JP2021160374A - Notification control device and notification control program - Google Patents

Abstract

To provide a notification control device which achieves appropriate notification in a scene scheduled to enter an intersection.SOLUTION: An HCU working as a notification control device controls notification directed to an occupant of an own vehicle α by one or more notification devices. The HCU includes: an own vehicle schedule determination part that determines whether or not it is in a lane change scheduled state in which the own vehicle α is scheduled to change a lane and it is in an intersection entrance scheduled state in which the own vehicle α lies in a position of less than a predetermined distance from an intersection and the own vehicle α travels toward the intersection; and a notification intensity setting part that sets notification intensity in notification on a preceding vehicle β, which precedes the own vehicle α, to be weaker than that in the case where the own vehicle α is not in the lane change scheduled state, when a schedule condition that the own vehicle α is in the lane change scheduled state and in the intersection entrance scheduled state is satisfied.SELECTED DRAWING: Figure 10

Description

The disclosure by this specification relates to the control of notification to the occupants of the vehicle.

The control device disclosed in Patent Document 1 changes the operation line for notifying the occupants of the preceding vehicle according to the degree of coincidence between the traveling direction of the own vehicle and the traveling direction of the preceding vehicle.

Japanese Patent No. 5915441

In Patent Document 1, it is considered that the notification of the preceding vehicle is performed with a uniform notification strength.

By the way, in front of the intersection, it is conceivable that the vehicle changes lanes to a lane dedicated to turning right in order to turn right at the intersection. If you try to change lanes in such a way that your vehicle overtakes the preceding vehicle in the straight lane, you may temporarily approach the preceding vehicle. In such a scene, since the own vehicle is scheduled to change lanes to the right turn lane, it is considered that the possibility of contact such as a rear-end collision in the temporary approach of the preceding vehicle is relatively low. On the other hand, if the notification about the preceding vehicle is given with a uniform intensity, the occupants will feel annoyed in this scene.

One of the purposes of the disclosure of this specification is to provide a notification control device and a notification control program that realize appropriate notification in a scene scheduled to enter an intersection.

One of the embodiments disclosed herein is a notification control device used in a vehicle to control notification to an occupant of the own vehicle (α) as a vehicle by one or more notification devices (31, 32, 33). And
The vehicle is scheduled to change lanes, and the vehicle is scheduled to enter an intersection where the vehicle is located less than a predetermined distance from the intersection and the vehicle is traveling toward the intersection. The own vehicle schedule determination unit (X3) that determines whether or not there is,
When the planned condition that the vehicle is scheduled to change lanes and the vehicle is scheduled to enter the intersection is satisfied, the preceding vehicle (β) that precedes the vehicle than when the vehicle is not scheduled to change lanes. It is provided with a notification intensity setting unit (X4) for setting a weak notification intensity in the notification of.

Another aspect disclosed herein is a notification used in a vehicle that controls notification to the occupants of the vehicle (α) as a vehicle by one or more notification devices (31, 32, 33). It ’s a control program,
In at least one processing unit (11)
The vehicle is scheduled to change lanes, and the vehicle is scheduled to enter an intersection where the vehicle is located less than a predetermined distance from the intersection and the vehicle is traveling toward the intersection. Processing (S101 to S107) to determine whether or not there is
When the planned condition that the vehicle is scheduled to change lanes and the vehicle is scheduled to enter the intersection is satisfied, the preceding vehicle (β) that precedes the vehicle than when the vehicle is not scheduled to change lanes. (S108), in which the notification intensity is set to be weak, is executed.

According to these aspects, in the scene where the vehicle tries to change lanes to the right turn lane or the left turn lane in order to turn right at the intersection in front of the intersection, the vehicle is in the planned lane change state and the intersection The planned condition that is the planned entry state is satisfied. Then, the notification intensity in the notification about the preceding vehicle that precedes the own vehicle is set to be weak. Therefore, even if the own vehicle α tries to change lanes in the scene and temporarily approaches the preceding vehicle, it is possible to suppress excessive notification of the preceding vehicle to the occupants. Therefore, the annoyance felt by the occupant can be reduced.

The reference numerals in parentheses exemplify the correspondence with the parts of the embodiments described later, and are not intended to limit the technical scope.

It is a block diagram which shows an in-vehicle network. It is a block diagram which shows HCU. It is a figure which compares the implementation state (on state) and the non-execution state (off state) of the notification about the preceding vehicle at the normal level. It is a figure which shows the example of the departure display of the preceding vehicle at a normal level in the center column. It is a figure corresponding to FIG. 3 at a weak level. It is a figure corresponding to FIG. 4 at a weak level. It is a figure which compares the notification about a preceding vehicle at a normal level and a weak level. It is a flowchart for demonstrating the whole picture of processing by HCU. It is a flowchart for demonstrating the detail about the setting process of the notification strength by HCU. It is a figure explaining the relationship between the road scene and the notification intensity on a general road. It is a figure explaining the relationship between the road scene and the notification intensity on an expressway. It is a flowchart for demonstrating the detail about the notification processing by HCU. It is a flowchart for demonstrating the detail about the notification end processing by HCU. It is a flowchart corresponding to FIG. 13 in the modification 1.

One embodiment will be described with reference to the drawings.

(First Embodiment)
As shown in FIG. 1, the display control device according to the first embodiment of the present disclosure is an HCU (Human Machine Interface Control Unit) 10. The HCU 10 comprises an HMI (Human Machine Interface) system used for the own vehicle α as a vehicle together with a head up display (hereinafter HUD31), a meter (hereinafter MET32), and a speaker 33.

The HCU 10 is connected as a communicable node to the communication bus of the in-vehicle network mounted on the own vehicle α. An own vehicle information providing ECU (Electronic Control Unit) 21, a peripheral monitoring sensor 22, a locator 23, and the like are connected to the communication bus of the in-vehicle network as nodes. These nodes connected to the communication bus can communicate with each other.

