JP6615367B2 - Information processing apparatus, communication terminal, information processing method, and communication terminal control method - Google Patents

Description

  The present invention relates to an information processing apparatus and an information processing method for performing prior notification that the traveling control state of a vehicle that performs automatic driving changes, and to notify in advance that the traveling control state of a vehicle that performs automatic driving changes. The present invention relates to a communication terminal and a communication terminal control method.

  In a vehicle that performs automatic driving, an automatic driving control device provided in the vehicle establishes a long-term traveling control plan and a short-term traveling control plan, and controls automatic driving of the vehicle based on these plans. Here, the long-term travel control plan refers to a plan for controlling automatic driving of a vehicle along a route from a current position to a destination set by a user such as a driver. The short-term travel control plan is a plan for controlling automatic driving of the vehicle based on the surrounding situation of the vehicle. Hereinafter, the long-term traveling control plan and the short-term traveling control plan are collectively referred to as a traveling control plan. The automatic driving of the vehicle is very beneficial because it reduces the driving load on the driver.

  In the automatic driving, an automatic driving level is defined depending on whether the automatic driving control device controls acceleration, steering, or braking of the vehicle. Hereinafter, a state in which the automatic driving control device controls one of acceleration, steering, and braking of the vehicle is referred to as an automatic driving level 1. A state in which the automatic driving control device controls two of acceleration, steering, and braking of the vehicle is referred to as an automatic driving level 2. The automatic driving control device controls all of acceleration, steering, and braking of the vehicle, and when the automatic driving control device requests, the state corresponding to the driver is set to the automatic driving level 3. A state in which the automatic driving control device controls all of the acceleration, steering and braking of the vehicle and the driver is not involved at all is referred to as an automatic driving level 4. A state in which the automatic driving control device does not control all of acceleration, steering, and braking of the vehicle is defined as an automatic driving level 0.

  2. Description of the Related Art Conventionally, there is disclosed a technique for informing a driver in advance when a lane change or a speed change is performed in a vehicle that is driven by automatic driving (for example, see Patent Document 1). In addition, there is disclosed a technique for notifying a current traveling control state by giving an accelerator vibration to a driver when automatic emergency braking (AEB) control is executed (for example, Patent Documents). 2). The technique of Patent Document 1 is a notification method corresponding to the above-described automatic driving level 3, and the technique of Patent Document 2 is a notification method corresponding to the automatic driving level 2 or lower.

Japanese Patent Laid-Open No. 10-105885 JP 2007-45175

  In a vehicle that performs automatic driving at an automatic driving level of 3 or higher, it is considered that the driver is released from driving operation, and it takes a long time to use the communication terminal to check various information and enjoy entertainment. Therefore, even if the driver is informed by the methods of Patent Documents 1 and 2 while viewing the screen while using the communication terminal, the driver can intuitively know in advance the change in acceleration that occurs in the host vehicle while traveling. Therefore, there is a problem that the vehicle cannot be prepared for steering and acceleration / deceleration of the host vehicle, and the posture is lost or the patient feels bad. Further, in a vehicle that performs automatic driving at an automatic driving level of 2 or less, there is a similar problem when a passenger other than the driver uses the communication terminal.

  The present invention has been made to solve such a problem, and is an information processing device, a communication terminal, and an information processing device that can notify a user of a communication terminal in advance of a change in the running state of the host vehicle. It is an object to provide a method and a control method of a communication terminal.

In order to solve the above problems, an information processing apparatus according to the present invention, a usable communication unit and the communication terminals existing in a vehicle for automatic operation, the current automatic operation level of vehicles, automatic operation of the vehicle An acquisition unit that acquires the travel control plan of the vehicle, and a change in the travel state including at least one of the position and speed of the vehicle that occurs within a predetermined time from the current time based on the travel control plan acquired by the acquisition unit A travel control information including a warning display object that can visually distinguish the direction, and a control unit that controls the communication unit to transmit the travel control information to the communication terminal. Is equal to or higher than a predetermined automatic driving level, the communication unit is controlled to transmit the traveling control information to the communication terminal.

In addition, the communication terminal according to the present invention acquires travel control information including a change in travel state including at least one of the position and speed of a vehicle that occurs within a predetermined time from the current time in a vehicle that performs automatic driving. And a control unit that performs control to display an alarm image that can visually determine the direction of change in the running state of the vehicle that occurs within a predetermined time based on the travel control information acquired by the acquisition unit. .

The information processing method according to the invention is capable of communicating with a communication terminal existing in a vehicle for automatic operation, acquires the current automatic operation level of vehicles, and a travel control plan for automatic operation of the vehicle, Driving control including an alarm display object that can visually determine the direction of change of the driving state including at least one of the position and speed of the vehicle generated within a predetermined time from the current time based on the acquired driving control plan The information is generated and the driving control information is controlled to be transmitted to the communication terminal. When the automatic driving level is equal to or higher than the predetermined automatic driving level, the driving control information is transmitted to the communication terminal. Is to control.

In addition, the communication terminal control method according to the present invention provides travel control information including a change in travel state including at least one of the position and speed of a vehicle that occurs within a predetermined time from the current time in a vehicle that performs automatic driving. Based on the acquired travel control information, control is performed to display an alarm image that can visually determine the direction of change in the travel state of the vehicle that occurs within a predetermined time.

According to the present invention, an information processing apparatus, acquires the available communication unit and the communication terminals existing in a vehicle for automatic operation, the current automatic operation level of vehicles, and a travel control plan for automatic operation of the vehicle Based on the acquisition unit to be acquired and the travel control plan acquired by the acquisition unit, it is possible to visually determine the direction of change of the driving state including at least one of the position and speed of the vehicle occurring within a predetermined time from the current time And a control unit that controls the communication unit so as to generate travel control information including a warning display object and transmit the travel control information to the communication terminal, and the control unit is configured to perform automatic driving with a predetermined automatic driving level. When the level is equal to or higher than the level, the communication unit is controlled so as to transmit the travel control information to the communication terminal, so the user of the communication terminal can be informed in advance of changes in the traveling state of the host vehicle. It made.

Further, the communication terminal is an acquisition unit that acquires traveling control information including a change in traveling state including at least one of the position and speed of the vehicle that occurs within a predetermined time from the current time in a vehicle that performs automatic driving; A control unit that performs control to display an alarm image that can visually discriminate the direction of change in the running state of the vehicle that occurs within a predetermined period of time based on the travel control information acquired by the acquisition unit. It becomes possible to notify the user of the terminal in advance of changes in the running state of the host vehicle.

The information processing method is capable of communicating with a communication terminal existing in a vehicle for automatic operation, it acquires the current automatic operation level of vehicles, and a travel control plan for automatic operation of the vehicles was obtained Based on the travel control plan, travel control information including an alarm display object that can visually determine the direction of change of the travel state including at least one of the position and speed of the vehicle generated within a predetermined time from the present time. Generating and controlling the transmission control information to be transmitted to the communication terminal, and controlling the transmission control information to the communication terminal when the automatic driving level is equal to or higher than a predetermined automatic driving level. Therefore, it is possible to notify the user of the communication terminal in advance of changes in the traveling state of the host vehicle.

In addition, the communication terminal control method acquires travel control information including a change in travel state including at least one of the position and speed of the vehicle that occurs within a predetermined time from the current time in a vehicle that performs automatic driving, Based on the acquired traveling control information, the vehicle of the communication terminal is notified to the user of the communication terminal in order to perform control to display a warning image that can visually determine the direction of change of the traveling state of the vehicle that occurs within a predetermined time. It is possible to notify in advance of changes in the running state.

  Objects, features, aspects, and advantages of the present invention will become more apparent from the following detailed description and the accompanying drawings.

