be achieved.

[0125] Additionally, in the third embodiment, when the road information acquisition unit 75 detects that the vehicle is traveling through a curved section, the control switching unit 78 permits a transition from hands-off Level 2 to autonomous driving control, but does not permit a transition from hands-on Level 2 to autonomous driving control. As a result, the driver's actions of taking their hands off the steering wheel are performed when traveling on straight sections, but are not performed when traveling on curved sections. As a result, the driver can take their hands off the steering wheel with a sense of security. Therefore, the transition to Level 3 autonomous driving can be performed even more smoothly.

[0126] In the third embodiment, the driving speed at which a transition from hands-on level 2 to congestion level 3 is permitted is set lower than the driving speed at which a transition from hands-off level 2 to congestion level 3 is permitted. Therefore, the driver can take his / her hands off the steering wheel in a stable state after the host vehicle Am has started traveling at a low speed.

[0127] Furthermore, in the third embodiment, when the conditions of targets present around the host vehicle Am satisfy the target conditions, a transition from driving assist control to congestion level 3 is permitted. In addition, the target conditions for permitting a transition from hands-on level 2 to congestion level 3 are set stricter than the target conditions for permitting a transition from hands-off level 2 to congestion level 3. As a result, the driver takes his / her hands off the steering wheel when the conditions around the host vehicle are stable. As a result, the driver can take his / her hands off the steering wheel with a sense of security. In the third embodiment, the road information acquisition unit 75 corresponds to the "road type recognition unit."

[0128] (Fourth embodiment) The fourth embodiment of the present disclosure is yet another modified example of the first embodiment. As in the third embodiment, the driving assistance ECU 50a of the fourth embodiment can perform not only hands-on level 2 driving assistance control (hereinafter referred to as hands-on control) but also hands-off level 2 driving assistance control (hereinafter referred to as hands-off control). The hands-on control is driving assistance control in which the driver has both the obligation to monitor the surroundings and the obligation to hold the steering wheel. The hands-off control is driving assistance control in which the driver has the obligation to monitor the surroundings but does not have the obligation to hold the steering wheel.

[0129] Here, the use of the hands-off control function is prohibited by law in some areas, specifically in certain countries or regions. Therefore, the autonomous driving ECU 50b (see FIGS. 1 to 3) according to the fourth embodiment has a function to restrict the use of the hands-off control in certain countries or regions, making it unusable. In the autonomous driving ECU 50b, the road information acquisition unit 75, the control switching unit 78, and the notification request unit 72 perform processing related to the restriction on the use of the hands-off control.

[0130] The road information acquisition unit 75 acquires the current position of the host vehicle Am and identifies the area (e.g., country or region) in which the host vehicle Am is currently traveling, based on the locator information and map data provided from the locator 35 to the environment recognition unit 62. The road information acquisition unit 75 determines whether the area in which the host vehicle Am is traveling is an area in which hands-off control is permitted (hereinafter referred to as a hands-off permitted area) or an area in which hands-off control is prohibited (hands-off prohibited area). Information on whether hands-off control is permitted in each country or region may be pre-recorded in the map data or may be received by the in-vehicle communication device 39.

[0131] When the host vehicle Am is traveling in a hands-off prohibited area, the control switching unit 78 cooperates with the driving assistance ECU 50a to restrict the use of hands-off control. According to the restriction on the use of hands-off control by the control switching unit 78, a hands-on notification is issued if the driver stops holding the steering wheel for a predetermined period of time or more. Then, if the driver continues to stop holding the steering wheel after the hands-on notification, driving control is initiated to automatically stop the host vehicle Am on the road on which it is traveling.

[0132] When the host vehicle Am moves from a hands-off permitted area to another hands-off permitted area, the control switching unit 78 continues the state in which the use of hands-off control is permitted. On the other hand, when the host vehicle Am moves from a hands-off permitted area to a hands-off prohibited area, the control switching unit 78 switches to a state in which the use of hands-off control is prohibited. Once the control switching unit 78 has prohibited the use of hands-off control, it continues the prohibited state of hands-off control until a specific user operation (driver operation) is performed by the driver. Therefore, when the host vehicle Am moves from a hands-off prohibited area to a hands-off permitted area, the control switching unit 78 does not automatically switch and continues the state in which the use of hands-off control is prohibited. As an example, the control switching unit 78 continues the state in which the use of hands-off control is prohibited until the power of the host vehicle Am is temporarily turned off.

