Vehicle controller, method, and computer program for vehicle control
A vehicle controller includes a memory configure to store a first map representing information on a road and a second map representing information on the road less accurately than the first map; and a processor configured to determine whether an involvement requirement for requesting a driver of a vehicle to be involved in driving the vehicle is satisfied, and give notification of a request for involvement in driving via a notification device provided in the vehicle interior when the involvement requirement is satisfied. The processor makes the involvement requirement less strict when autonomous driving control of the vehicle is based on the second map than when autonomous driving control of the vehicle is based on the first map.
1 . A vehicle controller comprising:
a memory configured to store a first map representing information on a road and a second map representing information on the road less accurately than the first map; and
a processor configured to:
determine whether an involvement requirement for requesting a driver of a vehicle to be involved in driving the vehicle is satisfied, based on an exterior sensor signal generated by an exterior sensor configured to detect conditions around the vehicle, an interior sensor signal generated by an interior sensor configured to detect conditions in an interior of the vehicle, a vehicle motion signal generated by a motion sensor configured to detect motion of the vehicle, or position of the vehicle, when the vehicle is under autonomous driving control, and
give notification of a request for involvement in driving via a notification device provided in the interior of the vehicle when the involvement requirement is satisfied, wherein
the processor makes the involvement requirement less strict when autonomous driving control of the vehicle is based on the second map than when autonomous driving control of the vehicle is based on the first map.
2 . The vehicle controller according to claim 1 , wherein the processor
measures a lateral distance between a lane line demarcating a lane being traveled by the vehicle and the vehicle, based on the exterior sensor signal, and determines that the involvement requirement is satisfied, when the lateral distance falls below a predetermined distance threshold; and
makes the predetermined distance threshold greater when autonomous driving control of the vehicle is based on the second map than when autonomous driving control of the vehicle is based on the first map.
3 . The vehicle controller according to claim 2 , wherein the processor increases the predetermined distance threshold as the degree of inconsistency between the information on the road represented in the first map and the information on the road represented in the second map increases in a section where autonomous driving control of the vehicle is based on the second map.
4 . The vehicle controller according to claim 1 , wherein the processor
determines that the involvement requirement is satisfied, when speed of the vehicle indicated by the vehicle motion signal is greater than a regulation speed of a road being traveled by the vehicle by more than a predetermined speed threshold; and
sets the predetermined speed threshold to a lower value when autonomous driving control of the vehicle is based on the second map than when autonomous driving control of the vehicle is based on the first map.
5 . The vehicle controller according to claim 1 , wherein the processor
determines that the involvement requirement is satisfied, when a regulation speed of a road being traveled by the vehicle is less than a predetermined speed; and
sets the predetermined speed to a higher value when autonomous driving control of the vehicle is based on the second map than when autonomous driving control of the vehicle is based on the first map.
6 . The vehicle controller according to claim 1 , wherein the processor
determines that the involvement requirement is satisfied, when radius of curvature of a curve in a section being traveled by the vehicle or extending to a predetermined distance away is less than a predetermined curvature radius threshold; and
sets the predetermined curvature radius threshold to a higher value when autonomous driving control of the vehicle is based on the second map than when autonomous driving control of the vehicle is based on the first map.
7 . The vehicle controller according to claim 1 , wherein the processor
determines that the involvement requirement is satisfied, when gradient of a road in a section being traveled by the vehicle or extending to a predetermined distance away is not less than a predetermined gradient threshold; and
sets the predetermined gradient threshold to a lower value when autonomous driving control of the vehicle is based on the second map than when autonomous driving control of the vehicle is based on the first map.
8 . A method for vehicle control, comprising:
determining whether an involvement requirement for requesting a driver of a vehicle to be involved in driving the vehicle is satisfied, based on an exterior sensor signal generated by an exterior sensor configured to detect conditions around the vehicle, an interior sensor signal generated by an interior sensor configured to detect conditions in an interior of the vehicle, a vehicle motion signal generated by a motion sensor configured to detect motion of the vehicle, or position of the vehicle, when the vehicle is under autonomous driving control; and
giving notification of a request for involvement in driving via a notification device provided in the interior of the vehicle when the involvement requirement is satisfied, wherein determining whether the involvement requirement is satisfied comprises making the involvement requirement stricter when autonomous driving control of the vehicle is based on a first map representing information on a road than when autonomous driving control of the vehicle is based on a second map representing information on the road less accurately than the first map.
9 . A non-transitory recording medium that stores a computer program for vehicle control, the computer program causing a processor mounted on a vehicle to execute a process comprising:
determining whether an involvement requirement for requesting a driver of the vehicle to be involved in driving the vehicle is satisfied, based on an exterior sensor signal generated by an exterior sensor configured to detect conditions around the vehicle, an interior sensor signal generated by an interior sensor configured to detect conditions in an interior of the vehicle, a vehicle motion signal generated by a motion sensor configured to detect motion of the vehicle, or position of the vehicle, when the vehicle is under autonomous driving control; and
giving notification of a request for involvement in driving via a notification device provided in the interior of the vehicle when the involvement requirement is satisfied, wherein
determining whether the involvement requirement is satisfied comprises making the involvement requirement stricter when autonomous driving control of the vehicle is based on a first map representing information on a road than when autonomous driving control of the vehicle is based on a second map representing information on the road less accurately than the first map.