Apparatus for automated driving with notification timing based on detected features

1. An apparatus for automated driving, comprising a processor configured to:

determine whether a change of a travel condition or a controller of a vehicle that is being automatically driven is necessary;

determine a maximum delaying quantity indicating a location furthest from the vehicle or latest timing to start the change determined to be necessary, the maximum delaying quantity being determined so that the change is to be finished within a critical distance or time;

when the change is necessary, detect a predetermined feature related to the necessary change that is visible to a driver and is located between a current position of the vehicle and the location corresponding to the maximum delaying quantity;

when the predetermined feature is detected, control the vehicle to make the change, or notify the driver of the change with a notifying device;

and when the distance or time corresponding to the maximum delaying quantity is reached or elapsed since determining that the change is necessary, control the vehicle so as to make the change even though the predetermined feature is not detected.

2. The apparatus according to claim 1 , wherein when a predetermined delay time has elapsed since detection of the feature, the processor controls the vehicle so as to make the change or notifies the driver of the change with the notifying device.

3. The apparatus according to claim 2 , wherein the processor adjusts the predetermined delay time as a function of a speed of the vehicle at the time of detection of the feature, a height of the detected feature measured from a road surface, or an interval between the vehicle and another vehicle traveling ahead of the vehicle.

4. The apparatus according to claim 1 , wherein the predetermined feature is a signpost or road marking related to the change.

5. The apparatus according to claim 1 , wherein the processor is further configured to, when the change is necessary, detect a predetermined notification that is recognizable to the driver; and

when the predetermined notification is detected, control the vehicle so as to make the change, or notify the driver of the change with the notifying device; and

wherein the predetermined notification is traffic information on a traffic situation that causes the change, the traffic information being received with a wireless communication device mounted on the vehicle.

6. The apparatus according to claim 1 , wherein the change determined to be necessary is a change of lanes on which the vehicle travels, and

as a predetermined situation, the processor detects a situation around the vehicle in which the driver recognizes that the change of lanes is to be made safely.