It is a block diagram which shows an example of a structure of the information processing apparatus by Embodiment 1 of this invention. It is a block diagram which shows an example of a structure of the communication terminal by Embodiment 1 of this invention. It is a block diagram which shows an example of a structure of the information processing apparatus and communication terminal by Embodiment 1 of this invention. It is a figure which shows an example of the hardware constitutions of the information processing apparatus by Embodiment 1 of this invention. It is a figure which shows an example of the hardware constitutions of the communication terminal by Embodiment 1 of this invention. It is a flowchart which shows an example of operation | movement of the information processing apparatus by Embodiment 1 of this invention. It is a figure which shows an example of the change of the traveling control state of the own vehicle by Embodiment 1 of this invention. It is a figure which shows an example of the change of the traveling control state of the own vehicle by Embodiment 1 of this invention. It is a figure which shows an example of the alarm display object by Embodiment 1 of this invention. It is a flowchart which shows an example of operation | movement of the communication terminal by Embodiment 1 of this invention. It is a figure which shows an example of the display in the communication terminal by Embodiment 1 of this invention. It is a figure which shows an example of the display in the communication terminal by Embodiment 1 of this invention. It is a figure which shows an example of the display in the communication terminal by Embodiment 1 of this invention. It is a flowchart which shows an example of operation | movement of the information processing apparatus by Embodiment 1 of this invention. It is a figure which shows an example of the display in the communication terminal by Embodiment 1 of this invention. It is a figure which shows an example of the display in the communication terminal by Embodiment 1 of this invention. It is a figure which shows an example of the display in the communication terminal by Embodiment 1 of this invention. It is a figure which shows an example of the display in the communication terminal by Embodiment 1 of this invention. It is a figure which shows an example of the display in the communication terminal by Embodiment 1 of this invention. It is a figure which shows an example of the display in the communication terminal by Embodiment 1 of this invention. It is a figure which shows an example of the display in the communication terminal by Embodiment 1 of this invention. It is a figure which shows an example of the display in the communication terminal by Embodiment 1 of this invention. It is a figure which shows an example of the display in the communication terminal by Embodiment 1 of this invention. It is a figure which shows an example of the display in the communication terminal by Embodiment 1 of this invention. It is a figure which shows an example of the display in the communication terminal by Embodiment 1 of this invention. It is a figure which shows an example of the display in the communication terminal by Embodiment 1 of this invention. It is a figure which shows an example of the display in the communication terminal by Embodiment 1 of this invention. It is a figure which shows an example of the display in the communication terminal by Embodiment 1 of this invention. It is a figure which shows an example of the display in the communication terminal by Embodiment 1 of this invention. It is a figure which shows an example of the display in the communication terminal by Embodiment 1 of this invention. It is a flowchart which shows an example of operation | movement of the information processing apparatus by Embodiment 2 of this invention. It is a flowchart which shows an example of operation | movement of the communication terminal by Embodiment 2 of this invention. It is a block diagram which shows an example of a structure of the information processing apparatus and communication terminal by Embodiment 3 of this invention. It is a block diagram which shows an example of a structure of the information processing apparatus and communication terminal by Embodiment 4 of this invention. It is a block diagram which shows an example of a structure of the information processing system by embodiment of this invention.

  Embodiments of the present invention will be described below with reference to the drawings.

<Embodiment 1>
<Configuration>
First, the configuration of the information processing apparatus according to the first embodiment of the present invention will be described.

  FIG. 1 is a block diagram showing an example of the configuration of the information processing apparatus 1 according to the first embodiment. FIG. 1 shows the minimum necessary components constituting the information processing apparatus according to the first embodiment. Further, it is assumed that the information processing apparatus 1 is mounted on the host vehicle, and the host vehicle is capable of automatic driving.

  As illustrated in FIG. 1, the information processing apparatus 1 includes an acquisition unit 2, a communication unit 3, and a control unit 4. The acquisition unit 2 acquires a current automatic driving level of the host vehicle that performs automatic driving and a travel control plan for the automatic driving of the host vehicle. The communication unit 3 can communicate with a communication terminal (not shown).

  Based on the travel control plan acquired by the acquisition unit 2, the control unit 4 generates travel control information including a change in the travel state of the host vehicle that occurs within a predetermined time from the current time, and communicates the travel control information. The communication unit 3 is controlled to transmit to the terminal. Moreover, the control part 4 controls the communication part 3 so that driving control information may be transmitted to a communication terminal, when an automatic driving level is more than a predetermined automatic driving level.

  Next, the configuration of the communication terminal according to Embodiment 1 of the present invention will be described.

  FIG. 2 is a block diagram showing an example of the configuration of the communication terminal 5 according to the first embodiment. Note that FIG. 2 shows the minimum necessary components constituting the communication terminal according to the first embodiment. The communication terminal 5 is a mobile communication terminal typified by a smartphone and is present in the host vehicle.

  As shown in FIG. 2, the communication terminal 5 includes an acquisition unit 6 and a control unit 7. The acquisition unit 6 acquires travel control information including a change in the travel state of the host vehicle that occurs within a predetermined time from the current time in the host vehicle that performs automatic driving. Based on the travel control information acquired by the acquisition unit 6, the control unit 7 performs control for notifying a change in the travel state of the host vehicle that occurs within a predetermined time.

  Next, other configurations of the information processing apparatus and the communication terminal including the information processing apparatus 1 and the communication terminal 5 will be described.

  FIG. 3 is a block diagram illustrating an example of the configuration of the information processing device 8 and the communication terminal 9.

  As illustrated in FIG. 3, the information processing apparatus 8 includes an acquisition unit 2, a communication unit 3, and a control unit 4. The acquisition unit 2 is connected to the automatic operation control device 19, and the communication unit 3 is connected to be able to communicate with the communication unit 10 of the communication terminal 9.

  The peripheral information detection device 18 is connected to the camera 14, the millimeter wave radar 15, the ultrasonic sensor 16, and the laser radar 17. Each of the camera 14, the millimeter wave radar 15, the ultrasonic sensor 16, and the laser radar 17 is provided in the own vehicle. The surrounding information detection device 18 is present in the lane in which the host vehicle is traveling and in the vicinity of the host vehicle based on various information detected by the camera 14, the millimeter wave radar 15, the ultrasonic sensor 16, and the laser radar 17. Detects the position of the other vehicle or obstacle, the direction in which the other vehicle or obstacle exists with respect to the own vehicle, the distance between the own vehicle and the other vehicle or obstacle, and the relative speed of the other vehicle with respect to the own vehicle as peripheral information . That is, the surrounding information is information indicating the situation around the host vehicle.

  In addition, the surrounding information detection apparatus 18 may acquire road congestion information, road state information, and the like from the outside by broadcasting or communication means. Here, examples of the communication means include DSRC (Dedicated Short Range Communication) (registered trademark) and VICS (Vehicle Information and Communication System) (registered trademark).

  The automatic driving control device 19 controls the automatic driving of the host vehicle by controlling the driving control system of the own vehicle based on a predetermined driving control plan. Specifically, the automatic driving control device 19 creates a long-term travel control plan using map information stored in an automatic driving road map database (not shown). The automatic driving control device 19 also includes the peripheral information detected by the peripheral information detecting device 18, the current position of the host vehicle detected by the host vehicle position detecting unit (not shown), and a map stored in the road map database for automatic driving. A short-term driving control plan is created based on the information.

  The automatic driving road map database is highly accurate map data for automatic driving, and stores information necessary for automatic driving as parameters of road data. For example, the road map database for automatic driving stores road sections and automatic driving levels in association with each other. Specifically, for road sections where the white line is clear, automatic driving level 3 is set since automatic driving is possible while recognizing the white line. Moreover, the road map database for automatic driving | operation has memorize | stored the information of whether a white line is clear for every road area. The automatic driving map database may be provided in the own vehicle or may be provided outside.

  The travel control system is an actuator that controls the travel of the host vehicle, such as an accelerator, a brake, and a handle, and controls the travel of the host vehicle based on a command from the automatic driving control device 19.

  The driver may set an automatic driving level of an arbitrary road section from an operation input unit (not shown). At this time, the driver can set the automatic driving level within a range not exceeding the automatic driving level associated with each road section stored in the road map database for automatic driving.

  The acquisition unit 2 acquires a travel control plan and an automatic driving level from the automatic driving control device 19. The communication unit 3 communicates with the communication unit 10 of the communication terminal 9. The communication unit 3 includes a USB (Universal Serial Bus), a wireless LAN (Local Area Network), Bluetooth (registered trademark), NFC (Near Field Communication), and the like. The control unit 4 controls the entire information processing apparatus 8. For example, the control unit 4 generates travel control information based on the travel control plan and the automatic driving level acquired by the acquisition unit 2 and controls the communication unit 3 to transmit the travel control information to the communication terminal 9.

  Although FIG. 3 shows a case where the information processing device 8, the peripheral information detection device 18, and the automatic operation control device 19 are separately provided, the present invention is not limited to this. The information processing device 8 may be integrated with one or both of the peripheral information detection device 18 and the automatic operation control device 19.

  As illustrated in FIG. 3, the communication terminal 9 includes a communication unit 10, a control unit 7, a display unit 12, and an operation input unit 13.

  The communication unit 10 communicates with the communication unit 3 of the information processing apparatus 8. Note that the communication unit 10 includes USB, wireless LAN, Bluetooth, NFC, and the like. In addition, the communication unit 10 includes an acquisition unit 6. The acquisition unit 6 acquires various information including travel control information transmitted from the communication unit 3 of the information processing device 8.

  The control unit 7 controls the entire communication terminal 9. The control unit 7 has an application execution unit 11. The application execution unit 11 reads and executes various applications from a storage unit (not shown). Specifically, the application execution unit 11 performs control for notifying a change in the traveling state of the host vehicle occurring within a predetermined time from the current time based on the traveling control information acquired by the acquiring unit 6. In addition, the application execution unit 11 causes the application to operate in accordance with a user operation input via the operation input unit 13. In the following, an application that displays a change in the running state of the host vehicle occurring within a predetermined time on the display unit 12 is referred to as an alarm application, and an application other than the alarm application is referred to as a general application. These applications may be acquired from the outside via the acquisition unit 6.

