Route search method and route search device

Abstract

To provide a route search method that enable a driver to perform a task without interruption while a vehicle is traveling in an automatic operation section where the vehicle can travel by automatic operation, and a route search device.SOLUTION: A route search device 1 detects occurrence of a task based on information acquired from a vehicle or a cabin of the vehicle to estimate required time required for a driver to fulfill the detected task. The route search device 1 searches for a travel route including an automated operation section where the vehicle can drive for required time or more from a current location of the vehicle to a destination to output a search route.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a route search method and a route search device.

Background Art

[0002] Conventionally, an autonomous vehicle that prevents traffic accidents caused by a driver using a portable device during driving has been known (Patent Document 1). When the autonomous vehicle described in Patent Document 1 detects an incoming call, reception, a call operation, an input operation, a browsing operation, etc. on the portable device, it forcibly switches from a manual driving mode in which driving is performed based on the driver's driving operation to an autonomous driving mode in which autonomous driving is performed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in current autonomous driving technology, when the road being traveled does not satisfy the operating conditions of the autonomous driving mode, the autonomous driving mode cannot be activated. Therefore, in the autonomous vehicle described in Patent Document 1, when the road being traveled becomes a road that does not satisfy the operating conditions of the autonomous driving mode during the driver's call, the driver must interrupt the call.

[0005] The present invention has been made in view of the above problems, and provides a route search method and a route search device that enable a driver to complete matters without interruption while the vehicle is traveling in an autonomous driving section where autonomous driving is possible.

Means for Solving the Problems

[0006] A route search method according to one aspect of the present invention is a route search method for a route search device that searches for a vehicle's travel route based on an event that causes the driver of a vehicle to become distracted while driving. The route search device detects the occurrence of an event based on information obtained from the vehicle or the vehicle's interior, estimates the time required for the driver to perform the detected event, searches for a travel route from the vehicle's current location to the destination that includes an automated driving section in which the vehicle can travel continuously in automated driving mode for more than the required time, and outputs the searched route. [Effects of the Invention]

[0007] According to the present invention, the driver can perform their duties without interruption while the vehicle is traveling in an automated driving section where it is capable of autonomous driving. [Brief explanation of the drawing]

[0008] [Figure 1] Figure 1 is a diagram showing the configuration of a pathfinding device according to the first embodiment. [Figure 2] Figure 2 is a flowchart showing the processing of the pathfinding device according to the first embodiment. [Figure 3] Figure 3 is a diagram showing the configuration of a pathfinding device according to the second embodiment. [Figure 4A] Figure 4A is a flowchart (part 1) showing the processing of the route search device according to the second embodiment. [Figure 4B] Figure 4B is a flowchart (part 2) showing the processing of the pathfinding device according to the second embodiment. [Figure 5] Figure 5 is a diagram showing the configuration of a pathfinding device according to the third embodiment. [Figure 6A] Figure 6A is a flowchart (part 1) showing the processing of the route search device according to the third embodiment. [Figure 6B] Figure 6B is a flowchart (part 2) showing the processing of the route search device according to the third embodiment. [Figure 7] Figure 7 is a diagram showing the configuration of the pathfinding device according to the fourth embodiment. [Figure 8A]FIG. 8A is a flowchart (part 1) showing the processing of the route search device according to the fourth embodiment. [Figure 8B] FIG. 8B is a flowchart (part 2) showing the processing of the route search device according to the fourth embodiment. [Figure 9] FIG. 9 is a configuration diagram of the route search device according to the fifth embodiment. [Figure 10A] FIG. 10A is a flowchart (part 1) showing the processing of the route search device according to the fifth embodiment. [Figure 10B] FIG. 10B is a flowchart (part 2) showing the processing of the route search device according to the fifth embodiment. [Figure 11] FIG. 11 is a configuration diagram of the route search device according to the sixth embodiment. [Figure 12A] FIG. 12A is a flowchart (part 1) showing an example of the processing of the route search device according to the sixth embodiment. [Figure 12B] FIG. 12B is a flowchart (part 2) showing the processing of the route search device according to the sixth embodiment. [Figure 13A] FIG. 13A is a flowchart (part 1) showing the processing (first modification example) of the route search device according to the sixth embodiment. [Figure 13B] FIG. 13B is a flowchart (part 2) showing the processing (first modification example) of the route search device according to the sixth embodiment. [Figure 14A] FIG. 14A is a flowchart (part 1) showing the processing (second modification example) of the route search device according to the sixth embodiment. [Figure 14B] FIG. 14B is a flowchart (part 2) showing the processing (second modification example) of the route search device according to the sixth embodiment. [Figure 15] FIG. 15 is a configuration diagram of the route search device according to the seventh embodiment. [Figure 16A] FIG. 16A is a flowchart (part 1) showing the processing of the route search device according to the seventh embodiment. [Figure 16B] FIG. 16B is a flowchart (part 2) showing the processing of the route search device according to the seventh embodiment. [Figure 17] FIG. 17 is a diagram showing a driving route including an autonomous driving section in which a vehicle can continuously drive autonomously for a required time or more.

Mode for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, the same reference numerals are given to the same parts and the description thereof is omitted.

[0010] (First Embodiment) [Configuration of Route Search Device] Referring to FIG. 1, a configuration example of a route search device 1 according to the first embodiment will be described. The route search device 1 includes a storage unit 10 and a control unit 20. The route search device 1 is mounted on a vehicle capable of autonomous driving. The vehicle capable of autonomous driving in the present embodiment refers to a vehicle capable of autonomous driving at a level 2 or higher defined by the SAE (Society of Automotive Engineers). Note that the route search device 1 may be arranged in a management center that manages a data server or the like. Thereby, one route search device can search for the driving routes of a plurality of vehicles.

[0011] The storage unit 10 is composed of information storage devices including an HDD (hard disk drive) and an SSD (solid state drive). The storage unit 10 stores map data in which roads including autonomous driving sections where the vehicle can drive autonomously are registered. Specifically, the storage unit 10 stores map data to which information indicating autonomous driving sections has been added to the SD (standard) map used in the vehicle's car navigation function. In this embodiment, an autonomous driving section is a driving section in which the vehicle can drive autonomously at autonomous driving level 2 or higher. Autonomous driving level 2 refers to autonomous driving in which the vehicle controls both the forward and backward direction of the vehicle by operating the accelerator and brakes, and the left and right direction of the vehicle by operating the steering wheel. Therefore, the autonomous driving sections indicated by the map data are driving sections in which the road boundary can be detected by sensors mounted on the vehicle and which have a road width that can be handled by autonomous driving. Note that the map data does not need to be common to all vehicles, and autonomous driving sections may be set according to the autonomous driving level that the vehicle supports. Also, autonomous driving sections may be stored for each corresponding autonomous driving level. The map data stored in the memory unit 10 is not limited to this; for example, high-precision 3D map data (HD map) may also be stored.

[0012] The control unit 20 is a computing device including a general-purpose server or microcomputer equipped with a CPU (Central Processing Unit), memory (storage unit) such as RAM and ROM, and an input / output unit. A computer program for functioning as a route search device 1 is installed on the computing device. By executing the computer program, the computing device functions as one of the multiple information processing circuits (21, 22, 23, 24) of the route search device 1. In this embodiment, an example is shown in which the multiple information processing circuits (21, 22, 23, 24) of the route search device 1 are realized by software, but it is also possible to configure the information processing circuits by preparing dedicated hardware for executing each information processing. Furthermore, the multiple information processing circuits may be configured as individual hardware.

[0013] Next, the multiple information processing circuits provided by the control unit 20 will be described in detail. The control unit 20 includes a request detection unit 21, a required time estimation unit 22, a route search unit 23, and a notification control unit 24.

