JP6973930B2 - Driving support method and driving support device - Google Patents

Description

The present invention relates to a driving support method and a driving support device.

Patent Document 1 describes a navigation device that guides a lane change in advance so that the vehicle can reach the rear end of the traffic when the traveling direction of the vehicle is congested.

Japanese Unexamined Patent Publication No. 2009-02235

A situation may occur in which the driving state of the own vehicle is switched from the automatic driving mode to the manual driving mode, such as when the own vehicle interrupts in front of another vehicle. If the driving state is frequently switched, the driver may feel annoyed by preparing for the operation of manual driving or returning to the automatic driving mode after manual driving.
An object of the present invention is to reduce the number of times of switching from the automatic operation mode to the manual operation mode to reduce the driving load of the driver.

The driving support method according to one aspect of the present invention is a mode switching section for switching the traveling state of the own vehicle from the automatic driving mode to the manual driving mode when the section on the traveling route is difficult to continue the automatic driving due to the road structure. It is determined whether or not the lane change section in which the own vehicle changes lanes on the travel route is continuous with the mode switching section, and the mode switching section and the lane change section are continuous and If the lane change section is congested and the lane change cannot be performed by automatic driving, the manual driving mode is continued between the point where the lane change is performed manually in the lane change section and the mode switching section.

According to one aspect of the present invention, the number of times of switching from the automatic operation mode to the manual operation mode is reduced, and the driving load of the driver can be reduced.

It is a figure which shows the schematic configuration example of the operation support device of an embodiment. It is explanatory drawing of the confluence section which is an example of a mode switching section. It is explanatory drawing of the laneless section which is an example of a mode switching section. It is a figure which shows another example of the confluence section. It is explanatory drawing (the 1) of the change example of the lane change point. It is explanatory drawing (2) of the change example of the lane change point. It is a block diagram which shows an example of the functional structure of the controller of FIG. It is a flowchart of an example of the driving support method of an embodiment. It is a flowchart of an example of the 1st guidance process of FIG. It is a flowchart of an example of the 2nd guidance process of FIG. It is a flowchart of an example of the 3rd guidance process of FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. It should be noted that the embodiments of the present invention shown below exemplify devices and methods for embodying the technical idea of the present invention, and the technical idea of the present invention includes the configuration, arrangement, etc. of components. Is not specified as the following. The technical idea of the present invention may be modified in various ways within the technical scope specified by the claims described in the claims.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(composition)
See FIG. The driving support device 1 includes driving support control for automatically steering or stopping the own vehicle based on the driving environment around the vehicle on which the driving support device 1 is mounted (hereinafter referred to as "own vehicle"). Automatic driving control is performed to automatically drive the own vehicle without the involvement of the driver.
The driving support device 1 includes an ambient environment sensor group 10, a navigation system 20, a vehicle sensor group 30, a controller 40, a changeover switch 43, and a vehicle control actuator group 50.

The surrounding environment sensor group 10 is a sensor group that detects the surrounding environment of the own vehicle, for example, an object around the own vehicle. The ambient environment sensor group 10 may include a distance measuring device 11 and a camera 12. The distance measuring device 11 and the camera 12 detect the surrounding environment of the vehicle such as an object existing around the own vehicle, a relative position between the vehicle and the object, and a distance between the vehicle and the object.
The range finder 11 may be, for example, a laser range finder (LRF) or a radar.

The camera 12 may be, for example, a stereo camera. The camera 12 may be a monocular camera, or the same object may be photographed from a plurality of viewpoints by the monocular camera and the distance to the object may be calculated.
The distance measuring device 11 and the camera 12 output the detected ambient environment information to the controller 40.

The navigation system 20 recognizes the current position of the own vehicle and the road map information at the current position. The navigation system 20 sets a travel route to the destination entered by the occupant, and guides the occupant according to the travel route. Further, the navigation system 20 outputs the information of the set traveling route to the controller 40.
When the traveling state of the own vehicle is the automatic driving mode, the controller 40 automatically drives the own vehicle so as to travel along the traveling route set by the navigation system 20.

The navigation system 20 includes a navigation controller 21, a positioning device 22, a map database 23, a display unit 24, an operation unit 25, a voice output unit 26, and a communication unit 27. In FIG. 1, the map database is referred to as a map DB.
The navigation controller 21 is an electronic control unit that controls the information processing operation of the navigation system 20. The navigation controller 21 includes a processor and its peripheral components. The processor may be, for example, a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit).

Peripheral parts include storage devices and the like. The storage device may include any of a semiconductor storage device, a magnetic storage device, and an optical storage device. The storage device may include a memory such as a register, a cache memory, a ROM (Read Only Memory) and a RAM (Random Access Memory) used as the main storage device.
The positioning device 22 measures the current position of the own vehicle. The positioning device 22 may be, for example, a GPS (Global Positioning System) receiver. Further, the positioning device 22 may measure the current position of the own vehicle based on the satellite signal of another satellite positioning system such as GLONASS (Global Navigation Satellite System). Further, the positioning device 22 may be an inertial navigation system.

The map database 23 stores road map data. The road map data includes information on the road line type, road shape, slope, number of lanes, legal speed (speed limit), presence / absence of a confluence, and the like. Road line types include, for example, general roads and highways.
The display unit 24 outputs various visual information in the navigation system 20. For example, the display unit 24 may display a map screen around the own vehicle or guidance on a recommended route.

The operation unit 25 receives the operation of the occupant in the navigation system 20. The operation unit 25 may be, for example, a button, a dial, a slider, or the like, or may be a touch panel provided on the display unit 24. For example, the operation unit 25 may accept an operation of inputting a destination by an occupant and an operation of switching the display screen of the display unit 24.
The voice output unit 26 outputs various voice information in the navigation system 20. The voice output unit 26 may output driving guidance based on the set travel route and road guidance information based on road map data around the own vehicle.
The communication unit 27 performs wireless communication with a communication device outside the own vehicle. The communication method by the communication unit 27 may be, for example, wireless communication by a public mobile phone network, vehicle-to-vehicle communication, road-to-vehicle communication, or satellite communication.

The vehicle sensor group 30 includes a sensor that detects a running state of the vehicle and a sensor that detects a driving operation performed by the driver.
The sensor for detecting the traveling state of the vehicle includes a vehicle speed sensor 31, an acceleration sensor 32, and a gyro sensor 33.
The sensor for detecting the driving operation includes a steering angle sensor 34, an accelerator sensor 35, and a brake sensor 36.

The vehicle speed sensor 31 detects the wheel speed of the own vehicle and calculates the speed of the own vehicle based on the wheel speed.
The acceleration sensor 32 detects the acceleration in the front-rear direction, the acceleration in the vehicle width direction, and the acceleration in the vertical direction of the own vehicle.
The gyro sensor 33 detects the angular velocity of the rotation angle of the own vehicle around three axes including the roll axis, the pitch axis, and the yaw axis.

The steering angle sensor 34 detects the current steering angle, which is the current rotation angle (steering operation amount) of the steering wheel, which is the steering operator.
The accelerator sensor 35 detects the accelerator opening degree of the vehicle. For example, the accelerator sensor 35 detects the amount of depression of the accelerator pedal of the vehicle as the accelerator opening degree.
The brake sensor 36 detects the amount of brake operation by the driver. For example, the brake sensor 36 detects the amount of depression of the brake pedal of the vehicle as the amount of brake operation.
Information on the speed, acceleration, angular velocity, steering angle, accelerator opening, and brake operation amount of the own vehicle detected by each sensor of the vehicle sensor group 30 is collectively referred to as "vehicle information". The vehicle sensor group 30 outputs vehicle information to the controller 40.

The controller 40 is an electronic control unit that controls the operation of the own vehicle. The controller 40 includes a processor 41 and peripheral components such as a storage device 42. The processor 41 may be, for example, a CPU or an MPU.
The storage device 42 may include any of a semiconductor storage device, a magnetic storage device, and an optical storage device. The storage device 42 may include a memory such as a register, a cache memory, a ROM and a RAM used as a main storage device.
The controller 40 may be realized by a functional logic circuit set in a general-purpose semiconductor integrated circuit. For example, the controller 40 may have a programmable logic device (PLD: Programmable Logic Device) such as a field-programmable gate array (FPGA).

