Driving assist method and driving assist device

1. A driving assist method that includes a vehicle speed/headway control function and a lane-keeping function as driving assist functions to assist driving operations by a driver, and that uses a mode transition controller for transitioning between driving assist modes, the driving assist method comprising:

the driving assist modes including a hands-off mode in which the driver is allowed to take their hands off a steering wheel, a hands-on mode that includes as a condition that the driver has their hands on the steering wheel, a steering wheel operation mode that encourages the driver to operate the steering wheel, and a steering wheel assist deactivation mode in which the lane-keeping function is deactivated;

acquiring information on a steering wheel assist deactivation region in which steering wheel assist is to be deactivated during lane-keeping travel in which the hands-off mode has been selected

requesting a mode transition from the hands-off mode to the hands-on mode based on the information on the steering wheel assist deactivation region; and

determining whether or not the driver has their hands on the steering wheel after the mode transition to the hands-on mode has been requested;

requesting a mode transition from the hands-on mode to the steering wheel operation mode on the condition that it is confirmed that the driver has their hands on the steering wheel;

determining whether or not the driver has performed a steering wheel operation after the mode transition to the steering wheel operation mode has been requested; and

performing a mode transition from the steering wheel operation mode to the steering wheel assist deactivation mode on the condition that a steering wheel operation by the driver is confirmed before the host vehicle reaches the steering wheel assist deactivation region.

2. The driving assist method as set forth in claim 1 , wherein

in cases in which it was not possible to confirm that the driver has their hands on the steering wheel within a prescribed length of time after the mode transition to the hands-on mode was requested, and in cases in which a prescribed length of time has elapsed in which it has not been possible to confirm a steering wheel operation by the driver after the mode transition to the steering wheel operation mode was requested, the host vehicle is decelerated and stopped, and then the vehicle speed/headway control function and the lane-keeping function, which are driving assist functions, are deactivated.

3. The driving assist method as set forth in claim 2 , further comprising

monitoring a touch sensor as to whether or not the driver has their hands on the steering wheel after requesting the mode transition from the hands-off mode to the hands-on mode; and

monitoring a torque sensor as to whether or not the driver has performed a steering wheel operation after requesting the mode transition from the hands-on mode to the steering wheel operation mode.

4. A driving assist method that includes a vehicle speed/headway control function and a lane-keeping function as driving assist functions to assist driving operations by a driver, and that uses a mode transition controller for transitioning between driving assist modes, the driving assist method comprising:

the driving assist modes including a hands-off mode in which the driver is allowed to take their hands off a steering wheel, a hands-on mode that includes as a condition that the driver has their hands on the steering wheel, a steering wheel operation mode that encourages the driver to perform a steering wheel operation, and a steering wheel assist deactivation mode in which the lane-keeping function is deactivated;

acquiring information that a lane disappearance region, in which no lane that continues from a current lane can be recognized, exists along an extension of a travel route of a host vehicle during lane-keeping travel in which the hands-off mode has been selected;

acquiring information on a lane disappearance start point when the lane disappearance region is known in advance, and setting a first position and a second position between a host vehicle position and the lane disappearance start point;

requesting a mode transition from the hands-off mode to the hands-on mode when the host vehicle reaches the first position;

requesting a mode transition from the hands-on mode to the steering wheel operation mode when the host vehicle reaches the second position; and

performing a mode transition from the steering wheel operation mode to the steering wheel assist deactivation mode before the host vehicle reaches the lane disappearance start point when confirmation has been made that the driver is holding the steering wheel.

5. The driving assist method as set forth in claim 4 , wherein

after the mode transition from the hands-on mode to the steering wheel operation mode is requested, performing the mode transition is performed from the steering wheel operation mode to the steering wheel assist deactivation mode when a steering wheel operation is detected before the host vehicle reaches the lane disappearance start point.

6. The driving assist method as set forth in claim 4 , wherein

determining whether a lane change is necessary or unnecessary and whether a curve is present or absent when the information on the lane disappearance start point is acquired; and

the first position and the second position are set in accordance with results of a determination of whether the lane change is necessary or unnecessary and whether the curve is present or absent.

