JP2015063250A - Information display - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable an occupant to intuitively understand the state of a vehicle.SOLUTION: A system state estimation part 334 estimates a working state of an automatic travel function on the basis of information obtained by monitoring the automatic travel function. Then, a display image generation part 335 generates a display image allowing the working state of the automatic travel function to be visually recognized on the basis of the estimation result of an automatic travel state estimation part. At this time, the display image generation part 335 classifies the working state of the automatic travel function into any of a plurality of categories. Moreover, the display image generation part 335 generates a display image which represents the working state of the automatic travel function in a stand-by state category with the change in a chromatic attribute and represents the working state of the automatic travel function in an operation state category with the change in a spatial attribute.

Description

  The present invention relates to an information display device that is applied to an automobile having an automatic driving function and displays information related to an operating state of the automatic driving function.

  Currently, there is an information display device that is provided in an automobile and displays information related to the driving state of the automobile. As such an information display device, for example, there is a conventional technique described in Patent Document 1. In the prior art described in Patent Document 1, an automobile is automatically operated based on information acquired from a GPS satellite. The prior art described in Patent Document 1 displays the acquisition state of information from GPS satellites by the character notation “CONTROL”, “READY”, and “CANCEL”.

Japanese Patent Laid-Open No. 2005-67483

In order to understand the content of the information, the crew must move the line of sight to the place where the character is marked, look at the character, and read and understand the character. become. From this, the character notation cannot be understood intuitively by the occupant.
The present invention pays attention to the above points, and expresses information related to the state of the vehicle system by a change in the attribute of the image that can be visually recognized, thereby enabling the passenger to intuitively understand the state of the vehicle. Objective.

  In order to solve the above-described problem, in one aspect of the present invention, an automatic travel function is provided in an information display device that displays information related to an operating state of an automatic travel function in a vehicle having an automatic travel function that controls at least a part of processing related to driving Information obtained by monitoring is acquired. In one aspect of the present invention, the operating state of the automatic traveling function is estimated based on monitoring and obtaining the automatic traveling function. Subsequently, in one aspect of the present invention, a display image that can visually recognize the operating state of the automatic traveling function is generated based on the estimation result of the automatic traveling state estimation unit. At this time, according to one aspect of the present invention, the estimated operating state of the automatic traveling function is classified into a standby state category in which the automatic traveling function is in a standby state or an operating state category in which the automatic traveling function is in an operational state. Subsequently, in one aspect of the present invention, a display image that represents an operating state of the automatic traveling function in the standby state category by a change in a color attribute and represents an operating state of the automatic traveling function in the operating state category by a change in a spatial attribute. Generate.

  In one aspect of the present invention, when the display image is generated, the automatic traveling function is in the standby state category by a color attribute, and the active state is in the operating state category by a spatial attribute. Further, the operating state of the automatic traveling function in the standby state category is represented by a change in the color attribute, and the operating state of the automatic traveling function in the operating state category is represented by a change in the spatial attribute. Thus, according to one aspect of the present invention, an occupant can intuitively understand the operating state of the automatic driving function of the automobile.

It is a block diagram which shows schematic structure of a vehicle provided with the information display apparatus of 1st embodiment of this invention. It is a figure for demonstrating the display part shown in FIG. It is a block diagram for demonstrating the display control part and automatic traveling system part which were shown in FIG. It is a figure for demonstrating concretely the production | generation of the display image of 1st embodiment of this invention. It is a figure which shows collectively the relationship between the conspicuousness (attention level) of the display image of 1st embodiment of this invention, and the state change of an automatic travel system. It is a figure for demonstrating the relationship between the attribute of the display image and alerting degree of 1st embodiment of this invention.

Next, a first embodiment of the present invention will be described with reference to the drawings.
In the first embodiment, the information display device of the first embodiment is applied to a vehicle having a function of automatically controlling a part of the traveling function (hereinafter referred to as “automatic traveling function”).
(Constitution)
FIG. 1 is a block diagram illustrating a schematic configuration of a vehicle V including the information display device of the first embodiment. As shown in FIG. 1, a vehicle V equipped with an information display device includes a G sensor 2, a yaw rate sensor 4, a steering angle sensor 6, a driver brake hydraulic pressure sensor 8, an accelerator opening sensor 10, a GPS ( (Global Positioning System) 17 and an environment sensor 19 that detects the environment around the vehicle V (at least front, back, left, and right).

  In addition, the vehicle V includes a shift position sensor 12, a stroke sensor 14, a travel support mode switch 16, a wheel speed sensor 18, a travel mode selection switch 140, a central controller 20, a brake pedal 22, and a master. A cylinder 24 is provided. Further, the vehicle V includes a brake actuator 26, a power control unit 28, a power unit 30, a wheel cylinder 35, wheels W (a right front wheel WFR, a left front wheel WFL, a right rear wheel WRR, a left rear wheel WRL), A suspension SP is provided.

The G sensor 2 includes a block having a function of a sprung vertical acceleration sensor, a block having a function of an unsprung vertical acceleration sensor, a block having a function of a lateral acceleration sensor, and a block having a function of a longitudinal acceleration sensor.
The block having the function of the sprung vertical acceleration sensor detects the acceleration in the vertical direction in the sprung portion of the vehicle body with respect to the vehicle V. Then, an information signal including the detected acceleration (in the following description, may be described as a “sprung vertical acceleration signal”) is output to the central controller 20.
The block having the function of the unsprung vertical acceleration sensor detects the acceleration in the vertical direction in the unsprung part of the vehicle body with respect to the vehicle V. Then, an information signal including the detected acceleration is output to the central controller 20.

