Driving control device, driving control method, and computer program for driving control

Abstract

To provide a travel control device capable of appropriately controlling vehicle behavior after completing travel under automatic control.SOLUTION: A travel control device comprises: a trave control section which executes automatic travel control of a vehicle; an estimation section which estimates a predicted arrival timing when the vehicle is predicted to reach a predetermined point beyond which automatic control cannot be continued; a notification section which starts notification of a drive turn-taking request for requesting drive turn-taking from automatic control to manual control at a predetermined time before the predicted arrival timing; a drive turn-taking section which terminates the drive turn-taking request and the automatic control when detecting response operation of a driver in response to the drive turn-taking request before the vehicle reaches the predetermined point, and starts reception of driving operation; and a stop control section which terminates the drive turn-taking request and the automatic control when the vehicle reaches the predetermined point without detecting the response operation, and executes safe stop control controlling acceleration / deceleration and steering of the vehicle so that the vehicle stops at a safe position.SELECTED DRAWING: Figure 6

Description

Technical Field

[0001] The present disclosure relates to a driving control device, a driving control method, and a computer program for driving control that automatically control the driving of a vehicle.

Background Art

[0002] According to a driving control device that automatically controls the driving of a vehicle based on a surrounding image generated by a camera mounted on the vehicle, the load on the driver associated with driving the vehicle is reduced. However, depending on the situation at the location where the vehicle is traveling, the driving control device may not be able to control the driving of the vehicle.

[0003] Patent Document 1 describes a driving control device that notifies the possibility of canceling automatic driving when it is determined that an alarm condition is satisfied, such as when the detection confidence indicating the reliability of vehicle surrounding information falls below a predetermined threshold value. When it is determined that a predetermined automatic driving cancellation condition is satisfied based on the detection confidence at a front location of the road on which the vehicle is traveling, the driving control device described in Patent Document 1 estimates the remaining time until automatic driving is canceled and notifies the remaining time. The driving control device described in Patent Document 1 maintains automatic driving when the automatic driving cancellation condition is not satisfied and executes cancellation of automatic driving when the automatic driving cancellation condition is satisfied.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] When the driving by the automatic control of the driving control device ends in a situation where the driver cannot appropriately control the driving of the vehicle manually, the vehicle may not be able to maintain a safe state.

[0006] This disclosure aims to provide a driving control device that can appropriately control the operation of a vehicle after the completion of automatically controlled driving. [Means for solving the problem]

[0007] The driving control device according to this disclosure includes: a driving control unit that automatically controls at least one of the following: acceleration / deceleration and steering of the vehicle using map information; an estimation unit that estimates a predicted arrival time at a predetermined point where the vehicle is expected to reach a predetermined point where automatic control can no longer be continued, based on the vehicle's current position and map information; a notification unit that, a predetermined time before the predicted arrival time, initiates notification to the driver of a driver change request requesting a change of driving from automatic control to manual control of the vehicle's acceleration / deceleration and steering based on the driver's driving operations; a driver change unit that, if a driver response action in response to the driver change request is detected before the vehicle reaches the predetermined point, terminates the driver change request and automatic control and starts accepting driving operations; and a stop control unit that, if the vehicle reaches the predetermined point without any response action being detected, terminates the driver change request and automatic control and performs safe stop control by controlling the vehicle's acceleration / deceleration and steering so that the vehicle stops in a safe position.

[0008] Preferably, the driving control device according to this disclosure further includes a determination unit that determines whether the driver's condition or the condition around the vehicle is suitable for a driver change, and the stop control unit terminates the driver change request and automatic control and performs safe stop control after the predicted arrival timing, when no response operation has been detected, the vehicle has not reached the predetermined point, and it is determined that the driver's condition or the condition around the vehicle is not suitable for a driver change.

[0009] In the driving control device according to this disclosure, it is preferable that the determination unit determines that the driver's condition is not suitable for a driver change if no driving behavior necessary for the driver to perform driving operations is detected from the driver image representing the driver generated by the driver imaging unit mounted on the vehicle.

[0010] In the driving control device according to this disclosure, if the driver's biometric information acquired by the biometric information acquisition unit mounted on the vehicle indicates an abnormality in the driver's health condition, it is preferable to determine that the driver's condition is not suitable for a driver change.

[0011] In the driving control device according to this disclosure, if an abnormal traffic flow is detected from a peripheral image representing the surrounding conditions of the vehicle acquired by a peripheral imaging unit mounted on the vehicle, it is preferable to determine that the conditions around the vehicle are not suitable for a driver change.

