Automatic driving control planning apparatus and automatic driving control planning method
An automatic driving control plan creation unit creates a plan of an automatic driving section in which a subject vehicle is automatically driven, and a plan of a driving switching preparation section for switching the subject vehicle from automatic driving to manual driving. For each point in the driving switching preparation section, a driving load calculation unit calculates a driving load applied to a driver when the driver manually drives the subject vehicle. A driving switching permission determination unit permits switching of the subject vehicle from automatic driving to manual driving at a point where the driving load is smaller than a predetermined threshold value, and does not permit switching of the subject vehicle from automatic driving to manual driving at a point where the driving load is equal to or larger than the threshold value. A permission standard relaxation unit makes the driving load difficult to exceed the threshold value.
1. An automatic driving control planning apparatus comprising:
a processor to execute a program; and
a memory to store the program which, when executed by the processor, performs processes of:
creating an automatic driving control plan including a plan of an automatic driving section that is a section in which a subject vehicle is automatically driven, and a plan of a driving switching preparation section that is a section for switching the subject vehicle from automatic driving to manual driving at a final stage of the automatic driving section;
calculating, for each point of the driving switching preparation section, a driving load applied to a driver when the driver manually drives the subject vehicle;
permitting switching of the subject vehicle from automatic driving to manual driving at a point where the calculated driving load is smaller than a predetermined threshold value, and not permitting switching of the subject vehicle from automatic driving to manual driving at a point where the calculated driving load is equal to or larger than the threshold value; and
relaxing a standard for permitting switching of the subject vehicle from automatic driving to manual driving as the subject vehicle approaches an end point of the driving switching preparation section, by making the driving load difficult to exceed the threshold value.
2. The automatic driving control planning apparatus according to claim 1 , wherein
the processor increases the threshold value as the subject vehicle approaches an end point of the driving switching preparation section.
3. The automatic driving control planning apparatus according to claim 1 ,
the processor calculates the driving load to be lower as the subject vehicle approaches an end point of the driving switching preparation section.
4. The automatic driving control planning apparatus according to claim 1 , wherein
the processor calculates the driving load based on a road shape or a road attribute at each point of the driving switching preparation section, traffic information, or a situation of a non-subject vehicle that is present around the subject vehicle.
5. The automatic driving control planning apparatus according to claim 1 , wherein
the processor calculates the driving load in consideration of a situation of automatic driving of the subject vehicle.
6. The automatic driving control planning apparatus according to claim 1 , wherein
a start point of the driving switching preparation section can be changed by the driver; and
when a length of the driving switching preparation section becomes longer than a predetermined threshold value as a result of changing a start point of the driving switching preparation section by the driver, the processor does not relax a standard for permitting switching of the subject vehicle from automatic driving to manual driving for the driving switching preparation section.
7. The automatic driving control planning apparatus according to claim 1 , wherein
the processor notifies the driver that the subject vehicle enters the driving switching preparation section, by using a notification apparatus that notifies the driver.
8. The automatic driving control planning apparatus according to claim 1 , wherein
the processor notifies the driver of a current situation as to whether or not switching from automatic driving to manual driving is permitted, by using a notification apparatus that makes a notification to the driver while the subject vehicle travels in the driving switching preparation section.
9. The automatic driving control planning apparatus according to claim 1 , wherein
the processor previously predicts and calculates the driving load at each point in the driving switching preparation section;
the processor extracts in advance, from the driving switching preparation section, a switching-inhibited section that is a section in which switching from automatic driving to manual driving is not permitted, based on the predicted driving load at each point; and
the processor notifies the driver of whether or not the subject vehicle is located within the switching-inhibited section, by using a notification apparatus that makes a notification to the driver, while the subject vehicle travels in the driving switching preparation section.
10. The automatic driving control planning apparatus according to claim 9 , wherein
the notification apparatus comprises a display; and
the processor causes the display to display an image showing a positional relationship between the subject vehicle and the switching-inhibited section.
11. The automatic driving control planning apparatus according to claim 10 , wherein
an image showing a positional relationship between the subject vehicle and the switching-inhibited section is an image obtained by synthesizing an image showing a position of the subject vehicle on an image linearly representing the driving switching preparation section including the switching-inhibited section.
12. The automatic driving control planning apparatus according to claim 11 , wherein
the processor displays an image showing a position of the subject vehicle at a fixed position on a screen of the display, and causes an image linearly representing the driving switching preparation section to be scrolled in accordance with a change of a position of the subject vehicle.
13. The automatic driving control planning apparatus according to claim 10 , wherein
an image showing a positional relationship between the subject vehicle and the switching-inhibited section is an image of a map showing a position of the subject vehicle and a position of the switching-inhibited section.
14. The automatic driving control planning apparatus according to claim 10 , wherein
an image showing a positional relationship between the subject vehicle and the switching-inhibited section is an image obtained by synthesizing an image showing a position of the subject vehicle on a graph image showing the driving load and the threshold value at each point in the switching-inhibited section.
15. The automatic driving control planning apparatus according to claim 10 , wherein
the display is disposed in an instrument panel of the subject vehicle.
16. The automatic driving control planning apparatus according to claim 9 , wherein
the processor changes a start point of the driving switching preparation section to lengthen the driving switching preparation section in accordance with a length of the switching-inhibited section when there is the switching-inhibited section in the driving switching preparation section.
17. The automatic driving control planning apparatus according to claim 16 , wherein
the processor determines an amount for lengthening the driving switching preparation section, based on a length of the switching-inhibited section.
18. The automatic driving control planning apparatus according to claim 16 , wherein
when a length of the switching-inhibited section is shorter than a predetermined threshold value, the processor does not lengthen the driving switching preparation section.
19. The automatic driving control planning apparatus according to claim 16 , wherein
when a length of the driving switching preparation section excluding the switching-inhibited section is longer than a predetermined threshold value, the processor does not lengthen the driving switching preparation section.
20. An automatic driving control planning method comprising:
creating an automatic driving control plan including a plan of an automatic driving section that is a section in which a subject vehicle is automatically driven, and a plan of a driving switching preparation section that is a section for switching the subject vehicle from automatic driving to manual driving at a final stage of the automatic driving section;
calculating, for each point of the driving switching preparation section, a driving load applied to a driver when the driver manually drives the subject vehicle;
permitting switching of the subject vehicle from automatic driving to manual driving at a point where the calculated driving load is smaller than a predetermined threshold value, and not permitting switching of the subject vehicle from automatic driving to manual driving at a point where the calculated driving load is equal to or larger than the threshold value; and
relaxing a standard for permitting switching of the subject vehicle from automatic driving to manual driving as the subject vehicle approaches an end point of the driving switching preparation section, by making the driving load difficult to exceed the threshold value.