The block having the function of the lateral acceleration sensor detects acceleration in the lateral direction (vehicle width direction) of the vehicle body in the vehicle V (may be described as “actual lateral acceleration” in the following description). Then, an information signal including the detected actual lateral acceleration is output to the central controller 20.
The block having the function of the longitudinal acceleration sensor detects acceleration in the longitudinal direction of the vehicle body (vehicle longitudinal direction) with respect to the vehicle V. Then, an information signal including the detected acceleration is output to the central controller 20.
The yaw rate sensor 4 detects the yaw rate of the vehicle V (the changing speed of the rotation angle in the direction in which the vehicle body turns), and outputs an information signal including the detected yaw rate to the central controller 20.

For example, the steering angle sensor 6 is provided in a steering column (not shown) that rotatably supports a steering operator (for example, a steering hole) (not shown).
The steering angle sensor 6 detects the current steering angle, which is the current rotation angle (steering operation amount) of the steering operator with reference to the neutral position. Then, the steering angle sensor 6 outputs an information signal including the detected current steering angle to the central controller 20.
The driver brake fluid pressure sensor 8 detects the fluid pressure (driver brake fluid pressure) generated by the depression operation of the brake pedal 22 by the occupant among the fluid pressures (brake fluid pressure) generated in the master cylinder 24. Then, an information signal including the detected driver brake fluid pressure is output to the central controller 20.
The accelerator opening sensor 10 detects the opening of an accelerator pedal (not shown) and outputs an information signal including the detected opening to the central controller 20.

The shift position sensor 12 detects the position of a member that changes the gear position (for example, “P”, “D”, “R”, etc.) of the vehicle V, such as a shift knob or a shift lever. Then, an information signal including the detected position is output to the central controller 20.
The stroke sensor 14 detects an actual stroke amount (actual displacement amount) of the suspension SP, and an information signal including the detected actual stroke amount (in the following description, may be described as “actual stroke amount signal”), Output to the central controller 20. The stroke sensor 14 individually detects the actual stroke amount of the suspension SP installed for each wheel W, and generates an actual stroke amount signal.

  The driving support mode switch 16 is a switch for individually switching “ON” or “OFF” of the control of the VDC and the control of the TCS by the operation of the occupant. The driving support mode switch 16 outputs an information signal including a state in which the control of the VDC and the control of the TCS are “ON” or “OFF” to the central controller 20. Note that VDC is an abbreviation for “Vehicle Dynamics Control”, and TCS is an abbreviation for “Traction Control System”.

The GPS 17 is configured to specify the position of the vehicle V using a GPS satellite. The GPS 17 is an existing configuration generally mounted on a car navigation device or the like.
The environment sensor 19 is a sensor that detects an environment in which the vehicle V is placed. For example, the environment sensor 19 is a distance measurement sensor that measures the distance between the vehicle V and an obstacle by a radar, a camera that captures an image of the surroundings including the vehicle V, or the like. is there. The environment sensor 19 may be a sensor group including a plurality of sensors such as a distance measuring sensor and a camera.

The wheel speed sensor 18 detects the rotational speed of the wheel W and outputs an information signal including the detected rotational speed to the central controller 20.
In FIG. 1, the wheel speed sensor 18 that detects the rotational speed of the right front wheel WFR is indicated as a wheel speed sensor 18FR, and the wheel speed sensor 18 that detects the rotational speed of the left front wheel WFL is indicated as a wheel speed sensor 18FL. . Similarly, in FIG. 1, the wheel speed sensor 18 that detects the rotational speed of the right rear wheel WRR is shown as a wheel speed sensor 18RR, and the wheel speed sensor 18 that detects the rotational speed of the left rear wheel WRL is the wheel speed sensor. Shown as 18RL.

The central controller 20 controls the entire vehicle V and is constituted by a microcomputer. Note that the microcomputer includes, for example, a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and the like.
In addition, the central controller 20 performs various processes related to the traveling of the vehicle V based on various input information signals, and instructs signals (braking force command value, driving force) to control the brake actuator 26 and the power unit 30. Command value). That is, the central controller 20 controls the drive motor and the friction brake in response to the acceleration / deceleration request by the passenger of the vehicle V.

The central controller 20 includes a drive control unit 31, an automatic travel system unit 32, and an information display control unit 33. The information display control unit 33 corresponds to the information display device of the first embodiment. The drive control unit 31 controls the brake actuator 26 and the power unit 30 described above. The configurations of the automatic travel system unit 32 and the information display control unit 33 will be described later.
The brake pedal 22 is a pedal that is depressed when an occupant of the vehicle V performs a braking operation, and transmits a pedal depression force by the occupant to the master cylinder 24.

The master cylinder 24 generates two systems of hydraulic pressure according to the pedaling force of the occupant (tandem type). In the first embodiment, as an example, the master cylinder 24 transmits the primary side to the left front wheel / right rear wheel wheel cylinder 35 and transmits the secondary side to the right front wheel / left rear wheel wheel cylinder 35. A case of using (diagonal split method) will be described.
The brake actuator 26 is a hydraulic pressure control device interposed between the master cylinder 24 and each wheel cylinder 35. Further, the brake actuator 26 changes the hydraulic pressure of each wheel cylinder 35 in accordance with the braking command signal received from the central controller 20 and applies a braking force to each wheel W. A specific configuration of the brake actuator 26 will be described later.