[0012] The driving control method according to this disclosure includes: automatically controlling at least one of the vehicle's acceleration / deceleration and steering using map information; estimating a predicted arrival time at a predetermined point where automatic control can no longer be continued, based on the vehicle's current position and map information; initiating a notification to the driver of a driver change request, requesting a change of driving from automatic control to manual control of the vehicle's acceleration / deceleration and steering based on the driver's driving operations, if a driver response action in response to the driver change request is detected before the vehicle reaches the predetermined point, terminating the driver change request and automatic control and initiating acceptance of driving operations; and, if the vehicle reaches the predetermined point without any response action being detected, terminating the driver change request and automatic control and performing safe stop control, controlling the vehicle's acceleration / deceleration and steering so that the vehicle stops in a safe position.

[0013] The control computer program described herein causes the computer installed in the vehicle to perform the following actions: automatically control at least one of the vehicle's acceleration / deceleration and steering using map information; estimate a predicted arrival time at a predetermined point where the vehicle is expected to reach a predetermined point where automatic control can no longer be continued, based on the vehicle's current position and map information; initiate a notification to the driver of a driver change request, requesting a change of driving from automatic control to manual control of the vehicle's acceleration / deceleration and steering based on the driver's driving operations, a predetermined time before the predicted arrival time; if a driver response action in response to the driver change request is detected before the vehicle reaches the predetermined point, terminate the driver change request and automatic control and start accepting driving operations; and if the vehicle reaches the predetermined point without any response action being detected, terminate the driver change request and automatic control and perform safe stop control, controlling the vehicle's acceleration / deceleration and steering so that the vehicle stops in a safe position.

[0014] According to the driving control device described herein, it is possible to appropriately control the operation of the vehicle after the completion of driving under automatic control. [Brief explanation of the drawing]

[0015] [Figure 1] This is a schematic diagram of a vehicle equipped with a vehicle control system. [Figure 2] This is a schematic diagram of the ECU hardware. [Figure 3] This is a functional block diagram of the processor in the ECU. [Figure 4] This diagram explains the estimation of the predicted arrival time. [Figure 5] This is a diagram illustrating an example of vehicle control. [Figure 6] This is a flowchart of the vehicle control process. [Modes for carrying out the invention]

[0016] Hereinafter, with reference to the drawings, a driving control device that can appropriately control the operation of a vehicle after the end of driving by automatic control will be described in detail. The driving control device automatically controls at least one of the acceleration / deceleration and steering of the vehicle using map information. Further, the driving control device estimates a predicted arrival timing at which it is expected that the vehicle will reach a predetermined point where automatic control cannot be continued based on the current position of the vehicle and the map information. Subsequently, the driving control device starts notifying the driver of a driving change request that requests a change in driving from automatic control to manual control of the acceleration / deceleration and steering of the vehicle based on the driver's driving operation at a predetermined time before the predicted arrival timing. When a response operation of the driver corresponding to the driving change request is detected before the vehicle reaches the predetermined point, the driving control device ends the driving change request and automatic control and starts accepting driving operations. Further, when the vehicle reaches the predetermined point without the response operation being detected, the driving control device ends the driving change request and automatic control and performs safety stop control to control the acceleration / deceleration and steering of the vehicle so that the vehicle stops at a safe position.

[0017] FIG. 1 is a schematic configuration diagram of a vehicle in which the driving control device is implemented.

[0018] The vehicle 1 includes a surrounding camera 2, a driver monitor camera 3, a meter display 4, a steering wheel 5, a GNSS receiver 6, a storage device 7, and an ECU 8 (Electronic Control Unit). The ECU 8 is an example of the driving control device. The surrounding camera 2, the meter display 4, the steering wheel 5, the GNSS receiver 6, and the storage device 7 and the ECU 8 are communicably connected via an in-vehicle network conforming to a standard such as a controller area network.

[0019] The surrounding camera 2 is an example of a surrounding imaging unit for generating a surrounding image representing the surrounding situation of the vehicle 1. The surrounding camera 2 includes a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to visible light, such as a CCD or a C-MOS, and an imaging optical system for forming an image of an area to be imaged on the two-dimensional detector. The surrounding camera 2 has a front surrounding camera 2-1 and a rear surrounding camera 2-2. The front surrounding camera 2-1 is arranged facing forward, for example, at the upper front part inside the vehicle cabin, and the rear surrounding camera 2-2 is arranged facing rearward, for example, at the upper rear part inside the vehicle cabin. The surrounding camera 2 captures the surrounding situation of the vehicle 1 through the front windshield or the rear windshield at a predetermined imaging period (for example, 1 / 30 seconds to 1 / 10 seconds), and outputs a surrounding image representing the surrounding situation.

