Autonomous driving system that can eliminate a system distrust state of the driver

An autonomous driving system that performs autonomous driving of a vehicle and performs various warnings to a driver of the vehicle during autonomous driving, the system comprising an electronic control unit configured to:

• recognize a position of the vehicle on a map;
• recognize an external environment of the vehicle;
• recognize a travel state of the vehicle;
• generate a trajectory of the vehicle used for the autonomous driving, based on map information, the position of the vehicle on the map, the external environment of the vehicle, and the travel state of the vehicle;
• determine whether or not autonomous driving is in a normal driving situation, based on at least one of the position of the vehicle on the map, the external environment of the vehicle, the travel state of the vehicle, and the trajectory of the vehicle;
• recognize a driver situation including at least one of a driving action time of the driver, a non-driving action time of the driver, and a reaction delay time of the driver with respect to a change in the external environment of the vehicle;
• calculate an amount of time that the driver performs a driving action during a predetermined period of time during autonomous driving, the driving action comprising the driver gripping a steering unit of the vehicle with both hands while facing a front of the vehicle;
• determine that the driver is in a system distrust state when the calculated amount of time is greater than or equal to a predetermined threshold value;
• determine an anxiety elicitation degree based on the external environment of the vehicle;
• determine whether or not the vehicle during autonomous driving is in an anxiety elicitation situation based on whether or not the anxiety elicitation degree is above a predetermined threshold;
• and
• output an alert to eliminate the system distrust state for the driver in accordance with the external environment of the vehicle upon determination that the vehicle is in the anxiety elicitation situation in a case where autonomous driving is in the normal driving situation and upon determination that the driver is in the system distrust state, and not output the alert upon determination that the vehicle is not in the anxiety elicitation situation, in a case where autonomous driving is in the normal driving situation and the driver is in the system distrust state.