JP2023035208A - Automatic drive control method, automatic drive control device, and automatic drive control program - Google Patents

Abstract

An object of the present invention is to complete, without interrupting, a scheduled schedule that a driver intends to perform while boarding a vehicle under automatic operation control. According to an automatic driving control method, a driving route of a vehicle to a destination is searched, and a driving plan is created such that the vehicle automatically drives in an automatic driving control section included in the driving route where automatic driving control is possible. Generate and use the driving plan to control the autonomous driving of the vehicle. The automatic driving control method acquires a scheduled schedule to be performed by the driver of the vehicle while boarding the vehicle, and includes a section in which the automatic driving control is performed according to the driving plan, and a section in which the manual driving control is performed. , In the time zone of the scheduled schedule, search for a travel plan that completes the travel of the automatic operation control section, and automatically control the vehicle in the automatic operation control section using the travel plan. [Selection drawing] Fig. 4

Description

The present invention relates to an automatic operation control method, an automatic operation control device, and an automatic operation control program.

In recent years, techniques for considering a driver's schedule when searching for a travel route of a vehicle have been studied. Patent Literature 1 discloses a technique for generating a travel plan that replenishes gasoline and electric power during a time period in which a driver's schedule is not registered.

Japanese Patent Application Laid-Open No. 2021-6802

In the technology disclosed in Patent Literature 1, schedules that are scheduled to be executed while the driver is in the vehicle that is currently performing automatic driving are not taken into consideration. Therefore, if the vehicle arrives at the destination before the scheduled schedule is completed and the automatic driving control cannot be continued, the driver's scheduled schedule may be interrupted.

SUMMARY OF THE INVENTION An object of the present invention is to provide an automatic driving control method that reduces the possibility that a scheduled schedule that a driver is going to perform during automatic driving control of a vehicle will be interrupted.

According to the automatic driving control method of one aspect of the present invention, the driving route of the vehicle to the destination is searched, and the vehicle automatically runs in the automatic driving control section in which the automatic driving control is possible included in the driving route. Generate a plan and use the driving plan to automatically control the vehicle. The automatic driving control method acquires a scheduled schedule to be performed by the driver of the vehicle while on board, includes a section in which forward driving control is performed according to the driving plan, and a section in which manual driving control is performed, and the scheduled schedule In the time zone, a travel plan is generated such that travel in the automatic operation control section is completed, and the vehicle is automatically operated and controlled in the automatic operation control section using the travel plan.

It is possible for the driver to complete the scheduled schedule that was scheduled to be carried out while boarding the vehicle under automatic operation control without interruption.

FIG. 1 is a schematic configuration diagram of an automatic operation control device according to this embodiment. FIG. 2 is a diagram showing an example of a generated travel plan. FIG. 3 is a diagram showing another example of the generated travel plan. FIG. 4 is a flowchart showing automatic operation control performed by the automatic operation control device. FIG. 5 is a diagram showing an example of a scheduled schedule registration screen. FIG. 6 is a diagram showing an example of a regenerated travel plan. FIG. 7 is a diagram showing another example of the regenerated travel plan.

Hereinafter, embodiments of the present invention will be described with reference to the drawings and the like.

FIG. 1 is a schematic configuration diagram of an automatic driving control device 100 for a vehicle according to an embodiment of the present invention. As shown in this figure, the automatic driving control device 100 includes a camera 110, a GPS receiver 120, a sensor 130, a communication interface 140, a map database 150, a user input/output unit 160, an actuator 170, and a controller 180. The automatic driving control device 100 is mounted on a vehicle that can be controlled by an automatic driving function.

The camera 110 is imaging equipment that captures an image of the external situation of the own vehicle, and acquires imaging information related to the external situation of the own vehicle. The cameras 110 are, for example, an around-view monitor camera installed on the outside of the front, rear, and left and right doors of the vehicle, a front camera installed on the inside or outside of the windshield inside the vehicle, and a rear part of the vehicle. Such as the rear camera. Camera 110 outputs imaging information about the external situation to controller 180 .

The GPS receiver 120 periodically receives signals indicating positional information (GPS data) transmitted from GPS satellites. GPS receiver 120 outputs position information indicated in the received GPS data to controller 180 .

