| 摘要 |
PROBLEM TO BE SOLVED: To perform the transfer to manual traveling mode in the state where a driver is experienced in drive operation as much as possible by controlling the transfer time on the basis of the environmental information having an influence on the drive operation in the gradual transfer from automatic traveling mode is gradually transferred to manual traveling mode. SOLUTION: In the transfer from automatic traveling mode to manual traveling mode in a control unit, a processing of transferring to manual traveling mode is started (S6) when it is judged that the external environmental state of a vehicle is the state suitable for monitoring the propriety of transfer to manual traveling mode (S50, OK). When the transfer processing is started, the control unit determines the reducing quantity ΔG of automatic control gain G(S7). The reduction quantity ΔG is obtained by selecting a transfer characteristic suitable for the present environment having an influence on drive operation from transfer characteristics, and performing an operation according to the selected characteristic, and adding various corrections by disturbance. Thus, the transfer to manual traveling mode is controlled according to the skill of drive operation. |