[0133] When the result of the determination by the road information acquisition unit 75 of whether or not the current area is hands-off enabled changes, the notification request unit 72 issues an area change notification indicating the change in the determination result. The notification request unit 72 issues an area change notification within a predetermined time (e.g., several tens of seconds to one minute) after the determination result has changed, by outputting a request for area change notification to the information linkage unit 82. The area change notification is a notification that notifies a driver or other occupant that there has been a change in information regarding whether or not hands-off control is available. Specifically, when the host vehicle Am moves from a hands-off enabled area to a hands-off prohibited area, a message such as "Hands-off control is not available" is displayed on at least one of the HUD 23 and the meter display 21. On the other hand, when the host vehicle Am moves from a hands-off prohibited area to a hands-off enabled area, a message such as "You have entered an area where hands-off control is available. Hands-off control can be enabled by performing a predetermined operation" is displayed on at least one of the HUD 23 and the meter display 21. An audio message similar to the message displayed on each display device may be played by the audio device 24. Note that when moving from a hands-off prohibited area to another hands-off prohibited area, or when moving from a hands-off permitted area to another hands-off permitted area, no area change notification is issued.

[0134] Next, the details of the hands-off restriction process that prohibits the use of hands-off control and the area notification process that implements area change notification will be described below based on Figures 13 and 14 and with reference to Figures 1 to 3. The hands-off restriction process and area notification process are started by the autonomous driving ECU 50b that has completed its startup process after the power of the host vehicle Am is switched to the on state.

[0135] In S441 of the hands-off restriction processing shown in Fig. 13, location information and the like are acquired, and the process proceeds to S442. In S442, it is determined whether the area in which the host vehicle Am is located is a hands-off permitted area based on the location information acquired in S441. If it is determined in S442 that the host vehicle Am is located in a hands-off prohibited area, the process proceeds to S446, where a setting is made to prohibit the use of hands-off control, and the current hands-off restriction processing is terminated. On the other hand, if it is determined in S442 that the host vehicle Am is located in a hands-off permitted area, the process proceeds to S443.

[0136] In S443, the use of hands-off control is permitted, and the process proceeds to S444. In S444, location information, etc. is acquired in the same way as in S441, and the process proceeds to S445. In S445, it is determined again whether the area in which the host vehicle Am is located is a hands-off permitted area, based on the location information acquired in S444. If the host vehicle Am is traveling in a hands-off permitted area, the process repeats S444 and S445, thereby maintaining the state in which the use of hands-off control is permitted. On the other hand, if the host vehicle Am moves from a hands-off permitted area to a hands-off prohibited area, the process proceeds from S445 to S446, the use of hands-off control is prohibited, and the current hands-off restriction process ends.

[0137] 14 is repeatedly started by the autonomous driving ECU 50b while the autonomous driving system 50 is running. In S461 of the area notification process, the result of the area determination (see S442) in the hands-off restriction process is obtained, and the process proceeds to S462. In S462, it is determined whether or not there has been a change in the determination result obtained in S461. If the result of the area determination has not changed, the processes of S461 and S462 are repeated. On the other hand, if the result of the area determination has changed, the process proceeds from S462 to S463.

[0138] In S463, the change pattern of the area determination result is grasped, and the process proceeds to S464. In S463, it is grasped whether the change in the determination result has occurred: from a hands-off permitted area to a hands-off prohibited area, or from a hands-off prohibited area to a hands-off permitted area. In S464, a notification request is output to the information linking unit 82 so that an area change notification corresponding to the change pattern grasped in S463 is implemented, and the current area notification process is terminated. Based on the notification request output in S464, the HMI system 10 implements an area change notification.

[0139] In the fourth embodiment described above, the area change notification indicates a change in the determination result of whether the area in which the host vehicle Am is traveling is a hands-off enabled area. Therefore, even in a driving environment in which the availability of hands-off control changes depending on the movement of the host vehicle Am, the driver can appropriately determine whether or not it is okay to take his or her hands off the steering wheel. As a result, the convenience of automated driving can be ensured.