In the automatic driving mode in which the automatic driving control of the own vehicle is executed, the controller 40 uses the navigation system 20 based on the surrounding environment information input from the surrounding environment sensor group 10 and the vehicle information input from the vehicle sensor group 30. Generates a travel track that causes the vehicle to travel on the set travel route.
The controller 40 drives the vehicle control actuator group 50 so that the own vehicle travels on the generated traveling track, and automatically travels the vehicle.

The vehicle control actuator group 50 operates the steering wheel, accelerator opening degree, and brake device of the vehicle in response to the control signal from the controller 40 to generate the vehicle behavior of the vehicle. The vehicle control actuator group 50 includes a steering actuator 51, an accelerator opening actuator 52, and a brake control actuator 53.
The steering actuator 51 controls the steering direction and steering amount of the steering of the vehicle.
The accelerator opening actuator 52 controls the accelerator opening of the vehicle.
The brake control actuator 53 controls the braking operation of the brake device of the vehicle.

In the manual operation mode, the controller 40 drives the vehicle control actuator group 50 according to, for example, the steering angle, the accelerator opening degree, and the brake operation amount detected by the vehicle sensor group 30, and the vehicle responds to the driver's operation. Generate behavior.
By operating the changeover switch 43, the driver can switch the traveling state of the own vehicle between the automatic driving mode and the manual driving mode.

The controller 40 switches the traveling state of the own vehicle between the automatic driving mode and the manual driving mode according to the operation of the changeover switch 43 by the driver.
Further, the controller 40 switches the running state of the own vehicle from the automatic driving mode to the manual driving mode when the driver operates the steering wheel, the accelerator pedal, or the brake pedal during automatic driving, that is, when an override occurs. ..

Further, the controller 40 guides the switching of the traveling state of the own vehicle from the automatic driving mode to the manual driving mode when there is a section on the traveling path of the automatic driving where it is difficult to drive by the automatic driving.
For example, the controller 40 outputs a guidance message from the navigation system 20 prompting the driver to switch the traveling state of the own vehicle from the automatic driving mode to the manual driving mode. Hereinafter, the switching guidance of the driving state of the own vehicle presented to the driver may be displayed as "mode switching guidance".

When the driver operates the changeover switch 43 according to the mode switching guide or operates any of the steering wheel, the accelerator pedal, and the brake pedal, the controller 40 changes the running state of the own vehicle from the automatic driving mode to the manual driving mode. Switch to.
The controller 40 may automatically switch the traveling state of the own vehicle from the automatic driving mode to the manual driving mode after a predetermined time has elapsed after outputting the mode switching guide.

The section in which such mode switching guidance is performed, that is, the section in which the driving state of the own vehicle is switched from the automatic driving mode to the manual driving mode (for example, the section in which the driving difficulty of the own vehicle by automatic driving is high) is referred to as "mode switching section". May be written as.
The mode switching section may be a section in which the difficulty level of the own vehicle increases depending on traffic conditions such as the degree of congestion. For example, the mode switching section may be a merging section in which the own lane merges with another lane (that is, the merging destination lane) at the merging place where a plurality of roads merge, and the merging destination lane is congested. Hereinafter, the merging lane will be referred to as "main lane".

FIG. 2A shows a confluence section where the own lane 61 merges with the main lane 62. When the main line 62 is congested, when the own vehicle 60 tries to enter the main line 62, another vehicle that hinders the entry of the own vehicle exists on the main line 62. If other vehicles are constantly on the main line 62 due to traffic congestion, it is difficult to change lanes to the main line 62 in automatic driving because the vehicle cannot enter the main line without interrupting in front of the other vehicles.

Therefore, the controller 40 guides the switching from the automatic operation mode to the manual operation mode in the merging section 63 when the main line 62 is congested.
In addition, in this specification, the merging section is not only the merging section in which the own lane 61 and the main lane 62 are separated by a road dividing line (broken line) as shown in FIG. 2A, but also a plurality of lanes merging are road dividing lines. It also includes merging sections not divided by (see FIG. 3).

Further, for example, the mode switching section may be a non-lane section having a width of a plurality of lanes. In the non-lane section, automatic driving becomes difficult because an interruption occurs in front of another vehicle.
Therefore, the controller 40 guides the switching of the traveling state of the own vehicle from the automatic driving mode to the manual driving mode in the no-lane section.
The non-lane section may be, for example, a non-lane section in front of the tollhouse 70 on the toll road shown in FIG. 2B (hereinafter, the non-lane section in front of the tollhouse may be simply referred to as a “tollhouse”).

Further, on the traveling route of automatic driving, there is a lane change section in which the own vehicle changes lanes. In the example of FIG. 2A, the lane change sections 64 and 65 exist on the traveling path of the automatic driving.
Lane changes are caused by a variety of factors. For example, in the lane change section 64, the lane other than the overtaking lane (hereinafter referred to as “driving lane”) because the own vehicle 60 enters the main lane 62 in the merging section 63. In the example of FIG. 2A, the left lane is the traveling lane. ) To the overtaking lane (the rightmost lane in the example of Fig. 2A).

Further, in the lane change section 65, the own vehicle 60 changes lanes from the traveling lane to the overtaking lane in order to advance to the branch road 66 branching from the main lane 62.
Such a point that causes the lane change of the own vehicle may be referred to as a "factor point" below. The factor point may be, for example, a confluence point that causes a lane change in the lane change section 64 or a branch point that causes a lane change in the lane change section 65.

Further, in the example of FIG. 2B, lane change sections 71 and 72 occur on the traveling route of automatic driving.
For example, in the lane change section 71, the principle of passing through vehicle lanes other than the overtaking lane, that is, the "key preft" (Article 20 of the Road Traffic Act) in the country where the left side of the vehicle is specified, or the right side of the vehicle is specified. In order to comply with the "keep light" in the country, change lanes from the overtaking lane (the rightmost lane in the example of Fig. 2B) to the driving lane (the left lane in the example of Fig. 2B).

Hereinafter, the case where the left-hand traffic of the vehicle is defined, that is, the case where the above-mentioned principle of passing through the vehicle lane other than the overtaking lane is "key preft" will be described. However, in the present invention, the right-hand traffic of the vehicle is defined. Even if it is, it can be applied in the same way.
On the other hand, in the lane change section 72, when the own vehicle 60 travels in the overtaking lane when passing through the tollhouse 70, the own vehicle 60 advances to the branch road 73 or is added in order to comply with the key preft. Change lanes from the passing lane to the driving lane.

When the lane change section is congested, it is not possible to change lanes without interrupting in front of other vehicles, making it difficult to change lanes by automatic driving in the lane change section, and manually driving the driving state of the own vehicle from the automatic driving mode. You need to switch to mode.
Here, in the example of the lane change section 64 of FIG. 2A, the lane is changed at a point before a predetermined distance from the merging section 63 after continuing to drive in the traveling lane while observing the key preft. At this time, if the lane change point and the merging section 63 are close to each other, the merging section 63 is immediately reached after switching to the manual driving mode in the lane changing section 64. You can drive as it is.

On the other hand, in the lane change section 65 of FIG. 2A, in order to comply with the key preft, the vehicle travels in the driving lane near the branch point of the branch road 66 and changes lanes at the point 67 away from the confluence section 63 (that is, the mode switching section). do.
Here, if the traveling state of the own vehicle 60 is once returned to the automatic driving mode after passing through the merging section 63, the switching from the automatic driving mode to the manual driving mode occurs again when changing lanes in the lane change section 65.

Further, in the lane change section 71 of FIG. 2B, the lane is changed from the overtaking lane to the traveling lane at an early stage in order to comply with the key preft. Therefore, the lane is changed at the point 74 away from the tollhouse 70, which is the mode switching section.
Here, if the traveling state of the own vehicle 60 is once returned to the automatic driving mode after changing lanes in the lane changing section 71, switching from the automatic driving mode to the manual driving mode occurs again at the tollhouse 70.

In this way, the mode switching section and the lane change section are continuous, and when switching from the automatic driving mode to the manual driving mode in each of these sections, the mode switching is repeated in a short period of time. As a result, the driver feels annoyed by the preparation for the operation of the manual operation and the operation of returning to the automatic operation mode after the manual operation, which causes an increase in the operating load.
Therefore, when the mode switching section and the lane changing section are continuous and the mode switching section and the lane changing section are congested, the controller 40 is set as a point for manually changing lanes in the lane changing section. Continue the manual operation mode with the mode switching section.