  The display unit 12 displays various information according to instructions from the application execution unit 11. The operation input unit 13 receives an operation by the user and transmits a signal related to the received operation to the application execution unit 11. The operation input unit 13 may be, for example, a button switch or a touch panel. When the operation input unit 13 is a touch panel, the display unit 12 and the operation input unit 13 are integrally configured.

  FIG. 4 is a diagram illustrating an example of a hardware configuration of the information processing apparatus 8. The same applies to the information processing apparatus 1.

  The functions of the acquisition unit 2, the communication unit 3, and the control unit 4 in the information processing apparatus 8 are realized by a processing circuit. That is, the information processing device 8 acquires the travel control plan and the automatic operation level, communicates with the communication terminal 9, and generates travel control information based on the travel control plan and the automatic operation level acquired by the acquisition unit 2, A processing circuit for controlling the communication unit 3 so as to transmit the travel control information to the communication terminal 9 is provided. The processing circuit is a processor 20 (also referred to as a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP (Digital Signal Processor)) that executes a program stored in the memory 21.

  The functions of the acquisition unit 2, the communication unit 3, and the control unit 4 in the information processing apparatus 8 are realized by software, firmware, or a combination of software and firmware. Software or firmware is described as a program and stored in the memory 21. The processing circuit reads out and executes the program stored in the memory 21, thereby realizing the function of each unit. That is, the information processing device 8 generates the travel control information based on the step of acquiring the travel control plan and the automatic operation level, the step of communicating with the communication terminal 9, and the travel control plan and the automatic operation level acquired by the acquisition unit 2. And the memory 21 for storing the program in which the step which controls the communication part 3 so that the said traveling control information may be transmitted to the communication terminal 9 will be performed as a result is provided. Moreover, it can be said that these programs are what makes a computer perform the procedure or method of the acquisition part 2, the communication part 3, and the control part 4. FIG. Here, the memory is, for example, non-volatile or volatile such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), etc. This includes a semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disc), and the like.

  FIG. 5 is a diagram illustrating an example of a hardware configuration of the communication terminal 9. The same applies to the communication terminal 5.

  Each function of the acquisition unit 6, the control unit 7, the communication unit 10, and the application execution unit 11 in the communication terminal 9 is realized by a processing circuit. That is, the communication terminal 9 acquires the travel control information, controls the entire communication terminal 9, communicates with the information processing device 8, and detects changes in the travel state of the host vehicle that occur within a predetermined time from the present time. A processing circuit for performing control for notification is provided. The processing circuit is a processor 22 that executes a program stored in the memory 23.

  The functions of the acquisition unit 6, the control unit 7, the communication unit 10, and the application execution unit 11 in the communication terminal 9 are realized by software, firmware, or a combination of software and firmware. Software or firmware is described as a program and stored in the memory 23. The processing circuit reads out and executes the program stored in the memory 23, thereby realizing the function of each unit. That is, the communication terminal 9 acquires the traveling control information, controls the entire communication terminal 9, communicates with the information processing device 8, and determines the traveling state of the host vehicle that occurs within a predetermined time from the present time. The memory 23 for storing the program in which the step of performing the control for notifying the change is executed as a result is provided. These programs can also be said to cause the computer to execute the procedures or methods of the acquisition unit 6, the control unit 7, the communication unit 10, and the application execution unit 11.

<Operation>
Next, operations of the information processing apparatus 8 and the communication terminal 9 will be described in order. In the following description, it is assumed that the user of the communication terminal 9 is a driver.

  FIG. 6 is a flowchart illustrating an example of the operation of the information processing apparatus 8. In addition, before performing the operation | movement shown in FIG. 6, the automatic driving | operation control apparatus 19 shall control the automatic driving | running | working of the own vehicle based on the predetermined traveling control plan.

  In step S <b> 101, the acquisition unit 2 acquires an automatic driving level and a travel control plan from the automatic driving control device 19. Specifically, the acquisition unit 2 acquires continuous time series information of the position p (t) and the speed v (t) of the host vehicle within a predetermined time from the current time as a travel control plan.

  The travel control plan may be discrete time-series information on the position and speed of the host vehicle. Further, the travel control plan is not limited to time series information on the position and speed of the host vehicle. For example, the travel control plan may be time series information of the acceleration of the host vehicle. Further, the time series information of the speed of the host vehicle may be obtained from the time series information of the position of the host vehicle. Further, the acceleration of the host vehicle may be obtained from the operation amount of the steering wheel operation, the operation amount of the accelerator, the operation amount of the brake, the engine speed, the friction coefficient with the road, and the like.

  In step S102, the control unit 4 determines whether or not the automatic driving level acquired by the acquiring unit 2 is 3 or more. When the automatic driving level is 3 or more, the process proceeds to step S103. On the other hand, if the automatic driving level is less than 3, the process proceeds to step S101.

  In step S103, the control unit 4 determines whether or not the driver communication terminal 9 is in use. Specifically, the control unit 4 communicates with the communication terminal 9 via the communication unit 3, and acquires information on whether or not the communication terminal 9 is in use from the communication terminal 9. As information on whether or not the communication terminal 9 is in use, for example, information on whether the power of the communication terminal 9 is ON or OFF, or information on whether or not the driver is operating the communication terminal 9 Is mentioned. It is assumed that the information indicating that the driver is the communication terminal 9 is stored in advance in a storage unit (not shown) of the information processing apparatus 8. If the driver communication terminal 9 is in use, the process proceeds to step S104. On the other hand, if the driver's communication terminal 9 is not in use, the process proceeds to step S101.

In step S104, the control unit 4 extracts time-series acceleration α _T (t) at 0 <t ≦ Tterm from the travel control plan. Here, Tterm indicates a predetermined time. Specifically, the control unit 4 differentiates the speed v (t) when the travel control plan acquired in step S101 is time-series information of the position p (t) and the speed v (t) of the host vehicle. Thus, the acceleration α _T (t) is obtained.

In step S105, the control unit 4 determines whether or not g _T (t) ≧ Gth within the Tterm from the current time. Note that G is a gravitational acceleration, and Gth is an acceleration threshold value indicating a threshold value of the magnitude of acceleration. The acceleration α _T (t) has a direction and a magnitude. The magnitude of the acceleration α _T (t) is set to | α _T (t) | = g _T (t). The direction of acceleration α _T (t) is θ (t). When g _T (t) ≧ Gth, the process proceeds to step S106. On the other hand, if g _T (t) ≧ Gth is not satisfied, the process proceeds to step S101.

In step S106, the control unit 4 obtains the first time ts and the last time te that satisfy g _T (t) ≧ Gth.

  In step S107, the control unit 4 determines whether it is a notification timing. Specifically, the control unit 4 generates travel control information including a change in the travel state of the host vehicle that occurs within the Tterm from the present time, and determines whether or not it is a timing to transmit the travel control information to the communication terminal 9. to decide. If it is the notification timing, the process proceeds to step S108. On the other hand, if it is not the notification timing, the process proceeds to step S101.

  Here, the process of step S106 and step S107 is demonstrated using FIG.

FIG. 7 is a diagram illustrating a case where the host vehicle changes lanes to the right based on the travel control plan acquired by the acquisition unit 2 at time T0. The upper part of FIG. 7 shows the position p _T0 (t) of the _host vehicle, and shows that the host vehicle changes the lane to the right side after ts seconds. The middle part of FIG. 7 shows that | speed v _T0 (t) |, which is the speed of the host vehicle, is constant. The lower part of FIG. 7 shows g _T0 (t) which is the magnitude of the acceleration of the host vehicle. In the lower part of FIG. 7, the time Talarm indicates the time for performing notification. Time Tterm indicates a certain time from the present time. In FIG. 7, ts = 5.5 seconds, te = 8.0 seconds, Talarm = 5 seconds, Tterm = 10 seconds, and Gth = 0.3G.

  As shown in the lower part of FIG. 7, at the time T0, ts> Talarm, and not the notification timing.

FIG. 8 is a diagram illustrating a case where the host vehicle changes lanes to the right based on the travel control plan acquired by the acquisition unit 2 at time Ta after 0.5 seconds have elapsed from time T0. When there is no change in the travel control plan, if the acceleration magnitude g _T0 (t) shown in the lower part of FIG. 7 is shifted by 0.5 seconds, the acceleration g _Ta (t) shown in the lower part of FIG.

  As shown in the lower part of FIG. 8, ts = Talarm. At this time, the control unit 4 determines that it is the notification timing. In other words, the control unit 4 determines that it is the notification timing when ts ≦ Talarm and te> 0.