[0014] The issue detection unit 21 detects the occurrence of an issue based on information acquired from the vehicle or the vehicle's interior. Specifically, the issue detection unit 21 acquires information from the vehicle and determines that an issue has occurred if it detects a "vehicle malfunction." The issue detection unit 21 is connected to the CAN (Controller Area Network) bus line, which is an information communication line used by each of the multiple controllers installed in the vehicle to send and receive control information. The issue detection unit 21 detects a malfunction in the vehicle by acquiring the malfunction code that each controller outputs to the CAN bus line when it detects a malfunction. If a malfunction occurs in the vehicle, a warning lamp in the meter lights up, and a notification is displayed on the monitor in the meter instructing the driver to have the vehicle inspected at a dealer. In this case, the driver of the vehicle must make an appointment to have the malfunction repaired at a dealer or repair shop. Therefore, the driver makes an appointment to have the inspection done by operating a mobile terminal or the user interface screen installed in the vehicle that is synchronized with the mobile terminal, by making a call or inputting information on the reservation screen. Furthermore, the driver enters the address of the dealer or repair shop into the navigation system to obtain the route to the reserved dealer or repair shop. Dealing with such vehicle malfunctions is an issue that distracts the driver's concentration while driving. Therefore, when the issue detection unit 21 detects a vehicle malfunction, it determines that an issue has arisen for the driver.

[0015] The request detection unit 21 acquires information from the control unit that controls the user interface related to the infotainment system installed in the vehicle, and detects the occurrence of a request based on the acquired information. Specifically, the request detection unit 21 acquires information from the control unit, and if it detects a predetermined operation on the user interface from the acquired information, it determines that a request has occurred. Predetermined operations include, for example, "operation of the navigation system," "operation of the video playback device," "operation of a mobile terminal," or "operation to use the operator service." The user interface has a display screen (display unit) that displays vehicle information such as the vehicle's fuel consumption rate or power consumption rate and driving range, as well as images or videos related to entertainment, an operation screen for operating the air conditioner, navigation system, audio, and video playback device, and a voice control function. The user interface also has a synchronization function that synchronizes with a mobile terminal, and the driver can remotely operate the mobile terminal via the user interface.

[0016] The driver can watch videos and listen to music, make and receive calls on their mobile device, make calls, and check emails by operating the control screen or voice control function. Furthermore, if the vehicle is subscribed to connected services, the driver can use the operator service and request assistance from the operator via the user interface to search for a destination or set the destination in the navigation system. Such operations on the user interface, and the use of calls or operator services via the user interface, are activities that can distract the driver from driving. Therefore, the request detection unit 21 determines that a request has arisen for the driver when it detects a predetermined operation on the user interface. Note that the method of request detection is not limited to detecting a predetermined operation on the interface; for example, in addition to the above detection method, it may also detect an incoming call on a mobile device synchronized with the user interface.

[0017] The request detection unit 21 acquires images from a camera that monitors the interior of the vehicle and detects the occurrence of a request based on the acquired images. Specifically, the request detection unit 21 continuously acquires images from the camera that monitors the interior of the vehicle at predetermined intervals, and determines that a request has occurred with the driver if it detects a predetermined operation by the driver from the acquired images. A predetermined operation by the driver is, for example, "operating a mobile device" or "operating a user interface". The request detection unit 21 can detect a predetermined operation by the driver from the acquired images by using known image analysis techniques. The request detection unit 21 can use a camera provided in the driver monitoring system as the camera that monitors the interior of the vehicle. However, the method by which the request detection unit 21 detects a request based on images acquired from the camera is not limited to the above. For example, it may determine that a request has occurred if it detects the driver "reading," "eating or drinking," or "staring at the user interface for a predetermined amount of time or longer." Furthermore, the method by which the request detection unit 21 detects the occurrence of a request is not limited to the above method. For example, the request detection unit 21 may determine the driver's actions by combining information regarding user interface operations detected based on information acquired from the vehicle and information regarding driver operations detected based on information acquired from inside the vehicle, and then detect the occurrence of a request.

[0018] When the request detection unit 21 determines that a request has occurred, it outputs a flag indicating that a request has occurred and information indicating the request. The requests to be output are one of the following: "reserving a vehicle inspection," "operating the navigation system," "watching a video," "operating a mobile device," or "using operator services." If the request detection unit 21 detects a vehicle malfunction, it determines that the request is "reserving a vehicle inspection." The other requests, "operating the navigation system," "watching a video," "operating a mobile device," and "using operator services," are predetermined operations on the user interface when the request is detected, or operations by the driver determined based on images acquired from the camera.

[0019] The time estimation unit 22 estimates the time required for the driver to perform the task detected by the task detection unit 21. Specifically, the time estimation unit 22 obtains the task from the task detection unit 21 and estimates the time required based on the obtained task. For example, the time estimation unit 22 can estimate the time required in the following ways: If the task is "making a vehicle inspection reservation," the time estimation unit 22 estimates the time required for "making a vehicle inspection reservation" from the time required for making a vehicle inspection reservation that has been stored in advance. If the task is "operating the navigation system," the time estimation unit 22 estimates the time required for "operating the navigation system" from the time the driver has previously spent operating the navigation system. If the task is "watching a video," the time estimation unit 22 obtains the playback time of the video to be watched and estimates the time required for "watching the video." If the request is "operating a mobile device," the time estimation unit 22 estimates the time required for "operating a mobile device" based on the driver's past mobile device operation time and call time. If the request is "using operator services," the time estimation unit 22 estimates the content of the current request from the driver's past requests to operators, and estimates the time required for "using operator services" based on the estimated request content. The time estimation unit 22 outputs the estimated time required.

[0020] The route search unit 23 obtains the required time needed for the driver to complete the task from the required time estimation unit 22, and searches for a route from the vehicle's current location to the destination that includes an automated driving section in which the vehicle can continuously drive autonomously for more than the required time. The route search unit 23 does not need to search for a route if the destination has not changed before or after the task occurred, and a route including an automated driving section in which the vehicle can continuously drive autonomously for more than the required time has already been set. When searching for a route, the route search unit 23 obtains map data from the storage unit 10 and obtains the vehicle's current location and destination from the navigation system. The route search unit 23 then extracts the roads leading from the current location to the destination, and the automated driving sections stored in association with each road, from the map data, and searches for a route for the vehicle that includes an automated driving section in which the vehicle can continuously drive autonomously for more than the required time. Furthermore, if the route search unit 23 is unable to find a route that includes an automated driving section in which the vehicle can continuously drive autonomously for a period longer than the required time, it will search for a route from the current location to the destination that has the longest autonomous driving time.

[0021] The route search unit 23 outputs the searched driving route to the user interface display screen. The user interface displays the driving route set in the navigation system and the vehicle's current location. When the route search unit 23 outputs a driving route to the display screen that includes an autonomous driving section in which the vehicle can drive autonomously for a period of time longer than the required time, it highlights the autonomous driving section in which the vehicle can drive autonomously for a period of time longer than the required time. The route search unit 23 also displays the driving time of the autonomous driving section in which the vehicle can drive autonomously for a period of time longer than the required time. Figure 17 shows the state when a driving route including an autonomous driving section in which the vehicle can drive autonomously for a period of time longer than the required time is displayed on the display screen. In Figure 17, S is the current location, G is the destination, and H is the autonomous driving section in which the vehicle can drive autonomously for a period of time longer than the required time, and is highlighted. The driving time of the autonomous driving section (section H) is displayed as 20 minutes. If the route search unit 23 is unable to find a route that includes an automated driving section that can be driven automatically for a continuous period of time longer than the required time, it may highlight and display the automated driving section with the longest driving time, or it may display the driving time of the automated driving section. If a route output to the user interface is selected, the route search unit 23 outputs the selected route to the navigation system. By outputting the selected route to the navigation system, the route search unit 23 enables the navigation system to set a route, and the automated driving system to drive the automated driving section of the set route automatically. The route search unit 23 may also output the searched route directly to the automated driving system.