For example, in the case of the lane change section 65 of FIG. 2A, the controller 40 continues the manual operation mode from the merging section 63, which is a mode switching section, to the point 67 where the lane change is performed in the lane change section 65. As a result, switching from the automatic driving mode to the manual driving mode in the lane change section 65 can be omitted.
At this time, the controller guides the driver to change lanes from the traveling lane to the overtaking lane in the lane change section 65. For example, the controller 40 outputs a guidance message from the navigation system 20 prompting the driver to change lanes from the traveling lane to the overtaking lane.
Hereinafter, the lane change guidance presented to the driver may be referred to as "lane change guidance". The lane change guidance includes guidance for urging the driver to change lanes in the manual driving mode and guidance for notifying the driver of the automatic lane change in the automatic driving mode.

When the driver changes lanes in the manual driving mode at the point 67, the controller 40 presents the driver with a mode switching guide from the manual driving mode to the automatic driving mode.
For example, the controller 40 outputs a guidance message from the navigation system 20 prompting the driver to switch the traveling state of the own vehicle from the manual driving mode to the automatic driving mode.
When the driver operates the changeover switch 43 according to the mode changeover guidance, the controller 40 switches the running state of the own vehicle from the manual operation mode to the automatic operation mode.

On the other hand, in the case of the lane change section 71 of FIG. 2B, the controller 40 continues the manual operation mode from the point 74 where the lane change is performed in the lane change section 71 to the tollhouse 70 which is the mode switching section. This makes it possible to omit switching from the automatic operation mode to the manual operation mode in front of the tollhouse 70.
At this time, the controller 40 presents the driver with a mode switching guide from the automatic driving mode to the manual driving mode in the lane change section 71.

When the driver switches the driving state of the own vehicle to the manual driving mode in response to the mode switching guidance, the controller 40 presents the lane change guidance from the overtaking lane to the driving lane to the driver to execute the lane change. ..
By omitting the switching from the automatic operation mode to the manual operation mode in this way, the controller 40 can reduce the number of times of switching from the automatic operation mode to the manual operation mode. As a result, the chance that the driver feels annoyed by preparing for the operation of manual operation or returning to the automatic operation mode is reduced, and the driving load of the driver can be reduced.

On the other hand, if the manual driving mode is continued without returning to the automatic driving mode between the lane change point of the lane change section and the mode switching section, the mileage of the manual driving mode is extended and the driver's driving load is increased. I have something to do.
Therefore, the controller 40 shortens the mileage in the manual operation mode between the lane change point in the lane change section and the mode switching section.

For example, when the lane change section is continuous in the mode switching section and the lane change section is congested, the controller 40 sets the lane change point in the lane change section as compared with the case where the lane change section is not congested. Get closer to the switching section.
For example, as shown in FIG. 4A, when the lane change section 65 is continuous ahead of the merging section 63, which is the mode switching section, and the lane change section 63 and the lane change section 65 are congested, the controller 40 uses the lane. By accelerating the change, the lane change point 67 is brought closer to the merging section 63 than when the lane change section 65 is not congested.

Specifically, the controller 40 sets the lane change guidance point that presents the lane change guidance from the traveling lane to the overtaking lane in the lane change section 65 to the merging section 63 rather than when the lane change section 65 is not congested. By bringing it closer, the lane change point 67 is brought closer to the confluence section 63.
Since the switching from the manual driving mode to the automatic driving mode is performed after the lane change, the mileage in the manual driving mode can be shortened by moving the lane change point 67 closer to the merging section 63 to accelerate the lane change.

Further, for example, when the lane change section 71 is continuous in front of the tollhouse 70 which is the mode switching section and the mode switching section 70 and the lane change section 71 are congested as shown in FIG. 4B, the controller 40 is used. By delaying the lane change, the lane change point 74 is brought closer to the non-lane section of the tollhouse 70 than when the lane change section 71 is not congested.

Specifically, the controller 40 sets the mode switching guidance point for presenting the mode switching guidance from the automatic driving mode to the manual driving mode in the lane changing section 71, as compared with the case where the lane changing section 71 is not congested. Get closer to.
After the driver switches the traveling state of the own vehicle to the manual driving mode according to the mode switching guidance, the controller 40 presents the lane change guidance from the overtaking lane to the traveling lane. Therefore, the mileage in the manual operation mode can be shortened by moving the mode switching guide point closer to the tollhouse 70 and delaying the lane change.

Next, the functional configuration of the controller 40 will be described. See FIG. The controller 40 includes a section extraction unit 80, a package setting unit 81, a storage unit 82, a package reading unit 83, a traffic jam determination unit 84, a lane change control unit 85, and a switching control unit 86.
The functions of the section extraction unit 80, the package setting unit 81, the package reading unit 83, the traffic jam determination unit 84, the lane change control unit 85, and the switching control unit 86 are such that the processor 41 of the controller 40 is stored in the storage device 42. It may be realized by executing the program.

When the navigation system 20 sets a travel route for automatically driving the own vehicle to the destination input by the occupant, the section extraction unit 80 reads the travel route information from the navigation system 20.
The section extraction unit 80 extracts mode switching section candidates that are candidates for mode switching sections existing on the travel route from the map database 23.

The mode switching section candidate may include, for example, a merging section and a non-lane section having a width of a plurality of lanes.
The merging section is a mode switching section when it is judged that the main line where the own lane is about to merge is congested, and is not a mode switching section when it is judged that the main lane is not congested. ..
A non-lane section having a width of a plurality of lanes is a section that is a mode switching section regardless of the presence or absence of traffic congestion.

Next, the section extraction unit 80 extracts a lane change section existing on the traveling route.
The package setting unit 81 determines whether or not the mode switching section candidate extracted by the section extraction unit 80 and the lane change section are continuous for each of the lane change sections extracted by the section extraction unit 80.
When the lane change section is continuous with the mode switching section candidate, the package setting unit 81 sets a package in which the mode switching section candidate and all the lane changing sections continuous with the mode switching section candidate are combined.
When the lane change section is not continuous with the mode switching section candidate, the package setting unit 81 sets a package consisting of only the lane change section that is not continuous with the mode switching section candidate.
The package setting unit 81 stores the set package in the storage unit 82.

When the driver operates the changeover switch 43 to start the automatic operation mode, the package reading unit 83 reads out the package stored in the storage unit 82. The package reading unit 83 selects the closest package in front of the own vehicle from the read packages.
Alternatively, the package reading unit 83 may select and read the nearest package in front of the own vehicle from the packages stored in the package reading unit 83.

The package reading unit 83 outputs the information of the nearest package in front of the own vehicle to the traffic jam determination unit 84, the lane change control unit 85, and the switching control unit 86.
Further, in the package reading unit 83, the closest package in front of the own vehicle is a package in which continuous mode switching section candidates and lane change sections are combined, or a package consisting only of lane change sections that are not continuous in the mode switching section candidates. Is determined.
When the closest package in front of the own vehicle is a package that combines a continuous mode switching section candidate and a lane changing section, the package reading unit 83 determines whether the lane changing section is continuous ahead of the mode switching section candidate or the mode switching. Judge whether it is continuous before the section candidate.

The traffic jam determination unit 84 determines whether or not the nearest package in front of the own vehicle is in a traffic jam. Specifically, when the closest package in front of the own vehicle is a combination of a continuous mode switching section candidate and a lane change section, whether or not the continuous mode switching section candidate and the lane change section are continuously congested. Is determined. On the other hand, when the nearest package in front of the own vehicle consists only of lane change sections that are not continuous with the mode switching section candidates, it is determined whether or not the lane change section is congested.

The traffic jam determination unit 84 may determine whether or not there is a traffic jam, for example, based on the traffic information obtained by the communication unit 27 of the navigation system 20 through road-to-vehicle communication or vehicle-to-vehicle communication. Further, for example, it may be determined whether or not there is a traffic jam based on the surrounding environment information detected by the surrounding environment sensor group 10.
The traffic jam determination unit 84 outputs the determination result to the lane change control unit 85 and the switching control unit 86.

