Automatic driving control device

An automated driving control device, comprising:

• a non-transitory memory;
• and
• a processor configured to operate as:
• a recognition unit adapted to recognize a peripheral monitoring state of a driver;
• an automated controller adapted to perform an automated control of at least one of steering, acceleration and deceleration of a vehicle, and terminate the automated control of the at least one of steering, acceleration and deceleration, in the case that a switching operation is carried out to prioritize manual control of the at least one of steering, acceleration and deceleration during the automated control;
• and
• a determination unit adapted to determine a state of ease of the switching operation;
• on the basis of the peripheral monitoring state recognized by the recognition unit and the state of ease of the switching operation determined by the determination unit, the automated controller:
• alters a degree of all of automated controls which are permitted to be executed in relation to all of automated controls that are capable of being executed, or
• alters a permitted amount of change of vehicle behavior over time when at least one of steering, acceleration and deceleration of the vehicle is performed in the automated control,
• wherein the recognition unit recognizes, as the peripheral monitoring state, whether or not the driver is inattentive,
• wherein the determination unit determines, as the state of ease of the switching operation, whether or not the driver is contacting the steering wheel of the vehicle, and
• wherein the automated controller lowers an upper limit of a lateral acceleration generated while the vehicle is traveling on a ramp or the vehicle is making a lane change, in the case that the inattentive state of the driver is not recognized by the recognition unit and the determination unit determines that the driver is not contacting the steering wheel, compared to a case in which the inattentive state of the driver is not recognized by the recognition unit, and it is determined by the determination unit that the driver is contacting the steering wheel.