Further, the brake actuator 26 outputs a flag information signal indicating whether or not the ABS control is operating to the central controller 20. Note that ABS is an abbreviation for “Antilocked Breaking System”.
Further, the brake actuator 26 outputs an information signal including a command value of the brake fluid pressure applied to the wheels W by the system provided in the vehicle V to the central controller 20.
The system provided in the vehicle V is, for example, a system that performs preceding vehicle follow-up control, and is a system that controls the inter-vehicle distance between the vehicle V and the preceding vehicle to a distance corresponding to the vehicle speed of the vehicle V. .

Further, the brake actuator 26 outputs an information signal (indicated as “VDC hydraulic signal” in the drawing) including a command value of the brake hydraulic pressure applied to the wheel W by the VDC control described above to the central controller 20.
The power control unit 28 controls the driving force generated by the power unit 30 in accordance with the drive command signal received from the central controller 20. The power control unit 28 also outputs an information signal including a torque control value (torque control value) for the front wheels to the central controller 20.

  The torque control value for the front wheels is, for example, a ratio of distributing the torque generated by the power unit 30 to the right front wheel WFR and the left front wheel WFL. The torque control value for the front wheels is, for example, torque applied to the right front wheel WFR and the left front wheel WFL by the above-described VDC control. That is, the vehicle V of the first embodiment is a two-wheel drive (2WD: Two Wheel Drive) vehicle in which the right front wheel WFR and the left front wheel WFL are drive wheels and the right rear wheel WRR and the left rear wheel WRL are driven wheels. .

In addition, the power control unit 28 outputs an information signal including the current torque generated by the power unit 30 to the central controller 20.
The power unit 30 is configured to generate the driving force of the vehicle V, and includes a driving motor. That is, the vehicle V including the information display device of the first embodiment is an electric vehicle (EV) in which the driving source of the wheels W is formed by a driving motor.

Further, the power unit 30 applies a driving force generated by the driving motor to the wheels W via a drive shaft (not shown) or the like.
The drive motor is formed using, for example, a synchronous motor in which a permanent magnet is embedded in a rotor and a stator coil is wound around a stator. The drive motor can be controlled by applying a three-phase alternating current generated by an inverter (not shown) based on a control command received from the power control unit 28. Furthermore, the drive motor can also operate as an electric motor that is driven to rotate by receiving power supplied from a battery (not shown) (this state is referred to as “powering”).

The wheel cylinder 35 generates a pressing force for pressing a brake pad (not shown) constituting the disc brake against a disc rotor (not shown) that rotates integrally with each wheel W.
In FIG. 1, the wheel cylinder 35 disposed with respect to the right front wheel WFR is denoted as a wheel cylinder 35FR, and the wheel cylinder 35 disposed with respect to the left front wheel WFL is denoted as a wheel cylinder 35FL. Similarly, in FIG. 1, the wheel cylinder 35 disposed with respect to the right rear wheel WRR is indicated as a wheel cylinder 35RR, and the wheel cylinder 35 disposed with respect to the left rear wheel WRL is indicated as a wheel cylinder 35RL.

The suspension SP (suspension device) is a suspension device installed between each wheel W and the vehicle body of the vehicle V.
Further, the suspension SP specifically includes a link member that connects the vehicle body and members on the wheels W side, a spring that buffers relative motion between the wheels W and the vehicle body, and relative motion between the wheels W and the vehicle body. It has a shock absorber that attenuates.
In FIG. 1, the suspension SP installed on the right front wheel WFR is indicated as a suspension SPFR, and the suspension SP installed on the left front wheel WFL is indicated as a suspension SPFL. Similarly, in FIG. 1, the suspension SP installed on the right rear wheel WRR is indicated as a suspension SPRR, and the suspension SP installed on the left rear wheel WRL is indicated as a suspension SPRL.

FIG. 2 is a diagram for explaining the display unit 34 shown in FIG. The display unit 34 includes a liquid crystal (LCD: Liquid Crystal Display) display screen 201 and a driver (not shown) for displaying an image or the like on the display screen. FIG. 2 illustrates the display screen 201 of the display unit 34.
The display screen 201 shown in FIG. 2 is installed at a position that forms an angle of about 10 degrees downward with respect to the front direction of the vehicle V passenger. Further, the display screen 201 is at a position where the occupant's viewing distance is about 90 cm. In order to provide the display screen 201 at such a position in the automobile compartment, as shown in FIG. 2, in the first embodiment, the display screen 201 is provided between the meters 202 and 203.

FIG. 3 is a block diagram for explaining the information display control unit 33 and the automatic traveling system unit 32 shown in FIG.
The automatic traveling system unit 32 inputs a map database, position information from the GPS 17, and environment information from the environment sensor 19. The map database is generally downloaded to a memory (not shown) of the central controller 20 in advance. The automatic traveling system unit 32 also inputs information through a network line (external network) for acquiring information from the outside of the automobile and communication (inter-vehicle communication) performed between vehicles.

Further, the GPS 17 periodically acquires position information regarding the position of the vehicle V and outputs the position information to the automatic travel system unit 32 and the information display control unit 33. The environment sensor 19 outputs distance measurement information indicating the distance from the obstacle measured by the radar and image information captured by the camera to the automatic travel system unit 32 and the information display control unit 33.
The automatic travel system unit 32 creates a travel route to which the vehicle V should travel based on the map information in the map database, the position information of the GPS 17, and the environment information of the environment sensor 19. The drive controller 31 of the central controller 20 shown in FIG. 1 controls the braking force command value and the driving force that control the brake actuator 26 and the power unit 30 shown in FIG. 1 so that the vehicle V travels along the travel route. Outputs the command value.