The own vehicle information providing ECU 21 is an electronic control device that sequentially outputs and provides the own vehicle information to the communication bus of the vehicle-mounted network. The own vehicle information includes various information related to the own vehicle α, such as speed information of the own vehicle α from the vehicle speed sensor, operation information of the winker (direction indicator) (hereinafter referred to as winker information), and the like.

The peripheral monitoring sensor 22 is an autonomous sensor that monitors the surrounding environment of the own vehicle α. From the detection range, the peripheral monitoring sensor 22 includes pedestrians, cyclists, animals other than humans, moving objects such as other vehicles (for example, the preceding vehicle β), falling objects on the road, guardrails, curbs, road markings, traveling lane markings, and the like. It is possible to detect road markings and stationary objects such as structures beside the track. The detection range includes at least the front range of the own vehicle α. The peripheral monitoring sensor 22 provides detection information for detecting an object in the detection range to the HCU 10 or the like via a communication bus. The peripheral monitoring sensor 22 includes at least one of a camera, a millimeter-wave radar, a rider, and a sonar as a detection configuration for object detection.

The locator 23 has a configuration including a GNSS (Global Navigation Satellite Systems) receiver, an inertial sensor, and the like. The locator 23 combines the positioning signal received by the GNSS receiver, the measurement result of the inertial sensor, and the speed information output to the communication bus, and sequentially coronates the position and traveling direction of the own vehicle α with high accuracy. The locator 23 can specify, for example, the lane in which the own vehicle α travels among a plurality of lanes. The locator 23 sequentially outputs the position information and the direction information of the own vehicle α based on the positioning result to the communication bus as the locator information.

The locator 23 further has a map database 23a. The map database 23a is mainly composed of a large-capacity non-volatile storage medium that stores a large number of three-dimensional map data and two-dimensional map data. The map data is so-called high-precision map data, and includes information necessary for driving, such as three-dimensional or two-dimensional shape information of a road, detailed information of each lane, and legal speed information of a road. The locator 23 reads the map data around the current position from the map database 23a and provides it to the HCU 10 or the like together with the locator information. Instead of the locator 23, a user terminal such as a smartphone or a navigation device may provide position information, direction information, map data, and the like to the HCU 10 and the like.

Next, the details of the HUD 31, MET 32, the speaker 33, and the HCU 10 included in the HMI system will be described in order. Here, the HUD 31, MET 32, and the speaker 33 correspond to a notification device capable of performing notification to an occupant (for example, a driver). Here, the notification includes display and voice notification. The HUD 31 and MET 32 also correspond to display devices capable of displaying to the occupants. The speaker 33 also corresponds to a voice notification device capable of performing voice notification to the occupant.

The HUD 31 is housed in a storage space in the instrument panel below the windshield. The HUD 31 projects the light formed as a virtual image toward the projection range of the windshield. The light projected on the windshield is reflected toward the driver's seat and perceived by the driver as an occupant. The driver visually recognizes a display in which a virtual image is superimposed on the external environment (for example, a landscape) of the own vehicle α that can be seen through the windshield. In this way, the HUD 31 becomes a superimposition display device capable of performing a display superimposing on the external environment of the own vehicle α among the display devices.

The MET 32 is arranged in the accommodation space in the instrument panel on the opposite side of the steering wheel from the driver's seat. The MET 32 can display a real image on a display screen facing the driver's seat side. The display screen is realized by a liquid crystal panel, an OLED display, a micro LED display, or the like. In this way, the MET 32 becomes a vehicle interior display device capable of displaying on a display screen provided in the vehicle interior of the own vehicle α.

The speaker 33 is installed on, for example, an instrument panel, a door panel, a rear quarter panel, or the like. The speaker 33 is capable of producing sound by converting the input electric signal into a physical signal using a voice coil and a diaphragm.

The HCU 10 is an electronic control device that integrally controls notifications by a plurality of notification devices including a HUD 31, MET 32, and a speaker 33 in an HMI system. As shown in FIG. 1, the HCU 10 mainly includes a computer including a processing unit 11, a RAM (Random Access Memory) 12, a storage unit 13, an input / output interface 14, and a bus connecting them. The processing unit 11 is hardware for arithmetic processing combined with the RAM 12. The processing unit 11 has a configuration including at least one arithmetic core such as a CPU (Central Processing Unit), a GPU (Graphic Processing Unit), and a RISC (Reduced Instruction Set Computer). The processing unit 11 may be configured to further include an FPGA (Field-Programmable Gate Array), an IP core having other dedicated functions, and the like. The processing unit 11 executes various processes for realizing the functions of each functional unit, which will be described later, by accessing the RAM 12. The storage unit 13 is configured to include at least one non-volatile storage medium such as a semiconductor memory. The storage unit 13 stores various computer programs (for example, notification control programs) executed by the processing unit 11.

The HCU 10 has a plurality of functional units that realize notification to the occupant by executing the computer program stored in the storage unit 13 by the processing unit 11. Specifically, as shown in FIG. 2, the HCU 10 includes a position information grasping unit X1, a vehicle schedule determination unit X2, a vehicle speed determination unit X3, a notification intensity setting unit X4, a notification execution request unit X5, and a notification mode control unit X6. Has.

The position information grasping unit X1 grasps the position information and direction information of the own vehicle α, and the position information and direction information of other vehicles including the preceding vehicle β. Specifically, the position information grasping unit X1 grasps the position and direction of the own vehicle α with respect to the surrounding roads based on the locator information acquired from the locator 23. Further, the position information grasping unit X1 identifies the position and direction of another vehicle including the preceding vehicle β with respect to the surrounding road based on the detection information acquired from the peripheral monitoring sensor 22. The position information grasping unit X1 sequentially updates the position and direction of the own vehicle α and the position and direction of other vehicles including the preceding vehicle β based on the latest locator information and detection information, and the own vehicle schedule determination unit X2, It is provided to the notification execution request unit X5 and the notification mode control unit X6.