[0020] The driver monitoring camera 3 is an example of a driver imaging unit for generating a driver image representing the driver of the vehicle. The driver monitoring camera 3 includes a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to infrared light, such as a CCD or a C-MOS, and an imaging optical system for forming an image of an area to be imaged on the two-dimensional detector. In addition, the driver monitoring camera 3 has a light source that emits infrared light. The driver monitoring camera 3 is attached, for example, in the front inside the vehicle cabin, facing the face of the driver sitting on the driver seat. The driver monitoring camera 3 irradiates the driver with infrared light at a predetermined imaging period (for example, 1 / 30 seconds to 1 / 10 seconds), and outputs a driver image representing the driver in time series. In addition, the driver monitoring camera 3 is also used as a biological information acquisition unit for acquiring the biological information of the driver. In this case, the driver image generated by the driver monitoring camera 3 is used as the biological information acquired by the biological information acquisition unit.

[0021] The meter display 4 is an example of an output device and, for example, has a liquid crystal display. The meter display 4 displays a predetermined message to the driver in a visible manner according to a signal received from the ECU 8 via the in-vehicle network. The predetermined message is, for example, a request to switch from an automatic driving mode in which at least one of the vehicle's acceleration / deceleration and steering is automatically controlled to a manual driving mode in which the vehicle's acceleration / deceleration and steering are manually controlled. The vehicle 1 may have, as an output device, a speaker device (not shown) that outputs sound representing the predetermined message, a light source (not shown) that lights up in a pattern corresponding to the predetermined message, a vibrator (not shown) that vibrates in a pattern corresponding to the predetermined message, etc.

[0022] The steering wheel 5 is an example of an operation receiving unit, and receives driver input requesting the operation of the steering mechanism that steers the vehicle 1. An operation requesting the operation of the steering mechanism is, for example, an operation to rotate the steering wheel 5 clockwise or counterclockwise. The steering wheel 5 has a touch sensor 5a that detects whether the driver is holding the steering wheel 5. The touch sensor 5a outputs a signal according to whether or not the driver is holding the steering wheel 5.

[0023] The GNSS receiver 6 receives GNSS (Global Navigation Satellite System) signals from GNSS satellites at predetermined intervals and determines the vehicle's own position based on the received GNSS signals. At predetermined intervals, the GNSS receiver 6 outputs a positioning signal representing the result of determining the vehicle's own position based on the GNSS signals to the ECU 8 via the in-vehicle network.

[0024] The storage device 7 is an example of a storage unit and may include, for example, a hard disk drive or a non-volatile semiconductor memory. The storage device 7 stores map information, including information about features such as lane markings, associated with location.

[0025] The ECU 8 automatically controls at least one of the following: acceleration, deceleration, and steering of the vehicle 1, based on the map information stored in the storage device 7 and the positions of objects around the vehicle 1 represented in the surrounding images generated by the surrounding camera 2. Based on the vehicle 1's current position and the map information, the ECU 8 estimates the predicted arrival time at a predetermined point where automatic control can no longer be continued. The ECU 8 starts notifying the driver of a driver change request a predetermined time before the predicted arrival time and controls the vehicle's operation after the automatic control ends, depending on the situation at the end of the automatic control.

[0026] Figure 2 is a schematic hardware diagram of the ECU8. The ECU8 includes a communication interface 81, memory 82, and a processor 83.

[0027] The communication interface 81 is an example of a communication unit and has a communication interface circuit for connecting the ECU 8 to the in-vehicle network. The communication interface 81 supplies the received data to the processor 83. The communication interface 81 also outputs the data supplied from the processor 83 to the outside.

[0028] Memory 82 includes volatile semiconductor memory and non-volatile semiconductor memory. Memory 82 stores various data used for processing by processor 83, such as terrain conditions on map information that make it impossible to continue automatic driving control, a predetermined time for initiating notification of a driver change request prior to the predicted arrival time, a message notified as a driver change request, and characteristics of response operations in response to a driver change request. Memory 82 also stores various application programs, such as a driving control program that executes driving control processing.

[0029] The processor 83 is an example of a control unit and has one or more processors and their peripheral circuits. The processor 83 may further have other arithmetic circuits such as a logic unit, a numerical unit, or a graphics processing unit.

[0030] Figure 3 is a functional block diagram of the processor 83 located in the ECU 8.

[0031] The processor 83 of the ECU8 has, as a functional block, a driving control unit 831, an estimation unit 832, a notification unit 833, a driver change unit 834, a determination unit 835, and a stop control unit 836. Each of these parts of the processor 83 is a functional module implemented by a program executed on the processor 83. Alternatively, each of these parts of the processor 83 may be implemented in the ECU8 as an independent integrated circuit, microprocessor, or firmware.