The lane change control unit 85 controls the lane change guidance presented to the driver in the lane change section included in the nearest package in front of the own vehicle.
The lane change control unit 85 controls lane change guidance according to whether or not the nearest package in front of the own vehicle is a combination of a continuous mode switching section candidate and a lane change section, and according to the congestion situation of the package.
The lane change control unit 85 includes a lane change guidance point setting unit 87 and a lane change guidance generation unit 88.

The switching control unit 86 controls switching of the driving state of the own vehicle from the automatic driving mode to the manual driving mode and from the manual driving mode to the automatic driving mode in the lane change section included in the nearest package in front of the own vehicle. ..
The switching control unit 86 controls switching of the traveling state according to whether or not the closest package in front of the own vehicle is a combination of a continuous mode switching section candidate and a lane change section, and according to the congestion state of the package.
The switching control unit 86 includes a mode switching guide point setting unit 89, a mode switching guide generation unit 90, and a mode switching unit 91.

Hereinafter, the operations of the lane change control unit 85 and the switching control unit 86 will be described for each driving scene.
(1: When the nearest package in front of the vehicle is not congested)
The lane change control unit 85 executes the lane change in the automatic driving mode according to the normal driving rule while observing the key preft.
Specifically, the lane change control unit 85 determines whether the lane change to be performed in the lane change section in the lane change section included in the package is a lane change from the driving lane to the overtaking lane, or the vehicle travels from the overtaking lane. Determine if it is a lane change to a lane.

In the case of a lane change from a driving lane to an overtaking lane, the lane change guidance point setting unit 87 sets a point predetermined in the lane change section as the first lane change guidance point PL1 according to the factor point that causes the lane change. Set.
For example, the lane change guidance point setting unit 87 may set a point in front of the factor point by the first predetermined distance D1 as the first lane change guidance point PL1. The first lane change guidance point PL1 may be set to, for example, a point 100 m to 300 m before the factor point.

When the own vehicle reaches the first lane change guidance point PL1, the lane change guidance generation unit 88 presents the lane change guidance from the traveling lane to the overtaking lane to the driver.
For example, the lane change guidance generation unit 88 may output a voice guidance message notifying the driver that the lane change is to be performed by automatic driving from the voice output unit 26 of the navigation system 20. Further, for example, the lane change guidance generation unit 88 may display a visual guidance message on the display unit 24 informing the driver that the lane change is to be performed by automatic driving.
After that, the lane change control unit 85 automatically changes lanes from the traveling lane to the overtaking lane.

On the other hand, in the case of changing lanes from the overtaking lane to the traveling lane, the lane change guidance generation unit 88 presents the lane change guidance to the driver immediately after entering the lane change section. After that, the lane change control unit 85 automatically changes lanes from the overtaking lane to the traveling lane.
As described above, it is possible to determine the lane change guidance point from the traveling lane to the overtaking lane so that the traveling lane is prioritized over the overtaking lane.

Further, when the closest package in front of the own vehicle is a combination of a mode switching section candidate and a lane change section, the switching control unit 86 determines whether the mode switching section candidate included in the package is a confluence point or the width of a plurality of lanes. Determine if the section has no lanes.
If the package is not congested, the confluence section will not be a mode switching section. Therefore, when the mode switching section candidate is the confluence point, the switching control unit 86 determines that the mode switching section candidate is not the mode switching section.
The switching control unit 86 does not switch from the automatic operation mode to the manual operation mode in the merging section, and continues the automatic operation mode. The controller 40 drives its own vehicle in the confluence section so as to enter the main line by automatic driving.

On the other hand, when the mode switching section candidate is a non-lane section, the switching control unit 86 determines that the mode switching section candidate is a mode switching section.
The switching control unit 86 presents the driver with a mode switching guide from the automatic driving mode to the manual driving mode in front of the no-lane section.
Specifically, the mode switching guide point setting unit 89 switches the mode from the automatic driving mode to the manual driving mode so that the driver can complete the switching to the manual driving mode with a margin in front of the non-lane section. The first mode switching guide point PM1 for presenting the guidance is set. For example, the first mode switching guide point PM1 may be a point in front of the no-lane section by a second predetermined distance D2.

When the own vehicle reaches the first mode switching guide point PM1, the mode switching guide generation unit 90 presents the driver with a mode switching guide from the automatic driving mode to the manual driving mode.
For example, the mode switching guidance generation unit 90 outputs a voice guidance message from the voice output unit 26 of the navigation system 20 to urge the driver to switch the driving state of the own vehicle from the automatic driving mode to the manual driving mode by operating the changeover switch 43. You can do it.
Further, for example, the mode switching guidance generation unit 90 issues a voice guidance message prompting the driver to switch the running state of the own vehicle from the automatic driving mode to the manual driving mode by operating any of the steering wheel, the accelerator pedal, and the brake pedal. It may be output from the audio output unit 26.

Further, for example, the mode switching guidance generation unit 90 displays a visual guidance message for the navigation system 20 to prompt the driver to switch the traveling state of the own vehicle from the automatic driving mode to the manual driving mode by operating the changeover switch 43. It may be displayed on 24.
Further, for example, the mode switching guidance generation unit 90 visually guides the driver to switch the running state of the own vehicle from the automatic driving mode to the manual driving mode by operating any of the steering wheel, the accelerator pedal, and the brake pedal. The message may be displayed on the display unit 24.
When the changeover switch 43 or the steering wheel, the accelerator pedal, and the brake pedal are operated, the mode switching unit 91 switches the traveling state of the own vehicle from the automatic driving mode to the manual driving mode.

When the lane change section continues ahead of the no-lane section (that is, the mode switching section), after passing through the no-lane section, the mode switching guidance generation unit 90 sets the mode switching guidance from the manual driving mode to the automatic driving mode. Is presented to the driver.
When the changeover switch 43 is operated, the mode switching unit 91 switches the traveling state of the own vehicle from the manual operation mode to the automatic operation mode.
After that, the driver is presented with lane change guidance by automatic driving in the lane change section.

On the other hand, when the lane change section is continuous before the no-lane section (that is, the mode switching section), the lane change is automatically executed in the lane change section as described above.
Specifically, when changing lanes from the driving lane to the overtaking lane in the lane change section, the lane change guidance generation unit 88 follows from the driving lane when the own vehicle reaches the first lane change guidance point PL1. Present the driver with lane change guidance by automatic driving to the overpass.
In the case of a lane change from an overtaking lane to a traveling lane, the lane change guidance generation unit 88 presents the lane change guidance by automatic driving to the driver immediately after entering the lane change section.
After that, the lane change control unit 85 executes the lane change by automatic driving.

Then, when the own vehicle reaches the first mode switching guide point PM1, the mode switching guide generation unit 90 presents a mode switching guide from the automatic driving mode to the manual driving mode.
When the changeover switch 43, the steering wheel, the accelerator pedal, and the brake pedal are operated according to the mode switching guide, the mode switching unit 91 switches the traveling state of the own vehicle from the automatic driving mode to the manual driving mode.

(2: When the closest package in front of the own vehicle is a package consisting only of discontinuous lane change sections, and the lane change section is congested)
When the lane change section is congested, it is necessary to switch the driving state of the own vehicle from the automatic driving mode to the manual driving mode in order to change the lane.
Therefore, the switching control unit 86 presents a mode switching guide to the manual driving mode so that the lane can be changed according to the normal driving rule while observing the key preft.

When the changeover switch 43, the steering wheel, the accelerator pedal, and the brake pedal are operated according to the mode changeover guide, the mode switching unit 91 switches the traveling state of the own vehicle from the automatic operation mode to the manual operation mode.
When the lane change control unit 85 confirms that the traveling state of the own vehicle has been switched to the manual driving mode, the lane change control unit 85 presents the lane change guidance to the driver according to the normal driving rule.

Specifically, the lane change guidance point setting unit 87 sets the first lane change guidance point PL1 as a planned point for changing lanes.
The mode switching guide point setting unit 89 presents a mode switching guide from the automatic driving mode to the manual driving mode so that the driver can complete the switching to the manual driving mode with a margin by the first lane change guidance point PL1. The second mode switching guide point PM2 is set.

The mode switching guide point setting unit 89 may set a point predetermined in the lane change section according to the first lane change guide point PL1 as the second mode switching guide point PM2. For example, the second mode switching guide point PM2 may be a point in front of the first lane change guide point PL1 by a third predetermined distance D3.