[0140] Additionally, in the fourth embodiment, even when the host vehicle Am moves from a hands-off prohibited area to a hands-off permitted area, the state in which the use of hands-off control is restricted continues. Therefore, it is possible to avoid a situation in which the availability of hands-off control changes every time the vehicle crosses a country, and such a system change is perceived as an annoyance by the driver. In the fourth embodiment, the road information acquisition unit 75 corresponds to the "area determination unit," and the control switching unit 78 corresponds to the "function restriction unit."

[0141] (Other embodiments) Although several embodiments of the present disclosure have been described above, the present disclosure should not be construed as being limited to the above-described embodiments, and can be applied to various embodiments and combinations within the scope that does not deviate from the gist of the present disclosure.

[0142] In the first and second embodiments, both the driver's grip on the steering wheel and the surrounding area monitoring were monitored during the period before transition to Level 3. On the other hand, in Modification 1 of the first and second embodiments, only a hands-on notification is issued when the hands-on state is interrupted, and a monitoring request notification is not issued when the surrounding area monitoring is interrupted. Also, in Modification 2 of the first and second embodiments, only a monitoring request notification is issued when the surrounding area monitoring is interrupted, and a hands-on notification is not issued when the hands-on state is interrupted.

[0143] In the third and fourth modifications of the first and second embodiments, the pre-level 3 transition period is different. The pre-level 3 transition period in the third modification is from the time when the level 3 possible notification is issued until the time when the level 3 start notification is issued. In the fourth modification, the pre-level 3 transition period is from the time when the level 3 approach notification is issued until the time when the level 3 possible notification is issued.

[0144] The manner of the Level 3 approach notification, Level 3 possible notification, and Level 3 start notification may be changed as appropriate. For example, these notifications may be implemented by changing the light color of an ambient indicator provided around the driver's seat.

[0145] In Modification 5 of the above embodiment, the functions of an autonomous driving control device are realized by cooperation between the autonomous driving ECU 50b and the HCU 100. In Modification 5, the functions of determining whether the steering wheel is being gripped and whether surroundings monitoring is being performed are realized by the driver behavior determining unit 86. Furthermore, the functions of issuing a Level 3 start notification and an action request notification are realized by the presentation control unit 88.

[0146] Furthermore, in a sixth modification of the above embodiment, the functions of the autonomous driving ECU 50b and the HCU 100 are provided by a single in-vehicle ECU. In this in-vehicle ECU, in addition to the environment recognition unit 62, behavior determination unit 63, and control execution unit 64 of the above embodiment, functional units corresponding to the information acquisition unit 81, driver behavior understanding unit 86, and presentation control unit 88 are constructed based on a function control program. In the sixth modification, the functional units corresponding to the information linking units 61 and 82 are omitted.

[0147] In the fifth and sixth modifications, the driver behavior grasping unit 86 corresponds to the "grasping grasping unit" and the "monitoring grasping unit", and the presentation control unit 88 corresponds to the "notification control unit".

[0148] In the seventh modification of the above embodiment, the functions of the driving assistance ECU 50a and the automatic driving ECU 50b are provided by a single automatic driving ECU. That is, the automatic driving ECU 50b of the seventh modification is equipped with the functions of the driving assistance ECU 50a. In the seventh modification, the integrated automatic driving ECU corresponds to the "automatic driving control device."

[0149] In Modification 8 of the fourth embodiment, the driving assistance ECU 50a performs processing related to the restriction of use of hands-off control. That is, functional units corresponding to the road information acquisition unit 75, control switching unit 78, and notification request unit 72 described in the fourth embodiment are configured in the driving assistance ECU 50a, and the processing unit of the driving assistance ECU 50a performs the hands-off restriction processing and the area notification processing. Also, in Modification 8, the autonomous driving ECU 50b that realizes level 3 autonomous driving functions may be omitted from the autonomous driving system 50. In this Modification 8, the driving assistance ECU 50a corresponds to the "autonomous driving computer."

[0150] In the ninth modification of the fourth embodiment, when the vehicle moves from a hands-off prohibited area to another hands-off prohibited area, or when the vehicle moves from a hands-off permitted area to another hands-off permitted area, a notification indicating the change of area is also issued. Such a notification is preferably issued in a manner less conspicuous than the area change notification.