[0032] The driving control unit 831 automatically controls at least one of the following: acceleration / deceleration and steering of the vehicle, using map information.

[0033] The driving control unit 831 acquires map information representing the terrain, such as lanes, around the current position of the vehicle 1, which is determined by the positioning signal received from the GNSS receiver 6, from the storage device 7. The driving control unit 831 also detects lane markings around the vehicle 1 by inputting the surrounding image generated by the surrounding camera 2 mounted on the vehicle 1 into a classifier that has been pre-trained to detect lane markings from the image. The classifier can be, for example, a convolutional neural network (CNN) having multiple convolutional layers connected in series from the input side to the output side. By pre-training the CNN using images containing lane markings as training data and following a predetermined learning method such as backpropagation, the CNN operates as a classifier that detects lane markings from the surrounding image.

[0034] The driving control unit 831 identifies the lane in which vehicle 1 is currently traveling by matching the lane markings detected from the surrounding image with the lane markings included in the map information. The driving control unit 831 then outputs a control signal to the vehicle's driving mechanism (not shown) to cause vehicle 1 to travel along the lane it is currently traveling in at a preset target speed. The driving mechanism includes, for example, an engine or motor to accelerate vehicle 1, brakes to decelerate vehicle 1, and a steering mechanism to steer vehicle 1.

[0035] The driving control unit 831 may detect other vehicles traveling ahead of vehicle 1 in the lane in which vehicle 1 is traveling from the surrounding image, and output a control signal to the driving mechanism of vehicle 1 so that the distance between the detected other vehicles and vehicle 1 is greater than or equal to a predetermined inter-vehicle distance threshold. The driving control unit 831 detects other vehicles located around vehicle 1 by inputting the surrounding image into a classifier that has been pre-trained to detect objects such as vehicles from images. The classifier can be, for example, a CNN. By pre-training the CNN using images containing objects such as vehicles as training data and following a predetermined learning method such as backpropagation, the CNN operates as a classifier that detects objects such as vehicles from surrounding images. The driving control unit 831 may also use a classifier that has been pre-trained to detect objects such as vehicles and lane markings from images in common for detecting other vehicles from surrounding images and for detecting lane markings from surrounding images as described above.

[0036] The driving control unit 831 identifies the lane in which the other vehicle is currently traveling by matching the lane markings around the other vehicle detected from the surrounding image with the lane markings included in the map information. If it is determined that the other vehicle is traveling in the same lane as vehicle 1, the driving control unit 831 estimates the distance between the other vehicle and vehicle 1.

[0037] The driving control unit 831 can estimate the distance to an object based, for example, on the ratio of the size of the area in the surrounding image in which the object is represented, to the reference size of the object in the surrounding image when the distance to the object is a reference distance, and the size of the object in real space. The reference size of the object in the surrounding image and the size in real space when the distance to the object is a reference distance may be stored in advance in the memory 82.

[0038] The estimation unit 832 estimates the predicted arrival time at a predetermined point where automatic control can no longer be continued, based on the current position of the vehicle 1 and the map information stored in the storage device 7.

[0039] Figure 4 illustrates the estimation of the predicted arrival time.

[0040] On road R1, vehicle 1 is traveling along route W1 to point P0 under the automatic control of the driving control unit 831. At a predetermined point P1 on road R1, road R2 branches off from road R1. Road R2 is the road that leads to vehicle 1's destination. Furthermore, the map information stored in the storage device 7 does not include information on road R2. At such a predetermined point P1, which corresponds to the end of the map information or a point where a lane change is required, the driving control unit 831 can no longer continue automatic control. In order to switch from automatic control to manual control and travel along route W2 on road R2 before reaching the predetermined point P1, the ECU 8 starts notifying a driver change request a predetermined time before the predicted arrival time at the predetermined point P1.

[0041] The estimation unit 832 can estimate the time required to reach the predetermined point P1 as the predicted arrival time by dividing the distance from point P0 to the predetermined point P1 by the vehicle speed of vehicle 1. The vehicle speed of vehicle 1 can be the speed measured by a speed sensor (not shown) mounted on vehicle 1 or the average value of the measured speed over the most recent predetermined period. Alternatively, the estimation unit 832 may estimate the predicted arrival time as the predicted arrival time by adding the time required to reach the predetermined point P1 to the current time.

[0042] The notification unit 833 initiates a notification to the driver of a driver change request, which requests a change of driving from automatic control to manual control of the acceleration, deceleration and steering of the vehicle 1 based on the driver's driving operations, a predetermined time before the predicted arrival time.