When the own vehicle reaches the second mode switching guide point PM2, the mode switching guide generation unit 90 presents the driver with a mode switching guide from the automatic driving mode to the manual driving mode.
When the driver confirms that the driving state of the own vehicle has been switched to the manual driving mode according to the mode switching guidance, the lane change control unit 85 determines whether or not the own vehicle has passed the first lane change guidance point PL1.

If the own vehicle has not passed the first lane change guidance point PL1, the lane change control unit 85 waits until the own vehicle reaches the first lane change guidance point PL1.
When the own vehicle has passed the first lane change guidance point PL1 or the own vehicle has reached the first lane change guidance point PL1, the lane change guidance generation unit 88 presents the lane change guidance to the driver.

(3: When the closest package in front of the own vehicle is a combination of non-continuous continuous mode switching section candidates and lane change sections, and the package is congested)
When the mode switching section candidate is congested, the mode switching section candidate is the mode switching section regardless of whether it is a merging section or a non-lane section.
In the mode switching section, it is necessary to drive the own vehicle in the manual operation mode.
On the other hand, when the lane change section is congested, it is necessary to change lanes in the manual driving mode.

At this time, if the driving state of the own vehicle is switched from the automatic driving mode to the manual driving mode in each of the continuous mode switching section candidate and the lane change section, and the switching of the driving state is repeated in a short period of time, the driver is troubled. It is a factor that increases the driving load.
Therefore, the switching control unit 86 continues the manual driving mode between the point where the lane is changed by manual driving in the lane changing section and the mode switching section. That is, the switching to the manual operation mode performed in the lane change section and the switching to the manual operation mode performed in the mode switching section are collectively performed at one time.

Further, if the mileage in the manual operation mode is extended by continuing the manual operation mode, the driving load of the driver may increase.
Therefore, the lane change control unit 85 and the switching control unit 86 set the mode switching guide point so that the mileage in the manual operation mode between the point where the lane change is manually performed in the lane change section and the mode switching section is shortened. And set the lane change point.
Hereinafter, processing by the lane change control unit 85 and the switching control unit 86 will be described separately for the case of the continuous lane change section before the mode switching section and the case of the continuous lane change section ahead of the mode switching section.

(A) A continuous lane change section lane change guide point setting unit 87 before the mode switching section sets the second lane change guide point PL2 as a scheduled point for lane change.
The second lane change guidance point PL2 may be defined in the same manner as the first lane change guidance point PL1. That is, when there is a factor point that causes a lane change, a point in front of the factor point by the first predetermined distance D1 may be set as the second lane change guide point PL2.
On the other hand, in the case of a lane change from the overtaking lane to the driving lane in order to maintain the key preft, the point in front of the end of the lane change section by the first predetermined distance D1 is the second lane change guidance point PL2. May be set as.

The mode switching guide point setting unit 89 presents a mode switching guide from the automatic driving mode to the manual driving mode so that the driver can complete the switching to the manual driving mode with a margin by the second lane change guidance point PL2. The third mode switching guide point PM3 is set.
The mode switching guide point setting unit 89 may set a point predetermined in the lane change section according to the second lane change guide point PL2 as the third mode switching guide point PM3. For example, the third mode switching guide point PM3 may be a point in front of the second lane change guide point PL2 by a third predetermined distance D3.

When the own vehicle reaches the third mode switching guide point PM3, the mode switching guide generation unit 90 presents the driver with a mode switching guide from the automatic driving mode to the manual driving mode.
When the driver confirms that the driving state of the own vehicle has been switched to the manual driving mode according to the mode switching guidance, the lane change control unit 85 determines whether or not the own vehicle has passed the second lane change guidance point PL2.

If the own vehicle has not passed the second lane change guidance point PL2, the lane change control unit 85 subsequently waits until the own vehicle reaches the second lane change guidance point PL2.
If the own vehicle has passed the second lane change guidance point PL2, or if the own vehicle has reached the second lane change guidance point PL2, the lane change guidance generation unit 88 changes the lane from the traveling lane to the overtaking lane. Present the guidance to the driver.
Even if the lane change is completed, the mode switching guide generation unit 90 stops presenting the mode switching guide from the manual driving mode to the automatic driving mode until the mode switching section is passed in the manual driving mode.

Here, when changing lanes from the overtaking lane to the traveling lane when the package is not congested, as described above, the lane change guidance by automatic driving is presented immediately after entering the lane change section.
Compared to this, when the package is congested, the lane change point can be brought closer to the mode switching section by delaying the mode switching guidance to the third mode switching guidance point PM3. That is, the mode switching from the automatic operation mode to the manual operation mode can be delayed, and the mileage in the manual operation mode can be shortened.

The second lane change guidance point PL2 may be closer to the mode switching section than the first lane change guidance point PL1 by delaying the scheduled time for presenting the lane change guidance. This makes it possible to bring the lane change point closer to the mode switching section.
For example, a point in front of the factor point by the fourth predetermined distance D4 (<first predetermined distance D1) may be set as the second lane change guide point PL2.
Further, by making the sum (D3 + D4) of the third predetermined distance D3 and the fourth predetermined distance D4 shorter than the first predetermined distance D1, it is compared with the first lane change guide point PL1 when the package is not congested. Therefore, the third mode switching guide point PM3 may be brought closer to the mode switching section.

On the other hand, even when changing lanes from a traveling lane to an overtaking lane, the lane change point can be brought closer to the mode switching section than when the package is not congested.
For example, the second lane change guidance point PL2 may be closer to the mode switching section than the first lane change guidance point PL1 when the package is not congested, and the third mode switching guidance point PM3 may be closer to the first lane change guidance point PM3. The mode switching section may be closer than the point PL1.
In this way, the mileage in the manual operation mode can be shortened by delaying the switching from the automatic operation mode to the manual operation mode.

If the lane change section is not continuous before the mode switching section, the switching control unit 86 presents the driver with a mode switching guide from the automatic driving mode to the manual driving mode before the mode switching section.
Specifically, the mode switching guidance point setting unit 89 guides the mode switching from the automatic operation mode to the manual operation mode so that the driver can complete the switching to the manual operation mode with a margin before the mode switching section. The first mode switching guide point PM1 that presents is set. The first mode switching guide point PM1 may be a point in front of the mode switching section by a second predetermined distance D2.

When the own vehicle reaches the first mode switching guide point PM1, the mode switching guide generation unit 90 presents the driver with a mode switching guide from the automatic driving mode to the manual driving mode.
When the changeover switch 43 or the steering wheel, the accelerator pedal, and the brake pedal are operated, the mode switching unit 91 switches the traveling state of the own vehicle from the automatic driving mode to the manual driving mode.

(B) Continuous lane change section ahead of the mode switching section After the own vehicle travels in the mode switching section in the manual driving mode, the mode switching guidance generation unit 90 changes lanes in the manual driving mode in the lane changing section. Until, the presentation of the mode switching guidance from the manual operation mode to the automatic operation mode is stopped.
The lane change control unit 85 determines whether the lane change to be performed in the continuous lane change section ahead of the mode switching section is a lane change from the driving lane to the overtaking lane, or a lane change from the overtaking lane to the driving lane. Determine if there is one.

In the case of a lane change from an overtaking lane to a traveling lane, the lane change guidance generation unit 88 presents the lane change guidance to the driver immediately after entering the lane change section.
When the mode switching guide generation unit 90 confirms that the driver has changed lanes from the overtaking lane to the traveling lane according to the lane change guidance, the mode switching guidance generation unit 90 presents the mode switching guidance from the manual driving mode to the automatic driving mode to the driver.
When the changeover switch 43 is operated, the mode switching unit 91 switches the traveling state of the own vehicle from the manual operation mode to the automatic operation mode.

When changing lanes from the driving lane to the overtaking lane, the lane change guidance point setting unit 87 presents the lane change guidance at the third lane change guidance point PL3, which is closer to the mode switching section than the first lane change guidance point PL1. Set as a point to do.
For example, a point in front of the factor point by the fifth predetermined distance D5 (> the first predetermined distance D1) may be set as the third lane change guide point PL3.
Further, for example, the lane change guidance point setting unit 87 changes the third lane at a point less than the sixth predetermined distance from the mode switching section so that the lane change guidance can be presented to the driver as soon as the own vehicle enters the lane change section. It may be set as a guide point PL3.