[0151] In the above embodiments, the functions provided by the autonomous driving ECU and HCU can be provided by software and hardware that executes the software, software only, hardware only, or a combination of these. Furthermore, when such functions are provided by electronic circuits as hardware, the functions can also be provided by digital circuits including multiple logic circuits or analog circuits.

[0152] Each processing unit in the above-described embodiments may be individually mounted on a printed circuit board, or may be mounted on an ASIC (Application Specific Integrated Circuit), FPGA, or the like. The form of the storage medium (non-transitory tangible storage medium) that stores various programs and the like may also be changed as appropriate. Furthermore, the storage medium is not limited to being mounted on a circuit board, but may be provided in the form of a memory card or the like, inserted into a slot, and electrically connected to a control circuit such as an autonomous driving ECU or HCU. The storage medium may also be an optical disk, hard disk drive, or the like, from which a program is copied to the autonomous driving ECU or HCU.

[0153] Vehicles equipped with the above-described autonomous driving system and HMI system are not limited to ordinary private passenger cars, but may also be rental cars, manned taxis, ride-sharing vehicles, freight vehicles, buses, etc. Furthermore, vehicles equipped with the autonomous driving system and HMI system may be right-hand drive vehicles or left-hand drive vehicles. Furthermore, the traffic environment in which the vehicle travels may be one based on left-hand traffic or one based on right-hand traffic. The autonomous driving control and information presentation according to the present disclosure may be optimized as appropriate according to the road traffic laws of each country and region, as well as the position of the vehicle's steering wheel.

