Automatic driving system
An automatic driving system includes an electronic control device configured to: detect a driving operation input amount during an automatic driving control for a vehicle; determine whether the driver is able to start manual driving during the automatic driving control for the vehicle; output a signal for performing switching from automatic driving to the manual driving based on a result of a comparison between the driving operation input amount and a driving switching threshold that is a threshold for the switching from the automatic driving to the manual driving; set the driving switching threshold to a first driving switching threshold when it is determined that the driver is able to start the manual driving; and set the driving switching threshold to a second driving switching threshold exceeding the first driving switching threshold when it is determined that the driver is not able to start the manual driving.
1. An automatic driving system that switches a driving state of a vehicle from an automatic driving control to a manual driving control, comprising:
a driver state sensor that detects a state of a driver of a vehicle;
an operation input duration sensor that detects a duration of the driver's manual driving operation input during the automatic driving control;
an electronic control unit programmed to:
determine whether or not the driver is able to start the manual driving control during the automatic driving control of the vehicle based on a detection result of the driver state sensor;
set a driving switching duration threshold to a first driving switching duration threshold when it is determined that the driver is able to start the manual driving;
set the driving switching duration threshold to a second driving switching duration threshold that is of a longer duration than the first driving switching duration threshold when it is determined that the driver is not able to start the manual driving;
switch the driving state of the vehicle from the automatic driving control to the manual driving control when the duration of the driver's manual driving operation input detected by the operation input duration sensor is longer than the driving switching duration threshold; and
continue the driving state of the vehicle in the automatic driving control when the duration of the driver's manual driving operation input detected by the operation input duration sensor is equal to or shorter than the driving switching duration threshold.
2. The automatic driving system according to claim 1 , wherein the driver state sensor includes a contact sensor configured to detect the driver's contact with a steering wheel of the vehicle and transmit a signal of a result of the detection to the electronic control unit,
wherein the electronic control unit determines whether or not the driver is able to start the manual driving based on the signal received from the contact sensor.
3. The automatic driving system according to claim 1 , wherein the driver state sensor includes a biometric information sensor configured to detect the driver's biometric information and transmit a signal of a result of the detection to the electronic control unit,
wherein the electronic control unit determines whether or not the driver is able to start the manual driving based on the signal received from the biometric information sensor.
4. The automatic driving system according to claim 1 , wherein the driver state sensor includes a camera configured to image the driver and transmit an image signal to the electronic control unit,
wherein the electronic control unit is configured to determine whether or not the driver is able to start the manual driving based on the image signal received from the camera.
5. The automatic driving system according to claim 4 ,
wherein the electronic control unit is programmed to determine whether or not the driver is able to start the manual driving based on at least one of a driver's posture, a direction of the driver's line of sight or face, and a driver's eye-opening amount based on the image signal received from the camera.
6. The automatic driving system according to claim 1 , wherein the duration of the driver's manual driving operation input detected by the operation input duration sensor includes at least one of a duration of a steering wheel operation input, an accelerator operation input, or a brake operation input.
7. The automatic driving system according to claim 6 , wherein the duration of the driver's manual driving operation input detected by the operation input duration sensor includes at least one of a duration of a steering wheel operation input, an accelerator operation input, or a brake operation input.
8. A method that switches a driving state of a vehicle from an automatic driving control to a manual driving control, comprising:
detecting a state of a driver of a vehicle using a driver state sensor;
detecting a duration of the driver's manual driving operation input during the automatic driving control using an operation input duration sensor;
determining, using an electronic control unit, whether or not the driver is able to start the manual driving control during the automatic driving control of the vehicle based on a detection result of the driver state sensor;
setting, using the electronic control unit, a driving switching duration threshold to a first driving switching duration threshold when it is determined that the driver is able to start the manual driving;
setting, using the electronic control unit, the driving switching duration threshold to a second driving switching duration threshold that is longer than the first driving switching duration threshold when it is determined that the driver is not able to start the manual driving;
switching, using the electronic control unit, the driving state of the vehicle from the automatic driving control to the manual driving control when the duration of the driver's manual driving operation input detected by the operation input duration sensor is longer than the driving switching duration threshold; and
continuing, using the electronic control unit, the driving state of the vehicle in the automatic driving control when the duration of the driver's manual driving operation input detected by the operation input duration sensor is equal to or shorter than the driving switching duration threshold.
9. The automatic driving system according to claim 8 , wherein
the detecting the state of the driver includes detecting, using a contact sensor, the driver's contact with a steering wheel of the vehicle and transmitting a signal of a result of the detection to the electronic control unit, and
wherein the electronic control unit determines whether or not the driver is able to start the manual driving based on the signal received from the contact sensor.
10. The automatic driving system according to claim 8 , wherein
the detecting the state of the driver includes detecting, using a biometric sensor, the driver's biometric information and transmitting a signal of a result of the detection to the electronic control unit, and
wherein the electronic control unit determines whether or not the driver is able to start the manual driving based on the signal received from the biometric information sensor.
11. The automatic driving system according to claim 8 , wherein
the detecting the state of the driver includes obtaining, using a camera, an image of the driver and transmitting an image signal of the obtained image to the electronic control unit,
wherein the electronic control unit determines whether or not the driver is able to start the manual driving based on the image signal received from the camera.
12. The automatic driving system according to claim 11 ,
wherein the electronic control unit determines whether or not the driver is able to start the manual driving based on at least one of a driver's posture, a direction of the driver's line of sight or face, and a driver's eye-opening amount based on the image signal received from the camera.