The sensor 130 includes a radar 131, a gyro sensor 132, a vehicle speed sensor 133, and the like, and detects the running state of the own vehicle and the states of objects existing around the own vehicle. The radar 131 uses radio waves to detect objects outside the vehicle. The radar 131 detects objects by transmitting, for example, millimeter-wave radio waves around the vehicle and receiving radio waves reflected by objects. The radar 131 can acquire, for example, the distance or direction to surrounding objects as object information. The gyro sensor 132 detects the direction of the own vehicle. A vehicle speed sensor 133 detects the vehicle speed of the own vehicle. The sensor 130 outputs the acquired object information, the detected direction of the own vehicle, and the vehicle speed to the controller 180 . Note that the sensor 130 may have a configuration other than that described above, and may acquire other sensor information.

The communication interface 140 acquires various kinds of information from an intelligent transportation system (ITS) that transmits traffic information such as traffic congestion information, traffic control information, weather information, etc. in real time as the surrounding conditions of the own vehicle from the outside by wireless communication. do.

Communication interface 140 is also used to obtain driver-related information, such as schedules, in addition to surroundings. For example, by performing synchronization processing based on the identification ID associated with the driver via the communication interface 140, the driver's schedule can be obtained from a server on the network or an electronic device owned by the driver.

The map database 150 stores map information. The map information includes information on road shapes including curvature of curves, gradients, widths, speed limits, intersections, traffic lights, number of lanes, and the like. The map information stored in the map database 150 can always be referred to by the controller 180, which will be described later.

The user input/output unit 160 includes a display unit 161 that displays images, and an input unit 162 that receives input from the driver. The display unit 161 is, for example, a display, and performs display according to a signal input from the controller 180 . The input unit 162 is a button or the like capable of receiving input from the driver, and transmits a signal corresponding to the input to the controller 180 . In the user input/output unit 160, the display unit 161 and the input unit 162 may be configured with different devices (eg, display and keyboard), or may be configured with the same device (eg, touch panel).

Actuator 170 is a device that executes travel control of the host vehicle based on instructions from controller 180 . The actuators 170 include a drive actuator 171, a brake actuator 172, a steering actuator 173, and the like.

The drive actuator 171 is a device for adjusting the driving force of the own vehicle. If the vehicle is a hybrid vehicle or an electric vehicle equipped with a motor as a drive source, the drive actuator 171 is configured with a circuit (inverter, converter, etc.) that can adjust the power supplied to the motor. .

The brake actuator 172 is a device that operates the brake system according to a command from the controller 180 and adjusts the braking force applied to the wheels of the host vehicle. The brake actuator 172 is composed of a hydraulic brake, a regenerative brake, or the like.

The steering actuator 173 is composed of an assist motor or the like for controlling the steering torque of the electric power steering system. The controller 180 can control the operation of the steering actuator 173 to control the steering angle of the wheels.

The controller 180 is based on the driver's schedule and the like acquired via the communication interface 140 and/or the input unit 162, in addition to the current location of the vehicle, the input destination, surrounding information of the vehicle, and the like. Generate a trip plan. The controller 180 is configured to be able to execute automatic driving control at a level (level 3) that does not require the driver's operation except in an emergency, and uses the generated travel plan to automatically control the own vehicle. can. In addition, such automatic operation control may be performed on a part of the travel route instead of the entire travel route.

The controller 180 includes a schedule management unit 181 , an information acquisition unit 182 , a travel plan generation unit 183 and an automatic driving control unit 184 . These configurations are described below.

The controller 180 is composed of a computer having a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM) and an input/output interface (I/O interface). The controller 180 performs processing for realizing specific control by executing a specific program. Note that the controller 180 may be composed of one computer, or may be composed of a plurality of computers.

The schedule management unit 181 manages the driver's schedule input from the outside via the communication interface 140 and/or the input unit 162 . Specifically, the schedule management unit 181 acquires the driver's schedule stored externally by synchronizing with an external device or a network server via the communication interface 140 . As another example, a schedule to be executed during automatic driving control set by the driver at the start of driving is acquired. As still another example, schedules for teleconferences are registered by synchronizing with external devices and servers, and schedules for preparation of materials are registered by the driver's settings.

In addition, below, the plan (schedule) which the driver|operator in boarding the vehicle in automatic operation control performs shall be called a plan schedule. Further, the planned schedule may be set with a start time and an end time, or may be set with a required time (for example, it takes two hours to prepare the materials).