The own vehicle schedule determination unit X2 determines the schedule of the own vehicle α. The own vehicle schedule determination unit X2 has a lane change schedule determination function and an intersection approach schedule determination function.

The lane change schedule determination function is a function for determining whether or not the own vehicle α is in a lane change schedule state in which the lane change is scheduled. Specifically, the own vehicle schedule determination unit X2 acquires the blinker information output to the communication bus of the network and refers to the operating state of the blinker. The own vehicle schedule determination unit X2 determines whether or not the own vehicle α is in the lane change scheduled state based on the position and direction of the own vehicle α and the operating state of the winker.

For example, in a scene in which the own vehicle α is traveling on a road having a plurality of lanes, when the indicator switch of the winker corresponding to the direction of the right or left lane is activated, the own vehicle schedule determination unit X2 uses the own vehicle. It is determined that α is in the lane change scheduled state. Further, for example, in a scene where the number of lanes increases on the road on which the own vehicle α travels, when the indicator switch of the winker corresponding to the increasing lane direction is activated, the own vehicle schedule determination unit X2 changes the lane of the own vehicle α. Judge that it is in the planned state. The scene in which the number of lanes increases includes not only the scene in which the number of traveling lanes increases, but also the scene in which the right turn lane or the left turn lane increases in front of the intersection.

On the other hand, in a scene in which the own vehicle α has already entered the intersection or in a scene in which the own vehicle α is already located in the left turn lane or the right turn lane in front of the intersection, the indicator switch for the right or left winker is activated. It is possible that there is. In this case, it is highly probable that a lane change is not planned and a right or left turn is planned. Therefore, the own vehicle schedule determination unit X2 determines that the own vehicle α is not in the lane change scheduled state.

The intersection approach schedule determination function is a function of determining whether or not the position of the own vehicle α is less than a predetermined distance from the intersection and the own vehicle α is traveling toward the intersection. Specifically, the own vehicle schedule determination unit X2 determines the road on which the own vehicle α is traveling and the intersection ahead of the road on which the own vehicle α is traveling, based on the position and direction of the own vehicle α with respect to the surrounding roads. Identify. Then, the own vehicle schedule determination unit X2 calculates the distance between the own vehicle α and the specified intersection. When this distance is less than a predetermined distance, the own vehicle schedule determination unit X2 determines that the own vehicle α is in the intersection scheduled approach state.

The predetermined distance is a route guidance synchronization distance set in synchronization with the route guidance start distance. The route guidance start distance is a distance set so that route guidance for the intersection is started under the condition that the own vehicle α is traveling toward the intersection. The route guidance for the intersection is realized, for example, by the notification mode control unit X6 controlling the display of the HUD 31, the display of the MET 32, the voice notification of the speaker 33, and the like.

Further, the tuning referred to here means that the predetermined distance is set to a distance within a range that can be recognized as an error of plus or minus 10% of the route guidance start distance. More preferably, the predetermined distance matches the route guidance start distance. For example, the predetermined distance is 300 m.

In the present embodiment, the determination conditions and the like partially overlap in the lane change schedule determination function and the intersection approach schedule determination function. Therefore, the own vehicle schedule determination unit X2 realizes both functions in a complex manner by sharing the arithmetic processing for the overlapping determination conditions (see also the flowchart of FIG. 9).

Further, the own vehicle schedule determination unit X2 of the present embodiment has a lane change position determination function on a road where an intersection basically does not exist. The lane change position determination function is used when the vehicle α is in the lane change schedule state and is driving on a road where there is basically no intersection, such as an expressway or a motorway, and the lane change schedule is within the main lane. It is a function to determine whether or not the lane change is to be implemented.

The own vehicle speed determination unit X3 determines whether or not the speed of the own vehicle α is larger than the predetermined speed. Here, for example, the legal speed of the road on which the own vehicle α travels is adopted as the predetermined speed. The own vehicle speed determination unit X3 compares the vehicle speed information of the own vehicle α output to the communication bus of the vehicle-mounted network with the legal speed information acquired from the locator 23, and makes a determination.

The notification intensity setting unit X4 sets the notification intensity in the notification about the preceding vehicle β based on the determination result by the own vehicle schedule determination unit X2, the determination result by the own vehicle speed determination unit X3, and the like. In the present embodiment, the preceding vehicle β is defined as another vehicle that travels in the same lane as the own vehicle α and precedes the own vehicle α.

The notification intensity setting unit X4 sets the notification intensity when the schedule condition that the vehicle α is in the lane change schedule state and the intersection entry schedule state is satisfied, as compared with the case where the vehicle α is not in the lane change schedule state. Set weakly. However, even if this schedule condition is satisfied, the notification intensity setting unit X4 determines that the speed of the own vehicle α is larger than the predetermined speed by the own vehicle speed determination unit X3, the notification intensity setting unit X4 Does not have to set the notification intensity weak.

In particular, in the present embodiment, as the notification intensity for the preceding vehicle β, two levels of notification intensity levels, a normal level and a weak level weaker than the normal level, are set. The notification intensity setting unit X4 selects an appropriate notification intensity level from these notification intensity levels.

Specifically, the notification intensity setting unit X4 sets the notification intensity to a weak level unless the speed of the own vehicle α is higher than the predetermined speed under the condition that the schedule condition is satisfied. The notification intensity setting unit X4 exceptionally sets the notification intensity to a normal level when the speed of the own vehicle α is higher than the predetermined speed even under the condition that the scheduled condition is satisfied.