When the own vehicle reaches the third lane change guidance point PL3, the lane change guidance generation unit 88 presents the lane change guidance from the traveling lane to the overtaking lane to the driver.
Therefore, the guidance for lane change by automatic driving is performed at the third lane change guidance point PL3, which is closer to the mode switching section than the first lane change guidance point PL1 when the package is not congested. Therefore, the lane change point can be brought closer to the mode switching section. That is, the mode switching from the automatic driving mode to the manual driving mode can be accelerated, and the mileage in the manual driving mode can be shortened.

When the mode switching guidance generation unit 90 confirms that the driver has changed lanes from the driving lane to the overtaking lane in response to the lane change guidance, the mode switching guidance generation unit 90 presents the mode switching guidance from the manual driving mode to the automatic driving mode to the driver. ..
When the changeover switch 43 is operated, the mode switching unit 91 switches the traveling state of the own vehicle from the manual operation mode to the automatic operation mode.

(motion)
Next, an example of the operation of the driving support device 1 will be described with reference to FIGS. 6 to 9.
In step S1 of FIG. 6, the navigation system 20 sets a traveling route for driving the own vehicle by automatic driving to the destination input by the occupant.
In step S2, the section extraction unit 80 extracts mode switching section candidates existing on the travel route from the map database 23. Further, the section extraction unit 80 extracts a lane change section existing on the traveling route.

In step S3, the package setting unit 81 sets a package that combines continuous mode switching section candidates and lane change sections, and a package that consists only of lane change sections that are not continuous to the mode switching section candidates. The package setting unit 81 stores the set package in the storage unit 82.
When the driver operates the changeover switch 43 to select the automatic driving mode, the controller 40 starts driving the own vehicle in the automatic driving mode in step S4.

In step S5, the package reading unit 83 selects the closest package in front of the own vehicle among the packages stored in the storage unit 82.
In step S6, the package reading unit 83 determines whether or not the selected package is a package that combines a continuous mode switching section candidate and a lane change section.
When the selected package is a combination of a continuous mode switching section candidate and a lane change section (step S6: Y), the process proceeds to step S7.
If the selected package is not a combination of the continuous mode switching section candidate and the lane change section, that is, if the package consists of only the lane change section that is not continuous with the mode switching section candidate (step S6: N), the process proceeds to step S10. ..

In step S7, the congestion determination unit 84 determines whether or not the selected package is congested. When the package is congested (step S7: Y), the process proceeds to step S9. If the package is not congested (step S7: N), the process proceeds to step S8.
In step S8, the first guidance process for performing mode switching guidance and lane change guidance when the package combining the continuous mode switching section candidate and the lane change section is not congested is performed.

In step S9, a second guidance process for performing mode switching guidance and lane change guidance when a package combining continuous mode switching section candidates and lane change sections is congested is performed.
In step S10, a third guidance process for performing mode switching guidance and lane change guidance in a package consisting of only lane change sections that are not continuous with the mode switching section candidates is performed.
The first guide process, the second guide process, and the third guide process will be described later with reference to FIGS. 7 to 9.

After the first guide process, the second guide process, and the third guide process, the process proceeds to step S11.
In step S11, the package reading unit 83 determines whether or not a package that has not yet been selected remains in the storage unit 82.
When the unselected package remains in the storage unit 82 (step S11: Y), the process returns to step S5. The process ends when no selected package remains in the storage unit 82 (step S11: N).

(1st guidance processing)
The first guidance process S8 shown in FIG. 6 will be described with reference to FIG. 7.
In step S20, the package reading unit 83 determines whether or not the lane change section is continuous before the mode switching section candidate in the package selected in step S5 of FIG.
When the lane change section continues before the mode switching section candidate (step S20: Y), the process proceeds to step S21. If the lane change section is not continuous before the mode switching section candidate (step S20: N), step S21 is skipped and the process proceeds to step S22. In this case, the own vehicle enters the mode switching section candidate without going through the lane change section.

In step S21, the controller 40 automatically drives the own vehicle in the lane change section.
When changing lanes from the driving lane to the overtaking lane, the lane change guidance generation unit 88 changes from the driving lane to the overtaking lane when the own vehicle reaches the first lane change guidance point PL1 predetermined in the lane change section. Present lane change information.
When changing lanes from the overtaking lane to the traveling lane, the lane change guidance generation unit 88 presents the lane change guidance immediately after entering the lane change section.
After that, the lane change control unit 85 executes the lane change by automatic driving.

In step S22, the switching control unit 86 determines whether the mode switching section candidate is a merging section or a tollhouse (that is, a non-lane section in front of the tollhouse).
When the mode switching section candidate is a tollhouse (step S22: tollhouse), the switching control unit 86 determines that the mode switching section candidate is a mode switching section. The process proceeds to step S23. When the mode switching section candidate is a merging section (step S22: merging section), the process proceeds to step S27.

In step S23, the controller 40 presents the driver with guidance on the tollhouse in front of the own vehicle in front of the tollhouse. When the own vehicle reaches the first mode switching guide point PM1 set in front of the tollhouse, the mode switching guide generation unit 90 presents the driver with a mode switching guide from the automatic driving mode to the manual driving mode.
When the changeover switch 43 or the steering wheel, the accelerator pedal, and the brake pedal are operated, the mode switching unit 91 switches the traveling state of the own vehicle from the automatic driving mode to the manual driving mode.

In step S24, the package reading unit 83 determines whether or not the lane change section is continuous ahead of the mode switching section candidate. When the lane change section continues ahead of the mode switching section candidate (step S24: Y), the process proceeds to step S25. If the lane change section is not continuous ahead of the mode switching section candidate (step S24: N), the process proceeds to step S30.

After passing through the tollhouse, in step S25, the mode switching guide generation unit 90 presents the driver a mode switching guide from the manual operation mode to the automatic operation mode.
When the changeover switch 43 is operated according to the mode changeover guidance, the mode changeover unit 91 switches the traveling state of the own vehicle from the manual operation mode to the automatic operation mode. The lane change control unit 85 confirms the completion of switching to the automatic driving mode.
In step S26, the controller 40 automatically drives the own vehicle in the lane change section. The process of step S26 is the same as the process of step S21. After that, the first guidance process ends.

On the other hand, when the mode switching section candidate of the package is a merging section (step S22: merging section), the switching control unit 86 determines that the mode switching section candidate is not a mode switching section because the package is not congested. .. In step S27, the switching control unit 86 continues the automatic operation mode without switching from the automatic operation mode to the manual operation mode in the merging section. The controller 40 drives its own vehicle in the confluence section so as to enter the main line by automatic driving.

In step S28, the package reading unit 83 determines whether or not the lane change section is continuous ahead of the mode switching section candidate. When the lane change section continues ahead of the mode switching section candidate (step S28: Y), the process proceeds to step S29.
When the lane change section is not continuous ahead of the mode switching section candidate (step S28: N), the first guidance process ends.
In step S29, the controller 40 automatically drives the own vehicle in the lane change section. The process of step S29 is the same as the process of step S21. After that, the first guidance process ends.

When the lane change section is not continuous ahead of the tollhouse (step S24: N), after passing through the non-lane section, the mode switching guide generation unit 90 in step S30 sets the mode from the manual operation mode to the automatic operation mode. Present the switching guide to the driver.
When the changeover switch 43 is operated according to the mode changeover guidance, the mode changeover unit 91 switches the traveling state of the own vehicle from the manual operation mode to the automatic operation mode. After that, the first guidance process ends.

(Second guidance processing)
The second guidance process S9 shown in FIG. 6 will be described with reference to FIG. The second guidance process S9 is executed when the package is congested (step S7: Y in FIG. 6). Therefore, the mode switching section candidate is the mode switching section regardless of whether it is a merging section or a non-lane section.
In step S40, the package reading unit 83 determines whether or not the lane change section is continuous before the mode switching section in the package selected in step S5 of FIG.

When the lane change section is continuous before the mode switching section (step S40: Y), the process proceeds to step S41. If the lane change section is not continuous before the mode switching section (step S40: N), the process proceeds to step S44.
In step S41, the lane change guidance point setting unit 87 and the mode switching guidance point setting unit 89 provide lane change guidance so that the lane change point in the lane change section is closer to the mode switching section than when the package is not congested. Set the point and mode switching guidance point.