[0154] The controller and methods described herein may be implemented by a special-purpose computer comprising a processor programmed to perform one or more functions embodied in a computer program. Alternatively, the apparatus and methods described herein may be implemented by special-purpose hardware logic circuitry. Alternatively, the apparatus and methods described herein may be implemented by one or more special-purpose computers comprising a processor executing a computer program in combination with one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by a computer on a computer-readable non-transitory storage medium. [Technical feature 1] An automatic driving control device that enables a vehicle (Am) to travel using an automatic driving function, a gripping detection unit (71, 86) that detects whether or not the driver of the vehicle is gripping the steering wheel; a control switching unit (78) that permits a transition from driving assistance control, which requires the driver to hold the steering wheel, to autonomous driving control, which does not require the driver to monitor the surroundings or hold the steering wheel, based on the establishment of a plurality of transition conditions; a notification control unit (72, 88) that executes a start notification that indicates to the driver that the autonomous driving control has started; The notification control unit is an automatic driving control device that issues a hands-on notification to prompt the driver to resume holding the steering wheel when it detects that the driver has stopped holding the steering wheel between the time when at least one of the transition conditions is met and the time when the start notification is issued. [Technical feature 8] An automatic driving control program that enables a vehicle (Am) to travel using an automatic driving function, At least one processing section (51) It is determined whether the driver of the vehicle is gripping the steering wheel (S103, S107). Based on the establishment of a plurality of transition conditions, a transition from driving assistance control in which the driver is obligated to hold the steering wheel to autonomous driving control in which the driver is not obligated to monitor the surroundings and is not obligated to hold the steering wheel is permitted (S105); A start notification is given to the driver to notify them of the start of the autonomous driving control (S110). When it is determined that the driver has stopped gripping the steering wheel during the period from when at least one of the transition conditions is satisfied until when the start notification is issued, a hands-on notification is issued to prompt the driver to grip the steering wheel (S113). An automatic driving control program that executes processes including the above. [Technical feature 9] An automatic driving control device that enables a vehicle (Am) to travel using an automatic driving function, a monitoring determining unit (71, 86) that determines whether or not the driver of the vehicle is monitoring the surroundings; a control switching unit (78) that permits a transition from driving assistance control, which requires the driver to monitor the surroundings, to autonomous driving control, which does not require the driver to monitor the surroundings, based on the establishment of a plurality of transition conditions; a notification control unit (72, 88) that executes a start notification that indicates to the driver that the autonomous driving control has started; The notification control unit is an automatic driving control device that issues a monitoring request notification to prompt the driver to perform peripheral monitoring when it is determined that the driver has discontinued peripheral monitoring between the time when at least one of the transition conditions is met and the time when the start notification is issued. [Technical feature 14] An automatic driving control program that enables a vehicle (Am) to travel using an automatic driving function, At least one processing section (51) It is determined whether the driver of the vehicle is monitoring the surroundings (S104, S108). Based on the establishment of a plurality of transition conditions, a transition from driving assistance control with an obligation for the driver to monitor the surroundings to autonomous driving control without the obligation for the driver to monitor the surroundings is permitted (S105); A start notification is given to the driver to notify them of the start of the autonomous driving control (S110). When it is determined that the driver has stopped monitoring the surroundings during the period from when at least one of the transition conditions is satisfied until when the start notification is issued, a monitoring request notification is issued to prompt the driver to start monitoring the surroundings (S113). An automatic driving control program that executes processes including the above. [Technical feature 15] An automatic driving control device that enables a vehicle (Am) to travel using an automatic driving function, a control switching unit (78) that permits a transition from driving assistance control, which requires the driver of the host vehicle to monitor the surroundings, to autonomous driving control, which does not require the driver to monitor the surroundings; a gripping obligation grasping unit (79) that grasps whether or not the driver is obligated to grip the steering wheel in the driving assistance control, The control switching unit sets the conditions for permitting a transition from the driving assistance control with the holding obligation to the autonomous driving control to stricter than the conditions for permitting a transition from the driving assistance control without the holding obligation to the autonomous driving control. [Technical feature 20] An automatic driving control program that enables a vehicle (Am) to travel using an automatic driving function, At least one processing section (51) A transition from driving assistance control, which requires the driver of the host vehicle to monitor the surroundings, to autonomous driving control, which does not require the driver to monitor the surroundings, is permitted (S105); It is determined whether the driver has an obligation to hold the steering wheel during the driving assistance control (S301), A condition for permitting a transition from the driving assistance control with the holding obligation to the autonomous driving control is set stricter than a condition for permitting a transition from the driving assistance control without the holding obligation to the autonomous driving control (S302, S303). An automatic driving control program that executes processes including the above. In [Technical Feature 15] and [Technical Feature 20], the conditions for permitting a transition from driving assistance control, which requires the driver to hold the steering wheel, to autonomous driving control are set stricter than the conditions for permitting a transition from driving assistance control, which does not require the driver to hold the steering wheel, to autonomous driving control. Therefore, the transition from driving assistance control, which requires the driver to hold the steering wheel, to autonomous driving control can be carried out under driving conditions that place less strain on the driver than the transition from driving assistance control, which does not require the driver to hold the steering wheel, to autonomous driving control. As a result, the driver can take their hands off the steering wheel under stable driving conditions. Therefore, a smooth transition to autonomous driving, which does not require the driver to monitor the surroundings, can be carried out. [Technical feature 21] An automatic driving control device that enables a vehicle (Am) to travel by driving assistance control without requiring the driver to hold the steering wheel, an area determination unit (75) that determines whether an area in which the host vehicle is traveling is a hands-off enabled area in which the host vehicle can travel by hands-off control, which is driving assistance control without the obligation to hold the vehicle; and a notification control unit (72, 88) that performs area change notification that indicates a change in the determination result of whether or not the area is hands-off possible. [Technical feature 23] An automatic driving control program that enables a vehicle (Am) to travel by driving assistance control without requiring the driver to hold the steering wheel, At least one processing section (51) A determination is made as to whether or not the area in which the host vehicle is traveling is a hands-off area in which the host vehicle can travel by hands-off control, which is driving assistance control without the obligation to hold the vehicle (S442). An area change notification is performed to indicate a change in the result of the determination whether the area is a hands-off enabled area (S464). An automatic driving control program that executes processes including the above. In [Technical Feature 21] and [Technical Feature 23], a change in the result of the determination of whether the area in which the vehicle is traveling is a hands-off area or not is indicated by an area change notification. Therefore, even in a driving environment where the possibility of driving with hands-off control changes depending on the movement of the vehicle, the driver can appropriately understand whether or not it is okay to take their hands off the steering wheel. As a result, the convenience of automated driving can be ensured. [Explanation of symbols]