The notification execution request unit X5 determines the contact possibility of the own vehicle α coming into contact with the preceding vehicle β, and requests the notification mode control unit X6 to execute an approach notification for the preceding vehicle β based on the contact possibility. .. The possibility of contact is determined by comparing the preceding vehicle distance, which is the distance from the own vehicle α to the preceding vehicle β, and the stopping distance of the own vehicle α. The stopping distance can be calculated by, for example, the sum of the estimated free running distance and the braking distance.

When the stop distance is equal to or less than the preceding vehicle distance, the notification execution requesting unit X5 forgoes the request for executing the approach notification for the preceding vehicle β.

On the other hand, when the stop distance is larger than the preceding vehicle distance, the notification execution requesting unit X5 determines that the contact possibility is at a medium level or higher, and once, the preceding vehicle β according to the notification intensity level selected by the notification intensity setting unit X4. Request the implementation of an approach notice. While the approach notification is being executed by the notification mode control unit X6, the notification execution request unit X5 tracks the transition of the relationship between the preceding vehicle distance and the stop distance. When the value obtained by multiplying the stop distance by the contact possibility classification magnification becomes larger than the preceding vehicle distance, the notification execution requesting unit X5 has a preceding vehicle whose notification intensity level is a normal level regardless of the setting of the notification intensity setting unit X4. The implementation of the approach notification for β will be requested again. The contact possibility classification magnification is set to a value larger than 0 and smaller than 1, and in particular, it is set to 0.7 in the present embodiment.

On the other hand, when the stop distance becomes smaller than the preceding vehicle distance, the notification execution requesting unit X5 requests the notification mode control unit X6 to stop the notification about the preceding vehicle β. Further, when the stopping distance becomes larger than the preceding vehicle distance again, the notification intensity setting unit X4 requests the execution of the approach notification for the preceding vehicle β according to the selected notification intensity level.

The notification mode control unit X6 controls a specific expression mode in the notification regarding the preceding vehicle β. The expression mode is determined in response to a request from the notification execution request unit X5 with reference to the notification intensity setting information acquired from the notification intensity setting unit X4.

Specifically, the notification mode control unit X6 formulates an expression mode in which the HUD 31, MET 32, and the speaker 33 are linked. The notification mode control unit X6 lays out various display contents on the image used for displaying the HUD 31 and the image used for displaying the MET 32. The notification mode control unit X6 causes the HUD 31 and the MET 32 to perform the display based on the layout. The notification mode control unit X6 causes the speaker 33 to output the voice corresponding to the display content as needed.

When there is no request from the notification execution request unit X5 and the preceding vehicle β is not detected, the notification mode control unit X6 lays out speed content C1H, C1M, lane content C2M, own vehicle content C3, etc. as display content. (See the right column of FIGS. 3 and 5). The speed contents C1H and C1M are contents representing the speed of the own vehicle α, and are displayed on each of the HUD 31 and the MET 32. The speed contents C1H and C1M are, for example, digital displays in characters, but in MET 32, analog displays imitating a mechanical meter may be used.

The lane content C2M is content representing the lane in which the own vehicle α travels, and is displayed on the MET 32. In the lane content C2M, line images corresponding to a pair of white lines arranged on both sides of the lane are arranged diagonally so that the intervals become narrower from the lower side to the upper side. This diagonal arrangement expresses a sense of perspective in the content.

The own vehicle content C3 is content that represents the own vehicle α from a bird's-eye view from diagonally rearward, and is displayed on the MET 32. The own vehicle content C3 is arranged between the line images in the lane content C2M.

In this case, the voice notification of the preceding vehicle β from the speaker 33 is not performed.

When there is a request from the notification execution request unit X5, the notification mode control unit X6 formulates an expression mode based on the notification intensity attached to the request. When the notification intensity level is the normal level, the notification mode control unit X6 displays the preceding vehicle content C4M, the preceding vehicle emphasis content C5, and the large pop-up in addition to the speed content C1H, C1M, the lane content C2M, and the own vehicle content C3 described above. Layout the content C6 and so on (see the left column in FIG. 3).

The preceding vehicle content C4M is content that represents the preceding vehicle β from a bird's-eye view from diagonally rearward, and is displayed on the MET 32. The preceding vehicle content C4M is displayed in a size smaller than that of the own vehicle content C3. The preceding vehicle content C4M is arranged between the line images in the lane content C2M and above the own vehicle content C3.

The preceding vehicle emphasis content C5 is content that emphasizes the existence of the preceding vehicle β, and is displayed on the MET 32. The preceding vehicle emphasizing content C5 is a combination of a frame image that surrounds and emphasizes the preceding vehicle content C4M and a character image that displays the characters "approach caution" adjacent to the frame image.

The large pop-up content C6 is content that represents a display that calls attention to approaching the preceding vehicle β in a pop-up display format, and is displayed on the HUD 31. The large pop-up content C6 is arranged in the central portion of the virtual image display area in a relatively large size occupying an area of 1/4 or more of the display area. The large pop-up content C6 has a configuration in which a background image filled with an alarm color such as red or yellow and a character image that superimposes the background image and displays the characters "Caution for approach" are combined.

Then, while the large pop-up content C6 is displayed, the notification mode control unit X6 causes the speaker 33 to perform a high-pitched voice notification of "pip-pip ...".

When the notification intensity level is a weak level, the notification mode control unit X6 sets the preceding vehicle content C4M, the preceding vehicle emphasis content C5, and the small pop-up in addition to the speed content C1H, C1M, the lane content C2M, and the own vehicle content C3 described above. Layout the content C7 and so on (see the left column in FIG. 5). The additional lane content C2M is also displayed on the HUD 31.

