To provide a travel control device capable of appropriately controlling vehicle behavior after completing travel under automatic control.SOLUTION: A travel control device comprises: a trave control section which executes automatic travel control of a vehicle; an estimation section which estimates a predicted arrival timing when the vehicle is predicted to reach a predetermined point beyond which automatic control cannot be continued; a notification section which starts notification of a drive turn-taking request for requesting drive turn-taking from automatic control to manual control at a predetermined time before the predicted arrival timing; a drive turn-taking section which terminates the drive turn-taking request and the automatic control when detecting response operation of a driver in response to the drive turn-taking request before the vehicle reaches the predetermined point, and starts reception of driving operation; and a stop control section which terminates the drive turn-taking request and the automatic control when the vehicle reaches the predetermined point without detecting the response operation, and executes safe stop control controlling acceleration/deceleration and steering of the vehicle so that the vehicle stops at a safe position.SELECTED DRAWING: Figure 6
【課題】自動制御による走行終了後の車両の動作を適切に制御することができる走行制御装置を提供する。【解決手段】走行制御装置は、車両の走行を自動制御する走行制御部と、自動制御を継続できなくなる所定地点に車両が到達すると見込まれる予測到達タイミングを推定する推定部と、予測到達タイミングの所定時間前に、自動制御から手動制御への運転交代を要求する運転交代要求の通知を開始する通知部と、車両が所定地点に到達する前に運転交代要求に応じた運転者の応答動作が検出された場合、運転交代要求および自動制御を終了するとともに運転操作の受付を開始する運転交代部と、応答動作が検出されることなく車両が前記所定地点に到達した場合、運転交代要求および自動制御を終了するとともに車両が安全な位置に停止するように車両の加減速および操舵を制御する安全停止制御を行う停止制御部と、を備える。【選択図】図6
TRAVEL CONTROL DEVICE, TRAVEL CONTROL METHOD AND TRAVEL CONTROL COMPUTER PROGRAM
走行制御装置、走行制御方法、および走行制御用コンピュータプログラム
2024-03-06
Patent
Electronic Resource
Japanese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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