The information acquisition unit 182 detects the position of the vehicle in the map database 150 using GPS data received from the GPS receiver 120 . The detected position of the own vehicle becomes the starting point of the travel route generated by the travel plan generation unit 183 . The information acquisition unit 182 may determine the current position, traveling direction, and speed of the vehicle from the direction and speed of the vehicle detected by the sensor 130, and correct the position of the vehicle in the map database 150. .

Furthermore, the information acquisition unit 182 acquires information on roads around the vehicle based on the detected position of the vehicle on the map, imaging information related to the external situation acquired by the camera 110, and object information acquired by the sensor 130. Get information. The road information includes information on the shape, slope, width, speed limit, intersection, traffic light, lane type, number of lanes, etc. of the road around the vehicle. The information acquisition unit 182 acquires road information around the vehicle at predetermined time intervals. Automatic driving control is performed using the road information acquired periodically in this way.

The travel plan generation unit 183 receives input of a destination set by the driver via the input unit 162 . The travel plan generator 183 uses the map database 150 to search for a travel route from the current location of the vehicle detected by the information acquisition unit 182 to the input destination. Note that the travel plan generating unit 183 may set the destination based on the driver's schedule acquired by the schedule managing unit 181 instead of the driver's input. When the schedule includes the place of implementation, the travel plan generator 183 sets the place of implementation of the next schedule as the destination.

Further, the travel plan generating unit 183 generates operation information (including timing of acceleration/deceleration, steering, etc.) when the own vehicle is caused to travel along the travel route. The host vehicle can automatically travel based on the travel route and operation information thus generated. Hereinafter, the travel route and the operation information are collectively referred to as information used for automatic driving control, and are referred to as driving control information used for driving control of the own vehicle. The travel route and the operation control information are collectively referred to as a travel plan used for automatic operation control of the own vehicle. The controller 180 uses the travel plan to control the actuator 170 of the own vehicle according to the operation control information, thereby automatically controlling the own vehicle along the travel route.

The travel plan generation unit 183 not only creates the shortest route that minimizes the time required from the departure point to the destination, but also creates a scheduled schedule set by the driver while the host vehicle travels the travel route by automatic driving control. Search for a route to complete.

Specifically, the controller 180 (schedule management unit 181) receives driver's schedule information from the outside via the communication interface 140 and/or the input unit 162 and stores the information. Then, the controller 180 (driving plan generation unit 183) registers a scheduled schedule to be implemented during automatic operation control in response to an input from the driver, so that the automatic operation control continues until the scheduled schedule is completed. A travel plan is generated in which the arrival time of the ground is later than the end time of the scheduled schedule.

When such a travel plan is generated, it becomes possible for the driver to complete the planned schedule while the automatic driving control is being performed. The traveling vehicle speed at which the travel plan is generated may be determined according to the road type of the travel route within the scope of observing traffic rules, or may be set so that the scheduled schedule is completed by the time the destination is reached. may be defined.

The automatic driving control unit 184 can control the automatic driving of the own vehicle along the driving route by controlling the actuator 170 based on the driving control information generated by the driving plan generating unit 183 . In this way, by controlling the automatic operation of the own vehicle, it becomes possible for the own vehicle to travel according to the travel plan.

In addition, in order to simplify the description below, it is assumed that automatic operation control is possible on all routes. If automatic driving control is not possible on all routes, and there are sections under manual driving control and sections under automatic driving control, the travel plan will to generate For example, when automatic driving control can be performed only on highways, a travel plan is generated for automatically driving highways during the scheduled time period. By doing so, the driver can implement the scheduled schedule during the automatic operation control.

In addition, the map database 150 stores whether automatic driving control is possible for each road on which the vehicle is traveling. Therefore, based on the map database 150, it is possible to generate a travel plan that allows the vehicle to travel under automatic operation control on a route on which automatic operation control is possible during the time period of the scheduled schedule. The map data may be stored in a server connected via a network outside the own vehicle. In such cases, the controller 180 configures the map database 150 by downloading from the server. Further, the controller 180 may generate information indicating whether or not automatic driving control is possible for each section (road) from the travel data of the own vehicle, and may store the generated propriety information in the map data on the server. By doing so, it is possible to construct map data indicating whether or not automatic driving control can be performed with high accuracy.