The information display control unit 33 includes an authority delegation request generation unit 331, an automatic travel system diagnosis unit 332, a sensor / GPS diagnosis unit 333, a system state estimation unit 334, and a display image generation unit 335.
The authority delegation request generation unit 331 requests that driving be switched from automatic driving to manual driving by an occupant. In the first embodiment, a request for switching from automatic traveling to manual traveling by the authority delegation request generation unit 331 is referred to as a “driving authority delegation request”. The driving authority delegation request is generated based on a request from the automatic traveling system unit 32 and a diagnosis result of an automatic traveling system diagnosis unit 332 and a sensor / GPS diagnosis unit 333 described later. Such authority delegation request generation unit 331 generates a driving authority request when the vehicle enters a general road from an automobile-only road or when an abnormality is recognized in the automatic traveling system. In addition, the authority delegation request generation unit 331 outputs the remaining time (time limit) that is allowed until the operation authority is delegated.

The automatic traveling system diagnosis unit 332 is configured to monitor and evaluate the automatic traveling system performed by the automatic traveling system unit 32. The evaluation is performed in consideration of the load involved in the calculation of the driving route creation by the automatic traveling system unit 32, the reliability of the calculation result, and the complexity of the environment around the vehicle V detected by the environment sensor 19 and the like. The “environment complexity” is determined by the road width, the degree of congestion, the inter-vehicle distance from surrounding vehicles, and the like.
The sensor / GPS diagnosis unit 333 is configured to evaluate position information acquired by the GPS 17 and environment information acquired by the environment sensor 19. The position information is evaluated based on, for example, the reception state of the GPS signal. The environmental information is evaluated based on, for example, an S / N ratio of a signal representing the environmental information.

  The system state estimation unit 334 displays the driving authority request and the time limit until authority transfer input from the authority delegation request generation unit 331, the diagnosis result related to the automatic traveling of the automatic traveling system diagnosis unit 332, and the diagnosis result of the sensor / GPS diagnosis unit 333. input. Then, based on the input information, the operating state of the automatic traveling system unit 32 is classified into a standby state category in which the automatic traveling function is in a standby state or an operating state category in which the automatic traveling function is in an operational state. The standby state category of the first embodiment includes a manual driving category in which driving authority is given to the occupant and a driving authority delegation requesting category in which the automatic driving function requests that the driving authority be transferred to the occupant. The operating state category includes a normal operating category in which the automatic driving function is operating normally and an abnormal operating category in which the automatic driving function is operating abnormally.

Further, the system state estimation unit 334 determines a state variable value for each category. The system state estimation unit 334 outputs the determined category (any of the manual travel category, the driving right transfer requesting category, the normal operation category, and the abnormal operation category) and the state variable value to the display image generation unit 335. The state variable value will be specifically described later.
Further, the system state estimation unit 334 can output a signal to the speaker 38.

  The display image generation unit 335 generates a display image by processing the category and the state variable value input from the system state estimation unit 334 according to a predetermined logic. At this time, the display image generation unit 335 classifies the category input from the system state estimation unit 334 into a category (hereinafter referred to as a system state category) that is associated with the display image in the display image generation unit 335 in advance. Generate a display image corresponding to the system state category. The display image is output to the display unit 34 and displayed on the display screen 201 shown in FIG.

(Display image)
In the first embodiment, the display image generation unit 335 associates four system state categories of “standby”, “during driving authority transfer request”, “normal operation”, and “abnormal operation” with the display image. Set. The system state category is a category indicating the operating state of the automatic traveling system. “Waiting” indicates, for example, a state where the automatic traveling system is stopped and can be started. The “standby” system state category corresponds to the “manual travel category” belonging to the “standby category” classified by the system state estimation unit 334.

  “During driving authority delegation request” indicates a state in which the driving authority is requested by the authority delegation request generation unit 331. The system status category “Driving driving authority transfer requested” corresponds to “Driving authority transfer requesting category” belonging to “Standby category” classified by the system state estimating unit 334. “During normal operation” indicates, for example, a state in which there is no driving authority request, and the diagnostic result related to the automatic traveling of the automatic traveling system diagnostic unit 332 and the diagnostic result of the sensor / GPS diagnostic unit 333 are good. The system state category “normally operating” corresponds to the “normally operating category” belonging to the “operating category” classified by the system state estimating unit 334. “Abnormal operation” indicates, for example, a state in which there is no driving authority request, and the diagnosis result related to automatic driving by the automatic driving system diagnosis unit 332 and the diagnosis result of the sensor / GPS diagnosis unit 333 are worse than “normal operation”. The “normal operating” system state category corresponds to the “abnormal operating category” belonging to the operating category classified by the system state estimating unit 334.

  The state variable value is a parameter indicating a change in state in each of the above system state categories. For example, the automatic travel system diagnosis unit 332 generates a diagnosis result reflecting the calculation load of the automatic travel system unit 32. The diagnosis result of the automatic traveling system diagnosis unit 332 is input to the system state estimation unit 334. The system state estimation unit 334 determines the operating state of the automatic traveling system in the system state category from the input diagnosis result, and outputs the determination result to the display image generation unit 335. When the system state category belongs to the “standby state category”, the display image generation unit 335 generates a display image that represents the operating state of the automatic traveling system by a change in the color attribute of the display image. In addition, when the system state category belongs to the “operation state category”, the display image generation unit 335 generates a display image that represents the operation state of the automatic traveling system by a change in the spatial attribute of the display image.