[0022] When the notification control unit 24 detects the occurrence of a request by the request detection unit 21, it outputs a notification to the user interface stating that it is searching for a route that includes an automated driving section in which the request can be completed without interruption, and a notification that it will wait to process the request until the vehicle reaches an automated driving section in which the request can be completed. Furthermore, when the notification control unit 24 confirms that the vehicle has entered an automated driving section, it outputs a notification that the request can be completed. If the route search unit 23 fails to find an automated driving section in which the vehicle can continuously drive automatically for more than the required time, the notification control unit 24 outputs a notification recommending that the vehicle be stopped to complete the request. Until the vehicle enters an automated driving section, the notification control unit 24 outputs a signal to prohibit the display or notification of the request to the user interface, and when the vehicle enters an automated driving section in which the request can be completed, it outputs a signal to allow the display or notification of the request to the user interface.

[0023] [Route search method] Next, referring to Figure 2, an example of the process by which the route search device 1 shown in Figure 1 searches for a travel route and displays the details of the generated requests on the user interface will be explained. Note that the route search device 1 is activated when the vehicle's accessory switch is turned ON, and terminates processing as soon as the accessory switch is turned OFF.

[0024] In step S10, the issue detection unit 21 detects the occurrence of an issue based on information acquired from the vehicle or the vehicle's interior. Specifically, the issue detection unit 21 detects a vehicle malfunction by acquiring the fault code output to the CAN bus line when each controller detects a malfunction. If the issue detection unit 21 detects a vehicle malfunction, it determines that an issue has occurred. The issue detection unit 21 also acquires information from the control unit that controls the user interface related to the vehicle's infotainment system, and determines that an issue has occurred if it detects a predetermined operation on the user interface. Predetermined operations include, for example, "operation of the navigation system," "operation of a video playback device," "remote operation of a mobile terminal," or "operation to use the operator service." The issue detection unit 21 also continuously acquires images from a camera that monitors the interior of the vehicle at predetermined intervals, and determines that an issue has occurred with the driver if it detects a predetermined operation by the driver from the acquired images. Predetermined operations by the driver include, for example, "operation of a mobile terminal" or "operation of the user interface."

[0025] In step S10, if the request detection unit 21 determines that a request has occurred, it outputs a flag indicating that a request has occurred and information indicating the request. The requests to be output are one of the following: "Schedule a vehicle inspection," "Operate the navigation system," "Watch a video," "Operate a mobile device," or "Use operator services." If the request detection unit 21 detects a vehicle malfunction, it determines that the request is "Schedule a vehicle inspection." The other requests, "Operate the navigation system," "Watch a video," "Operate a mobile device," and "Use operator services," are predetermined operations on the interface when the request is detected, or operations by the driver determined based on images acquired by a camera capturing images of the vehicle interior. Furthermore, if the notification control unit 24 determines that a request has occurred, it outputs a "Notification that the system is searching for a driving route that includes an automated driving section in which the request can be completed without interruption" and a "Notification that it is recommended to wait for the vehicle to reach an automated driving section in which the request can be completed before processing the request" to the user interface.

[0026] If a task is detected (YES in step S20), the process proceeds to step S30. If no task is detected (NO in step S20), the process ends. In step S30, the time estimation unit 22 estimates the time required for the driver to perform the task detected by the task detection unit 21, and outputs the estimated time.

[0027] Specifically, in step S30, the time estimation unit 22 estimates the time required based on the request obtained from the request detection unit 21. If the request is "reserving a vehicle inspection," the time estimation unit 22 estimates the time required for "reserving a vehicle inspection" from the time required for reserving a vehicle inspection that has been stored in advance. If the request is "operating the navigation system," the time estimation unit 22 estimates the time required for "operating the navigation system" from the time the driver has previously spent operating the navigation system. If the request is "watching a video," the time estimation unit 22 obtains the playback time of the video to be watched and estimates the time required for "watching the video." If the request is "operating a mobile device," the time estimation unit 22 estimates the time required for "operating a mobile device" based on the driver's past mobile device operation time and call time. Furthermore, if the request is for "use of operator service," the time estimation unit 22 estimates the content of the current request from the driver's past requests to operators, and estimates the time required for "use of operator service" based on the estimated request. The time estimation unit 22 outputs the estimated time required.

[0028] The process proceeds to step S40, where the route search unit 23 obtains the required time from the required time estimation unit 22 for the driver to complete the task, and searches for a route from the vehicle's current location to the destination that includes an automated driving section where the vehicle can continuously drive autonomously for more than the required time. The route search unit 23 does not need to search for a route if the destination has not changed before or after the task occurred, and a route that passes through an automated driving section where the vehicle can continuously drive autonomously for more than the required time has already been set. When searching for a route, the route search unit 23 obtains map data from the storage unit 10 and obtains the vehicle's current location and destination from the navigation system. The route search unit 23 then extracts the roads leading from the current location to the destination, and the automated driving sections stored in association with each road, from the map data, and searches for a route from the vehicle's current location to the destination that includes an automated driving section where the vehicle can continuously drive autonomously for more than the required time.

[0029] If a route is found that includes an autonomous driving section in which the vehicle can travel autonomously for a continuous period of time longer than the required time (YES in step S50), the process proceeds to step S60. If a route is not found that includes an autonomous driving section in which the vehicle can travel autonomously for a continuous period of time longer than the required time (NO in step S50), the process proceeds to step S110.

[0030] In step S60, the route search unit 23 outputs a route to the user interface that includes an autonomous driving section in which the vehicle can drive autonomously for a continuous period of time longer than the required time. When outputting the searched route to the user interface, the route search unit 23 highlights and displays the autonomous driving section in which the vehicle can drive autonomously for a continuous period of time longer than the required time. The route search unit 23 also displays the driving time of the autonomous driving section in which the vehicle can drive autonomously for a continuous period of time longer than the required time. In step S110, the route search unit 23 searches for a route that maximizes the driving time of the autonomous driving section in which the vehicle can drive autonomously. The process proceeds to step S61, where the route search unit 23 outputs the route that maximizes the driving time of the autonomous driving section in which the vehicle can drive autonomously for a continuous period of time to the user interface. The process proceeds to step S120, where the notification control unit 24 outputs a "notification recommending that the vehicle be stopped and the task performed."

[0031] The process proceeds to step S70, where the route search unit 23 determines whether a driving route has been selected. If a driving route is selected (YES in step S70), the process proceeds to step S80. If no driving route is selected (NO in step S70), the process remains in step S70 until a driving route is selected. If no driving route is selected for a certain period of time or longer, the process may be terminated. In step S80, the route search unit 23 outputs the selected driving route to the navigation system. The selected driving route may be output to the autonomous driving system in addition to the vehicle's navigation system.

[0032] The process proceeds to step S90, where the notification control unit 24 determines, based on the vehicle's current location obtained from the navigation system, whether the vehicle has entered an automated driving section where it can continuously drive autonomously for a period of time or longer. If the notification control unit 24 determines that the vehicle has entered an automated driving section (YES in step S90), the process proceeds to step S100. If the notification control unit 24 determines that the vehicle has not entered an automated driving section (NO in step S90), the process proceeds to step S130. In step S130, the route search unit 23 outputs the driving route from the vehicle's current location to the starting point of the automated driving section on the display screen. The process proceeds to step S140, where the notification control unit 24 outputs a signal to the user interface prohibiting the display or notification of the request. In step S100, the notification control unit 24 outputs a "notification that the request can be carried out" and a signal to the user interface permitting the display or notification of specific details regarding the request.