2 and 3 show examples of multiple trip plans generated by the controller 180. FIG. FIG. 2 is an example of a travel plan when a teleconference is registered as the planned schedule, and FIG. 3 is an example of a travel plan when movie viewing is registered as the planned schedule. Although this example shows an example in which a travel plan is generated at a predetermined vehicle speed determined by the road type of the travel route, the present invention is not limited to this. A travel plan may be generated so that the vehicle travels at a vehicle speed other than the predetermined vehicle speed according to the road type.

In the example of FIG. 2, the start time (13:00) and end time (14:00) of the teleconference, which is the scheduled schedule, are registered. First, the controller 180 (travel plan generation unit 183) indicates a travel plan A that takes the shortest required time as a route from the departure point S to the arrival point G. FIG. The scheduled arrival time of the own vehicle at the destination when the automatic driving control is performed according to the travel plan A is 13:40, which is earlier than the scheduled end time of the teleconference. In addition, the figure shows a trip plan B that allows the expected schedule to be completed during the trip. When the automatic driving control is performed according to the travel plan B, the scheduled arrival time of the own vehicle at the destination is 14:20, which is later than the scheduled ending time of the telephone conference. Therefore, by selecting the travel plan B, the planned schedule can be completed during the automatic operation control. In the travel plan B, it is assumed that automatic operation control is possible in all sections.

In the example of FIG. 3, it is registered that it will take two hours to create the material, which is the planned schedule. First, the controller 180 (travel plan generation unit 183) indicates a travel plan A that takes the shortest required time as a route from the departure point S to the arrival point G. FIG. In the case of automatic operation control according to the travel plan A, the scheduled travel time is 1 hour and 40 minutes, which is shorter than the time required to create the materials. In addition, the figure shows trip plan B, which allows the planned schedule to be completed during the trip. When the automatic operation is controlled according to the travel plan B, the scheduled travel time is 2 hours and 20 minutes, which is longer than the time required to create the materials. Therefore, by selecting travel plan B, the driver can complete the planned schedule during automatic driving control. In the travel plan B, it is assumed that automatic operation control is possible in all sections.

FIG. 4 is a flowchart of automatic driving control executed by the controller 180. As shown in FIG. In addition, this automatic operation control is repeatedly performed with a predetermined period. Also, automatic driving control may be performed by executing a program stored in the controller 180 .

In step S1, the controller 180 (driving plan generation unit 183) determines whether or not the driver has set the automatic driving control. The driver sets whether to execute automatic driving control via the input unit 162 or the like. If the automatic driving control is not set (S1: No), the controller 180 next performs the process of step S12, and manual driving is executed in which the vehicle is operated according to the driver's operation. When automatic operation control is set (S1: Yes), the controller 180 next performs the process of step S2.

In step S2, the controller 180 (travel plan generator 183) accepts a destination setting input. When the controller 180 causes the display unit 161 to display a prompt to input the destination, the driver sets the destination via the input unit 162 or the like according to the display content on the display unit 161 . The controller 180 records the destination set in this way.

In step S3, when the controller 180 (schedule management unit 181) receives driver's schedule information from the outside via the communication interface 140 and/or the input unit 162, the received schedule is stored.

In step S<b>4 , the controller 180 displays on the display unit 161 prompting the driver to input a scheduled schedule to be implemented during automatic driving. The driver registers a scheduled schedule to be implemented during automatic operation control via the input unit 162 or the like according to the display content on the display unit 161 . The controller 180 records the planned schedule entered in this way.

FIG. 5 is an example of a screen prompting the driver to input a scheduled schedule to be implemented during automatic driving in step S4. It is assumed that this screen is displayed on the touch panel, which is the display unit 161 and the input unit 162 .

The screen is provided with display areas 31 to 33 in three areas of upper, middle and lower areas. The display area 31 indicates that the user is prompted to register a scheduled schedule to be implemented during automatic driving. The display area 32 shows an interface from which candidates for the scheduled schedule can be selected, and the scheduled schedule is registered according to the driver's operation. Further, the display area 32 is configured so that the scheduled schedule can be manually input in addition to the selection of scheduled schedule candidates, and can be set using the input interface shown in the display area 33 .

Specifically, in the display area 32, the schedule for the current day is displayed in a selectable manner among the schedule information acquired by the controller 180 through the synchronization process in step S3. In this figure, the left column shows the time, and the middle column shows the outline of the schedule. The schedule on the same line as the selected "Select" button can be registered as an expected schedule.