The preceding vehicle content C4M is the same as in the case of the above-mentioned normal level, but is displayed on the HUD 31 in addition to the MET 32. The preceding vehicle emphasis content C5 is the same as in the case of the above-mentioned normal level.

The small pop-up content C7 is content that represents a display in a pop-up display format that calls attention to approaching the preceding vehicle β, and is displayed on the HUD 31. The small pop-up content C7 is arranged in a side portion of the virtual image display area avoiding the central portion in a size smaller than that of the large pop-up content C6. The small pop-up content C7 is a combination of a character image for displaying the characters "Caution for approaching" and a frame image surrounding the character image without filling the background.

Then, while the small pop-up content C7 is displayed, the notification mode control unit X6 causes the speaker 33 to perform a low-pitched voice notification of "pawn ...".

The notification mode control unit X6 is based on the position and direction of the own vehicle α acquired from the position information grasping unit X1 and the position and direction of the preceding vehicle β while the notification about the preceding vehicle β is being performed. The relative position of the preceding vehicle β with respect to the vehicle is sequentially monitored. When the preceding vehicle β moves relative to the own vehicle α in the left direction or the right direction and leaves, the notification mode control unit X6 displays a departure display expressing the departure in the departure direction. And MET32 to carry out.

In the withdrawal display control, first, the notification mode control unit X6 erases the large pop-up content C6 or the small pop-up content C7 displayed on the HUD 31 (see the center column of FIGS. 4 and 6). When the notification intensity level is the normal level, the notification mode control unit X6 erases the large pop-up content C6 in the HUD 10 and causes the HUD 31 to display the lane content C2H and the preceding vehicle content C4H that can be displayed at the weak level.

Next, when the own vehicle α maintains the lane and the preceding vehicle β changes lanes in the above-mentioned relative movement, the notification mode control unit X6 displays the preceding vehicle content C4H and C4M changes the lane content C2H. Both the HUD 31 and the MET 32 are made to display a fade-out while moving relative to the C2M in the departure direction. When the preceding vehicle β maintains the lane and the own vehicle α changes lanes in the above-mentioned relative movement, the notification mode control unit X6 provides both the preceding vehicle contents C4H and C2M and the lane contents C2H and C2M. Both the HUD 31 and the MET 32 are made to display that they fade out while moving in the departure direction while maintaining the relative positional relationship with each other. Here, fading out means that the contrast gradually decreases over time so that the target content is assimilated into the background, and is finally erased. Further, in these cases, the position of the own vehicle content C3 is fixed and displayed without moving.

Regarding the above-mentioned expression mode regarding the notification of the preceding vehicle β, the case of the normal level and the case of the weak level are compared and arranged below with reference to FIG. 7.

In the HUD 31, the large pop-up content C6 is displayed in the center of the display area at the normal level. On the other hand, in the case of a weak level, the small pop-up content C7 is displayed on the side of the display area, and the lane content C2H and the preceding vehicle content C4H are displayed in the center of the display area. Therefore, in the HUD 31, the display mode differs between the normal level and the weak level.

In the MET 32, the lane content C2M, the own vehicle content C3, and the preceding vehicle content C4M are displayed at both the normal level and the weak level. Therefore, in MET32, the display mode is the same for the normal level and the weak level.

In the case of the normal level, the speaker 33 performs a high-pitched voice notification of "pip-pip ...". In the case of a weak level, a low-pitched voice notification of "pawn ..." is performed. Therefore, in the speaker 33, the display mode differs between the normal level and the weak level.

Next, the details of the notification control method for executing the notification about the preceding vehicle β based on the notification control program will be described with reference to the flowcharts of FIGS. 8, 9, 12, and 13.

First, the overall picture of the notification control process in the present embodiment is shown in FIG. The processing by each step of S100 to S300 is repeatedly performed at an appropriate start timing or cycle in a state where the power switch of the own vehicle α is on and power is being supplied to the HCU 10.

In S100, the notification intensity setting unit X4 selects the notification intensity from the two levels of notification intensity. After the processing of S100, the process proceeds to S200.

In S200, the notification mode control unit X6 starts causing the HUD 31, MET 32, and the speaker 33 to notify the preceding vehicle β in accordance with the request from the notification execution request unit X5. After the processing of S200, the process proceeds to S300.

In S300, the notification mode control unit X6 cancels the notification of the preceding vehicle β in response to the withdrawal status of the preceding vehicle β and the like. A series of processes is completed with S300.

Details of the processing of S100 are shown in each step of FIG. First, in S101, the own vehicle schedule determination unit X2 acquires the winker information. After the processing of S101, the process proceeds to S102.

In S102, the own vehicle schedule determination unit X2 determines whether or not the indicator switch of the winker is operating (whether it is in the ON state). If an affirmative judgment is made in S102, the process proceeds to S103. If a negative determination is made in S102, the process proceeds to S110.

In S103, the own vehicle schedule determination unit X2 acquires the position and direction of the own vehicle α. After the processing of S103, the process proceeds to S104.

In S104, the own vehicle schedule determination unit X2 determines whether or not the road type is a road having an intersection (for example, a general road). If an affirmative judgment is made in S104, the process proceeds to S105. If a negative determination is made in S105, the process proceeds to S111.

In S105 when the road type is a road having an intersection, the own vehicle schedule determination unit X2 determines whether or not the distance between the own vehicle α and the intersection is less than a predetermined distance (for example, 300 m). If an affirmative judgment is made in S105, the process proceeds to S106. If a negative determination is made in S105, the process proceeds to S109.

In S106, the own vehicle schedule determination unit X2 determines whether or not the own vehicle α is already located in the right turn lane, the left turn lane, or the intersection. If an affirmative judgment is made in S106, the process proceeds to S109. If a negative determination is made in S106, the process proceeds to S107.