[0033] [Effects and Effects] As explained above, the following effects and advantages can be obtained according to the first embodiment.

[0034] The route search device 1 detects the occurrence of an event based on information acquired from the vehicle or the vehicle's interior, and estimates the time required for the driver to perform the detected event. The route search device searches for a route from the vehicle's current location to the destination that includes an automated driving section in which the vehicle can continuously drive automatically for a period exceeding the required time, and outputs the searched route. This allows the driver to perform the event without interruption while the vehicle is driving in the automated driving section.

[0035] If the route search device 1 fails to find a route that includes an automated driving section in which the vehicle can continuously drive autonomously for a period exceeding the required time, it outputs a notification recommending that the vehicle be stopped and the task performed. This allows the driver to recognize that they may need to interrupt the task while the vehicle is driving in an automated driving section, and they can choose to stop the vehicle and perform the task. In other words, it prevents driving while the driver's attention is distracted, thus protecting the driver's safety.

[0036] When the route search device 1 outputs the travel route to the display unit installed in the vehicle, it highlights and displays the automated driving sections where the vehicle can travel continuously in automated mode for a period exceeding the required time. This allows the driver to understand the location of the automated driving sections on the travel route and to understand the positional relationship between the current location and the automated driving sections. Therefore, the driver can recognize the timing when they can begin processing the task.

[0037] When the route search device 1 outputs the travel route to the vehicle's display unit, it displays the travel time for the automated driving section, which can be driven automatically for a period exceeding the required time. This allows the driver to recognize the travel time in the automated driving section and understand how much time they have available to complete their task. Therefore, the driver can adjust the time spent on the task and have the task completed while the vehicle is driving in the automated driving section.

[0038] (Second Embodiment) [Configuration of the route search device] Referring to Figure 3, an example of the configuration of the route search device 1 according to the second embodiment will be described. Note that the route search device 1 according to the second embodiment differs from the first embodiment in that it further includes a route selection unit 25, but the other configurations are the same. Therefore, only the differences will be described, and the description of other common parts will be omitted.

[0039] If there are multiple routes that include an autonomous driving section in which the vehicle can continuously drive autonomously for a period of time longer than the required time, the route selection unit 25 searches for the first route, which is the route in which autonomous driving can be started at the earliest time, and outputs the searched first route. Specifically, the route selection unit 25 acquires the routes output from the route search unit 23 and determines whether there are multiple routes that include an autonomous driving section in which the vehicle can continuously drive autonomously for a period of time longer than the required time. If the route selection unit 25 determines that there are multiple routes, it acquires traffic congestion information and driving distance from the current location to the autonomous driving section for each route from the car navigation system. Based on the traffic congestion information and driving distance from the current location to the autonomous driving section for each route acquired, the route selection unit 25 searches for the first route, which is the route in which autonomous driving can be started at the earliest time, from among the multiple routes. The route selection unit 25 outputs the searched first route to the user interface display screen. When the route selection unit 25 displays the first travel route on the display screen, it highlights and displays the automated driving sections in which the vehicle can travel continuously under automated driving conditions for a period of time equal to or greater than the required travel time. The route selection unit 25 also displays the travel time for the automated driving sections in which the vehicle can travel continuously under automated driving conditions for a period of time equal to or greater than the required travel time.

[0040] [Route search method] Next, with reference to Figures 4A and 4B, an example of the processing of the route search device 1 shown in Figure 3 will be explained. Note that the processing of the route search device 1 shown in Figures 4A and 4B differs from the processing of the route search device 1 shown in Figure 2 in that it further includes steps S51 to S53, while other processing is common. Therefore, only the differences will be explained, and the explanation of other common parts will be omitted.

[0041] In step S51, the route selection unit 25 obtains the driving routes output from the route search unit 23 and determines whether there are multiple driving routes that include an automated driving section where the vehicle can be driven automatically for a period of time longer than the required time. If the route selection unit 25 determines that there are multiple driving routes (YES in step S51), the process proceeds to step S52. If the route selection unit 25 determines that there are no multiple driving routes (NO in step S51), the process proceeds to step S60. In step S52, the route selection unit 25 obtains traffic congestion information and driving distance from the current location to the automated driving section for each driving route from the car navigation system. Then, based on the traffic congestion information and driving distance from the current location to the automated driving section for each driving route obtained, the route selection unit 25 searches for the first driving route, which is the driving route that allows the vehicle to start automated driving at the earliest time from among the multiple driving routes. The process proceeds to step S53, where the route selection unit 25 outputs the searched first driving route to the user interface display screen. Furthermore, when the route selection unit 25 displays the first travel route on the display screen, it highlights and displays the automated driving sections in which the vehicle can travel continuously in automated mode for a period of time equal to or greater than the required travel time. The route selection unit 25 also displays the travel time for the automated driving sections in which the vehicle can travel continuously in automated mode for a period of time equal to or greater than the required travel time.

[0042] [Effects and Effects] As described above, the second embodiment provides the following advantages in addition to the advantages of the first embodiment. When there are multiple routes from the vehicle's current location to its destination that include an automated driving section in which the vehicle can continuously drive automatically for a period of time longer than the required time, the route search device 1 searches for a first route from among the multiple routes that allows the vehicle to start automated driving at the earliest possible time, and outputs the searched first route. As a result, the driver can start processing the tasks that arise more quickly.

[0043] (Third embodiment) [Configuration of the route search device] Referring to Figure 5, an example of the configuration of the pathfinding device 1 according to the third embodiment will be described. Note that the pathfinding device 1 according to the third embodiment differs from the second embodiment in that it further includes a constraint condition detection unit 26, but the other configurations are the same. Therefore, only the differences will be described, and the description of other common parts will be omitted.

[0044] The constraint detection unit 26 detects constraints related to the driving route due to the vehicle's condition or the driver's convenience from information acquired from the vehicle or the vehicle's interior, and outputs the detected constraints to the route search unit 23. Specifically, the constraint detection unit 26 acquires the vehicle's remaining range, the distance traveled until a failure occurs, and a fault code from the vehicle's CAN bus line. Then, based on the acquired DTC code, the constraint detection unit 26 acquires constraints due to a failure. Constraints due to a failure include, for example, a road gradient being below a predetermined gradient, or a road minimum speed being below a predetermined vehicle speed. If the engine or drive motor is output limited due to a failure, the vehicle may not be able to climb a road with a gradient greater than the predetermined gradient. Also, if a minimum speed is set on the road, the vehicle may not be able to travel at a speed greater than the minimum vehicle speed. Therefore, the constraint detection unit 26 acquires constraints due to a failure based on the fault code. The predetermined gradient and predetermined speed can be determined based on the degree of output limitation.

[0045] The constraint detection unit 26 obtains a schedule file containing the driver's schedule from a user interface synchronized with the mobile terminal and detects the driver's reservation time. The mobile terminal may contain the driver's schedule. Therefore, the constraint detection unit 26 can obtain the driver's reservation time, such as the time to meet a friend, the time to make an appointment at a hospital or beauty salon, or the start time of a meeting, by obtaining the schedule file stored on the mobile terminal via a user interface synchronized with the mobile terminal. The route search device 1 may also be configured to include a transceiver that connects to the mobile device and directly obtain the schedule file stored on the mobile device. The constraint detection unit 26 outputs the following constraints related to the driving route to the route search unit 23: "vehicle's remaining driving range," "distance traveled until a breakdown occurs," "constraints due to breakdowns," and "driver's reservation time."