An "input" button is displayed in the right column of the bottom row of the display area 32. By operating this button, the input interface of the display area 33 can be used to manually input a scheduled schedule. In addition, in the example of this figure, the input of the required time of the scheduled schedule to be input is prompted, but the start time and end time may be input.

In addition, in the display area 33, as a character input interface, an interface for inputting general numbers and hiragana is shown on the left, and pre-stored schedule candidates ("meeting", "material creation") are shown on the right. , 'watching movies', and 'other') are shown.

By operating the touch panel according to the display contents in this way, the driver can register the scheduled schedule to be executed during the automatic driving control.

Referring to FIG. 4 again, in step S5, the controller 180 (travel plan generation unit 183) sets the position of the host vehicle acquired by the information acquisition unit 182 as the starting point to the destination set in step S2. Explore multiple driving routes. Then, the controller 180 generates driving control information that automatically controls driving of the vehicle along the searched driving route, and uses the driving control information to automatically control driving of the vehicle along the driving route. Generate multiple driving plans. For example, as shown in FIGS. 2 and 3, in addition to the travel plan A that takes the shortest required time, a travel plan B that allows the scheduled schedule to be completed during travel is generated by automatic operation control.

In step S6, the controller 180 (running plan generation unit 183) displays the plurality of running plans generated in step S5 on the display unit 161. FIG. The driver selects a driving plan via input unit 162 . In addition, below, the driving|running plan B which can carry out a scheduled schedule should be selected during automatic operation control.

In step S7, the controller 180 (automatic driving control unit 184) starts automatic driving control using the driving control information included in the travel plan set in step S6.

In step S8, the controller 180 (travel plan generation unit 183) determines whether or not the scheduled end time of the scheduled schedule is before the expected arrival time at which the own vehicle, which is automatically controlled based on the travel plan, arrives at the destination. determine whether If the scheduled end time of the scheduled schedule is earlier than the scheduled arrival time (S8: Yes), then the process of step S9 is performed to determine whether or not the vehicle has arrived at the destination. If the destination has not been reached (S9: No), the process of step S8 is executed again. On the other hand, if the scheduled end time of the scheduled schedule is not before the scheduled arrival time (the scheduled end time of the scheduled schedule is later than the scheduled arrival time) (S8: No), the scheduled schedule is under automatic operation control. Since there is a possibility that the process may not be completed, the process of step S10 is executed next.

In step S10, the controller 180 (travel plan generation unit 183) displays on the display unit 161 the current travel plan, the arrival time at the destination, and a request to input whether or not to regenerate the travel plan. Then, the driver inputs whether or not to regenerate the route via the input unit 162 or the like.

When an input indicating that the driving plan is not required to be regenerated is received (S11: No), then the process of step S9 is performed. If it is not determined that the travel plan needs to be regenerated (S11: No) and the destination has not been reached (S9: No), the process of S7 is performed again. The process of S9 is executed after S7 without performing the determination process of S8. By omitting the process of step S8 in this way, it becomes unnecessary to confirm whether or not the driving plan needs to be regenerated in step S10, so that the operation load on the driver can be reduced.

On the other hand, if an input indicating that the travel plan needs to be regenerated is received (S11: Yes), then the process of step S6 is performed. Here, the regenerated travel plan will be described with reference to FIG.

6 and 7 show examples of trip plans regenerated by the controller 180. FIG. In this figure, as in FIG. 2, it is assumed that a teleconference is registered as an expected schedule.

In the example of FIG. 6, if the automatic driving control using the travel plan B is continued due to reasons such as the elimination of traffic congestion, the arrival time at the destination will be earlier (13:00) than the completion time (14:00) of the scheduled schedule. : 50). In such a case, there is a risk that the conference call (planned schedule) will be interrupted upon arrival at the destination, and it will be necessary to regenerate the travel plan. Therefore, when traveling based on the travel plan B, if there is a service area (SA) on the travel route ahead of the vehicle, the controller 180 regenerates the travel plan B' such that the vehicle stops at the SA. do. By performing automatic operation control along such a travel plan B', the end time of the scheduled schedule (14:00) is earlier than the scheduled arrival time (14:20) at the destination, so the driver Appointment schedules can be completed during automated driving control.