In S107, the own vehicle speed determination unit X3 determines whether or not the speed of the own vehicle α is equal to or less than the upper limit of the legal speed. If an affirmative judgment is made in S107, the process proceeds to S108. If a negative determination is made in S107, the process proceeds to S109.

In S108, the notification intensity setting unit X4 sets the notification intensity level in the notification about the preceding vehicle β to a weak level. A series of processes is completed with S108.

In S109 and S110, the notification intensity setting unit X4 sets the notification intensity level in the notification about the preceding vehicle β to the normal level. A series of processes is completed by S109 and S110.

In S111 when the road type is basically no intersection, for example, an expressway or a car-only road, the own vehicle schedule determination unit X2 determines whether or not the own vehicle α is located in the main line. .. If an affirmative judgment is made in S111, the process proceeds to S112. If a negative determination is made in S111, the vehicle α is located in the ramp, the interchange entrance / exit, the service area entrance / exit, the parking area entrance / exit, etc., and moves to S114.

In S112, the own vehicle speed determination unit X3 determines whether or not the speed of the own vehicle α is equal to or less than the upper limit of the legal speed. If an affirmative judgment is made in S112, the process proceeds to S113. If a negative determination is made in S112, the process proceeds to S114.

In S113, the notification intensity setting unit X4 sets the notification intensity level in the notification about the preceding vehicle β to a weak level. A series of processes is completed with S113.

In S114, the notification intensity setting unit X4 sets the notification intensity level in the notification about the preceding vehicle β to the normal level. A series of processes is completed with S114.

As in steps S101 to S110 above, for example, on a general road, the notification intensity level for the preceding vehicle β is set as shown in FIG. When the own vehicle α is traveling toward the intersection and the distance to the intersection is 300 m or more, it is not considered that the vehicle is scheduled to enter the intersection yet, and the notification intensity level is set to the normal level.

If the distance from the vehicle α to the intersection is less than 300 m and the vehicle α has not changed lanes to the right turn lane, the notification intensity level is set to a weak level. If the occupant is planning to change lanes to the right turn lane and excessive notification is given to the preceding vehicle β located in the lane before the lane change, the occupants will be strongly annoyed. Is. However, if the speed of the own vehicle α exceeds the legal speed, the notification intensity level is the normal level.

After the own vehicle α changes lanes from 50 m in front of the intersection to the added right turn lane and after entering the intersection, the notification intensity level is set to the normal level. After changing lanes, the preceding vehicle β located in the right turn lane is about to turn right as well as the own vehicle α, so if the own vehicle α does not decelerate as the preceding vehicle β decelerates, the own vehicle α will be the preceding vehicle β. Will come in contact with. Therefore, the occupants should be strongly notified of the preceding vehicle β.

Further, as in steps S101 to S104 and S111 to S114 above, for example, on an expressway, the notification intensity level for the preceding vehicle β is set as shown in FIG. For example, on the road before the main line of the expressway merges and after the branch, the notification intensity level is set to the normal level. There is a high possibility that the preceding vehicle β will also move in the same way as the own vehicle α, such as changing lanes. That is, in consideration of the possibility that the preceding vehicle β changes lanes together with the own vehicle α and continues to be the preceding vehicle β, the occupants should be strongly notified of the preceding vehicle β.

On the other hand, in the main lane of the expressway, when the own vehicle α is in the lane change scheduled state, the notification intensity level is set to a weak level. Since it is unlikely that the preceding vehicle β will change lanes together with the own vehicle α and continue to be the preceding vehicle β, excessive notification to the preceding vehicle β located in the lane before the lane change will be very annoying to the occupants. This is because it will give.

Next, the details of the processing of S200 are shown in each step of FIG. First, in S201, the notification execution request unit X5 acquires the speed of the own vehicle α. After the processing of S201, the process proceeds to S202.

In S202, the notification execution request unit X5 acquires the preceding vehicle distance. After the processing of S202, the process proceeds to S203.

In S203, the notification execution request unit X5 calculates the stop distance. After the processing of S203, the process proceeds to S204.

In S204, the notification execution requesting unit X5 determines whether or not the stopping distance is larger than the preceding vehicle distance. If an affirmative judgment is made in S204, the process proceeds to S205. If a negative determination is made in S204, the notification is not requested to be executed, and a series of processes is terminated.

In S205, the notification execution request unit X5 requests the execution of the approach notification for the preceding vehicle β according to the notification intensity level selected by the notification intensity setting unit X4. Then, the notification mode control unit X6 determines the expression mode based on the notification intensity level selected by the notification intensity setting unit X4. In this way, the HUD 31, MET 32 and the speaker 33 start the notification to the occupants. After the processing of S205, the process proceeds to S206.

In S206, the notification execution requesting unit X5 determines whether or not the value 0.7 times the stopping distance is larger than the preceding vehicle distance. If an affirmative judgment is made in S206, the process proceeds to S207. If a negative determination is made in S206, the process returns to S204 again.

In S207, the notification execution request unit X5 requests the execution of the approach notification for the preceding vehicle β at the normal level. Then, the notification mode control unit X6 determines the expression mode based on the normal level. For example, if the notification intensity level is a weak level notification at the time of S205, the notification is changed to a stronger expression mode. In this way, the HUD 31, MET 32, and the speaker 33 change the expression mode and continue the notification to the occupants. After the processing of S205, the process proceeds to S206. A series of processes is completed by the process of S207.

Next, the details of the processing of S300 are shown in each step of FIG. First, in S301, the notification mode control unit X6 acquires the status of notification execution of the preceding vehicle β by the HUD31, MET32, and speaker 33. After the processing of S301, the process proceeds to S302.