[0046] [Route search method] Next, with reference to Figures 6A and 6B, an example of the processing of the route search device 1 shown in Figure 5 will be described. Note that the processing of the route search device 1 according to the third embodiment differs from the processing of the route search device 1 shown in Figures 4A and 4B in that it further includes steps S31 and S41, and steps S54 and S55 are included instead of steps S50 and S51, but other processing is common. Therefore, only the differences will be explained, and the explanation of other common parts will be omitted.

[0047] In step S31, the system detects constraints related to the driving route based on the vehicle's condition or the driver's circumstances from information acquired from the vehicle or the vehicle's interior, and outputs the detected constraints to the route search unit 23. Specifically, the constraint detection unit 26 acquires the vehicle's remaining range, the distance traveled until a malfunction occurs, and a fault code from the vehicle's CAN bus line. Then, based on the acquired DTC code, the constraint detection unit 26 acquires the constraints due to the malfunction. Constraints due to the malfunction include, for example, a road gradient being below a predetermined gradient, or the road's minimum speed being below a predetermined vehicle speed. The constraint detection unit 26 also acquires a schedule file containing the driver's schedule from a user interface synchronized with a mobile terminal and detects the driver's scheduled time. The driver's scheduled time includes, for example, a meeting time with a friend, an appointment time at a hospital or beauty salon, or the start time of a meeting. The constraint detection unit 26 outputs the following constraints related to the driving route to the route search unit 23: "vehicle's remaining range," "distance traveled until a malfunction occurs," "constraints due to the malfunction," and "driver's scheduled time."

[0048] In step S41, the route search unit 23 extracts a second route that satisfies the constraints from among the routes that include an automated driving section in which the vehicle can drive continuously for a period of time or longer. Specifically, from among the searched routes, the route search unit 23 extracts a route in which the distance from the current location to the destination is less than the "vehicle's cruising range" and less than the "distance traveled before a breakdown occurs", the route to the destination satisfies the "breakdown constraints", and the arrival time at the destination is earlier than the "driver's reservation time".

[0049] If a second driving route that satisfies the constraints is extracted from the driving routes that include an automated driving section in which the vehicle can drive continuously for more than the required time (YES in step S54), the process proceeds to step S55. If a second driving route that satisfies the constraints could not be extracted (NO in step S54), the process proceeds to step S110. In step S55, the route selection unit 25 obtains the second driving route output from the route search unit 23 and determines whether there are multiple driving routes that include an automated driving section in which the vehicle can drive continuously for more than the required time. If the route selection unit 25 determines that there are multiple second driving routes (YES in step S55), the process proceeds to step S52. If the route selection unit 25 determines that there are no multiple driving routes (NO in step S55), the process proceeds to step S60.

[0050] The above describes an example of the processing of the route search device 1 shown in Figure 5 with reference to Figures 6A and 6B, but the processing of the route search device 1 is not limited to this. For example, the route search device 1 may skip steps S55, S52, and S53, and perform step S60 after step S54.

[0051] [Effects and Effects] As described above, the third embodiment provides the following effects in addition to those of the second embodiment. When the route search device 1 detects constraints on the driving route due to the vehicle's condition or the driver's convenience from information acquired from the vehicle or the vehicle's interior, it searches for a second driving route that satisfies the constraints and outputs the searched second driving route. This prevents the vehicle from stopping due to vehicle malfunction, running out of fuel or battery, and prevents the driver from being late for their scheduled time.

[0052] (Fourth Embodiment) [Configuration of the route search device] Referring to Figure 7, an example of the configuration of the route search device 1 according to the fourth embodiment will be described. Note that the route search device 1 according to the fourth embodiment differs from the third embodiment in that it further includes a road condition acquisition unit 27, but the other configurations are the same. Therefore, only the differences will be explained, and the explanation of other common parts will be omitted.

[0053] When the route search unit 23 finds a third driving route, which is a driving route from the vehicle's current location where the automated driving section begins, the road condition acquisition unit 27 determines, based on the road conditions at the current location, whether or not it is possible to change to the third driving route. If the road condition acquisition unit 27 determines that it is not possible to change to the third driving route, it outputs a signal to the route search unit 23 instructing it to search for a merging route that will merge with the third driving route from the next point where a route change is possible.

[0054] Specifically, the road condition acquisition unit 27 acquires the road conditions at the current location. The road conditions at the current location refer to the positional relationship between the road leading to the third travel route and the vehicle, and the positional relationship between other vehicles and the vehicle itself. The road condition acquisition unit 27 can acquire the road conditions at the current location by using the camera of the vehicle's autonomous driving system. Based on the positional relationship between the road leading to the third travel route and the vehicle, and the positional relationship between other vehicles and the vehicle itself, the road condition acquisition unit 27 determines whether or not the vehicle is able to change its route to the third travel route. More specifically, the road condition acquisition unit 27 determines that it is not possible to change its route to the third travel route if the vehicle is traveling on a road that is two or more lanes away from the road leading to the third travel route, and the distance from the vehicle's current location to the point where it can change lanes to the road leading to the third travel route is less than a predetermined distance. Furthermore, the road condition acquisition unit 27 determines that a route change to the third travel route is impossible if the lane leading to the third travel route is on the opposite side of the road and the vehicle needs to make a U-turn within the intersection. Also, the road condition acquisition unit 27 determines that a route change to the third travel route is impossible if the vehicle needs to avoid other vehicles when changing lanes to the lane leading to the third travel route, and the vehicle's acceleration exceeds a predetermined acceleration while avoiding other vehicles during the lane change. Note that the acceleration determination when changing lanes may be based on the acceleration of other vehicles. If none of the above conditions apply, the road condition acquisition unit 27 determines that the vehicle can change route to the third travel route.

[0055] [Route search method] Next, an example of the processing of the route search device 1 shown in Figure 7 will be described with reference to Figures 8A and 8B. Note that the processing of the route search device 1 according to the fourth embodiment differs from the processing of the route search device 1 shown in Figures 6A and 6B in that it further includes the processing of steps S151 to S156, but other processing is common. Therefore, only the differences will be explained, and the explanation of other common parts will be omitted.

[0056] In step S151, the road condition acquisition unit 27 determines whether or not a third driving route, which is the driving route from the vehicle's current location where the automated driving section begins, has been searched for. If the road condition acquisition unit 27 determines that a third driving route has been searched (YES in step S151), the process proceeds to step S152. If the road condition acquisition unit 27 determines that a third driving route has not been searched (NO in step S151), the process proceeds to step S53. In step S152, the road condition acquisition unit 27 acquires the road conditions at the current location. The road conditions at the current location refer to the positional relationship between the vehicle and the road leading into the third driving route, and the positional relationship between the vehicle and other vehicles.

[0057] Proceeding to step S153, the road condition acquisition unit 27 determines whether the vehicle can change its route to the third route based on the positional relationship between the vehicle and the road leading to the third route, and the positional relationship between the vehicle and other vehicles. More specifically, the road condition acquisition unit 27 determines that changing to the third route is impossible if the vehicle is traveling on a road that is two or more lanes away from the road leading to the third route, and the distance from the vehicle's current location to the point where it can change lanes to the road leading to the third route is less than a predetermined distance. In addition, the road condition acquisition unit 27 determines that changing to the third route is impossible if the road leading to the third route is on the opposite lane and the vehicle needs to make a U-turn within the intersection. Furthermore, the road condition acquisition unit 27 determines that if the vehicle needs to avoid other vehicles when changing lanes to enter the third travel path, and the vehicle's acceleration exceeds a predetermined acceleration while avoiding other vehicles during the lane change, then changing lanes is impossible. Note that the acceleration determination during lane changes may also be based on the acceleration of other vehicles. If none of the above conditions apply, the road condition acquisition unit 27 determines that the vehicle can change lanes to the third travel path. If the road condition acquisition unit 27 determines that the vehicle can change lanes to the third travel path (YES in step S153), the process proceeds to step S154. If the road condition acquisition unit 27 determines that the vehicle cannot change lanes to the third travel path (NO in step S153), the process proceeds to step S155.

