Automated driving control apparatus and automated driving control program
An automated driving control apparatus that enables traveling of a subject vehicle using an automated driving function is configured to grasp whether a driver of the subject vehicle grips a steering wheel, permit a transition from a driving assistance control with obligation for the driver to grip the steering wheel to an autonomous travel control, and cause a start notification to be issued to the driver. A hands-on notification that prompts the driver to grip the steering wheel is issued when it is grasped that the driver stops gripping the steering wheel during a period after at least one of transition conditions is satisfied and before the start notification is issued.
1 . An automated driving control apparatus that enables traveling of a subject vehicle using an automated driving function, the automated driving control apparatus comprising:
at least one of (i) a circuit and (ii) a processor with a memory storing computer program code executable by the processor configured to serve as:
a grip grasping section that is configured to grasp whether a driver of the subject vehicle grips a steering wheel;
a control switching section that is configured to permit, based on that a plurality of transition conditions is satisfied, a transition from a driving assistance control with obligation for the driver to grip the steering wheel to an autonomous travel control without obligation for the driver to monitor surroundings and the obligation for the driver to grip the steering wheel; and
a notification control section that causes a start notification to be issued to the driver, the start notification indicating a start of the autonomous travel control,
wherein
the notification control section issues a hands-on notification that prompts the driver to grip the steering wheel when it is grasped that the driver stops gripping the steering wheel during a period after at least one of the transition conditions is satisfied and before the start notification is issued, and
when the hands-on notification is issued, the control switching section suspends permission of the transition to the autonomous travel control after the plurality of transition conditions is satisfied.
2 . The automated driving control apparatus according to claim 1 , wherein
the control switching section stops the transition to the autonomous travel control when it is grasped that the driver stops gripping the steering wheel during a period after at least one of the transition conditions is satisfied and before the start notification is issued.
3 . The automated driving control apparatus according to claim 2 , wherein
the control switching section changes the driving assistance control to manual driving performed by the driver when stopping the transition to the autonomous travel control.
4 . The automated driving control apparatus according to claim 2 , wherein
the control switching section continues the driving assistance control when it is grasped that the steering wheel is gripped within a predetermined time after the hands-on notification is started.
5 . The automated driving control apparatus according to claim 4 , wherein
the control switching section restricts the transition to the autonomous travel control when the driving assistance control is continued based on grasping that the steering wheel is gripped.
6 . The automated driving control apparatus according to claim 1 , wherein
the notification control section stops issuing the start notification for a predetermined time when the hands-on notification is issued.
7 . A non-transitory computer readable storage medium storing an automated driving control program that enables traveling of a subject vehicle using an automated driving function, the automated driving control program causing at least one processor to perform the steps of:
grasping whether a driver of the subject vehicle grips a steering wheel;
permitting a transition from driving assistance control with obligation for the driver to grip the steering wheel to autonomous travel control without obligation for the driver to monitor surroundings and the obligation for the driver to grip the steering wheel based on that a plurality of transition conditions is satisfied;
issuing a start notification to the driver, the start notification indicating a start of the autonomous travel control;
issuing a hands-on notification that prompts the driver to grip the steering wheel when it is grasped that the driver stops gripping the steering wheel during a period after at least one of the transition conditions is satisfied and before the start notification is issued; and
suspending permission of the transition to the autonomous travel control after the plurality of transition conditions is satisfied when the hands-on notification is issued.