Returning to FIG. 6, in step S108, the control unit 4 generates an alarm display object. Specifically, the control part 4 produces | generates the alarm display object 24 as shown, for example in FIG. Note that the alarm display object 24 indicates by a semi-transparent arrow that the host vehicle changes the lane to the right side. The point 25 in the alarm display object 24 corresponds to the first time ts that satisfies g _T (t) ≧ Gth, and the point 26 corresponds to the last time te that satisfies g _T (t) ≧ Gth. That is, the alarm display object 24 is a deformed figure in which time is expressed by the length of the arrow. Note that the points 25 and 26 are given for explanation, and are not included in the alarm display object 24 that is actually displayed.

  In step S109, the control unit 4 controls the communication unit 3 to transmit the alarm display object to the driver's communication terminal 9 as travel control information.

  In step S110, the control unit 4 waits until a predetermined time Tdelta elapses after acquiring the travel control plan in step S101. In the first embodiment, Tdelta is set to 0.25 seconds, but the present invention is not limited to this.

  In the above description, the case where the driving control information is transmitted to the communication terminal 9 of the driver when the automatic driving level is 3 or more has been described. However, the automatic driving level may be other than 3.

  FIG. 10 is a flowchart showing an example of the operation of the communication terminal 9. In addition, the process of the following step S206-step S209 is performed when the application execution part 11 performs a warning application.

  In step S201, when the user performs an operation to activate the alarm application via the operation input unit 13, the application execution unit 11 activates the alarm application.

  In step S202, when the user performs an operation for starting a general application via the operation input unit 13, the application execution unit 11 starts the general application. At this time, for example, a general application screen as shown in FIG. 11 is displayed on the display unit 12.

  In step S203, the operation input unit 13 accepts a user operation on a general application. Moreover, the application execution part 11 operates a general application according to a user's operation.

  In step S <b> 204, the control unit 7 determines whether there is an authentication request from the information processing apparatus 8. If there is an authentication request, the process proceeds to step S205. On the other hand, if there is no authentication request, the process proceeds to step S203.

  In step S <b> 205, the control unit 7 controls the communication unit 10 to transmit an authentication signal to the information processing apparatus 8. As a result, communication between the information processing apparatus 8 and the communication terminal 9 is established. If the user has not activated the alarm application in step S201, the control unit 7 may not transmit an authentication signal even if there is an authentication request from the information processing device 8.

  In step S <b> 206, the application execution unit 11 determines whether traveling control information has been acquired from the information processing apparatus 8. When the traveling control information is acquired, the process proceeds to step S207. On the other hand, when the traveling control information has not been acquired, the process proceeds to step S208.

  In step S207, the application execution unit 11 displays an alarm display object included in the travel control information as an alarm image. Specifically, the application execution unit 11 appropriately changes the size of the alarm display object in accordance with the screen size of the display unit 12 and displays the alarm display object whose size has been changed on the display unit 12. Alternatively, the application execution unit 11 displays the alarm display object included in the travel control information on the display unit 12 as it is. If an alarm display object is already displayed on the display unit 12, a new alarm display object is displayed on the display unit 12 instead of the already displayed alarm display object.

  In step S208, the application execution unit 11 determines whether traveling control information has been acquired from the information processing device 8 within a predetermined time Tdisplay. In the first embodiment, Tdisplay is set to 0.5 seconds, but the present invention is not limited to this. If the travel control information is acquired in Tdisplay, the process proceeds to step S206. On the other hand, when the traveling control information is not acquired in Tdisplay, the process proceeds to step S209.

  In step S209, when an alarm image that is an alarm display object is displayed on the display unit 12, the application execution unit 11 deletes the alarm image.

  12 and 13 are diagrams illustrating an example of an alarm image displayed on the display unit 12. As shown in FIGS. 12 and 13, the alarm display object 24 that is an alarm image is displayed superimposed on the screen of the general application. In addition, the alarm display object 24 indicates by a semi-transparent arrow that the host vehicle changes the lane to the right side. FIG. 13 shows a display state when a further time elapses from the display state of FIG. 12, and thereafter, the display state of the display unit 12 is updated every time an alarm display object is acquired from the information processing device 8. 12 and 13, the user can operate the general application even when the alarm display object 24 is displayed. However, the present invention is not limited to this. For example, the user may not be able to operate the general application while the alarm display object 24 is displayed.

  From the above, the communication terminal 9 acquires travel control information including a change in the travel state of the vehicle that occurs within a predetermined time from the current time in a vehicle that performs automatic driving, and predetermined based on the acquired travel control information. The control which alert | reports the change of the driving | running | working state of the vehicle which arises within the set time is performed.

  Note that the operation shown in FIG. 10 may be a situation where the alarm application is activated and the user is looking at the menu screen or the like, and it is not essential to activate the general application.

  After the communication between the information processing device 8 and the communication terminal 9 is established, the processing in step S204 and step S205 may be omitted.

<Modification>
Next, modifications 1 to 10 of the first embodiment will be described.

<Modification 1>
Although the alarm display object 24 illustrated in FIGS. 9 and 11 to 13 has been described as being translucent, the alarm display object 24 may be partially or completely non-transparent.

  When the alarm display object 24 included in the travel control information acquired by the communication terminal 9 from the information processing device 8 is not transparent, the application execution unit 11 of the communication terminal 9 may perform a transparent process on the alarm display object 24. In this case, the application execution unit 11 may appropriately change the color scheme, shape, and transmittance of the alarm display object 24 in consideration of the display state of the general application displayed on the display unit 12. Thereby, the display unit 12 can display the alarm display object 24 without reducing the visibility of the screen of the general application.

<Modification 2>
In step S105 of FIG. 6, the magnitude of acceleration g _T (t) is compared with the threshold Gth = 0.3G, but the present invention is not limited to this. For example, the first acceleration magnitude g (t) · cos (θ), which is the magnitude of the acceleration generated in the traveling direction of the host vehicle by the acceleration or deceleration operation of the accelerator or the brake, and the traveling direction of the host vehicle by operating the steering wheel For each of the second acceleration magnitude g _T (t) · sin (θ), which is the magnitude of the acceleration generated in the direction perpendicular to the first acceleration magnitude g _T (t) · cos ( A first acceleration threshold value Gth1 which is a threshold value of θ) and a second acceleration threshold value Gth2 which is a threshold value of the second acceleration magnitude g _T (t) · sin (θ) may be set. When the first acceleration magnitude g _T (t) · cos (θ) is larger than the first acceleration threshold value Gth1, and when the second acceleration magnitude g _T (t) · sin (θ) is The traveling control information may be transmitted to the communication terminal 9 in at least one of the cases where the acceleration is greater than the second acceleration threshold Gth2. For example, the traveling control information may be transmitted to the communication terminal 9 when g _T (t) · cos (θ) ≧ Gth1 or g _T (t) · sin (θ) ≧ Gth2.

  It should be noted that Gth1 <Gth2 is set when there is a margin in the width of the driver's seat according to the space in the host vehicle, and Gth1> Gth2 when there is a margin in the vertical width of the driver's seat. Thus, by setting the threshold value in the direction with a margin high, the alarm display object can be prevented from being displayed on the communication terminal 9 even if the magnitude of the acceleration is somewhat large in the direction with the margin.

  The first acceleration threshold Gth1 and the second acceleration threshold Gth2 may be arbitrarily set by the driver. Further, the first acceleration threshold Gth1 and the second acceleration threshold Gth2 may be different values depending on the direction of acceleration. In this case, the first acceleration threshold Gth1 and the second acceleration threshold Gth2 are functions of θ.

  The first acceleration threshold Gth1 and the second acceleration threshold Gth2 may be variable. For example, the first acceleration threshold Gth1 may be decreased when the driver's posture is tilted back and forth, and the second acceleration threshold Gth2 may be decreased when the driver's posture is tilted left and right. The posture of the driver is detected by a sensor such as a camera.

  As described above, the information processing device 8 can appropriately set the transmission timing of the travel control information according to the environment in the host vehicle.

<Modification 3>
In FIG. 6, the case where the traveling control information is transmitted to the communication terminal used by the driver has been described. However, the traveling control information may be transmitted to a communication terminal used by a passenger other than the driver.

  FIG. 14 is a flowchart illustrating an example of the operation of the information processing apparatus 8. Note that the user of the communication terminal 9 in FIG. 3 is a passenger. Step S301, step S304 to step S308, and step S310 in FIG. 14 correspond to step S101, step S104 to step S108, and step S110 in FIG. Hereinafter, step S302, step S303, and step S309 will be described.

  In step S302, the control unit 4 determines whether or not the automatic driving level acquired by the acquiring unit 2 is 1 or more. When the automatic driving level is 1 or more, the process proceeds to step S303. On the other hand, if the automatic driving level is less than 1, that is, the automatic driving level is 0, the process proceeds to step S301.