[0155] Am: vehicle, 50b: automatic driving ECU (automatic driving control device), 50a: driving assistance ECU (automatic driving control device), 51: processing unit, 71: HMI information acquisition unit (grasping recognition unit, monitoring recognition unit), 72: notification request unit (notification control unit), 75: road information acquisition unit (road type recognition unit, area determination unit), 78: control switching unit (function restriction unit), 79: holding obligation recognition unit, 86: driver behavior recognition unit (grasping recognition unit, monitoring recognition unit), 88: presentation control unit (notification control unit)

Claims

1. An automatic driving control device that enables a vehicle (Am) to travel using an automatic driving function, a gripping detection unit (71, 86) that detects whether or not the driver of the vehicle is gripping the steering wheel; a control switching unit (78) that allows a transition from a driving assistance control in which the driver is obligated to hold the steering wheel to an autonomous driving control in which the driver is not obligated to monitor the surroundings and is not obligated to hold the steering wheel based on the establishment of a plurality of transition conditions; a notification control unit (72, 88) that performs an approach notification that notifies the driver that use of the autonomous driving control is likely to become possible based on the establishment of at least one of the transition conditions, and a start notification that notifies the driver that the autonomous driving control has started; the notification control unit, when it is determined that the driver has stopped gripping the steering wheel during a period from when the approach notification is performed based on the establishment of at least one of the transition conditions until when the start notification is performed, performs a hands-on notification to prompt the driver to grip the steering wheel; The control switching unit When it is determined that the driver has stopped gripping the steering wheel during the period from when at least one of the transition conditions is satisfied until when the start notification is issued, the transition to the autonomous driving control is stopped; If the grip of the steering wheel is detected within a predetermined time after the start of the hands-on notification, the driving assistance control is continued, An automatic driving control device that limits transition to the autonomous driving control if the driving assistance control is continued based on the understanding of the steering wheel grip.

2. The automatic driving control device according to claim 1 , wherein the notification control unit suspends the implementation of the start notification for a predetermined time when the hands-on notification is implemented.

3. An automatic driving control device that enables a vehicle (Am) to travel using an automatic driving function, a gripping detection unit (71, 86) that detects whether or not the driver of the vehicle is gripping the steering wheel; a control switching unit (78) that allows a transition from a driving assistance control in which the driver is obligated to hold the steering wheel to an autonomous driving control in which the driver is not obligated to monitor the surroundings and is not obligated to hold the steering wheel based on the establishment of a plurality of transition conditions; a notification control unit (72, 88) that performs an approach notification that notifies the driver that use of the autonomous driving control is likely to become possible based on the establishment of at least one of the transition conditions, and a start notification that notifies the driver that the autonomous driving control has started; The notification control unit When it is determined that the driver has stopped gripping the steering wheel during a period from when the approach notification is performed based on the establishment of at least one of the transition conditions until when the start notification is performed, a hands-on notification is performed to prompt the driver to grip the steering wheel; An automatic driving control device that, when the hands-on notification is implemented, suspends the implementation of the start notification for a predetermined period of time.

4. The automatic driving control device according to claim 3, wherein the control switching unit cancels the transition to the autonomous driving control when it detects that the driver has stopped holding the steering wheel between the time when at least one of the transition conditions is met and the time when the start notification is issued.

5. The automatic driving control device according to claim 4 , wherein the control switching unit switches from the driving assistance control to manual driving by the driver when the transition to the autonomous driving control is canceled.

6. The automatic driving control device according to claim 4 , wherein the control switching unit continues the driving assistance control when gripping of the steering wheel is detected within a predetermined time after the start of the hands-on notification.

7. An automatic driving control program that enables a vehicle (Am) to travel using an automatic driving function, Based on the establishment of at least one transition condition, an approach notification is issued to the driver of the host vehicle, indicating that the driver will likely be able to use autonomous driving control without being required to monitor the surroundings or hold the steering wheel (S102). It is determined whether the driver is gripping the steering wheel (S103, S107). Based on the establishment of the plurality of transition conditions, a transition from the driving assistance control in which the driver is obligated to hold the vehicle to the autonomous driving control is permitted (S105); A start notification is given to the driver to notify them of the start of the autonomous driving control (S110). When it is determined that the driver has stopped gripping the steering wheel between the time when the approach notification is performed based on the establishment of at least one of the transition conditions and the time when the start notification is performed, the transition to the autonomous driving control is stopped, and a hands-on notification is performed to prompt the driver to grip the steering wheel (S112, S113). If the grip of the steering wheel is detected within a predetermined time after the start of the hands-on notification, the driving assistance control is continued (S115). If the driving assistance control is continued based on the grasp of the steering wheel, the transition to the autonomous driving control is restricted (S116). An automatic driving control program that causes at least one processing unit (51) to execute processing including the above.