  That is, when the system state category is “standby” or “requesting driving authority transfer”, the display image generation unit 335 displays the operating state of the automatic driving system according to color attributes such as hue, brightness, and contrast of the display image. Represent. In addition, when the system state category is “normal operation” or “abnormal operation”, the display image generation unit 335 determines the operation state of the automatic driving system according to the spatial attributes such as the shape, movement state, and number of display images. Represent. Hereinafter, such a display image will be specifically described.

4A to 4F are diagrams for specifically explaining the generation of the display image. Among these, FIGS. 4A to 4E show four system state categories of “standby”, “normal operation”, “abnormal operation”, and “driving authority delegation request”. In the first embodiment, the phrase “display image” is used as a concept combining the display pattern shown in FIG. 4 and its change.
In the first embodiment, the “standby” system state category is represented by a green perfect circle display pattern 401. In the first embodiment, the contrast of the display pattern 401 with respect to the background is periodically changed so that a perfect circle can be identified even in peripheral vision. FIG. 4A shows how the contrast of the display pattern 401 changes. Here, the color attribute of the display pattern 401 is the contrast with the background. That is, the display image shown in FIG. 4A represents the operating state of the automatic traveling system in the “standby” category by the contrast with the background of the display pattern 401.

In the first embodiment, the “normal operating” system state category is represented by a green oval display pattern 402. The display pattern 402 rotates, and the rotation direction changes periodically. A state in which the display pattern 402 rotates is shown in the upper part of FIG.
Note that the rotation of the display image 402 is performed by, for example, changing the hue of the part in the display pattern 402, the contrast with the background, and the like from another part and sequentially changing the position of the part whose hue is different from the other part. realizable. Further, the rotation of the display image is not limited to the display pattern 402 that is fixed as shown in FIG. 4B, but is performed around a point outside the display pattern 402. Also good.

  In “normal operation”, the system state estimation unit 334 outputs a state variable value corresponding to the calculation load of the automatic traveling system unit 32 diagnosed by the automatic traveling system diagnosis unit 232. For this reason, when the calculation load of the automatic traveling system unit 32 increases, the state variable value is also changed according to the calculation load. In the first embodiment, the number of ellipse display patterns 402 is set to increase as the calculation load increases. FIG. 4C shows a state where the display pattern 402 has increased.

Here, the spatial attribute of the display pattern 402 is the number of display patterns 402. That is, the display image shown in FIG. 4C represents the operating state of the automatic traveling system (the calculation load of the automatic traveling system unit 32) in the category of “normally operating” by the number of display patterns 402.
Further, the automatic traveling system diagnosis unit 232 outputs a state variable value corresponding to the calculation reliability of the automatic traveling system unit 32. For this reason, when the reliability of the calculation of the automatic traveling system unit 32 decreases, the state variable value is also changed according to the decrease in reliability. In the first embodiment, when the reliability decreases, the rotation cycle of the elliptical display pattern 402 is set to change for each display pattern 402. When the rotation cycle of the display pattern 402 changes for each display pattern 402, as shown in FIG. 4C, when there are a plurality of display patterns 402, the synchronization of rotation between the display patterns 402 is lost.

Here, the spatial attribute of the display pattern 402 is a rotation period for each display pattern 402. That is, the display image represents the operating state (reliability of calculation of the automatic traveling system unit 32) of the automatic traveling system in the category of “normally operating” by the rotation period of the display pattern 402 or its synchronization.
In the first embodiment, the system state category “being abnormally operated” is represented by an orange oval display pattern 403. The display pattern 403 rotates, and the rotation direction changes periodically. A state where the display pattern 403 rotates is shown in the lower part of FIG.

  As for the display image shown in the lower part of FIG. 4B, as in the display image shown in the upper part of FIG. 4B, the operating state of the automatic driving system (the calculation load and reliability of the automatic driving system unit 32). ) Can be expressed by the number of display patterns 403 and the rotation period (spatial attribute). Note that the first embodiment is not limited to changing the rotation period as a spatial attribute of the display pattern 403, and is anything that changes the motion state of the display pattern 403. Also good. Examples of other motion states include, for example, translation, rotation, blinking and speed of the display pattern.

It should be noted that the display patterns “normally operating” and “abnormally operating” described above can be visually recognized in the peripheral visual field.
Further, when the authority delegation request generation unit 331 generates a driving authority request in “normal operation” and “abnormal operation”, the system state category becomes “driving authority delegation request” belonging to the standby state category. At this time, the system state estimation unit 334 changes the state variable value so that the luminance of the colors of the display pattern 402 and the display pattern 403 increases as the time limit (remaining time) until the transfer of driving authority becomes shorter. When the remaining time until the driving authority becomes “0” (the time limit is reached), the system state estimation unit 334 outputs a state variable value indicating that the automatic traveling system is in a standby state. At this time, the elliptical display pattern 402 becomes a stopped perfect circle display pattern 402 ′. Also, the elliptical display pattern 403 is a stopped perfect circle display pattern 403 ′. Such a state is shown in FIG.

Here, the color attribute of the display pattern 402 and the display pattern 403 is the luminance of the display pattern 402 and the display pattern 403. That is, the display image represents the operating state (remaining time until the driving authority is transferred) in the category of “Driving driving authority is being requested” by the brightness of the display pattern 402 and the display pattern 403.
In the first embodiment, the remaining time until the driving authority is delegated is not limited to the display pattern 402 and the brightness of the display pattern 403. As the remaining time becomes shorter, the spatial attribute of the display image may change together with the color attribute, for example, by increasing the rotation speed of the display pattern 402 and the display pattern 403.