In S302, the notification mode control unit X6 determines whether or not the notification regarding the preceding vehicle β is currently being executed based on the acquired notification execution state. If an affirmative judgment is made in S302, the process proceeds to S303. If a negative determination is made in S302, a series of processes is terminated.

In S303, the notification mode control unit X6 determines whether or not the preceding vehicle β moves relative to the own vehicle α in the left direction and the right direction in the departure direction and leaves. If a negative determination is made in S303, the process proceeds to S304. If an affirmative judgment is made in S303, the process proceeds to S305.

In S304, the notification mode control unit X6 determines whether or not the stopping distance is larger than the preceding vehicle distance. If an affirmative judgment is made in S304, the process proceeds to S306. If a negative determination is made in S304, the process returns to S303 again.

In S305, the notification mode control unit X6 causes the HUD 31 and the MET 32 to display a display expressing the departure of the preceding vehicle β in the departure direction. After the processing of S305, the process proceeds to S306.

In S306, the notification mode control unit X6 ends the notification about the preceding vehicle β. A series of processes is completed with S306.

(Action effect)
The effects of the first embodiment described above will be described again below.

According to the first embodiment, in a scene in which the own vehicle α tries to change lanes to a right turn lane or a left turn lane in order to turn right at the intersection in front of the intersection, the own vehicle α is in a lane change scheduled state. At the same time, the planned condition that the intersection is scheduled to enter is satisfied. Then, the notification intensity in the notification about the preceding vehicle β that precedes the own vehicle α becomes a weak level as a weak setting. Therefore, even if the own vehicle α tries to change lanes in the scene and temporarily approaches the preceding vehicle β, it is possible to suppress excessive notification of the preceding vehicle β to the occupants. Therefore, the annoyance felt by the occupant can be reduced.

Further, according to the first embodiment, when the own vehicle α has already entered the inside of the intersection, the notification intensity is set to a normal level as a setting stronger than the weak level when the scheduled condition is satisfied. .. Therefore, it is possible to enhance the effect of suppressing the situation where the own vehicle α comes into contact with the preceding vehicle β in an intersection where traffic paralysis is likely to occur.

Further, according to the first embodiment, even when the planned condition is satisfied, when the own vehicle α is traveling at a predetermined speed or higher, the notification intensity is set to a normal level stronger than the weak level. It is said that. Therefore, it is possible to enhance the effect of suppressing the situation where the own vehicle α comes into contact with the preceding vehicle β during high-speed driving in which the impact tends to be strong when the vehicle comes into contact with the preceding vehicle β.

Further, according to the first embodiment, the notification mode control unit X6 controls a specific expression mode in the notification regarding the preceding vehicle β with reference to the notification intensity setting information acquired from the notification intensity setting unit X4. .. Since the expression mode according to the notification intensity is realized by the notification device such as the HUD 31, MET 32, and the speaker 33, it becomes easy for the occupant to take an appropriate action corresponding to the notification.

Further, according to the first embodiment, the notification mode control unit X6 determines the expression mode based on the notification intensity setting information at the start stage of the notification about the preceding vehicle β. Then, the notification mode control unit X6 changes the expression mode to a stronger expression mode than the start stage in the later stage when the possibility of contact with the preceding vehicle β is higher than the start stage. Since the expression mode is strongly changed step by step as the possibility of contact increases, it is possible to give an opportunity for the occupant to recognize the notification a plurality of times while reducing the annoyance felt by the occupant.

Further, according to the first embodiment, after the notification mode control unit X6 starts the notification about the preceding vehicle β, the preceding vehicle β is relative to the own vehicle α in the left direction and the right direction in the departure direction. When the vehicle moves and leaves, the HUD 31 and MET 32 are made to display a display expressing the departure of the preceding vehicle β in the departure direction. Therefore, it is possible to make the occupant accurately recognize that the preceding vehicle β has left.

Further, according to the first embodiment, in the display expressing the departure, the preceding vehicle contents C4H and C4M fade out while moving relative to the lane contents C2H and C2M in the departure direction. With this display, it is possible to make the occupant accurately recognize that the preceding vehicle β has left by changing lanes.

Further, according to the first embodiment, in the display expressing the departure, both the preceding vehicle contents C4H and C4M and the lane contents C2H and C2M fade out while moving in the departure direction while maintaining the relative positional relationship. .. With this display, it is possible to make the occupant accurately recognize that the own vehicle α has left due to the change of lane.

Further, according to the first embodiment, the notification mode control unit X6 changes the expression of the display by the HUD 31 among the HUD 31 and the MET 32 based on the setting information of the notification intensity. By superimposing on the external environment of the own vehicle α, the display by the HUD 10 that is easily recognized by the occupant who visually recognizes the external environment changes, so that the occupant can accurately recognize the notification about the preceding vehicle β.

(Other embodiments)
Although one embodiment has been described above, the present disclosure is not construed as being limited to the embodiment, and can be applied to various embodiments without departing from the gist of the present disclosure.

Specifically, as the first modification, the details of the processing of S300 of the first embodiment may be changed as in S351 to S356 shown in FIG. Specifically, S351 and S352 are the same processes as S301 and S302. After the processing of S352, the process proceeds to S353.

S353 is the same process as S304. If an affirmative judgment is made in S353, the process proceeds to S354. If a negative determination is made in S353, the process of S353 is performed again after a predetermined time has elapsed.

S354 is the same process as S303. If an affirmative judgment is made in S354, the process proceeds to S355. If a negative determination is made in S354, the process proceeds to S356.

S355 is the same process as S305. After the processing of S355, the process proceeds to S356. S356 is the same process as S366. A series of processes is completed with S356.

As a modification 2, the own vehicle schedule determination unit X2 may determine whether or not the own vehicle α is in the lane change scheduled state by using another information instead of the winker information. For example, it may be determined whether or not the own vehicle α is in the lane change scheduled state by using the information of the planned travel route to the destination set by the car navigation function or the automatic driving function.