For example, the lane change guidance point setting unit 87 may set a point in front of the factor point by the first predetermined distance D1 as the second lane change guidance point PL2. Then, the mode switching guide point setting unit 89 may set a point in front of the second lane change guide point PL2 by a third predetermined distance D3 as the third mode switching guide point PM3 that presents the mode switching guide.

As mentioned above, if the package is not congested, when changing lanes from the overtaking lane to the driving lane, the lane change guidance will be presented immediately after entering the lane change section as described above. Compared with the case where the package is not congested in this way, the lane change point can be brought closer to the mode switching section by delaying the mode switching guidance until reaching the third mode switching guidance point PM3.
On the other hand, when changing lanes from the driving lane to the overtaking lane, the second lane change guide point PL2 and the third mode switching guide point PM3 are more than the first lane change guide point PL1 when the package is not congested. You may approach the mode switching section. This makes it possible to bring the lane change point closer to the mode switching section.

In step S42, the mode switching guide generation unit 90 presents the driver a mode switching guide from the automatic driving mode to the manual driving mode when the own vehicle reaches the third mode switching guide point PM3.
When the changeover switch 43 or the steering wheel, the accelerator pedal, and the brake pedal are operated according to the mode changeover guidance, the mode changeover unit 91 switches the traveling state of the own vehicle from the automatic operation mode to the manual operation mode.
After the lane change control unit 85 confirms that the switching to the manual driving mode is completed, the lane change guidance generation unit 88 presents the lane change guidance to the driver.

In step S43, the controller 40 presents the driver with guidance on the mode switching section before the mode switching section (that is, the merging section or the non-lane section in front of the tollhouse).
After that, the mode switching guide generation unit 90 stops presenting the mode switching guide from the manual operation mode to the automatic operation mode until the mode switching section is passed. This maintains the manual operation mode. After that, the process proceeds to step S45.
When the lane change section is not continuous before the mode switching section (step S40: N), the switching control unit 86 guides the mode switching section and manually from the automatic operation mode before the mode switching section in step S44. The driver is presented with a mode switching guide to the operation mode.

When the changeover switch 43 or the steering wheel, the accelerator pedal, and the brake pedal are operated according to the mode changeover guidance, the mode changeover unit 91 switches the traveling state of the own vehicle from the automatic operation mode to the manual operation mode. As a result, the own vehicle travels in the mode switching section in the manual operation mode.
In step S45, the package reading unit 83 determines whether or not the lane change section is continuous ahead of the mode switching section.

When the lane change section continues ahead of the mode switching section, the mode switching guidance generation unit 90 stops presenting the mode switching guidance from the manual driving mode to the automatic driving mode until the lane change is performed in the lane changing section. .. This maintains the manual operation mode. After that, the process proceeds to step S46 (step S45: Y).
If the lane change section is not continuous ahead of the mode switching section (step S45: N), the process proceeds to step S48.

In step S46, the lane change guidance point setting unit 87 and the mode switching guidance point setting unit 89 provide lane change guidance so that the lane change point in the lane change section is closer to the mode switching section than when the package is not congested. Set the point and mode switching guidance point.
When changing lanes from the driving lane to the overtaking lane, the lane change guidance point setting unit 87 is the third lane change guidance point closer to the mode switching section than the first lane change guidance point PL1 when the package is not congested. PL3 is set as a point for presenting the lane change guidance.

In step S47, the lane change guidance generation unit 88 presents the lane change guidance from the traveling lane to the overtaking lane to the driver when the own vehicle reaches the third lane change guidance point PL3.
Therefore, the guidance for lane change by automatic driving is performed at the third lane change guidance point PL3, which is closer to the mode switching section than the first lane change guidance point PL1 when the package is not congested.
In the case of a lane change from an overtaking lane to a traveling lane, the lane change guidance generation unit 88 presents the lane change guidance to the driver immediately after entering the lane change section.

In step S48, when the mode switching guidance generation unit 90 confirms that the driver has changed lanes from the driving lane to the overtaking lane in response to the lane change guidance, the mode switching guidance for switching from the manual driving mode to the automatic driving mode is given to the driver. Present to.
When the changeover switch 43 is operated, the mode switching unit 91 switches the traveling state of the own vehicle from the manual operation mode to the automatic operation mode. After that, the second guidance process ends.

(Third guidance processing)
The third guidance process S10 shown in FIG. 6 will be described with reference to FIG.
In step S50, the congestion determination unit 84 determines whether or not the package selected in step S5 of FIG. 6 is congested. When the package is congested (step S50: Y), the process proceeds to step S51. If the package is not congested (step S50: N), the process proceeds to step S53.

In step S51, the lane change guidance point setting unit 87 sets the first lane change guidance point PL1 as a scheduled point for changing lanes. The mode switching guide point setting unit 89 sets the second mode switching guide point PM2 according to the first lane change guide point PL1.
When the own vehicle reaches the second mode switching guide point PM2, the mode switching guide generation unit 90 presents the driver with a mode switching guide from the automatic driving mode to the manual driving mode.

When the changeover switch 43, the steering wheel, the accelerator pedal, and the brake pedal are operated according to the mode changeover guide, the mode switching unit 91 switches the traveling state of the own vehicle from the automatic operation mode to the manual operation mode.
After the switching to the manual driving mode is completed, the lane change guidance generation unit 88 presents the lane change guidance to the driver.

In step S52, when the mode switching guidance generation unit 90 confirms that the driver has changed lanes from the driving lane to the overtaking lane in response to the lane change guidance, the mode switching guidance for switching from the manual driving mode to the automatic driving mode is given to the driver. Present to.
When the changeover switch 43 is operated, the mode switching unit 91 switches the traveling state of the own vehicle from the manual operation mode to the automatic operation mode. After that, the third guidance process ends.
In step S53, the controller 40 automatically drives the own vehicle in the lane change section. The process of step S53 is the same as the process of step S21 of FIG. After that, the third process ends.

(Effect of embodiment)
(1) The section extraction unit 80 and the switching control unit 86 switch the driving state of the own vehicle from the automatic driving mode to the manual driving mode when the section on the traveling route is difficult to continue the automatic driving due to the road structure. Determine if it is a switching section. The package setting unit 81 determines whether or not the lane change section in which the own vehicle changes lanes on the travel route is continuous with the mode switching section.

The switching control unit 86 is a point where the mode switching section and the lane change section are continuous, and when the lane change section is congested and the lane change cannot be performed by automatic driving, the lane change is performed manually in the lane change section. The manual operation mode is continued between the mode and the mode switching section.
As a result, switching to the manual operation mode performed in the lane change section and switching to the manual operation mode performed in the mode switching section can be performed at once. As a result, the number of times of switching to the manual operation mode in the continuous lane change section and the mode switching section is reduced. Therefore, it is possible to reduce the annoyance caused by frequent switching to the manual operation mode and reduce the driver's driving load.

(2) The mode switching section may be a non-lane section having a width of a plurality of lanes or a merging section where the own lane merges with a congested merging destination lane.
Since switching to the manual driving mode occurs in these sections, the number of switching to the manual driving mode is reduced by combining the switching to the manual driving mode in these sections with the switching to the manual driving mode in the lane change section. can.

(3) In the lane change control unit 85 and the switching control unit 86, when the mode switching section and the lane change section are continuous and the lane change section is congested, the lane change control section is not congested as compared with the case where the lane change section is not congested. The lane change point in the lane change section may be brought closer to the mode switching section.
As a result, it is possible to shorten the distance traveled in the manual driving mode between the point where the lane is changed in the lane change section and the mode switching section.

(4) When the lane change section is continuous before the mode switching section and the lane change section is not congested, the lane change control unit 85 is on the driving lane of the driving lane and the overtaking lane of the lane changing section. After driving the own vehicle in the automatic driving mode, the lane change guidance from the driving lane to the overtaking lane may be performed at a predetermined lane change guidance point in the lane change section.
As a result, in a lane change section where there is no traffic jam, autonomous driving can be continued so as to comply with the principle of passing in a vehicle lane other than the overtaking lane (for example, "key preft" in Japan).