  In step S303, the control unit 4 determines whether or not the passenger's communication terminal 9 is in use. The method for determining whether or not the passenger's communication terminal 9 is in use is the same as the determination method in step S103 in FIG. When the passenger's communication terminal 9 is in use, the process proceeds to step S304. On the other hand, when the passenger's communication terminal 9 is not in use, the process proceeds to step S301.

  In step S309, the control unit 4 controls the communication unit 3 so as to transmit the alarm display object as traveling control information to the passenger's communication terminal 9.

  From the above, the information processing device 8 transmits the traveling control information to the passenger's communication terminal 9 when the automatic driving level is 1 or more, and the driver's communication terminal 9 travels when the automatic driving level is less than 3. Control information can be prevented from being transmitted.

  As described above, the threshold of the automatic driving level set as one of the conditions for transmitting the driving control information to the communication terminal 9 of the driver and one of the conditions for transmitting the driving control information to the passenger's communication terminal 9 You may make it become a value different from the threshold value of the set automatic driving level. For example, an automatic driving level threshold set as one of the transmission control information transmission conditions for the driver's communication terminal 9 with emphasis on the driver is set as one of the transmission control information transmission conditions for the passenger's communication terminal 9. It may be set to be a value smaller than the threshold of the automatic driving level set as.

  In the above description, the case where the traveling control information is sent to the passenger's communication terminal 9 when the automatic driving level is 1 or more has been described. However, the automatic driving level may be other than 1. The operation of the passenger's communication terminal 9 is the same as the operation shown in FIG.

<Modification 4>
Although step S105 of FIG. 6 demonstrated the case where the magnitude | size of the acceleration which generate | occur | produces with the own vehicle was made into one of the transmission conditions of the traveling control information with respect to the communication terminal 9, it does not restrict to this. For example, when the host vehicle changes lanes or makes a left / right turn, the processing in steps S105 to S107 in FIG. 6 may be omitted and the traveling control information may be transmitted to the communication terminal 9. Alternatively, the threshold Gth value in step S105 in FIG. 6 may be reduced.

  From the above, when the host vehicle changes lanes or makes a left / right turn, the alarm display object is easily displayed on the communication terminal 9.

<Modification 5>
FIGS. 15-18 is a figure which shows an example which displays the warning display object 27 on the display part 12 of the communication terminal 9 as a warning image, and has shown about the case where the own vehicle changes lanes to the left side.

  The control unit 4 of the information processing device 8 generates a semi-transparent alarm display object 27 that simulates the host vehicle. And the control part 4 controls the communication part 3 so that the traveling control information which added display position information to the alarm display object 27 may be transmitted to the communication terminal 9. The communication unit 3 transmits traveling control information to the communication terminal 9. Here, the display position information is information indicating at which position of the display unit 12 of the communication terminal 9 the alarm display object 27 is displayed.

  As illustrated in FIG. 15, the application execution unit 11 of the communication terminal 9 displays an alarm display object 27 on the left side of the display unit 12 based on the travel control information. The alarm display object 27 indicates that the left blinker lamps before and after the host vehicle are lit, but the blinker lamp may be turned off.

  FIG. 16 shows that the host vehicle further moves to the left from the state shown in FIG. At this time, a white line 28 may be displayed as shown in FIG. The information on the white line 28 may be included in the travel control information. In this case, the control unit 4 of the information processing device 8 includes display position information indicating that the white line 28 is displayed at the left end of the display unit 12 together with the display object indicating the white line 28 in the travel control information. Alternatively, the application execution unit 11 of the communication terminal 9 may display the white line 28 at the left end of the display unit 12.

  As shown in FIG. 18, the alarm display object 27 may be an animation indicating that the host vehicle changes the lane to the left side. In FIG. 18, four host vehicles are shown as the alarm display object 27, but for example, an animation in which each host vehicle displays one by one from the lower right host vehicle to the upper left host vehicle may be used. The animation may be repeated. Thereby, it turns out that the own vehicle is moving to the left lane with progress of time. Note that the animation shown in FIG. 18 is an example, and any animation may be used as long as the own vehicle changes its lane to the left side.

  In addition, in FIGS. 15-18, you may display the alarm display object 24 shown in FIG.

<Modification 6>
When the alarm display object is displayed on the display unit 12 of the communication terminal 9, the display state of the screen of the general application may be changed according to the magnitude of acceleration generated in the host vehicle.

The control unit 4 of the information processing device 8 determines a process to be performed on the screen of the general application according to the magnitude of acceleration generated in the host vehicle. Specifically, when the acceleration magnitude g _T (t) is less than 0.1, the control unit 4 determines that no processing is performed on the screen of the general application. In addition, when the acceleration magnitude g _T (t) is 0.1 G or more and less than 2.0 G, the control unit 4 determines to perform the translucent process on the screen of the general application. Further, when the acceleration magnitude g _T (t) is 2.0 G or more, the control unit 4 determines to perform the painting process on the screen of the general application. Here, the painting process refers to a process in which the screen of the general application is less visible than the semi-transparent process.

  Then, the control unit 4 controls the communication unit 3 so that the determined processing content is included in the travel control information and transmitted to the communication terminal 9. The communication unit 3 transmits traveling control information to the communication terminal 9. That is, when the acceleration of the host vehicle that occurs within a predetermined time from the current time is greater than the acceleration threshold based on the travel control plan, the control unit 4 includes the travel control that includes information on the acceleration before the acceleration occurs. The communication unit 3 is controlled to transmit information to the communication terminal 9.

  The application execution unit 11 of the communication terminal 9 appropriately performs processing on the screen of the general application based on the travel control information. FIG. 19 shows an example of display on the display unit 12 when no processing is performed on the screen of the general application. FIG. 20 shows an example of display on the display unit 12 when the semi-transparent process is performed on the screen of the general application. FIG. 21 shows an example of display on the display unit 12 when the fill process is performed on the screen of the general application. In the painting process of FIG. 21, the screen of the general application is harder to see than the semi-transparent process of FIG.

  From the above, the user of the communication terminal 9 can know the degree of acceleration of the host vehicle that occurs within a predetermined time from the present time.

  FIG. 20 shows a case where the semi-transparent process is performed on the screen of the general application, but the present invention is not limited to this. For example, as shown in FIG. 22, blur processing may be performed on the screen of a general application. In FIG. 22, the blur process is performed so that the surrounding area including the alarm display object 27 on the screen of the general application is blurred.

  19 to 22 show the case where the alarm display object 27 is displayed as an example. However, even when another alarm display object such as the alarm display object 24 shown in FIG. Processing can be performed.

  Although the case where the control unit 4 of the information processing device 8 determines the process to be performed on the screen of the general application has been described above, the present invention is not limited to this. For example, the process performed by the application execution unit 11 of the communication terminal 9 on the screen of the general application may be determined. In this case, the control unit 4 of the information processing device 8 controls the communication unit 3 so as to include information on the magnitude of acceleration generated in the host vehicle in the travel control information and transmit the information to the communication terminal 9. The application execution unit 11 of the communication terminal 9 determines processing to be performed on the screen of the general application based on information on the magnitude of acceleration included in the traveling control information, and actually performs processing.

<Modification 7>
23-25 is a figure which shows an example which displays the warning display object 29 on the display part 12 of the communication terminal 9 as a warning image, and has shown about the case where the own vehicle changes a lane to the left side. 23 to 25, the upper side of the display unit 12 corresponds to the front side of the host vehicle.

  The control unit 4 of the information processing device 8 generates an alarm display object 29 that represents the acceleration felt by the driver and passengers when the host vehicle changes lanes to the left side. And the control part 4 transmits the traveling control information which added display position information to the alarm display object 29 to the communication terminal 9. FIG. The display position information is information indicating that the alarm display object 29 is displayed on the right side of the display unit 12 of the communication terminal 9. This is because when the host vehicle changes lanes to the left side, the driver and the passenger feel the acceleration of the host vehicle on the right side of the host vehicle. The communication unit 3 transmits traveling control information to the communication terminal 9.

  As illustrated in FIG. 23, the application execution unit 11 of the communication terminal 9 displays an alarm display object 29 on the right side of the display unit 12 based on the travel control information. 24 and 25, the time until the host vehicle changes the lane to the left is expressed by the distance between the alarm display object 29 and the lower end of the display unit 12. That is, FIG. 25 shows that the time until the host vehicle changes the lane to the left side is shorter than that in FIG. For example, when the alarm display object 29 reaches the lower end of the display unit 12, the host vehicle changes the lane to the left side.

  From the above, the user of the communication terminal 9 can know the magnitude and direction of the acceleration of the host vehicle that occurs within a predetermined time from the present time.

<Modification 8>
FIG. 26 is a diagram illustrating an example in which the alarm display object 30 is displayed as an alarm image on the display unit 12 of the communication terminal 9, and shows an animation when the host vehicle decelerates due to the deceleration operation of the brake. In FIG. 26, the upper side of the display unit 12 corresponds to the front side of the host vehicle.