[0058] In step S154, the route selection unit 25 outputs the third travel route to the display screen. In step S155, the road condition acquisition unit 27 outputs a signal to the route search unit 23 instructing it to search for a merging route that merges with the third travel route from the next point where a route change is possible. In step S155, the route search unit 23 searches for a merging route that merges with the third travel route from the next point where a route change is possible. The process proceeds to step S156, where the route search unit 23 outputs the merging route that merges with the third travel route to the display screen.

[0059] The above describes an example of the processing of the route search device 1 shown in Figure 7 with reference to Figures 8A and 8B, but the processing of the route search device 1 is not limited to this. For example, the route search device 1 does not have to perform steps S31, S41, S54, S55, S52, and S60. In this case, the route search device 1 may perform step S50 after step S40, and if the answer to step S50 is YES, it may perform steps S151 to S156, and if the answer to step S50 is NO, it may perform steps S110, S61, and S120.

[0060] [Effects and Effects] As explained above, the fourth embodiment provides the following effects in addition to those of the third embodiment. When the route search device 1 searches for a third driving route, which is the driving route from the vehicle's current location to the start of the automated driving section, it determines whether or not it is possible to change routes to the third driving route based on the road conditions at the current location. If the route search device 1 determines that it is not possible to change routes to the third driving route, it searches for a merging route that merges with the third driving route from the next point where a route change is possible, and outputs the searched merging route. As a result, the route search device 1 can prevent the driver from making a dangerous lane change from the current location to the third driving route, thereby protecting the driver's safety. In addition, by outputting a merging route to the third driving route, the route search device 1 can minimize the time lost until entering the automated driving section.

[0061] (Fifth embodiment) [Configuration of the route search device] Referring to Figure 9, an example of the configuration of the route search device 1 according to the fifth embodiment will be described. Note that the route search device 1 according to the fifth embodiment differs from the fourth embodiment in that it further includes an allowable time acquisition unit 28, but the other configurations are the same. Therefore, only the differences will be explained, and the explanation of other common parts will be omitted.

[0062] The permissible time acquisition unit 28 acquires the permissible time during which the driver can tolerate waiting for notification about a request, and if it determines that the time until entering the automated driving section is within the permissible time, it prohibits notification of the request until the vehicle enters the automated driving section. Specifically, when the request detection unit 21 detects the occurrence of a request, the permissible time acquisition unit 28 acquires the permissible time for each request that has been registered in advance by the driver. The permissible time acquisition unit 28 then determines whether the travel time from the vehicle's current location to the automated driving section is within the permissible time, in a travel route that includes an automated driving section where the vehicle can travel continuously for more than the required time. If the travel time from the vehicle's current location to the automated driving section is within the permissible time, the permissible time acquisition unit 28 outputs a signal to the notification control unit 24 prohibiting notification of the occurrence of a request until the vehicle enters the automated driving section. This prevents the notification control unit 24 from outputting a notification of the occurrence of a request through its interface.

[0063] [Route search method] Next, with reference to Figures 10A and 10B, an example of the processing of the route search device 1 shown in Figure 9 will be described. Note that the processing of the route search device 1 according to the fifth embodiment differs from the processing of the route search device 1 shown in Figures 8A and 8B in that it further includes steps S32, S157, and S158, but the other processing is common. Therefore, only the differences will be explained, and the explanation of other common parts will be omitted.

[0064] In step S32, the allowable time acquisition unit 28 acquires the allowable time during which the driver can wait for notification about a request. The allowable time is registered in advance by the driver for each request, and the allowable time acquisition unit 28 acquires the allowable time based on the detected request. In step S157, the allowable time acquisition unit 28 determines whether the travel time from the vehicle's current location to the automated driving section is within the allowable time, in a travel route that includes an automated driving section where the vehicle can travel continuously for more than the required time. If the allowable time acquisition unit 28 determines that the travel time from the vehicle's current location to the automated driving section is within the allowable time (YES in step S157), the process proceeds to step S158. If the allowable time acquisition unit 28 determines that the travel time from the vehicle's current location to the automated driving section is not within the allowable time (NO in step S157), the process proceeds to output the searched travel route to the display unit (steps S60, S154, S156).

[0065] The above describes an example of the processing of the route search device 1 shown in Figure 9 with reference to Figures 10A and 10B, but the processing of the route search device 1 is not limited to this. For example, the route search device 1 may omit the processing of step S31 and replace the processing from step S41 to before step S70 as follows: The route search device 1 performs the processing of step S50 after step S40. Then, if the result of step S50 is YES, the route search device 1 may perform the processing of steps S57 and S58, and if the result of step S50 is NO, it may perform the processing of steps S110, S61 and S120.

[0066] [Effects and Effects] As explained above, the fifth embodiment provides the following effects in addition to those of the fourth embodiment. The route search device 1 obtains an allowable time during which the driver is allowed to wait for notification of an item, and if it determines that the time until entering the automated driving section is within the allowable time, it prohibits notification of an item until entering the automated driving section. As a result, notifications indicating the occurrence of an item are not sent, and after entering the automated driving section, a notification indicating that the occurrence of an item has been detected (notification of item occurrence) and a notification regarding the specific content of the item (step S100) are sent simultaneously. Therefore, the route search device 1 can reduce the state in which the driver's concentration on driving is distracted.

[0067] (Sixth Embodiment) [Configuration of the route search device] Referring to Figure 11, an example of the configuration of the route search device 1 according to the sixth embodiment will be described. Note that the route search device 1 according to the sixth embodiment differs from the third embodiment in that it further includes a destination selection unit 29, but the other configurations are the same. Therefore, only the differences will be described, and the description of other common parts will be omitted.

[0068] If there are multiple possible destinations, the destination selection unit 29 extracts a first destination that can be reached by traveling along the second route from among the multiple destinations and outputs the first destination. If there are multiple possible destinations, for example, when the vehicle is to be inspected at a dealer or repair shop. If there are multiple dealers or repair shops within a predetermined distance from the vehicle's current location, the navigation system outputs multiple dealers or repair shops as possible destinations on the display screen. In this way, if there are multiple possible destinations, the destination selection unit 29 extracts a first destination that can be reached by traveling along the second route from among the multiple destinations and outputs the first destination to the route search unit 23.

[0069] [Route search method] Next, an example of the processing of the route search device 1 shown in Figure 10 will be described with reference to Figures 12A and 12B. Note that the processing of the route search device 1 according to the sixth embodiment differs from the processing of the route search device 1 shown in Figures 6A and 6B in that it further includes the processing from step S160 to step S163, but the other processing is common. Therefore, only the differences will be explained, and the explanation of other common parts will be omitted.

[0070] In step S160, the destination selection unit 29 determines whether there are multiple destination candidates. If there are multiple destination candidates (YES in step S160), the process proceeds to step S161. If there are no multiple destination candidates (NO in step S160), the process proceeds to step S52. In step S161, the destination selection unit 29 extracts a first destination that can be reached by traveling along the second route from among the multiple destinations, and outputs the extracted first destination to the display screen. The process proceeds to step S162, and if the destination selection unit 29 determines that the first destination has been selected (YES in step S162), the process proceeds to step S163. If the destination selection unit 29 determines that the first destination has not been selected (NO in step S162), the process proceeds to step S52. In step S163, the route search unit 23 searches for a route from the vehicle's current location to the destination that includes an automated driving section in which the vehicle can travel continuously in automated driving mode for a period of time longer than the required time.