As a modification 3, the notification may include vibration. For example, the notification control device may control notification by a vibrating device that vibrates, for example, the steering wheel, the driver's seat, and the like.

As a modification 4, each function provided by the notification control device can be provided by software and hardware for executing the software, software only, hardware only, or a combination thereof. Further, when such a function is provided by an electronic circuit as hardware, each function can also be provided by a digital circuit including a large number of logic circuits or an analog circuit.

As the modification 5, the form of the storage medium for storing the program or the like capable of realizing the above-mentioned notification control may be changed as appropriate. For example, the storage medium is not limited to the configuration provided in the form of a circuit board, but is provided in the form of a memory card or the like, is inserted into a slot portion, and is electrically connected to the control circuit of the notification control device. You may. Further, the storage medium may be an optical disk, a hard disk, or the like, which is a copy base of the program to the notification control device.

As a modification 6, the notification control device may not be mounted on the own vehicle α. For example, when the notification control device is not mounted on the vehicle and is fixedly arranged outside the own vehicle α or is mounted on another vehicle, communication such as the Internet, road-to-vehicle communication, vehicle-to-vehicle communication, etc. The notification device may be remotely controlled.

The control unit and its method described in the present disclosure may be realized by a dedicated computer constituting a processor programmed to execute one or a plurality of functions embodied by a computer program. Alternatively, the apparatus and method thereof described in the present disclosure may be realized by a dedicated hardware logic circuit. Alternatively, the apparatus and method thereof described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor that executes a computer program and one or more hardware logic circuits. Further, the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer.

10: HCU (notification control device), 31: HUD (superimposed display device, display device, notification device), 32: MET (vehicle interior display device, display device, notification device), 33: speaker (voice notification device, notification device) ), Α: own vehicle, β: preceding vehicle, X3: own vehicle schedule determination unit, X4: notification intensity setting unit

Claims (10)

A notification control device used in a vehicle that controls notification to an occupant of the own vehicle (α) as the vehicle by one or more notification devices (31, 32, 33).
An intersection in which the vehicle is scheduled to change lanes and the vehicle is located at a position less than a predetermined distance from the intersection and the vehicle is traveling toward the intersection. The own vehicle schedule determination unit (X3) that determines whether or not the vehicle is in the planned approach state,
When the planned condition that the own vehicle is in the lane change scheduled state and the intersection is scheduled to enter is satisfied, the vehicle is ahead of the own vehicle than in the case where the own vehicle is not in the lane change scheduled state. A notification control device including a notification intensity setting unit (X4) that sets a weak notification intensity in the notification of the preceding vehicle (β). Claim 1 in which the notification intensity setting unit sets the notification intensity stronger than the weak setting when the scheduled condition is satisfied when the own vehicle has already entered the inside of the intersection. The notification control device described in. The notification intensity setting unit is claimed to set the notification intensity to be stronger than the weak setting when the own vehicle is traveling at a predetermined speed or higher even when the scheduled conditions are satisfied. Item 2. The notification control device according to item 1 or 2. Any one of claims 1 to 3, further comprising a notification mode control unit (X6) that controls a specific expression mode in the notification with reference to the notification strength setting information acquired from the notification strength setting unit. The notification control device according to item 1. The notification mode control unit
At the start stage of the notification about the preceding vehicle, the expression mode is determined based on the notification intensity setting information.
The notification control device according to claim 4, wherein the expression mode is changed to a stronger expression mode than the start stage at a later stage when the possibility of contact with the preceding vehicle is higher than the start stage. As the notification device, display devices (31, 32) capable of displaying are provided.
After starting the notification about the preceding vehicle, the notification mode control unit moves the preceding vehicle relative to the own vehicle in the left direction and the right direction in the leaving direction and leaves the vehicle. The notification control device according to claim 4 or 5, wherein the display device displays a display expressing the departure of the preceding vehicle in the departure direction. When the preceding vehicle leaves by changing lanes after starting the notification about the preceding vehicle, the notification mode control unit displays the preceding vehicle in the display expressing the departure of the preceding vehicle in the leaving direction. The notification control device according to claim 6, wherein the display device performs a display in which the content (C4H, C4M) fades out while moving relative to the lane content (C2H, C2M) in the departure direction. After starting the notification about the preceding vehicle, the notification mode control unit displays the preceding vehicle in a display expressing the departure of the preceding vehicle in the departure direction when the own vehicle leaves by changing lanes. The notification control device according to claim 6, wherein the display device performs a display that fades out while moving in the departure direction while both the content and the lane content maintain a relative positional relationship. As the notification device, a superimposition display device (31) capable of superimposing a display on the external environment of the own vehicle and an interior display device capable of displaying on a display screen provided in the vehicle interior of the own vehicle. (32) is provided,
The notification control device according to claim 4, wherein the notification mode control unit changes the display expression by the superimposition display device among the superimposition display device and the vehicle interior display device based on the notification intensity setting information. A notification control program used in a vehicle that controls notifications to the occupants of the own vehicle (α) as the vehicle by one or more notification devices (31, 32, 33).
In at least one processing unit (11)
An intersection in which the vehicle is scheduled to change lanes and the vehicle is located at a position less than a predetermined distance from the intersection and the vehicle is traveling toward the intersection. Processes (S101 to S107) for determining whether or not the vehicle is in the planned approach state, and
When the planned condition that the own vehicle is in the lane change scheduled state and the intersection is scheduled to enter is satisfied, the vehicle precedes the own vehicle more than in the case where the own vehicle is not in the lane change scheduled state. A notification control program for executing a process (S108) in which the notification intensity in the notification for the preceding vehicle (β) is set to be weak.

Images