  The control unit 4 of the information processing device 8 generates an animation of the alarm display object 30 that represents the acceleration felt by the driver and passengers when the host vehicle decelerates due to the deceleration operation of the brake. Then, the control unit 4 transmits the travel control information in which the display position information is added to the alarm display object 30 to the communication terminal 9. The display position information is information indicating that the alarm display object 30 is displayed on the upper side of the display unit 12 of the communication terminal 9. This is because when the host vehicle decelerates, the driver and the passenger feel the acceleration of the host vehicle on the front side of the host vehicle. The communication unit 3 transmits traveling control information to the communication terminal 9.

  As shown in FIG. 26, the application execution unit 11 of the communication terminal 9 generates an animation in which the size of the alarm display object 30 changes in order from the left to the right in FIG. 26 on the upper side of the display unit 12 based on the travel control information. indicate.

  FIG. 27 is a diagram illustrating an example in which the alarm display object 31 is displayed on the display unit 12 of the communication terminal 9 as an alarm image, and shows an animation when the host vehicle decelerates due to a brake deceleration operation. In FIG. 27, the upper side of the display unit 12 corresponds to the front side of the host vehicle.

  The control unit 4 of the information processing device 8 generates an animation of the alarm display object 31 that expresses the acceleration felt by the driver and the passenger when the host vehicle decelerates by the deceleration operation of the brake. Then, the control unit 4 transmits the travel control information in which the display position information is added to the alarm display object 31 to the communication terminal 9. The display position information is information indicating that the alarm display object 31 is displayed on the upper side of the display unit 12 of the communication terminal 9. The communication unit 3 transmits traveling control information to the communication terminal 9.

  As shown in FIG. 27, the application execution unit 11 of the communication terminal 9 displays the warning display object 31 in the order of the color of the warning display object 31 from the left to the right in FIG. Displays an animation that changes in density.

  From the above, the user of the communication terminal 9 can know that the acceleration larger than the acceleration threshold value is generated in the own vehicle within a predetermined time from the present time.

  Although FIG. 26 shows the case where the alarm display object 30 is displayed with an animation, and FIG. 27 shows the case where the alarm display object 31 is displayed with an animation, this is not restrictive. For example, only the diagram shown in the center of FIG. 26 or only the diagram shown in the center of FIG. 27 may be displayed.

  You may make it display the animation shown in FIG.26, 27 according to the magnitude | size of the acceleration generate | occur | produced with the own vehicle. For example, when the acceleration generated in the own vehicle is less than a predetermined threshold, the animation shown in FIG. 26 is displayed, and when the acceleration generated in the own vehicle is equal to or greater than the predetermined threshold, the animation shown in FIG. 27 is displayed. You may make it do.

  Although FIG. 27 shows a case where the color gradually changes toward the center of the semicircle of the alarm display object 31, the present invention is not limited to this. For example, the color density of the entire alarm display object 31 may be changed.

<Modification 9>
Although the case where the alarm display object is displayed on the display unit 12 of the communication terminal 9 has been described above, the means for notifying the change in the running state of the vehicle that occurs within a predetermined time is not limited to the display.

  For example, the application execution unit 11 of the communication terminal 9 may vibrate the position of the communication terminal 9 corresponding to the position where the alarm display object is displayed based on the display position information included in the travel control information. At this time, the magnitude of vibration may be increased as the acceleration generated in the host vehicle increases.

<Modification 10>
28-30 is a figure which shows an example of the alarm display object 24 displayed on the display part 12 of the communication terminal 9. As shown in FIG. In addition, the communication terminal 9 shall be provided with the inclination sensor or the acceleration sensor.

  The application execution unit 11 has a function of obtaining a relationship between the traveling direction of the host vehicle and the direction in which the display unit 12 is tilted based on the travel control information and information detected by the tilt sensor or the acceleration sensor. .

  FIG. 28 shows an example of the alarm display object 24 displayed on the display unit 12 when the communication terminal 9 is not tilted. FIG. 29 shows an example of the alarm display object 24 displayed on the display unit 12 when the communication terminal 9 is tilted to the left. FIG. 30 shows an example of the alarm display object 24 displayed on the display unit 12 when the communication terminal 9 is tilted to the right. As shown in FIGS. 29 and 30, even when the communication terminal 9 is tilted, the direction indicated by the arrow of the alarm display object 24 is always displayed so as to coincide with the traveling direction of the host vehicle. That is, the application execution unit 11 corrects the display position of the alarm display object 24 so that the direction indicated by the arrow of the alarm display object 24 always matches the traveling direction of the host vehicle.

  From the above, according to the first embodiment, it is possible to notify the user of the communication terminal in advance of changes in the traveling state of the host vehicle. Therefore, since the user who is using the communication terminal can know in advance the change in the running state of the own vehicle, it is possible to prevent the posture from being lost by adjusting the posture in preparation for the change in the running state of the own vehicle. it can. As a result, it is possible to reduce user fatigue when the traveling state of the host vehicle changes.

<Embodiment 2>
In the first embodiment, the case where the information processing device 8 transmits the alarm display object to the communication terminal 9 as the travel control information has been described. In the second embodiment of the present invention, a case will be described in which the information processing device 8 transmits information on the acceleration of the host vehicle that occurs within a predetermined time from the current time to the communication terminal 9 as travel control information. The configurations of the information processing apparatus 8 and the communication terminal 9 according to the second embodiment are the same as the configurations of the information processing apparatus 8 and the communication terminal 9 according to the first embodiment shown in FIG. Hereinafter, the configuration of the information processing device 8 and the communication terminal 9 according to the second embodiment will be described as the configuration of the information processing device 8 and the communication terminal 9 illustrated in FIG. 3.

  FIG. 31 is a flowchart showing an example of the operation of the information processing apparatus 8 according to the second embodiment. Since steps S401 to S404 in FIG. 31 correspond to steps S101 to S104 in FIG. 6, description thereof is omitted here. Below, step S405 and step S406 are demonstrated. The processes in steps S506 to S513 below are performed by the application execution unit 11 executing an alarm application.

In step S405, the control unit 4 controls the communication unit 3 to transmit the acceleration α _T (t) to the communication terminal 9 of the driver as travel control information.

  In step S406, the control unit 4 waits until a predetermined time Tdelta elapses after acquiring the travel control plan in step S401. In the second embodiment, Tdelta is set to 0.1 seconds, but the present invention is not limited to this.

  FIG. 32 is a flowchart showing an example of the operation of the communication terminal 9 according to the second embodiment. 32 correspond to step S201 to step S205 in FIG. 10 and step S513 in FIG. 32 corresponds to step S209 in FIG. 10, and thus description thereof is omitted here. Below, step S506-step S512 are demonstrated.

  When the process proceeds from step S 505, step S 509, step S 511, or step S 512 to step S 506, the control unit 7 determines whether traveling control information has been acquired from the information processing device 8. When traveling control information is acquired, it transfers to step S507. On the other hand, when the traveling control information has not been acquired, the process proceeds to step S512.

In step S507, the application execution unit 11 determines whether or not g _T (t) ≧ Gth within a predetermined time Tterm from the present time. If g _T (t) ≧ Gth, the process proceeds to step S508. On the other hand, if g _T (t) ≧ Gth is not satisfied, the process proceeds to step S513.

In step S508, the application execution unit 11 obtains the first time ts and the last time te that satisfy g _T (t) ≧ Gth.

  In step S509, the application execution unit 11 determines whether it is a notification timing. The method for determining whether or not it is the notification timing is the same as the determination method in step S107 of FIG. If it is the notification timing, the process proceeds to step S510. On the other hand, if it is not the notification timing, the process proceeds to step S506.

  In step S510, the application execution unit 11 generates an alarm image. Specifically, the application execution unit 11 generates the alarm display object described in the first embodiment as an alarm image.

  In step S511, the application execution unit 11 displays the alarm display object generated in step S510 as an alarm image.

  When the process proceeds from step S506 to step S512, the application execution unit 11 determines whether traveling control information has been acquired from the information processing apparatus 8 within Tterm. When traveling control information is acquired in Tterm, the process proceeds to step S506. On the other hand, when traveling control information is not acquired in Tterm, it transfers to step S513.

  In addition, although the user of the communication terminal 9 in FIG. 32 shall be a driver, it is the same even if the user of the communication terminal 9 is a passenger.

  In the operation shown in FIG. 32, the travel control information acquired by the communication terminal 9 includes a first acceleration that occurs in the traveling direction of the host vehicle and a second acceleration that occurs in the direction perpendicular to the traveling direction. Also good. In this case, the application execution unit 11 determines that the first acceleration is greater than the first acceleration threshold that is the first acceleration threshold, and the second acceleration is the second acceleration threshold. An alarm image may be displayed in at least one of the cases where the acceleration threshold value is greater than the acceleration threshold value.