[0071] [Effects and Effects] As explained above, according to the sixth embodiment, in addition to the effects and advantages of the third embodiment, the following effects and advantages can be obtained. When there are multiple candidate destinations, the route search device 1 extracts a first destination that can be reached by traveling along the second travel route from among the multiple candidate destinations and outputs the extracted first destination. As a result, when there are multiple candidate destinations, the driver can select a destination that satisfies constraints related to the travel route due to the vehicle's condition or the driver's convenience, thereby increasing the options for travel plans to accomplish the task and improving the accuracy of the travel plan.

[0072] [Pathfinding method (first modified example)] Next, with reference to Figures 13A and 13B, an example of the processing of the route search device 1 shown in Figure 10 (first modified example) will be described. Note that the processing of the route search device 1 according to the sixth embodiment (first modified example) differs from the processing of the route search device 1 shown in Figures 12A and 12B in that it performs the processing of step S164 instead of steps S161 and S162. It also differs in that it performs steps S165 and S165 instead of steps S52 and S163. Other processing is common. Therefore, only the differences will be explained, and the explanation of other common parts will be omitted.

[0073] In step S164, the destination selection unit 29 determines whether there are multiple candidate destinations. Specifically, the destination selection unit 29 determines whether multiple first destinations have been extracted. If it determines that multiple first destinations have been extracted (YES in step S164), the process proceeds to step S166. If the destination selection unit 29 determines that no multiple first destinations have been extracted (NO in step S164), the process proceeds to step S165. In step S165, the route selection unit 25 extracts the route that will get to the destination in the shortest time from among the multiple detected second routes. In step S166, the route selection unit 25 extracts the destination and the route to the destination that can be reached in the shortest time from among the multiple detected first destinations.

[0074] [Effects and Effects] As described above, according to the first modification of the sixth embodiment, in addition to the effects and advantages of the sixth embodiment, the following effects and advantages can be obtained. When there are multiple candidate destinations or travel routes, the route search device 1 outputs the combination of destination and travel route that can be reached in the shortest time. As a result, the driver can carry out the task efficiently and reduce the time required to carry out the task.

[0075] [Pathfinding Method (Second Modification)] Next, with reference to Figures 14A and 14B, an example of the processing of the route search device 1 shown in Figure 10 (second modified example) will be described. Note that the processing of the route search device 1 according to the sixth embodiment (second modified example) differs from the processing of the route search device 1 shown in Figures 13A and 13B (first modified example) in that steps S167 and S168 are performed instead of steps S165 and S166, but other processing is common. Therefore, only the differences will be explained, and the explanation of other common parts will be omitted.

[0076] In step S167, the route selection unit 25 extracts the route that arrives at the destination in the shortest distance from among the multiple detected second routes. In step S168, the route selection unit 25 extracts the nearest destination and the route to that destination from among the multiple detected first destinations.

[0077] As described above, according to the second modification of the sixth embodiment, in addition to the effects and advantages of the sixth embodiment, the following effects and advantages can be obtained. When there are multiple candidate destinations or routes, the route search device 1 outputs a combination of the nearest destination and the route with the shortest travel distance. This prevents the destination and the route to the destination that the route search device 1 outputs from changing each time a request is detected due to changes in the vehicle's location or traffic conditions, thereby improving the stability of the output results.

[0078] (Seventh Embodiment) [Configuration of the route search device] Referring to Figure 15, an example of the configuration of the route search device 1 according to the seventh embodiment will be described. Note that the route search device 1 according to the seventh embodiment differs from the third embodiment in that it further includes a requirements determination unit 30, but the other configurations are the same. Therefore, only the differences will be described, and the description of other common parts will be omitted.

[0079] The task determination unit 30 determines whether the driver needs to take their eyes off the road to perform the task, and if it determines that eyes off is necessary, it outputs a signal to the route search unit 23 notifying that eyes off is necessary to perform the task. When the route search unit 23 receives a signal notifying that eyes off is necessary to perform the task, it extracts driving sections that can be driven at an automated driving level that allows eyes off as automated driving sections. Automated driving at level 3 or higher is compatible with eyes off. The route search unit 23 extracts driving sections that can be driven at level 3 or higher as automated driving sections, and based on the extracted automated driving sections, it searches for a driving route that includes automated driving sections that can be driven continuously at an automated driving level for a period of time or longer with eyes off. Tasks that require eyes off include "operating the navigation system," "watching videos," and "operating a mobile device."

[0080] The task determination unit 30 determines whether the driver needs to take their eyes off the road to perform the task, and if it determines that eyes off is not necessary, it outputs a signal to the route search unit 23 notifying that eyes off is not necessary to perform the task. When the route search unit 23 receives a signal notifying that eyes off is not necessary, it extracts driving sections in which the vehicle can drive autonomously, regardless of the autonomous driving level, as autonomous driving sections. Based on the extracted driving sections, the route search unit 23 searches for a driving route that includes autonomous driving sections in which the vehicle can drive autonomously for a continuous period of time or longer.

[0081] If there are multiple routes that include an automated driving section in which the vehicle can drive automatically for a period of time or longer, the route selection unit 25 searches for the route with the longest driving time in the automated driving section that allows for the highest level of automated driving from among the multiple routes, and outputs the searched fourth route.

[0082] [Route search method] Next, with reference to Figures 16A and 16B, an example of the processing of the route search device 1 shown in Figure 15 will be described. Note that the processing of the route search device 1 according to the seventh embodiment differs from the processing of the route search device 1 shown in Figures 4A and 4B in that it further includes the processing from steps S171 to S173 and performs the processing of step S174 instead of step S40, but the other processing is common. Therefore, only the differences will be explained, and the explanation of other common parts will be omitted.

[0083] The task determination unit 30 determines whether or not the driver needs to take their eyes off the road to perform the task. If the task determination unit 30 determines that eyes off is necessary to perform the task (YES in step S171), the process proceeds to step S172. If the task determination unit 30 determines that eyes off is not necessary to perform the task (NO in step S171), the process proceeds to step S174. In step S172, the task determination unit 30 outputs a signal to the route search unit 23 notifying that eyes off is necessary to perform the task. When the route search unit 23 receives a signal notifying that eyes off is necessary, it extracts a driving section that can be driven at an automated driving level where eyes off is possible as an automated driving section. Based on the extracted automated driving section, the route search unit 23 searches for a driving route that includes an automated driving section that can be driven continuously for a period of time or longer with eyes off.

[0084] In step S173, if there are multiple routes that include an automated driving section in which the vehicle can drive automatically for a period of time or longer, the route selection unit 25 searches for the route with the longest driving time in the automated driving section in which the vehicle can drive at the highest level of automated driving from among the multiple routes as the fourth route. The route selection unit 25 outputs the fourth route to the display unit. In step S174, the request determination unit 30 outputs a signal to the route search unit 23 notifying that eyes-off is not required to perform the request. When the route search unit 23 receives a signal notifying that eyes-off is not required, it extracts driving sections in which the vehicle can drive automatically regardless of the level of automated driving as automated driving sections, and based on the extracted automated driving sections, searches for a route that includes an automated driving section in which the vehicle can drive automatically for a period of time or longer.

[0085] [Effects and Effects] As described above, according to the seventh embodiment, in addition to the effects and advantages of the second embodiment, the following effects and advantages can be obtained.

[0086] The route search device 1 determines whether eyes-off driving is necessary to complete the task, and if it determines that eyes-off driving is necessary, it extracts the driving section that can be driven at an automated driving level that allows for eyes-off driving as the automated driving section. As a result, the route search device 1 can search for a driving route in which the vehicle can be driven automatically for a continuous period of time or longer with eyes off, and the driver can complete the task even if eyes-off driving is required.

