Vehicle control system, vehicle control method, and vehicle control program

1. A vehicle control system comprising:

a driving controller configured to, by executing any one of a plurality of driving modes having different automatic control levels from each other, execute any one of

automated driving for automatically performing at least one of velocity control and steering control over a vehicle and

manual driving for performing both of said velocity control and steering control over said vehicle based on operation on a main operator by an occupant of said vehicle;

an armrest for an occupant sitting on a driver's seat of said vehicle to put his/her arm on; and

an armrest relative position controller configured to control a drive unit such that a position of said armrest relative to said occupant sitting on said driver's seat varies between said automated driving and said manual driving executed by said driving controller,

wherein

said drive unit drives said driver's seat in a longitudinal direction,

said armrest is supported so as not to move in conjunction with longitudinal movement of said driver's seat, and

said armrest relative position controller controls said drive unit to drive said driver's seat rearward to locate said armrest at a position ahead of said driver's seat and locate said armrest at a relative position where said armrest is usable by the occupant.

2. The vehicle control system according to claim 1 , wherein said armrest relative position controller controls said drive unit such that:

said armrest is located at a relative position where said armrest is usable by the occupant when said automated driving is performed by said driving controller, and

said armrest is located at a relative position where said armrest is hard to use by the occupant when the automated driving is not performed by said driving controller.

3. A vehicle control system comprising:

a driving controller configured to, by executing any one of a plurality of driving modes having different automatic control levels from each other, execute any one of

automated driving for automatically performing at least one of velocity control and steering control over a vehicle and

manual driving for performing both of said velocity control and steering control over said vehicle based on operation on a main operator by an occupant of said vehicle;

an armrest for an occupant sitting on a driver's seat of said vehicle to put his/her arm on; and

an armrest relative position controller configured to control a drive unit such that a position of said armrest relative to said occupant sitting on said driver's seat varies between said automated driving and said manual driving executed by said driving controller,

wherein

said armrest includes an auxiliary operator that is operable by said occupant sitting on said driver's seat, and

said driving controller controls travel of said vehicle in accordance with operation input to said auxiliary operator and in accordance with an execution state of said automated driving and said manual driving.

4. The vehicle control system according to claim 3 , wherein, when the mode is switched from said automated driving to said manual driving, said driving controller controls the travel of said vehicle based on the operation input to said auxiliary operator.

5. The vehicle control system according to claim 3 , further comprising a display device displaying information indicating that a driving operation on said auxiliary operator is possible.

6. The vehicle control system according to claim 4 , wherein when the mode is switched from said automated driving to said manual driving, said driving controller controls the travel of said vehicle in accordance with the operation input to said auxiliary operator only during transition time for switching from said automated driving to said manual driving.

7. The vehicle control system according to claim 3 , wherein the auxiliary operator is a mobile terminal device, and the driving controller determines whether the input to the mobile terminal device is performed by a person who is registered as a permitted person in advance.

8. A vehicle control system comprising:

a driving controller configured to, by executing any one of a plurality of driving modes having different automatic control levels from each other, perform switching control between:

automated driving for automatically performing at least one of velocity control and steering control over a vehicle, and

manual driving for performing both of said velocity control and steering control over said vehicle based on operation on a main operator by an occupant of said vehicle; and

an auxiliary operator configured to become operable by an occupant sitting on a driver's seat when said automated driving is executed by said driving controller,

wherein, when the mode is switched from said automated driving to said manual driving, said driving controller controls travel of said vehicle based on operation input to said auxiliary operator, and

wherein, when the mode is switched from said automated driving to said manual driving, said driving controller controls the travel of said vehicle in accordance with the operation input to said auxiliary operator only during transition time for switching from said automated driving to said manual driving.

9. The vehicle control system according to claim 8 , wherein

said driver's seat is driven in a longitudinal direction by a drive unit, and

said auxiliary operator is disposed to an armrest that is supported so as not to move in conjunction with longitudinal movement of said driver's seat, and becomes operable by said occupant sitting on said driver's seat when said driver's seat is driven rearward by said drive unit.