[0043] The notification unit 833 determines whether the time from the current time to the predicted arrival time at a predetermined location P1, estimated by the estimation unit 832, is shorter than a predetermined time stored in the memory 82. If it is determined that the time to the predicted arrival time is shorter than the predetermined time, the notification unit 833 starts displaying a driver change request message (for example, "Please hold the steering wheel"), represented by text or an image, stored in the memory 82, on the meter display 4. If it is determined that the time to the predicted arrival time is shorter than the predetermined time, the notification unit 833 may start playing a driver change request message, represented by voice, stored in the memory 82, from a speaker device (not shown).

[0044] The driver change unit 834 determines whether a response action from the driver in response to the driver change request is detected before the vehicle 1 reaches the predetermined point P1. If a response action is detected before the vehicle 1 reaches the predetermined point P1, the driver change unit 834 terminates the driver change request and automatic control and starts accepting driving operations.

[0045] The driver's response action is, for example, holding the steering wheel 5 in response to a driver change request such as "Please hold the steering wheel." When the driver change unit 834 detects that the steering wheel 5 is being held based on a signal received from the touch sensor 5a of the steering wheel 5, it determines that the driver's response action has been detected.

[0046] The driver change unit 834 determines that vehicle 1 has reached the predetermined point P1 when the distance between the current position of vehicle 1, which is determined by the positioning signal received from the GNSS receiver 6, and the predetermined point P1 becomes smaller than a predetermined distance threshold.

[0047] If a response operation is detected before vehicle 1 reaches a predetermined point P1, the driver change unit 834 terminates the driver change request by the notification unit 833 and the automatic control of vehicle 1's movement by the driving control unit 831. At the same time, the driver change unit 834 receives operation signals corresponding to the driver's operations to the driving operation receiving units such as the steering wheel 5, accelerator pedal (not shown), and brake pedal (not shown), and transmits control signals corresponding to the operation signals to the vehicle 1's driving mechanism.

[0048] The determination unit 835 determines whether the driver's condition or the condition around vehicle 1 is suitable for a driver change.

[0049] For example, the determination unit 835 determines that the driver's condition is not suitable for a driver change if the driver is not performing any driving actions. The determination unit 835 determines from the driver image generated by the driver monitor camera 3 whether or not driving actions that would allow the driver to perform driving operations are detected, and determines that the driver's condition is not suitable for a driver change if no driving actions are detected.

[0050] For example, the determination unit 835 detects, for instance, a driver checking the surroundings of the vehicle as a driving behavior from the driver image. The determination unit 835 detects the pupil and the corneal reflection of the light source by performing template matching between the face image and, for example, a template representing the pupil and a template representing the corneal reflection of the light source, and detects the direction of gaze based on their positional relationship. The direction of gaze is represented by the horizontal angle between the direction of travel of the vehicle 1 and the driver's line of sight. The determination unit 835 then detects the driver's driving behavior if the driver's line of sight is directed towards the surroundings of the vehicle 1 (for example, 30 degrees or more relative to the direction of travel).

[0051] Furthermore, if the driver's health condition is abnormal, the determination unit 835 may determine that the driver's condition is not suitable for a driver change. The determination unit 835 determines whether the driver's biometric information acquired by the biometric information acquisition unit installed in the vehicle 1 indicates an abnormality in the driver's health condition, and if the biometric information indicates an abnormality in the driver's health condition, it determines that the driver's condition is not suitable for a driver change.

[0052] For example, if the driver monitor camera 3 mounted on the vehicle 1 is sensitive to visible light, the determination unit 835 can estimate the driver's pulse rate by detecting the time change of green light absorbed by hemoglobin in the blood from the driver image. The determination unit 835 detects a predetermined area of ​​the driver's face in each driver image by inputting each of the driver images generated as biometric information in time series by the driver monitor camera 3 into a classifier that has been pre-trained to detect exposed skin areas (e.g., cheeks) on the face from the image. The classifier can be configured, for example, by a neural network such as SegNet or U-Net that performs semantic segmentation to assign classification to each pixel of the image. The determination unit 835 obtains a statistical representative value (e.g., mean or median) of the green color component of each pixel included in the detected skin area in each driver image. The determination unit 835 estimates the driver's pulse rate corresponding to the time change period or range of the mean value of the green component by referring to a reference table that shows the relationship between the period or range of change of the average green component and the pulse rate. If the estimated driver's pulse rate falls outside the standard range, the driver's biometric information indicates an abnormality in the driver's health condition, and the determination unit 835 determines that the driver's condition is not suitable for a driver change.