  In FIG. 32, the communication terminal 9 may acquire travel control information including an automatic driving level from the information processing device 8. In this case, for example, when the user of the communication terminal 9 is a driver, the application execution unit 11 of the communication terminal 9 generates an alarm image when the automatic driving level is 3 or higher, and displays the generated alarm image. May be.

<Modification>
Next, modified examples 1 and 2 of the second embodiment will be described.

<Modification 1>
In FIG. 31, the acceleration α _T (t) has been described as being time-series data at equal intervals of 0.1 seconds. In this case, the data of acceleration α _T (t) for 10 seconds is a total of 100 pieces of α _T (0.1), α _T (0.2),..., Α _T (10.0). The data of the acceleration α _T (t) is not limited to the 0.1 second interval, but may be, for example, a 0.2 second interval or a 0.05 second interval. The data of acceleration α _T (t) is 0.05 second intervals for 0 <t ≦ 5 seconds, 0.1 second intervals for 5 seconds <t ≦ 7.5 seconds, and 7.5 seconds <t ≦ The interval of 10 seconds may be 0.2 seconds.

The time interval may be increased in a time zone where the change in the acceleration α _T (t) is small, and the time interval may be shortened in a time zone where the change in the acceleration α _T (t) is large. When the acceleration α _T (t) data is equally spaced, time information for each time series data of the acceleration α _T (t) is unnecessary, but the time interval is changed according to the change in the acceleration α _T (t). In this case, information indicating the time interval for each time series data of the acceleration α _T (t) or time information is required.

In FIG. 31, the data of acceleration α _T (t) are discrete intervals, but these approximate curves may be obtained and expressed by a continuous function.

In FIG. 31, the information processing apparatus 8 has described the case where the information of the acceleration α _T (t) of 0 <t ≦ Tterm is transmitted to the communication terminal 9 every 0.1 second, but is not limited thereto. For example, the information processing apparatus 8 may transmit only data of new acceleration α _T (t) that occurs every 0.1 second to the communication terminal 9. By doing so, the communication capacity between the information processing device 8 and the communication terminal 9 is significantly reduced.

<Modification 2>
In FIG. 31, the case where the information processing apparatus 8 transmits the information of the acceleration α _T (t) to the communication terminal 9 as the travel control information has been described, but the present invention is not limited to this. For example, the information processing apparatus 8 may transmit the travel control plan to the communication terminal 9 as travel control information. In this case, the application execution unit 11 of the communication terminal 9 obtains the acceleration α _T (t) based on the travel control plan. Then, the application execution unit 11 displays a warning image based on the obtained acceleration α _T (t).

  As described above, the traveling control information transmitted from the information processing device 8 to the communication terminal 9 is information that allows the application execution unit 11 of the communication terminal 9 to determine whether or not to display the alarm image. Any information may be used.

  In addition, when the information processing apparatus 8 transmits a travel control plan to the communication terminal 9 as travel control information, transmission may be limited according to an automatic driving level. For example, when the automatic driving level is 3 or more, the information processing device 8 may transmit the travel control information to the communication terminal 9 of the driver. Further, when the automatic driving level is 1 or more, the information processing apparatus 8 may transmit the traveling control information to the passenger's communication terminal 9.

  From the above, according to the second embodiment, as in the first embodiment, it is possible to notify the user of the communication terminal in advance of changes in the traveling state of the host vehicle. Therefore, since the user who is using the communication terminal can know in advance the change in the running state of the own vehicle, it is possible to prevent the posture from being lost by adjusting the posture in preparation for the change in the running state of the own vehicle. Can do. As a result, it is possible to reduce user fatigue when the traveling state of the host vehicle changes.

<Embodiment 3>
FIG. 33 is a block diagram showing an example of the configuration of the information processing device 32 and the communication terminal 9 according to Embodiment 3 of the present invention.

  As shown in FIG. 33, the third embodiment is characterized in that the information processing apparatus 32 includes a storage unit 33. Other configurations and operations are the same as those of the first embodiment, and thus description thereof is omitted here.

  The storage unit 33 stores an alarm application. The storage unit 33 is configured by a storage device such as a hard disk drive or a RAM, for example.

  Next, the operation of the information processing apparatus 32 will be described with reference to FIG.

  In step S103 in FIG. 6, when the control unit 4 determines that the communication terminal 9 of the driver is in use, the control unit 4 controls the communication unit 3 to transmit the alarm application stored in the storage unit 33 to the communication terminal 9. . The communication unit 3 transmits an alarm application to the communication terminal 9. The other operations in the information processing apparatus 32 are the same as the operations shown in FIG.

  Note that the control unit 4 may not transmit the alarm application to the communication terminal 9 when receiving a response indicating that the alarm application has been obtained from the communication terminal 9.

  The timing at which the control unit 4 performs control to transmit the alarm application is not limited to the above. For example, the control unit 4 may perform control to transmit an alarm application when the power of the host vehicle is turned on. Moreover, if the power supply of the communication terminal 9 is ON, the control part 4 may perform control which transmits an alarm application irrespective of whether a user is using.

<Modification>
Next, modified examples 1 and 2 of the third embodiment will be described.

<Modification 1>
Although the case where the alarm application is stored in the storage unit 33 of the information processing apparatus 32 has been described with reference to FIG. 33, the present invention is not limited to this. For example, the information processing apparatus 32 may acquire the alarm application from an external server (not shown).

<Modification 2>
The communication terminal 9 acquires the profile of the information processing apparatus 32 from the information processing apparatus 32, and acquires an alarm application corresponding to the model number of the information processing apparatus 32 from an external server (not shown) based on the acquired profile. May be. Alternatively, the communication terminal 9 may acquire an alarm application corresponding to the model number of the communication terminal 9 from an external server (not shown).

  From the above, according to the third embodiment, the same effects as those of the first embodiment can be obtained even when the information processing device 32 shown in FIG. 33 is configured. In the third embodiment, the case of applying to the first embodiment has been described. However, the present embodiment can also be applied to the second embodiment.

<Embodiment 4>
FIG. 34 is a block diagram showing an example of the configuration of the information processing device 34 and the communication terminal 9 according to Embodiment 4 of the present invention.

  As shown in FIG. 34, the fourth embodiment is characterized in that the acquisition unit 2 acquires peripheral information from the peripheral information detection device 18. Other configurations and operations are the same as those of the first embodiment, and thus description thereof is omitted here.

  Next, the operation of the information processing apparatus 34 will be described.

  In step S <b> 108 of FIG. 6, the control unit 4 generates an alarm display object based on the peripheral information acquired by the acquisition unit 2. For example, when the acquisition unit 2 acquires white line position information as peripheral information, the control unit 4 generates an alarm display object including a white line. In this case, for example, an alarm image shown in FIG. 17 is displayed on the display unit 12 of the communication terminal 9, but the positional relationship between the host vehicle and the white line in the alarm image is accurately shown. The position of the white line can be detected by the camera 14, for example.

  As described above, according to the fourth embodiment, since the alarm display object including the situation around the host vehicle can be generated, the user who is using the communication terminal can accurately determine the traveling state of the host vehicle. Change in advance.

  In addition, although the case where the white line was displayed was demonstrated above, it is not restricted to this. For example, a stop line may be displayed when the host vehicle decelerates.

  By detecting the relative positional relationship between the host vehicle and other vehicles existing in the vicinity of the host vehicle, when the host vehicle changes lanes, the surrounding other vehicle is added as a deformed image to the alarm image. Also good.

  Although the case where the information processing device 34 generates an alarm display object based on the peripheral information has been described above, the present invention is not limited to this. For example, the information control device 34 may include the surrounding information in the traveling control information and transmit it to the communication terminal 9. In this case, the application execution unit 11 of the communication terminal 9 generates a warning image based on the peripheral information, and performs control to display the generated warning image on the display unit 12.

  The information processing apparatus described above is not only a vehicle-mounted navigation device, that is, a car navigation device, but also a navigation device or navigation constructed as a system by appropriately combining a PND (Portable Navigation Device) and a server that can be mounted on a vehicle. The present invention can be applied to apparatuses other than the apparatus. In this case, each function or each component of the information processing apparatus is distributed and arranged in each function for constructing the system.

  Specifically, as an example, the information processing apparatus can be arranged on a server. For example, as shown in FIG. 35, a camera 14, a millimeter wave radar 15, an ultrasonic sensor 16, a laser radar 17, a peripheral information detection device 18, and an automatic operation control device 19 are provided on the vehicle side. By providing the communication unit 3 and the control unit 4, an information processing system can be constructed.

  Even if it is a case where it is said structure, the effect similar to said embodiment is acquired.

  Further, software (information processing method) for executing the operation in the above-described embodiment may be incorporated in a server, for example.