10. A vehicle control method causing an in-vehicle computer

to execute, by executing any one of a plurality of driving modes having different automatic control levels from each other, any one of:

automated driving for automatically performing at least one of velocity control and steering control over a vehicle, and

manual driving for performing both of said velocity control and steering control over said vehicle based on operation on a main operator by an occupant of said vehicle; and

to control a drive unit such that a relative position of an armrest for an occupant sitting on a driver's seat of said vehicle to put his/her arm on varies between said automated driving and said manual driving,

wherein

said drive unit drives said driver's seat in a longitudinal direction,

said armrest is supported so as not to move in conjunction with longitudinal movement of said driver's seat, and

said method causes the in-vehicle computer to control said drive unit to drive said driver's seat rearward to locate said armrest at a position ahead of said driver's seat and locate said armrest at a relative position where said armrest is usable by the occupant.

11. A non-transitory computer readable medium storing a vehicle control program causing an in-vehicle computer

to execute, by executing any one of a plurality of driving modes having different automatic control levels from each other, any one of:

automated driving for automatically performing at least one of velocity control and steering control over a vehicle, and

manual driving for performing both of said velocity control and steering control over said vehicle based on operation on a main operator by an occupant of said vehicle; and

to control a drive unit such that a relative position of an armrest for an occupant sitting on a driver's seat of said vehicle to put his/her arm on varies between said automated driving and said manual driving,

wherein

said drive unit drives said driver's seat in a longitudinal direction,

said armrest is supported so as not to move in conjunction with longitudinal movement of said driver's seat, and

said vehicle control program causes the in-vehicle computer to control said drive unit to drive said driver's seat rearward to locate said armrest at a position ahead of said driver's seat and locate said armrest at a relative position where said armrest is usable by the occupant.

12. A vehicle control system comprising:

a driving controller configured to, by executing any one of a plurality of driving modes having different automatic control levels from each other, perform switching control between:

automated driving for automatically performing at least one of velocity control and steering control over a vehicle, and

manual driving for performing both of said velocity control and steering control over said vehicle based on operation on a main operator by an occupant of said vehicle; and

an auxiliary operator configured to become operable by an occupant sitting on a driver's seat when said automated driving is executed by said driving controller,

wherein

said auxiliary operator is configured to change a position between a projected position and a retracted position such that the auxiliary operator switches the position thereof from the retracted position to the projected position when said automated driving is activated by said driving controller.

13. A vehicle control method causing an in-vehicle computer

to execute, by executing any one of a plurality of driving modes having different automatic control levels from each other, any one of:

automated driving for automatically performing at least one of velocity control and steering control over a vehicle, and

manual driving for performing both of said velocity control and steering control over said vehicle based on operation on a main operator by an occupant of said vehicle; and

to control a drive unit such that a relative position of an armrest for an occupant sitting on a driver's seat of said vehicle to put his/her arm on varies between said automated driving and said manual driving,

wherein

said armrest includes an auxiliary operator that is operable by said occupant sitting on said driver's seat, and

said method causes the in-vehicle computer to control travel of said vehicle in accordance with operation input to said auxiliary operator and in accordance with an execution state of said automated driving and said manual driving.

14. A vehicle control method causing an in-vehicle computer to execute processing comprising steps of:

performing, by executing any one of a plurality of driving modes having different automatic control levels from each other, switching control between:

automated driving for automatically performing at least one of velocity control and steering control over a vehicle, and

manual driving for performing both of said velocity control and steering control over said vehicle based on operation on a main operator by an occupant of said vehicle;

making an auxiliary operator operable by an occupant sitting on a driver's seat when said automated driving is executed by said driving controller; and

when the mode is switched from said automated driving to said manual driving, controlling travel of said vehicle in accordance with operation input to said auxiliary operator only during transition time for switching from said automated driving to said manual driving.