[0053] Furthermore, the determination unit 835 may use the driver's facial color from the driver image generated as biometric information by the driver monitor camera 3 to determine whether the driver's condition is suitable for a driver change. For example, the determination unit 835 detects the skin area of ​​the driver's face in the driver image by inputting the driver image into a classifier similar to the classifier described above in the pulse rate estimation. The determination unit 835 converts the value of each pixel included in the detected skin area from a value expressed in the RGB color system to a value expressed in the HLS color system. Then, the determination unit 835 obtains a statistically representative value of the hue value of each pixel included in the skin area as a value representing the driver's facial color. If the value representing the driver's facial color falls outside the standard range, the determination unit 835 determines that the driver's biometric information indicates an abnormality in the driver's health condition and that the driver's condition is not suitable for a driver change.

[0054] Vehicle 1 may also have a pulse sensor as a biometric information acquisition unit. The pulse sensor is mounted in the driver's seat and acquires the driver's pulse as biometric information. If the driver's pulse rate falls outside the standard range, the driver's biometric information indicates an abnormality in the driver's health condition, and the determination unit 835 determines that the driver's condition is not suitable for a driver change.

[0055] Alternatively, the determination unit 835 may determine that the conditions around vehicle 1 are not suitable for a driver change if there is an abnormal traffic flow around vehicle 1. For example, the determination unit 835 may determine whether an abnormal traffic flow is detected from the surrounding image generated by the surrounding camera 2, and if an abnormal traffic flow is detected from the surrounding image, it may determine that the conditions around vehicle 1 are not suitable for a driver change.

[0056] For example, the determination unit 835 detects the distance between multiple surrounding vehicles behind the vehicle from the rear surrounding image generated by the rear surrounding camera 2-2. The determination unit 835 can estimate the distance to each of the multiple surrounding vehicles behind the vehicle by performing the same processing as the object position estimation in the creation of the driving path by the driving control unit 831 described above. The determination unit 835 estimates the distance between multiple surrounding vehicles by taking the difference in the distance to each of the multiple surrounding vehicles. If the distance between multiple surrounding vehicles behind the vehicle is smaller than the distance threshold, the determination unit 835 detects an abnormal traffic flow around vehicle 1 and determines that the conditions around vehicle 1 are not suitable for a driver change.

[0057] If the vehicle 1 reaches a predetermined point P1 without any response operation being detected, the stop control unit 836 terminates the driver change request and automatic control, and performs safety stop control, controlling the acceleration, deceleration and steering of the vehicle 1 so that the vehicle 1 stops in a safe position.

[0058] The stop control unit 836 acquires map information from the storage device 7 regarding the area around the vehicle 1's current position, which is determined by the positioning signal received from the GNSS receiver 6. The stop control unit 836 also detects objects located around the vehicle 1 by inputting surrounding images into the classifier.

[0059] The stop control unit 836 performs safe stopping control by steering the vehicle toward a safe location such as the shoulder of the road, which is identified from the map information, and by decelerating so that the distance between the vehicle and surrounding objects is above a certain level.

[0060] Furthermore, if, after the predicted arrival timing, no response operation has been detected, the vehicle 1 has not reached the predetermined point P1, and it is determined that the driver's condition or the condition around the vehicle 1 is not suitable for a driver change, the stop control unit 836 terminates the driver change request and automatic control and performs safe stop control.

[0061] Figure 5 illustrates an example of driving control. In Figure 5, (1)-(5) each represent time t, which corresponds to the predicted arrival time. ea This represents the content detected after notification of a driver change request initiated at time t0, a predetermined time prior to the specified date, and the corresponding driving control.

[0062] Figure 5(1) shows the response action to the notification of the driver change request initiated at time t0, corresponding to the predicted arrival time t ea This represents a state detected at time t1 before the vehicle 1 reaches the predetermined point P1. In the state shown in Figure 5(1), since a response operation is detected before the vehicle 1 reaches the predetermined point P1, the driver change unit 834 of the ECU 8 terminates the driver change request and automatic control and starts accepting driver operations (driver change).

[0063] Figure 5(2) shows the time t before the response action to the driver change request notification initiated at time t0 is detected, and the time t corresponding to the predicted arrival time. eaThis indicates that at the time t2 prior to this, vehicle 1 has reached a predetermined point P1. In the state shown in Figure 5 (2), since vehicle 1 has reached the predetermined point P1 without any response operation being detected, the stop control unit 836 of the ECU 8 terminates the driver change request and automatic control and performs safe stop control (safe stop control).