Also, in the example of FIG. 7, it is assumed that the controller 180 detects that the completion time of the scheduled schedule will be delayed (14:30) due to the extension of the teleconference or the like by the driver's operation or the like. In such a case, the arrival time at the destination (14:20) will be later than the completion time (14:30) of the teleconference (planned schedule), so it is necessary to regenerate the travel plan. Therefore, the controller 180 regenerates the travel plan B' in which the vehicle stops at SA and the estimated time of arrival at the destination is delayed (14:50). By performing automatic operation control along such a travel plan B', the end time of the scheduled schedule will be later than the scheduled arrival time at the destination, so the driver should perform the scheduled schedule during automatic operation control. can be done.

A stop at SA is an example of a regenerated travel plan, and is not limited to this. For example, the travel plan may be regenerated so that the vehicle stops at possible stops such as around a park. Alternatively, the travel plan may be regenerated so that the scheduled arrival time is delayed by lowering the vehicle speed than the currently set vehicle speed within the range of complying with the traffic rules.

Note that automatic operation control is not possible on all routes, and if there is a section of manual operation control and a section of automatic operation control, in the process of step S8 in FIG. determines whether or not the scheduled end time of the scheduled schedule is before the scheduled arrival time at the end point of the autonomous driving travel section that is automatically controlled based on the travel plan. Then, if it does not arrive at the end point of the automatic driving travel section (S9: No), in step S10, the controller 180 (travel plan generation unit 183) prompts the user to input whether or not to regenerate the travel plan. Displayed in section 161 .

In such a case, in the examples of FIGS. 2 and 3, a route A that travels the shortest route and a route B that travels the automatic operation control section during the time period of the scheduled schedule are shown. For example, on route B, the expressway is an automatic driving control section, and the exit of the expressway is on the shortest route A. In such a case, in the process of step S9, it is determined whether or not the scheduled end time of the scheduled schedule is earlier than the scheduled arrival time at the exit of the expressway.

When the travel plan is regenerated, according to the examples of FIGS. 6 and 7, when the scheduled end time of the scheduled schedule is changed (FIG. 7), A travel route B' that stops at the SA is generated so that the time is earlier than the estimated time of arrival at the exit of the expressway.

According to this embodiment, the following effects can be obtained.

According to the automatic operation control method of the present embodiment, the driver acquires the scheduled schedule to be performed during the automatic operation control (FIG. 4, S4), and the driver completes the scheduled schedule while the automatic operation control is performed. A driving plan is generated (S5), and the vehicle is automatically controlled according to the driving plan. By doing so, the driver can complete the execution without interrupting the scheduled schedule during execution of the automatic driving.

According to the automatic operation control method of the present embodiment, the travel plan is determined so that the completion time of the scheduled schedule is before the arrival time at the destination (S5). This allows the driver to more reliably implement the scheduled schedule during automatic driving control.

According to the automatic operation control method of this embodiment, the start time and the end time are acquired for the scheduled schedule. In such a case, the travel plan is generated so that the start time of the scheduled schedule is after the travel start time of the own vehicle and the completion time of the scheduled schedule is before the arrival time of the destination. be. This allows the driver to more reliably implement the scheduled schedule during automatic driving control.

According to the automatic operation control method of the present embodiment, the required time of the scheduled schedule is acquired. In such a case, the completion time of the scheduled schedule will be the time after the required time of the scheduled schedule from the travel start time. By determining the travel plan so that the completion time of the scheduled schedule is before the arrival time of the destination, the driver can more reliably carry out the scheduled schedule during the automatic operation control.

According to the automatic operation control method of the present embodiment, when automatic operation control is possible only in some sections of the travel route, manual operation control is performed in other sections. In such a case, the travel plan is determined so that the driver can implement the scheduled schedule during the automatic operation control on the travel route on which the automatic operation control is performed. In this way, even if automatic driving control is not possible in all sections of the driving route, by determining the driving plan so that the driver can implement the scheduled schedule while driving the automatic driving control section, It can be implemented more reliably than the schedule.

According to the automatic operation control method of the present embodiment, while the automatic operation is controlled according to the travel plan, when it is determined that the automatic operation control cannot be continued until the implementation of the scheduled schedule is completed (S8: No), A travel plan that can continue automatic operation control is regenerated until the scheduled schedule is completed (S11). By doing so, even if the scheduled schedule is changed, by regenerating the driving route that allows automatic driving control to continue until the implementation of the changed scheduled schedule is completed, it can be implemented more reliably than the scheduled schedule. becomes.