7. The driving assist method as set forth in claim 6 , wherein

in cases in which a lane-keeping travel path using the hands-off mode is a roadway that does not require the host vehicle to change lanes, the first position is set to a position a first distance from the lane disappearance start point, and the second position is set to a position the second distance, which is less than the first distance, from the lane disappearance start point.

8. The driving assist method as set forth in claim 6 , wherein

the driving assist method includes a route travel assist function that, in cases in which the driver has set a destination, assists lane changes using steering control when a lane change start point necessary for travel along the travel route is reached and an intention to perform a lane change by driver operation is confirmed; and

in cases in which the lane-keeping travel path using the hands-off mode is a roadway that requires the host vehicle to change lanes, the first position is set to the lane change start point, and the second position is set to a position separated by a prescribed distance from the lane disappearance start point.

9. The driving assist method as set forth in claim 6 , wherein

in cases in which there is a curve with a turning radius at or below a prescribed value ahead of the lane disappearance region when the first position or the second position is being set, the origin for setting the position is changed from the lane disappearance start point to the curve start point of the curve.

10. The driving assist method as set forth in claim 9 , wherein

in cases in which there is a curve with a turning radius at or below the prescribed value ahead of the lane disappearance region, a target lateral acceleration for curve-coordinated deceleration in the steering wheel operation mode is made lower than the values of the target lateral acceleration for curve-coordinated deceleration in the hands-on mode, the hands-off mode, and the steering wheel assist deactivation mode.

11. The driving assist method as set forth in claim 4 , wherein

when the host vehicle passes through the lane disappearance region to reach a lane disappearance end point with the steering wheel assist deactivation mode selected and lane recognition is resumed, the mode transition is performed from the steering wheel assist deactivation mode to the hands-on mode; and

when a hands-off condition is met during lane-keeping travel in the hands-on mode, the mode transition is performed from the hands-on mode to the hands-off mode.

12. The driving assist method as set forth in claim 4 , wherein

the lane disappearance region is an exit location for which map data includes no lane information.

13. The driving assist method as set forth in claim 4 , wherein

the lane disappearance region is a toll plaza for which map data includes information that there are no lanes.

14. The driving assist method as set forth in claim 4 , wherein

the lane disappearance region is a laneless segment for which map data includes information that there are no lanes.

15. The driving assist method as set forth in claim 4 , wherein

the lane disappearance region is a merge location for which map data includes information that the current lane will disappear due to merging.

16. The driving assist method as set forth in claim 4 , wherein

the lane disappearance region is a lane decrease location for which map data includes information that the current lane will disappear due to a lane decrease.

17. A driving assist device that includes a vehicle speed/headway control function and a lane-keeping function as driving assist functions to assist driving operations by a driver, and that is provided with a mode transition controller for transitioning between driving assist modes, the driving assist device comprising:

the driving assist modes including a hands-off mode in which the driver is allowed to take their hands off a steering wheel, a hands-on mode that includes as a condition that the driver has their hands on the steering wheel, a steering wheel operation mode that encourages the driver to perform steering wheel operations, and a steering wheel assist deactivation mode in which the lane-keeping function is deactivated; and

the mode transition controller being configured to

detect a lane disappearance region, in which no lane that continues from a current lane can be recognized, along an extension of a travel route of a host vehicle during lane-keeping travel in which the hands-off mode has been selected,

acquire information on a lane disappearance start point when the lane disappearance region is known in advance, and that sets a mode transition position between a host vehicle position and the lane disappearance start point

request a mode transition from the hands-off mode to the hands-on mode when the host vehicle reaches the first position,

request a mode transition from the hands-on mode to the steering wheel operation mode when the host vehicle reaches the second position, and

perform a mode transition from the steering wheel grip mode to the steering wheel assist deactivation mode before the host vehicle reaches the lane disappearance start point when confirmation has been made that the driver has held the steering wheel.