[0064] Figure 5 (3) shows that the driver's condition or the condition of the surroundings of vehicle 1 is not suitable for a driver change, corresponding to the predicted arrival time t. ea This represents the state determined at time t3, before the response action to the driver change request notification initiated at time t0 is detected, and before vehicle 1 reaches the predetermined point P1. In the state shown in (3) of Figure 5, time t corresponds to the predicted arrival timing. ea After this, if no response operation has been detected, vehicle 1 has not reached the predetermined point P1, and it has been determined that the driver's condition or the condition around vehicle 1 is not suitable for a driver change, the stop control unit 836 of the ECU 8 terminates the driver change request and automatic control and performs safe stop control (safe stop control).

[0065] Figure 5(4) shows that the response action to the notification of the driver change request initiated at time t0 corresponds to the predicted arrival time t ea This represents the state detected at time t4, after the above and before vehicle 1 reaches the predetermined point P1. In the state shown in (4) of Figure 5, since the response operation is detected before vehicle 1 reaches the predetermined point P1, the driver change unit 834 of the ECU 8 terminates the driver change request and automatic control and starts accepting driver operation (driver change).

[0066] Figure 5(5) shows the time t before the response action to the driver change request notification initiated at time t0 is detected, and the time t corresponding to the predicted arrival time. eaThe time t5 after this indicates that vehicle 1 has reached the predetermined point P1. In the state shown in (5) of Figure 5, since vehicle 1 has reached the predetermined point P1 without any response operation being detected, the stop control unit 836 of the ECU 8 terminates the driver change request and automatic control and performs safe stop control (safe stop control).

[0067] Figure 6 is a flowchart of the driving control process. The ECU 8 repeatedly executes the driving control process at predetermined time intervals (for example, every 1 / 10 second) while the driving control unit 831 automatically controls the driving of vehicle 1.

[0068] First, the estimation unit 832 of the ECU 8 estimates the predicted arrival time at a predetermined point where automatic control by the driving control unit 831 can no longer be continued, based on the current position of the vehicle 1 and the map information stored in the storage device 7 (step S1).

[0069] The notification unit 833 of the ECU8 determines whether the time from the current time to the predicted arrival time at a predetermined location P1 estimated by the estimation unit 832 is shorter than a predetermined time stored in the memory 82 (step S2). If it is determined that the time from the current time to the predicted arrival time is not shorter than the predetermined time (step S2:N), the processing of the ECU8 returns to step S1 described above.

[0070] If it is determined that the time from the current time to the predicted arrival time is shorter than a predetermined time (step S2:Y), the notification unit 833 starts notifying the driver of the request for a driver change (step S3).

[0071] The stop control unit 836 of the ECU8 determines whether the current time is later than the predicted arrival time (step S4).

[0072] If it is determined that the current time is not later than the predicted arrival time (step S4:N), the driver change unit 834 of the ECU 8 determines whether or not a driver response action in response to the driver change request has been detected (step S5).

[0073] If it is determined that no response operation has been detected (step S5:N), the stop control unit 836 determines whether or not the vehicle 1 has reached a predetermined point (step S6).

[0074] In step S6, if it is determined that vehicle 1 has reached a predetermined point (step S6:Y), the stop control unit 836 terminates the driver change request and automatic control, performs safe stop control (step S7), and terminates the driving control process.

[0075] If it is determined that vehicle 1 has not reached the predetermined point (step S6:N), the processing of ECU8 returns to step S4 as described above.

[0076] If it is determined in step S5 that a response operation has been detected (step S5:Y), the driver change unit 834 performs a driver change, that is, terminates the driver change request and automatic control and starts accepting driver operations (step S8), and terminates the driving control process.

[0077] If it is determined in step S4 that the current time is later than the predicted arrival time (step S4:Y), the determination unit 835 of the ECU 8 determines whether the driver's condition or the condition around vehicle 1 is suitable for a driver change (step S9).

[0078] In step S9, if it is determined that the driver's condition or the condition around vehicle 1 is suitable for a driver change (step S9:Y), the ECU8 proceeds to step S5 as described above.

[0079] In step S9, if it is determined that the driver's condition or the condition around vehicle 1 is not suitable for a driver change (step S9:N), the ECU 8 proceeds to step S7 described above, and the stop control unit 836 terminates the driver change request and automatic control and performs safe stop control.

[0080] By executing the driving control process in this manner, the ECU8 can appropriately control the vehicle's operation after the automatic driving operation has finished.