[0087] The route search device 1 determines whether eyes-off is necessary to accomplish the task, and if it determines that eyes-off is unnecessary, it extracts sections where the vehicle can drive autonomously, regardless of the autonomous driving level, as autonomous driving sections. As a result, when extracting autonomous driving sections, the route search device 1 can search for routes that include autonomous driving sections where the vehicle can drive autonomously for a continuous period longer than the required time, without being restricted by the autonomous driving level. In other words, if eyes-off is not necessary to accomplish the task, the driver can select a route from a larger number of route candidates.

[0088] If there are multiple routes that include an automated driving section in which the vehicle can drive automatically for a period of time or longer, the route search device 1 searches for the route with the longest driving time in the automated driving section that allows for the highest level of automated driving, and outputs the searched fourth route. This allows for temporary eyes-off operation even when performing tasks that do not require eyes-off operation, thereby enhancing safety. [Explanation of Symbols]

[0089] 1. Pathfinding device 10 Storage section 20 Control Unit

Claims

1. A route search method for a route search device that searches for a vehicle's travel route based on conditions that cause the driver of the vehicle to become distracted while driving, The aforementioned pathfinding device, Based on information obtained from the vehicle or the interior of the vehicle, the occurrence of the aforementioned event is detected. The time required for the driver to perform the detected requirement is estimated. The system searches for a route from the vehicle's current location to its destination that includes an autonomous driving section in which the vehicle can continuously drive autonomously for a period of time longer than the specified time. Output the searched travel route, If constraints on the driving route due to the vehicle's condition or the driver's convenience are detected from information obtained from the vehicle or the vehicle's interior, a second driving route that satisfies the constraints is searched for and the searched second driving route is output. Route search method.

2. A route search method for a route search device that searches for a vehicle's travel route based on conditions that cause the driver of the vehicle to become distracted while driving, The aforementioned pathfinding device, Based on information obtained from the vehicle or the interior of the vehicle, the occurrence of the aforementioned event is detected. The time required for the driver to perform the detected requirement is estimated. The system searches for a route from the vehicle's current location to its destination that includes an autonomous driving section in which the vehicle can continuously drive autonomously for a period of time longer than the specified time. Output the searched travel route, When the vehicle searches for a third driving route, which is the driving route from its current location where the automated driving section begins, it determines whether it is possible to change the route to the third driving route based on the road conditions at the current location. If it is determined that the aforementioned route change is impossible, the system searches for a merging route that joins the third travel route from the next point where a route change is possible, and outputs the searched merging route. Route search method.

3. A route search method for a route search device that searches for a vehicle's travel route based on conditions that cause the driver of the vehicle to become distracted while driving, The aforementioned pathfinding device, Based on information obtained from the vehicle or the interior of the vehicle, the occurrence of the aforementioned event is detected. The time required for the driver to perform the detected requirements is estimated, The system searches for a route from the vehicle's current location to its destination that includes an autonomous driving section in which the vehicle can continuously drive autonomously for a period of time longer than the specified time. Output the searched travel route, If the driver obtains an allowable time to wait for notification regarding the aforementioned matter, and determines that the time until entering the automated driving section is within the allowable time, the notification shall be prohibited until the driver enters the automated driving section. Route search method.

4. If multiple routes exist, the route search device searches for a first route, which is the route that allows for the earliest start time of automatic driving, and outputs the searched first route. A pathfinding method according to any one of claims 1 to 3.

5. If there are multiple candidate destinations, the route search device extracts a first destination that can be reached by traveling along the second route from among the multiple candidate destinations, and outputs the extracted first destination. The pathfinding method according to claim 1.

6. If there are multiple candidate destinations or routes, the route search device outputs the combination of destination and route that will allow arrival in the shortest time. The pathfinding method according to claim 1.

7. If there are multiple candidate destinations or routes, the route search device outputs a combination of the nearest destination and the route with the shortest travel distance. The pathfinding method according to claim 1.

8. If the route search device fails to find a route that includes an automated driving section in which the vehicle can continuously drive autonomously for a period exceeding the specified time, it will output a notification recommending that the vehicle be stopped and the aforementioned requirements be fulfilled. A pathfinding method according to any one of claims 1 to 3.

9. When the route search device outputs the travel route to a display unit in the vehicle, it highlights and displays the automated driving section where the vehicle can be driven automatically for a period of time equal to or longer than the estimated travel time. The pathfinding method according to claim 1.

10. When the route search device outputs the travel route to the display unit installed in the vehicle, it displays the travel time for the automated driving section in which the vehicle can travel continuously in automated driving mode for a period of time equal to or longer than the required time. A pathfinding method according to any one of claims 1 to 3.

11. The route search device determines whether the driver needs to take their eyes off the road in order to perform the task, and if it determines that eyes-off is necessary, it extracts a section of road where the driver can drive at an automated driving level that allows for eyes-off driving as the automated driving section. The pathfinding method according to claim 1.

12. The route search device determines whether the eyes-off function is necessary to perform the requirements, and if it determines that the eyes-off function is unnecessary, it extracts a section of driving that the vehicle can drive autonomously, regardless of the autonomous driving level, as the autonomous driving section. The pathfinding method according to claim 11.

13. If multiple routes exist, the route search device searches for the route with the longest driving time in the automated driving section that allows for the highest level of automated driving among the multiple routes, and outputs the searched fourth route. The pathfinding method according to claim 11 or 12.

14. A route search device that searches for a vehicle's travel route based on conditions that cause the driver of the vehicle to become distracted while driving, A storage unit that stores a driving route including an autonomous driving section in which the vehicle can drive autonomously, It comprises a control unit and, The control unit, Based on information obtained from the vehicle or the interior of the vehicle, the occurrence of the aforementioned event is detected. The time required for the driver to perform the detected requirements is estimated, The system searches for a route from the vehicle's current location to its destination that includes an autonomous driving section in which the vehicle can continuously drive autonomously for a period of time longer than the specified time. Output the searched travel route, If constraints on the driving route due to the vehicle's condition or the driver's convenience are detected from information obtained from the vehicle or the vehicle's interior, a second driving route that satisfies the constraints is searched for and the searched second driving route is output. Route search device.

15. A route search device for searching a vehicle's travel route based on conditions that cause the driver of the vehicle to become distracted while driving, A storage unit that stores a driving route including an autonomous driving section in which the vehicle can drive autonomously, It comprises a control unit and, The control unit, Based on information obtained from the vehicle or the interior of the vehicle, the occurrence of the aforementioned event is detected. The time required for the driver to perform the detected requirements is estimated, The system searches for a route from the vehicle's current location to its destination that includes an autonomous driving section in which the vehicle can continuously drive autonomously for a period of time longer than the specified time. Output the searched travel route, When the vehicle searches for a third driving route, which is the driving route from its current location where the automated driving section begins, it determines whether it is possible to change the route to the third driving route based on the road conditions at the current location. If it is determined that the aforementioned route change is impossible, the system searches for a merging route that joins the third travel route from the next point where a route change is possible, and outputs the searched merging route. Route search device.

16. A route search device for searching a vehicle's travel route based on conditions that cause the driver of the vehicle to become distracted while driving, A storage unit that stores a driving route including an autonomous driving section in which the vehicle can drive autonomously, It comprises a control unit and, The control unit, Based on information obtained from the vehicle or the interior of the vehicle, the occurrence of the aforementioned event is detected. The time required for the driver to perform the detected requirements is estimated, The system searches for a route from the vehicle's current location to its destination that includes an autonomous driving section in which the vehicle can continuously drive autonomously for a period of time longer than the specified time. Output the searched travel route, If the driver obtains an allowable time to wait for notification regarding the aforementioned matter, and determines that the time until entering the automated driving section is within the allowable time, the notification shall be prohibited until the driver enters the automated driving section. Route search device.

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