(5) When the lane change section is continuous ahead of the mode switching section and the lane change section is not congested, the lane change control unit 85 switches from the manual driving mode to the automatic driving mode in the lane change section and lanes. After driving your vehicle in the automatic driving mode on the driving lane of the driving lane and overtaking lane of the changed section, change the lane from the driving lane to the overtaking lane at the predetermined lane change guidance point in the lane change section. You may give guidance.
As a result, in a lane change section where there is no traffic jam, autonomous driving can be continued so as to comply with the principle of passing in a vehicle lane other than the overtaking lane (for example, "key preft" in Japan).

(6) If the lane change section is not congested, the lane change control unit 85 will drive from the driving lane to the overtaking lane so that the driving lane is prioritized over the overtaking lane in the lane change section. Determine the change guidance point.
As a result, in a lane change section where there is no traffic jam, autonomous driving can be continued so as to comply with the principle of passing in a vehicle lane other than the overtaking lane (for example, "key preft" in Japan).

(7) When the mode switching section and the lane change section are not continuous and the lane change section is congested, the lane change control unit 85 and the switching control unit 86 may use the traveling lane and overtaking of the lane change section. After driving the own vehicle on the driving lane in the lane in the automatic driving mode, the switching guidance from the automatic driving mode to the manual driving mode is performed at the mode switching guidance point predetermined in the lane change section.
As a result, autonomous driving will be continued so as to comply with the principle of traveling in vehicle lanes other than the overtaking lane (for example, "key preft" in Japan), and from automatic driving mode to manual driving mode at appropriate points. Switching becomes possible.

1 ... Driving support device, 10 ... Ambient environment sensor group, 11 ... Distance measuring device, 12 ... Camera, 20 ... Navigation system, 21 ... Navigation controller, 22 ... Positioning device, 23 ... Map database, 24 ... Display unit, 25 ... Operation unit, 26 ... Audio output unit, 27 ... Communication unit, 30 ... Vehicle sensor group, 31 ... Vehicle speed sensor, 32 ... Acceleration sensor, 33 ... Gyro sensor, 34 ... Steering angle sensor, 35 ... Accelerator sensor, 36 ... Brake sensor , 40 ... controller, 41 ... processor, 42 ... storage device, 43 ... changeover switch, 50 ... vehicle control actuator group, 51 ... steering actuator, 52 ... accelerator opening actuator, 53 ... brake control actuator, 80 ... section extraction unit, 81 ... Package setting unit, 82 ... Storage unit, 83 ... Package reading unit, 84 ... Congestion determination unit, 85 ... Lane change control unit, 86 ... Switching control unit, 87 ... Lane change guidance point setting unit, 88 ... Lane change guidance Generation unit, 89 ... Mode switching guide point setting unit, 90 ... Mode switching guidance generation unit, 91 ... Mode switching unit

Claims (9)

It is determined whether or not the section on the driving route is a mode switching section for switching the driving state of the own vehicle from the automatic driving mode to the manual driving mode because it is difficult to continue the automatic driving due to the road structure.
It is determined whether or not the lane change section in which the own vehicle changes lanes on the travel route is continuous with the mode switching section.
If the mode switching section and the lane change section are continuous and the lane change section is congested and the lane change cannot be performed by automatic driving, the point where the lane change is performed manually in the lane change section and the above. Continue the manual operation mode with the mode switching section ,
When the lane change section is continuous with the mode switching section and the lane change section is congested before the mode switching section, the lane change section is compared with the case where the lane change section is not congested. The lane change guidance point for presenting the lane change guidance is brought closer to the mode switching section to delay the presentation of the lane change guidance.
A driving support method characterized by that. It is determined whether or not the section on the driving route is a mode switching section for switching the driving state of the own vehicle from the automatic driving mode to the manual driving mode because it is difficult to continue the automatic driving due to the road structure.
It is determined whether or not the lane change section in which the own vehicle changes lanes on the travel route is continuous with the mode switching section.
If the mode switching section and the lane change section are continuous and the lane change section is congested and the lane change cannot be performed by automatic driving, the point where the lane change is performed manually in the lane change section and the above. Continue the manual operation mode with the mode switching section,
When the lane change section is continuous with the mode switching section and the lane change section is congested ahead of the mode switching section, the lane change section is compared with the case where the lane change section is not congested. In, the lane change guidance point for presenting the lane change guidance is brought closer to the mode switching section to accelerate the presentation of the lane change guidance.
It is determined whether or not the driver has changed lanes according to the lane change guidance.
When it is determined that the driver has changed lanes, a mode switching guide from the manual driving mode to the automatic driving mode is presented to the driver.
A driving support method characterized by that. The driving support according to claim 1 or 2, wherein the mode switching section is a non-lane section having a width of a plurality of lanes or a merging section in which the own lane merges with a congested merging destination lane. Method. When the lane change section is continuous with the mode switching section in front of the mode switching section and the lane changing section is not congested, the driving lane and the overtaking lane of the lane changing section are on the driving lane. Claims 1 to 3 characterized in that after the own vehicle is driven in the automatic driving mode, lane change guidance from the traveling lane to the overtaking lane is performed at a predetermined lane change guidance point within the lane change section. The driving support method described in any one of the sections. When the lane change section is continuous with the mode switching section ahead of the mode switching section and the lane changing section is not congested, the manual driving mode is switched to the automatic driving mode in the lane changing section, and the lane is changed. After driving the own vehicle in the automatic driving mode on the driving lane of the driving lane and the overtaking lane of the changed section, the lane from the driving lane to the overtaking lane at the lane change guidance point predetermined in the lane change section. The driving support method according to any one of claims 1 to 4, wherein the change guidance is performed. When the lane change section is not congested, the lane change guide point from the driving lane to the overtaking lane is determined so that the driving lane is prioritized over the overtaking lane in the lane changing section. The driving support method according to any one of claims 1 to 5. When the mode switching section and the lane change section are not continuous and the lane change section is congested, the own vehicle is automatically set on the driving lane among the traveling lane and the overtaking lane of the lane changing section. One of claims 1 to 6, wherein after driving in the driving mode, switching guidance from the automatic driving mode to the manual driving mode is performed at a predetermined mode switching guidance point within the lane change section. The driving support method described in. Sensors that detect the surrounding environment of your vehicle and
An actuator that realizes at least one of driving, braking and steering of the own vehicle,
A controller that automatically operates by controlling the actuator based on the detection result of the sensor is provided.
The controller
It is determined whether or not the section on the driving route is a mode switching section for switching the driving state of the own vehicle from the automatic driving mode to the manual driving mode because it is difficult to continue the automatic driving due to the road structure.
It is determined whether or not the lane change section in which the own vehicle changes lanes on the travel route is continuous with the mode switching section.
If the mode switching section and the lane change section are continuous and the lane change section is congested and the lane change cannot be performed by automatic driving, the point where the lane change is performed manually in the lane change section and the above. Continue the manual operation mode with the mode switching section ,
When the lane change section is continuous with the mode switching section and the lane change section is congested before the mode switching section, the lane change section is compared with the case where the lane change section is not congested. The lane change guidance point for presenting the lane change guidance is brought closer to the mode switching section to delay the presentation of the lane change guidance.
A driving support device characterized by this. Sensors that detect the surrounding environment of your vehicle and
An actuator that realizes at least one of driving, braking and steering of the own vehicle,
A controller that automatically operates by controlling the actuator based on the detection result of the sensor is provided.
The controller
It is determined whether or not the section on the driving route is a mode switching section for switching the driving state of the own vehicle from the automatic driving mode to the manual driving mode because it is difficult to continue the automatic driving due to the road structure.
It is determined whether or not the lane change section in which the own vehicle changes lanes on the travel route is continuous with the mode switching section.
If the mode switching section and the lane change section are continuous and the lane change section is congested and the lane change cannot be performed by automatic driving, the point where the lane change is performed manually in the lane change section and the above. Continue the manual operation mode with the mode switching section,
When the lane change section is continuous with the mode switching section and the lane change section is congested ahead of the mode switching section, the lane change section is compared with the case where the lane change section is not congested. In, the lane change guidance point for presenting the lane change guidance is brought closer to the mode switching section to accelerate the presentation of the lane change guidance.
It is determined whether or not the driver has changed lanes according to the lane change guidance.
When it is determined that the driver has changed lanes, a mode switching guide from the manual driving mode to the automatic driving mode is presented to the driver.
A driving support device characterized by this.

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