[0081] Those skilled in the art should understand that various changes, substitutions, and modifications can be made to this disclosure without departing from its spirit and scope. [Explanation of Symbols]

[0082] 1 vehicle 8 ECU 831 Driving Control Unit 832 Estimation Department 833 Notification Department 834 Driver's shift 835 Judgment section 836 Stop Control Unit

Claims

1. A driving control unit that automatically controls at least one of the following: acceleration / deceleration and steering of the vehicle using map information, An estimation unit estimates the predicted arrival time at a predetermined point where the vehicle is expected to reach the point where automatic control can no longer be continued, based on the vehicle's current position and the map information. A notification unit that initiates a notification to the driver of a driver change request, which requests a change of driving from automatic control to manual control of the vehicle's acceleration, deceleration and steering based on the driver's operation, a predetermined time before the predicted arrival time. If the driver's response to the driver change request is detected before the vehicle reaches the predetermined point, the driver change unit terminates the driver change request and the automatic control and starts accepting the driving operation. If the vehicle reaches the predetermined location without the aforementioned response operation being detected, the stop control unit terminates the driver change request and the automatic control, and performs safety stop control by controlling the acceleration, deceleration and steering of the vehicle so that the vehicle stops in a safe position. The system includes a determination unit that determines whether the driver's condition or the condition of the vehicle's surroundings is suitable for the driver change, The stop control unit terminates the driver change request and the automatic control and performs the safe stop control when it is determined after the predicted arrival timing that the driver's condition or the condition of the vehicle's surroundings is not suitable for the driver change.

2. The driving control device according to claim 1, wherein the determination unit determines that the driver's condition is not suitable for the driver change if no driving behavior for the driver to perform the driving operation is detected from the driver image representing the driver generated by the driver imaging unit mounted on the vehicle.

3. The driving control device according to claim 1, wherein the determination unit determines that if the driver's biometric information acquired by the biometric information acquisition unit mounted on the vehicle indicates an abnormality in the driver's health condition, the driver's condition is not suitable for the driver change.

4. The driving control device according to claim 1, wherein the determination unit determines from surrounding images representing the surrounding conditions of the vehicle, acquired by a surrounding imaging unit mounted on the vehicle, that the distance between surrounding vehicles behind the vehicle is smaller than a vehicle distance threshold, that the conditions around the vehicle are not suitable for the driver change.

5. Using map information, at least one of the following functions of a vehicle—acceleration, deceleration, and steering—is automatically controlled. Based on the vehicle's current position and the map information, the predicted arrival time of the vehicle at a predetermined point where automatic control can no longer be continued is estimated. A predetermined time before the predicted arrival time, the system initiates a notification to the driver of a driver change request, which requests a change of driving from automatic control to manual control of the vehicle's acceleration, deceleration, and steering based on the driver's operation. If a response action by the driver in response to the driver change request is detected before the vehicle reaches the predetermined point, the driver change request and the automatic control will be terminated, and the acceptance of the driving operation will be initiated. If the vehicle reaches the predetermined location without the aforementioned response operation being detected, the driver change request and the automatic control are terminated, and safety stop control is performed to control the acceleration, deceleration and steering of the vehicle so that it stops in a safe position. This includes determining whether the driver's condition or the condition of the vehicle's surroundings is suitable for the driver change, A driving control method in which, in the termination of the automatic control and the safe stop control, after the predicted arrival timing, if it is determined that the driver's condition or the condition of the vehicle's surroundings is not suitable for the driver change, the driver change request and the automatic control are terminated and the safe stop control is performed.

6. Using map information, at least one of the following functions of a vehicle—acceleration, deceleration, and steering—is automatically controlled. Based on the vehicle's current position and the map information, the predicted arrival time of the vehicle at a predetermined point where automatic control can no longer be continued is estimated. A predetermined time before the predicted arrival time, the system initiates a notification to the driver of a driver change request, which requests a change of driving from automatic control to manual control of the vehicle's acceleration, deceleration, and steering based on the driver's operation. If a response action by the driver in response to the driver change request is detected before the vehicle reaches the predetermined point, the driver change request and the automatic control will be terminated, and the acceptance of the driving operation will be initiated. If the vehicle reaches the predetermined location without the aforementioned response operation being detected, the driver change request and the automatic control are terminated, and safety stop control is performed to control the acceleration, deceleration and steering of the vehicle so that it stops in a safe position. The computer installed in the vehicle is instructed to determine whether the driver's condition or the condition of the vehicle's surroundings is suitable for the driver change. A computer program for driving control that, in the termination of the automatic control and the safe stop control, if it is determined after the predicted arrival time that the driver's condition or the condition of the vehicle's surroundings is not suitable for the driver change, terminates the driver change request and the automatic control and performs the safe stop control.

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