  Specifically, as an example, the information processing method described above is capable of communicating with a communication terminal, and acquires and acquires a current automatic driving level of a vehicle that performs automatic driving and a travel control plan for automatic driving of the vehicle. Based on the travel control plan, the travel control information including the change in the travel state of the vehicle that occurs within a predetermined time from the current time is generated, and the travel control information is controlled and transmitted to the communication terminal. That is, when the automatic driving level is equal to or higher than a predetermined automatic driving level, the driving control information is controlled to be transmitted to the communication terminal.

  As described above, the same effect as that of the above embodiment can be obtained by operating the software that executes the operation of the above embodiment in a server.

  It should be noted that the present invention can be freely combined with each other within the scope of the invention, and each embodiment can be appropriately modified or omitted.

  Although the present invention has been described in detail, the above description is illustrative in all aspects, and the present invention is not limited thereto. It is understood that countless variations that are not illustrated can be envisaged without departing from the scope of the present invention.

  DESCRIPTION OF SYMBOLS 1 Information processing apparatus, 2 Acquisition part, 3 Communication part, 4 Control part, 5 Communication terminal, 6 Acquisition part, 7 Control part, 8 Information processing apparatus, 9 Communication terminal, 10 Communication part, 11 Application execution part, 12 Display part , 13 Operation input unit, 14 Camera, 15 Millimeter wave radar, 16 Ultrasonic sensor, 17 Laser radar, 18 Peripheral information detection device, 19 Automatic operation control device, 20 Processor, 21 Memory, 22 Processor, 23 Memory, 24 Alarm display Object, 25, 26 points, 27 Alarm display object, 28 White line, 29-31 Alarm display object, 32 Information processing device, 33 Storage unit, 34 Information processing device, 35 Server.

Claims (28)

A communication unit capable of communicating with a communication terminal existing in a vehicle performing automatic driving ;
Currently the automatic operation level, an acquisition unit that acquires a travel control plan of the automatic operation of the vehicle of the vehicle,
Based on the travel control plan acquired by the acquisition unit, an alarm that can visually determine the change direction of the travel state including at least one of the position and speed of the vehicle that occurs within a predetermined time from the current time A control unit that generates travel control information including a display object and controls the communication unit to transmit the travel control information to the communication terminal;
With
The control unit controls the communication unit to transmit the travel control information to the communication terminal when the automatic driving level is equal to or higher than a predetermined automatic driving level. apparatus.   When the acceleration of the vehicle generated within a predetermined time from the current time is larger than an acceleration threshold value that is a threshold value of the acceleration based on the travel control plan, the control unit determines the acceleration before the acceleration is generated. The information processing apparatus according to claim 1, wherein the communication unit is controlled to transmit the travel control information including the information of the communication to the communication terminal. The information processing apparatus according to claim 2, wherein the alarm display object is an image or an animation indicating that the acceleration larger than the acceleration threshold is generated.   3. The control unit according to claim 2, wherein the control unit controls the communication unit to transmit the travel control information to the communication terminal over a predetermined period in which the acceleration exceeds the acceleration threshold. The information processing apparatus described.   The information processing apparatus according to claim 2, wherein the acceleration information includes a magnitude and a direction of the acceleration. The acceleration includes a first acceleration that occurs in a traveling direction of the vehicle and a second acceleration that occurs in a direction perpendicular to the traveling direction,
The control unit includes a second acceleration in which the first acceleration is greater than a first acceleration threshold that is a threshold of the first acceleration, and a second acceleration in which the second acceleration is a threshold of the second acceleration. The information processing apparatus according to claim 2, wherein the communication unit is controlled to transmit the traveling control information to the communication terminal in at least one of cases where the threshold is larger than a threshold value.   The said control part controls the said communication part to transmit the said travel control information containing the information of the acceleration of the said vehicle which arises within the predetermined time from the present time to the said communication terminal, It is characterized by the above-mentioned. The information processing apparatus according to 1.   The information processing apparatus according to claim 1, wherein the control unit controls the communication unit to transmit the travel control plan to the communication terminal as the travel control information. The acquisition unit acquires peripheral information indicating a situation around the vehicle,
The information processing apparatus according to claim 1, wherein the control unit controls the communication unit to transmit the travel control information including the peripheral information to the communication terminal. The threshold of the automatic driving level set as the transmission condition of the traveling control information for the communication terminal used by the driver of the vehicle, and the transmission condition of the traveling control information for the communication terminal used by a passenger other than the driver The information processing apparatus according to claim 1, wherein the information processing apparatus has a value different from a threshold value of the automatic driving level set as . A storage unit that stores an alarm application that is an application for displaying a change in the running state of the vehicle that occurs within a predetermined time from the current time on the screen of the communication terminal;
The information processing apparatus according to claim 1, wherein the control unit controls the communication unit to transmit the alarm application to the communication terminal at a predetermined timing. The said control part produces | generates the said alarm display object so that the display position in the said communication terminal may change according to the change of at least one of the position and speed of the said vehicle, The said display part is characterized by the above-mentioned. Information processing device. The information processing apparatus according to claim 1, wherein the alarm display object is an object that simulates the vehicle. An acquisition unit that acquires travel control information including a change in travel state including at least one of the position and speed of the vehicle that occurs within a predetermined time from the current time in a vehicle that performs automatic driving;
A control unit that performs control to display an alarm image that can visually determine a change direction of the traveling state of the vehicle that occurs within the predetermined time based on the traveling control information acquired by the acquiring unit;
A communication terminal. Wherein the control unit generates a pre Ki警 report image based on the running control information, and performing control to display the alarm image thus generated, a communication terminal according to claim 14. The communication terminal according to claim 15 , wherein the control unit performs control to display the warning image superimposed on an image currently being displayed. When the acceleration of the vehicle that occurs within a predetermined time from the current time is greater than an acceleration threshold that is a threshold of the acceleration based on the traveling control information, the control unit determines the acceleration before the acceleration is generated. The communication terminal according to claim 15 , wherein control is performed to display the warning image indicating. The acquisition unit acquires the travel control information including an image or an animation indicating that the acceleration greater than the acceleration threshold occurs.
The communication terminal according to claim 17 , wherein the control unit performs control to display the image or animation as the alarm image. The communication terminal according to claim 17 , wherein the control unit performs control to display the warning image over a predetermined period in which the acceleration exceeds the acceleration threshold. The communication terminal according to claim 17 , wherein the control unit generates the warning image based on a magnitude and a direction of the acceleration. The acceleration includes a first acceleration that occurs in a traveling direction of the vehicle and a second acceleration that occurs in a direction perpendicular to the traveling direction,
The control unit includes a second acceleration in which the first acceleration is greater than a first acceleration threshold that is a threshold of the first acceleration, and a second acceleration in which the second acceleration is a threshold of the second acceleration. 18. The communication terminal according to claim 17 , wherein control is performed to display the alarm image in at least one of cases where the threshold value is larger than a threshold value. The acquisition unit acquires the travel control information including a travel control plan for the automatic operation of the vehicle,
Wherein the control unit generates a pre Ki警 report image based on the travel control plan, and performing control to display the alarm image thus generated, a communication terminal according to claim 14. The travel control information includes peripheral information indicating a situation around the vehicle,
The communication terminal according to claim 15 , wherein the control unit performs control to generate the alarm image based on the peripheral information and display the generated alarm image. The acquisition unit acquires the traveling control information including a current automatic driving level of the vehicle performing the automatic driving,
The control unit generates the warning image to be displayed on the communication terminal used by the driver of the vehicle when the automatic driving level is equal to or higher than a first threshold, and the second driving level is smaller than the first threshold. 16. The communication terminal according to claim 15 , wherein when the threshold value is equal to or greater than the threshold value, the alarm image to be displayed on the communication terminal used by a passenger other than the driver is generated . The communication terminal according to claim 14 , wherein the acquisition unit is capable of acquiring an alarm application that is an application that performs the notification from outside. The communication terminal according to claim 14, wherein the control unit corrects a display position of the warning image so that a direction of the warning image always coincides with a traveling direction of the vehicle. It can communicate with the communication terminal that exists in the vehicle that performs automatic driving ,
Gets the current automatic operation level of the vehicle, and a travel control plan of the automatic operation of the vehicle,
An alarm display object that can visually determine a direction of change of a running state including at least one of the position and speed of the vehicle that occurs within a predetermined time from the current time based on the obtained running control plan; Control to generate the travel control information including, and transmit the travel control information to the communication terminal,
The information processing is characterized in that, when the automatic driving level is equal to or higher than a predetermined automatic driving level, the driving control information is controlled to be transmitted to the communication terminal. Method. Obtaining travel control information including a change in travel state including at least one of the position and speed of the vehicle that occurs within a predetermined time from the current time in a vehicle that performs automatic driving;
A control method for a communication terminal, wherein control is performed to display an alarm image that can visually discriminate a change direction of the traveling state of the vehicle that occurs within the predetermined time based on the acquired traveling control information.