When the time limit is reached and the driving authority is not normally performed, the automatic traveling system unit 32 stops its operation. Further, when the time limit is reached and the driving authority is normally performed, the automatic traveling system unit 32 stops operation and then enters a standby state.
The display image generation unit 335 uses the display image of FIGS. 4A to 4D described above as a low spatial frequency and medium space having no luminance edge whose main component is a spatial frequency of 1 CPD or less and a temporal frequency of 1 to 7 Hz. Generate as containing frequency patterns.

According to the first embodiment described above, the system status categories of “standby”, “normally operating”, and “abnormally operating” and their changes can be recognized at a glance by the shape, color and operation of the display pattern. become. In the example described above, the visual “easiness to stand out” (hereinafter also referred to as “degree of attention”) generally felt by humans is “standby”, “normally operating”, and “abnormally operating”. The occupant can quickly recognize the more urgent information.
However, since a display pattern with a high alerting degree tends to guide the occupant's line of sight to the display pattern, there is a possibility that the occupant may feel “disturbed”. In order to eliminate such a point, a display pattern (blurred version) in which the shade of color in the display pattern is changed to create a blurred impression may be used. Such a display pattern is shown in FIG.

In addition, 1st embodiment is not limited to what uses the pattern of a circle | round | yen or an ellipse as shown in FIG. 4 as a display pattern. For example, in the first embodiment, the display image generation unit 335 can use a pattern having a shape imitating a creature and a vehicle as the display pattern. In addition, when such a pattern is used as a display pattern, the display pattern can be changed by imitating the movement of a living thing and a vehicle indicated by the display pattern.
In this way, for example, as shown in FIG. 4 (f), when a driving authority request is generated, a display image indicating a vehicle and a display image indicating a person (occupant) may be alternately displayed. It is done. For this reason, the request | requirement of driving authority can be provided in the form which is easy to understand intuitively.

FIG. 5 is a diagram collectively showing the relationship between the conspicuousness of the display image and the state change of the automatic traveling system. The inequality sign in FIG. 5 indicates the magnitude relationship of the alertness of the display image. According to FIG. 5, the alert level of the display image indicating “normally operating” is larger than the display image of “standby”, and the alert level of the display image indicating “abnormally operating” is “normally operating”. It can be seen that it is larger than the display image.
That is, the display image generation unit 335 controls the conspicuousness of the display image, and sets the conspicuousness of the system state category to increase in the order of abnormal operation category> normal operation category> standby state category. .

  Further, during normal operation, the degree of alerting of the display image is greater when the calculation load is larger than when the calculation load of the automatic traveling system unit 32 is small. The alerting degree of the display image is greater when the reliability is lower than when the calculation reliability of the automatic traveling system unit 32 is high. Furthermore, the degree of alerting of the display image when a driving authority delegation request is made during “normal operation” and “abnormal operation” is greater when the remaining time until the driving authority is shorter than when the remaining time is longer .

  FIG. 6 is a diagram for explaining the relationship between the attribute of the display image and the alertness level. The attributes of the display image include a spatial attribute and a color attribute (the color referred to in the first embodiment includes light and dark). Furthermore, spatial attributes include line and point symmetry, regular spatial scale, uniformity, elements, number of features, elements, number of feature types, spatial luminance contrast, spatial frequency, and size. The color (brightness / darkness) attributes include hue, saturation, brightness, number of colors, and color contrast. In addition, in the example shown in FIG. 6, the example of the temporal attribute was shown in addition to the spatial attribute and the color attribute. The temporal attributes include periodicity, period (time frequency), synchronization between elements / features, spatial spread of temporal changes, temporal luminance contrast, temporal color contrast, regularity, and temporal persistence. The inequality sign shown in the second column in FIG. 6 indicates the level of alertness.

  According to FIG. 6, it can be seen that the alerting degree is larger for a display image that is moving (for example, rotating) than for a display image that is stationary. In addition, the degree of arousal of the rotating display image is larger when the rotation speed is larger, the rotation is larger in the reverse direction than the rotation in one direction, and the larger the number of display patterns to be rotated is, the larger the rotation period is. It is greater to rotate aperiodically than. Furthermore, when a plurality of display patterns are rotated, it is larger when each display pattern is rotated asynchronously at a cycle for each display pattern than when rotated at the same cycle.

  Although not shown in FIG. 6, the attribute of the display image includes “texture”. In the first embodiment, the term “texture” is used in the sense of a general feel received from the texture of the display pattern and the display image. The texture of the display pattern means, for example, giving an impression that the display pattern is a metal material, or giving an impression that the display pattern is a cloth material. The control of the hard or soft texture can be realized, for example, by applying a highlight or a shadow to the display pattern.

Further, although not shown in FIG. 6, the attribute of the display image includes “visual motion impression”. The visual movement impression refers to an impression given to the observer by the movement (movement) of the display pattern. In the first embodiment, an impression such as relief, caution, and danger can be given to the observer from the display image by the spatial attribute and the color attribute.
In the first embodiment, a display image representing “standby”, “normally operating”, or “abnormally operating” is designed based on the relationship between the attribute of the display image and the alertness level.

  In addition, as described above, in the first embodiment, the display image generation unit 335 is configured so that the main component of the display image satisfies a spatial frequency of 1 CPD or less and a temporal frequency of 1 to 7 Hz in consideration of visual recognition in the peripheral visual field. The display image is designed. A spatial frequency of 1 CPD or less and a time frequency of 1 to 7 Hz are conditions for a display image that can be viewed in a plane view. In this way, the display image includes a pattern of low spatial frequency and medium time frequency that does not have a luminance edge. In this way, the present embodiment can generate a display image that can be viewed by peripheral vision and that satisfies the condition for not guiding the occupant's central vision. Such conditions are well known, and for example, Japanese Patent Application Laid-Open No. 2006-184854, “Mami Funagawa”, an ambien type information display method based on temporal and spatial frequency characteristics of visual field, automobile technology, 40, 5, 1191- 1196 ".