8. An automatic driving control program that enables a vehicle (Am) to travel using an automatic driving function, Based on the establishment of at least one transition condition, an approach notification is issued to the driver of the host vehicle, indicating that the driver will likely be able to use autonomous driving control without being required to monitor the surroundings or hold the steering wheel (S102). It is determined whether the driver is gripping the steering wheel (S103, S107). Based on the establishment of the plurality of transition conditions, a transition from the driving assistance control in which the driver is obligated to hold the vehicle to the autonomous driving control is permitted (S105); A start notification is given to the driver to notify them of the start of the autonomous driving control (S110). When it is determined that the driver has stopped gripping the steering wheel during the period from when the approach notification is performed based on the establishment of at least one of the transition conditions until when the start notification is performed, a hands-on notification is performed to prompt the driver to grip the steering wheel (S113). When the hands-on notification is performed, the execution of the start notification is stopped for a predetermined time (S116). An automatic driving control program that causes at least one processing unit (51) to execute processing including the above.

9. An automatic driving control device that enables a vehicle (Am) to travel using an automatic driving function, a monitoring determining unit (71, 86) that determines whether or not the driver of the vehicle is monitoring the surroundings; A control switching unit (78) that allows a transition from a driving assistance control in which the driver is obligated to hold the steering wheel and monitor the surroundings to an autonomous driving control in which the driver is not obligated to hold the steering wheel and monitor the surroundings based on the establishment of a plurality of transition conditions; a notification control unit (72, 88) that performs an approach notification that notifies the driver that use of the autonomous driving control is likely to become possible based on the establishment of at least one of the transition conditions, and a start notification that notifies the driver that the autonomous driving control has started; the notification control unit, when it is determined that the driver has stopped the periphery monitoring during a period from when the approach notification is performed based on the establishment of at least one of the transition conditions until when the start notification is performed, performs a monitoring request notification to prompt the driver to perform the periphery monitoring; The control switching unit When it is determined that the driver has stopped monitoring the surroundings during the period from when at least one of the transition conditions is satisfied until when the start notification is issued, the transition to the autonomous driving control is stopped; If the implementation of the surrounding monitoring is recognized within a predetermined time after the start of the monitoring request notification, the driving assistance control is continued; An automatic driving control device that, if the driving assistance control is continued based on the determination that the surrounding monitoring is being performed, restricts the transition to the autonomous driving control.

10. The automatic driving control device according to claim 9 , wherein the control switching unit switches from the driving assistance control to manual driving by the driver when the transition to the autonomous driving control is canceled.

11. An automatic driving control program that enables a vehicle (Am) to travel using an automatic driving function, Based on the establishment of at least one transition condition, an approach notification is issued to the driver of the host vehicle, indicating that the driver will likely be able to use autonomous driving control without being required to monitor the surroundings or hold the steering wheel (S102). It is determined whether the driver is monitoring the surroundings (S104, S108). Based on the establishment of the plurality of transition conditions, a transition from the driving assistance control in which the driver has the obligation to hold the vehicle and the obligation to monitor the surroundings to the autonomous driving control is permitted (S105); A start notification is given to the driver to notify them of the start of the autonomous driving control (S110). When it is determined that the driver has discontinued the surroundings monitoring during the period from when at least one of the transition conditions is satisfied until before the start notification is issued, the transition to the autonomous driving control is stopped, and a monitoring request notification is issued to prompt the driver to implement the surroundings monitoring (S112, S113). If the implementation of the surrounding monitoring is recognized within a predetermined time after the start of the monitoring request notification, the driving assistance control is continued (S115). If the driving assistance control is continued based on the result of the monitoring of the surroundings, the transition to the autonomous driving control is restricted (S116). An automatic driving control program that causes at least one processing unit (51) to execute processing including the above.

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