In the present embodiment, it has been described that the scheduled schedule belongs to the driver, but the present invention is not limited to this. The scheduled schedule may be for a non-driving passenger. When the vehicle is under fully automatic driving control that requires no operation at all, the travel plan shall be generated so that the scheduled schedule of any occupant can be completed.

Each processing shown in this embodiment is executed based on a program for causing a computer to execute each processing procedure. Therefore, the present embodiment can also be understood as an embodiment of a program that realizes the function of executing each process and a recording medium that stores the program. For example, the program can be stored in the storage device of the information processing device by update processing for adding a new function to the information processing device. This enables the updated information processing apparatus to perform each process shown in this embodiment.

Although the embodiments of the present invention have been described above, the above embodiments merely show a part of application examples of the present invention, and the technical scope of the present invention is not limited to the specific configurations of the above embodiments. do not have. Moreover, although the above-described embodiments and modifications have been described as independent embodiments and modifications, respectively, they may be combined as appropriate.

100 automatic operation support device 180 controller 181 schedule management unit 182 information acquisition unit 183 travel plan generation unit 184 automatic operation control unit

Claims (9)

Search for a travel route of the vehicle to the destination, generate a travel plan for automatically driving the vehicle in an automatic operation control section in which automatic travel control is possible included in the travel route, and use the travel plan to drive the vehicle. An automatic operation control method for controlling automatic operation,
Obtaining a scheduled schedule to be carried out by the driver of the vehicle while on board;
Including a section in which the automatic operation control is performed according to the travel plan and a section in which the manual operation control is performed, and in the time period of the scheduled schedule, the travel plan that continues traveling in the automatic operation control section is generated. death,
An automatic operation control method, wherein the vehicle is automatically controlled in the automatic operation control section using the travel plan. The automatic operation control method according to claim 1,
The automatic operation control method, wherein the travel plan is determined such that the completion time of the scheduled schedule is before the arrival time of the destination. The automatic operation control method according to claim 2,
Obtaining a start time and an end time for the scheduled schedule,
The start time is later than the running start time of the vehicle,
The automatic operation control method, wherein the completion time of the scheduled schedule is the end time. The automatic operation control method according to claim 2,
Obtaining the required time for the scheduled schedule,
The automatic operation control method, wherein the completion time of the scheduled schedule is the time after the required time from the start time of the vehicle. The automatic operation control method according to any one of claims 1 to 4,
The automatic driving control method, wherein the automatic driving control section in the driving route is determined based on automatic driving propriety information included in map data. The automatic operation control method according to claim 5,
the map data is stored in a server connected to the vehicle via a network outside the vehicle;
In the automatic driving control method, further, determining whether the automatic driving is possible for each section based on the traveling data of the vehicle, and reflecting the judgment result of the propriety in the map data stored in the server Automatic driving control Method. The automatic operation control method according to any one of claims 1 to 6,
An automatic driving control method, wherein, when determining that the automatic driving control cannot be continued until the scheduled schedule is completed, a travel plan capable of continuing the automatic driving control until the scheduled schedule is completed is generated. Search for a travel route of the vehicle to the destination, generate a travel plan such that the vehicle automatically travels in an automatic operation control section in which automatic travel control is possible included in the travel route, and use the travel plan An automatic operation control device comprising: a controller for controlling automatic operation of a vehicle;
The controller is
Acquiring the scheduled schedule from the driver via the input unit;
Including a section in which the automatic operation control is performed according to the travel plan and a section in which the manual operation control is performed, and in the time zone of the scheduled schedule, the travel plan such that travel in the automatic operation control section is completed. to generate
An automatic operation control device that automatically controls the vehicle in the automatic operation control section using the travel plan. Search for a travel route of the vehicle to the destination, generate a travel plan such that the vehicle automatically travels in an automatic operation control section in which automatic travel control is possible included in the travel route, and use the travel plan An automatic driving control program for controlling a vehicle,
The automatic operation control program is
Obtaining a scheduled schedule to be carried out by the driver of the vehicle while on board;
Including a section in which the automatic operation control is performed according to the travel plan and a section in which the manual operation control is performed, and in the time zone of the scheduled schedule, the travel plan such that travel in the automatic operation control section is completed. to generate
An automatic operation control program for controlling the automatic operation of the vehicle in the automatic operation control section using the travel plan.

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