In addition, when the alertness is increased with emphasis on the visibility of the peripheral visual field, the display image may induce an occupant's line of sight and become annoying. In such a case, the bluered version display pattern shown in FIG. 4 (e) may be used.
In a vehicle capable of automatic traveling, an occupant who basically performs automatic traveling may be involved in driving by switching to manual traveling. For this reason, an occupant who is traveling automatically needs to recognize information related to automatic traveling during traveling. Therefore, the first embodiment in which information related to automatic driving is displayed to the occupant in a state that is not obstructive and does not induce central vision is also suitable for a vehicle having an automatic driving function.

Further, in the first embodiment, a sound effect may be generated when the system state category is switched or when the remaining time until the authority transfer is shorter than a predetermined time. Such a configuration can be realized by the system state estimation unit 334 generating a signal instructing the generation of sound effects when the operating state of the automatic traveling system 32 has changed and outputting the signal to the speaker 38. As the speaker 38, for example, it is possible to use a speaker of a car navigation device having a car audio or voice guidance function.
By linking the occurrence of the sound effect with the information display, the occupant can recognize the meaning of the information meaning the change in the display image with higher accuracy. Linking the generation of sound effects and information display does not increase the amount of information provided to passengers, but it deals with the degree of information awareness, ease of understanding of information, reliability of information, and information Therefore, the accuracy of action can be increased.

In addition, the first embodiment is not limited to a configuration in which information (sound effects) that can be recognized by hearing in conjunction with a change in the system state category is given to the occupant. It may be given to the occupant in conjunction with the vehicle. An example of information that can be recognized by tactile sense is vibration. For example, a configuration in which a vibration is given to an occupant in conjunction with a change in a display image is provided with a vibrator on a driving seat. This can be realized by generating a signal instructing the generation of vibration when the system state estimation unit 334 switches the system state category and outputting the signal to the vibrator.
Further, in the first embodiment, information that can be recognized by a sense other than vision among the five senses such as olfaction and taste may be given to the occupant in conjunction with a change in the system state category.

(Effect of embodiment)
If it is the information display device of the first embodiment, the following effects can be obtained.
(1) An information display device that displays information related to an operating state of an automatic traveling function in a vehicle having an automatic traveling function that controls at least a part of processing related to driving, and is obtained by monitoring the automatic traveling function The system state estimation unit 334 that estimates the operating state of the automatic traveling function based on the above, and the display that generates a display image that can visually recognize the operating state of the automatic traveling function based on the estimation result of the own system state estimating unit 334 An image generation unit 335, and the display image generation unit 335 classifies the estimated operation state of the automatic traveling function into any of a plurality of categories, and sets the operation state of the automatic traveling function in the standby state category as a color attribute. A display image that represents the operating state of the automatic driving function in the operating state category by a change in spatial attributes. It was assumed to be generated.
For this reason, the automatic traveling system enables the occupant to intuitively understand the state of the automobile.

  That is, the operating state of the automatic traveling system is displayed by the difference in appearance of the display image having a plurality of attributes. For this reason, the operating state of the automatic traveling function in the standby state category is represented by a change in the color (brightness / darkness) attribute, and the operating state of the automatic traveling function in the operating state category is represented by a change in the spatial attribute. This process controls the visual saliency of the displayed image, which system state category the system state is in, whether it is in a specific system state category and the operating state is stable, etc. Multi-layer information can be acquired. In addition, if the state of the automated driving system is unstable, the cause (such as the accuracy of sensor information is low), such as changes in factors that are useful for driving safety, are displayed conspicuously. You can easily notice changes in the operating state of the system. Further, it is possible to identify the system state category expressed by the difference between the spatial attribute and the color (brightness / darkness) attribute at a glance.

(2) The display image generation unit 335 requests that the standby state category of the system state category of the automatic traveling function is a manual traveling category in which the driving authority is on the occupant and that the automatic traveling function delegates the driving authority to the occupant. The operation state category includes at least one of a normal operating category in which the automatic driving function is operating normally and an abnormal operating category in which the automatic driving function is operating abnormally. Included.
For this reason, a display image showing the distinction of the system state categories of “standby (manual driving or requesting delegation of driving authority)”, “normally operating”, and “abnormally operating” and their changes is displayed to the occupant. It is possible to intuitively determine “standby”, “normal operation”, and “abnormal operation” of the automatic traveling system.

(3) The system state estimation unit 334 changes the operating state of the automatic driving function, changes related to a load related to calculation for automatic driving, changes related to calculation reliability, changes related to reliability of information necessary for calculation, It includes at least one of the change in the remaining time until the transfer in the driving authority transfer request and the change in the environment around the car.
For this reason, the occupant can intuitively understand the change in the operating state of the automatic traveling system by the change in the movement of the display pattern. In addition, it is possible for the occupant to acquire multiple information from a single display.

(4) In the display image generation unit 335, when the automatic driving function belongs to the standby state category, the operation state of the automatic driving function is represented by the color or contrast of the pattern of the display image, and when the automatic driving function belongs to the operating state category, The operating state of the automatic running function is expressed by the shape, movement state and number of patterns.
For this reason, in any of the standby state category and the operating state category, it is possible to generate a display image that matches the operating state of the automatic travel system.

(5) The display image generation unit 335 controls the conspicuousness of the display image in accordance with the system state category, and the conspicuousness of the system state category is determined in the order of abnormal operation category> normal operation category> standby state category. Make it bigger.
For this reason, it is possible to generate a display image that is more conspicuous as the urgency of the occupant to deal with the automatic traveling system is higher.
(6) The alertness of the display image indicating “normally operating” and “abnormally operating” is greater when the remaining time until the driving authority is shorter than when the remaining time is longer.
For this reason, it is possible to generate a display image that is more conspicuous as the urgency of the occupant to deal with the automatic traveling system is higher.

(7) The display image generation unit 335 can use a pattern having a shape imitating a living thing and a vehicle as a display pattern. In addition, when such a pattern is used as a display pattern, the display pattern can be changed by imitating the movement of a living thing and a vehicle indicated by the display pattern.
For this reason, it is possible to notify the operating state of the automatic traveling system so that the occupant can easily understand using images of living things and vehicles.

(8) The display image generation unit 335 has a low spatial frequency and medium space having no luminance edge whose main component is a spatial frequency of 1 CPD or less and a temporal frequency of 1 to 7 Hz as a display image representing a change in the operating state of the automatic traveling function. A display image including a frequency pattern is generated.
For this reason, it is possible to generate a display image that is visible by peripheral vision and that satisfies the condition for not guiding the occupant's central vision.

(9) The system state estimation unit 334 outputs a signal that instructs the output of information that can be recognized by a sense other than vision in conjunction with a change in the display image.
For this reason, the passenger | crew can recognize the meaning of the information which the change of a display image means with higher accuracy. Further, even when there is no display image in the occupant's field of view, it is possible to prompt the occupant to view the display image at an appropriate timing when the potential safety is reduced. Further, even when the display image is in the occupant's field of view, information can be provided to the occupant in a form that is highly redundant and easy to understand, and the information acquisition accuracy of the occupant can be improved.

2 G sensor 4 Yaw rate sensor 6 Steering angle sensor 8 Driver brake hydraulic pressure sensor 10 Accelerator opening sensor 12 Shift position sensor 14 Stroke sensor 16 Driving support mode switch 17 GPS
18 Wheel speed sensor 19 Environmental sensor 20 Central controller 22 Brake pedal 24 Master cylinder 26 Brake actuator 28 Power control unit 30 Power unit 31 Drive control unit 32 Automatic travel system unit 34 Display unit 35 Wheel cylinder 38 Speaker 201 Display screen 232 Automatic travel system Diagnosis unit 331 Authority delegation request generation unit 332 Automatic travel system diagnosis unit 333 Sensor / GPS diagnosis unit 334 System state estimation unit 335 Display image generation units 401 to 403 Display pattern

Claims (9)

An information display device for displaying information on an operating state of the automatic traveling function in a vehicle having an automatic traveling function for controlling at least a part of processing related to driving,
An automatic running state estimating unit that estimates an operating state of the automatic running function based on information obtained by monitoring the automatic running function;
A display image generating unit that generates a display image capable of visually recognizing an operating state of the automatic driving function based on an estimation result of the automatic driving state estimating unit;
The display image generation unit
The operation state of the automatic traveling function estimated by the automatic traveling state estimation unit is classified into a standby state category in which the automatic traveling function is in a standby state or an operational state category in which the automatic traveling function is in an operational state, and the standby state An information display device characterized by generating an operation state of an automatic driving function in a category by a change in a color attribute and generating a display image showing an operation state of the automatic driving function in the operation state category by a change in a spatial attribute.   The standby state category of the automatic driving function includes at least one of a manual driving category in which driving authority is assigned to an occupant and a driving authority delegation requesting category in which the automatic driving function requests that the driving authority be transferred to the occupant. The operating state category includes at least one of a normal operating category in which the automatic driving function is operating normally and an abnormal operating category in which the automatic driving function is operating abnormally. 1. The information display device described in 1.   The operating state of the automatic driving function in the operating state category includes a state related to a load related to the calculation for the automatic driving, a state related to the reliability of the calculation, a state related to the reliability of information necessary for the calculation, and The operation state of the automatic driving function in the driving authority delegation requesting category includes at least one of environmental conditions, and the remaining time until delegation in the driving authority delegation request is included. Information display device.   When the automatic driving function belongs to the standby state category, the display image generation unit represents an operation state of the automatic driving function by a color or contrast of a pattern of the display image, and the automatic driving function is included in the operation state category. 4. The information display device according to claim 2, wherein, when belonging, the operation state of the automatic traveling function is represented by the shape, movement state, and number of the patterns.   The display image generation unit controls the conspicuousness of the display image, and the conspicuousness of the category is large in the order of the abnormal operating category> the normal operating category> the standby state category. The information display device according to any one of claims 2 to 4.   The display image generation unit controls the conspicuousness of the display image. In the driving authority delegation requesting category, when the display image conspicuousness is short in the time until the requested driving authority is transferred, 6. The information display device according to claim 2, wherein the time until the authority transfer is longer than that when the time is long.   The information display device according to claim 1, wherein the display image generation unit generates a display image simulating the shape and movement of a living thing and a vehicle.   The display image generation unit includes a low spatial frequency and a medium spatial frequency that do not have a luminance edge whose main component is a spatial frequency of 1 CPD or less and a temporal frequency of 1 to 7 Hz, as the display image representing a change in the operating state of the automatic driving function. The information display device according to claim 1, wherein a display image including the pattern is generated.   9. The automatic running state estimation unit outputs a signal instructing to output information that can be recognized by a sense other than vision in conjunction with a change in the display image. The information display device according to item.

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