CN108140320A - Notify control device and notification control method - Google Patents
Notify control device and notification control method Download PDFInfo
- Publication number
- CN108140320A CN108140320A CN201580084027.6A CN201580084027A CN108140320A CN 108140320 A CN108140320 A CN 108140320A CN 201580084027 A CN201580084027 A CN 201580084027A CN 108140320 A CN108140320 A CN 108140320A
- Authority
- CN
- China
- Prior art keywords
- notice
- vehicle
- condition
- data
- situation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
Abstract
It is an object of the present invention to the boredom brought when inhibiting in the vehicle of energy automatic Pilot because notice to driver, and prevent driver from excessively trusting to driving auxiliary.Notice control device (101) according to the present invention includes：The situation acquisition unit (11) of status data is obtained according to the determination data of onboard sensor (1), the status data includes at least and any one or more relevant data in the ambient enviroment of vehicle, the auxiliary situation of driving assistance system (2) and the driving condition of vehicle；Judge that status data meets the usual condition data of rated condition or is unsatisfactory for the situation judging portion (16) of the unusual condition data of the rated condition；And when vehicle is in the automatic Pilot state that should inhibit notice, allow to perform the notice control unit (17) that the notice from driving assistance system (2) asks and inhibits execution notice request in the case where status data is usual condition data in the case where status data is unusual condition data.
Description
Technical field
The present invention relates to by assisting the device driven to driver notification driving information.
Background technology
There are following devices in the past：By for example close information-related with the barrier of vehicle periphery to driver notification
Notice or the notice etc. of run-off-road be conducive to the information driven, carry out auxiliary security and drive or comfortable drive.These auxiliary are driven
The information (driving assistance information) sailed is notified that driver is avoided that as a result, by voice, image, animation or vibration etc.
The position or shock avoidance action can be taken that over sight (OS) should be noted that, so as to easily implement appropriate driving.
However, driving assistance information may be notified by it in perhaps situation and make driver's confusion reigned or feel
It is sick of.For example, in surrounding vehicles this close vehicle extremely, driver needs determining whether to take avoidance dynamic in a flash
Make.Under the situation, the close information of surrounding vehicles and the rail spur message breath in front will be notified simultaneously.Though in this case,
So should priority processing be surrounding vehicles close information, but due to driver must oneself come judge which notice should
Preferentially, cause to drive the corresponding increase of burden.
For the above problem, provided in patent document 1 such as lower unit：When exporting multiple alarms at the same time, according to driving
The serviceability of auxiliary information is sailed to change output unit.And then in recent years it has been proposed that a kind of will be envisioned for automatic Pilot or standard certainly
The technology taken into account is notified obtained by dynamic driving.Such as Patent Document 2 discloses a kind of technologies：It is auxiliary by driving
The notification condition and content of supplementary information are different according to automatic Pilot state, so as to inhibit the boredom of driver.It is specific and
Speech, does not notify the driving assistance information notified during manual drive in automatic Pilot, so as to inhibit detesting for driver
Tired mood.
Existing technical literature
Patent document
Patent document 1：International Publication No. 2010/119481
Patent document 2：Japanese Patent Laid-Open 2006-318446 bulletins
Invention content
The technical problems to be solved by the invention
Under the driving such as automatic Pilot auxiliary, by implementing part or all of behaviour instead of driver by driving assistance system
Make, so as to expect that driver drives the reduction of burden.In most cases, driving assistance system using normal system come work
Make, without driver's interventional procedure under normal system.Therefore, if driver trusts driving assistance system, driver has can
It can be negligent of confirming the situation of ambient enviroment, and confirm that the situation of ambient enviroment is that driving assistance system is grasped instead of driver
Necessary to work.In addition, there is a problem in that：Even if driving assistance system prompts the position that should be noted that by notifying,
Getting used to driving the driver of auxiliary can still be fed up with to notice or the awareness of content of announcement is reduced (suddenly
Slightly).
In patent document 1,2, if notification condition or automatic Pilot state are identical, carried out with same condition or unit
Notice, therefore the above problem can not be eliminated.
The present invention is accomplished in view of the above problems, it is intended that in the vehicle of energy automatic Pilot, is inhibited because logical
Know and to the boredom that driver brings, and prevent driver for drive auxiliary over reliance.
Solve the technical solution of technical problem
The notice control device of the present invention includes：Situation acquisition unit, the situation acquisition unit is according to the sensing for being equipped on vehicle
The determination data of device obtains status data, and the vehicle can carry out automatic Pilot, institute by the auxiliary of driving assistance system
State status data include at least in the driving condition of the ambient enviroment of vehicle, the auxiliary situation of driving assistance system and vehicle
Any one or more relevant data；Situation judging portion, the situation judging portion are to meet rated condition to lead to status data
The unusual condition data that normal status data is still unsatisfactory for rated condition are judged；And notice control unit, notice control
Portion, in the case where status data is unusual condition data, permits when vehicle is in the automatic Pilot state that should inhibit notice
Perhaps the notice request from driving assistance system is performed, and in the case where status data is usual condition data, inhibit to perform
Notice request.
In the notification control method of the present invention, according to being equipped on vehicle that automatic Pilot can be carried out by driving assistance system
Sensor determination data come obtain include the data related with the peripheral situation of vehicle including status data, to situation number
Judged according to the usual condition data for meeting rated condition or the unusual condition data for being unsatisfactory for rated condition, in vehicle
During in the automatic Pilot state that should inhibit notice, in the case where status data is unusual condition data, allow to perform and
It is asked from the notice of driving assistance system, and in the case where status data is usual condition data, inhibit to perform notice request.
Invention effect
The notice control device of the present invention includes：Situation acquisition unit, the situation acquisition unit is according to the sensing for being equipped on vehicle
The determination data of device obtains status data, and the vehicle can carry out automatic Pilot, institute by the auxiliary of driving assistance system
State status data include at least in the driving condition of the ambient enviroment of vehicle, the auxiliary situation of driving assistance system and vehicle
Any one or more relevant data；Situation judging portion, the situation judging portion are to meet rated condition to lead to status data
The unusual condition data that normal status data is still unsatisfactory for rated condition are judged；And notice control unit, notice control
Portion, in the case where status data is unusual condition data, permits when vehicle is in the automatic Pilot state that should inhibit notice
Perhaps the notice request from driving assistance system is performed, and in the case where status data is usual condition data, inhibit to perform
Notice request.Therefore, it is possible to only usually be notified to be non-in situation, because without driver is made to be fed up with,
Driver can be prevented for driving the over reliance assisted.
In the notification control method of the present invention, according to being equipped on vehicle that automatic Pilot can be carried out by driving assistance system
Sensor determination data come obtain include the data related with the peripheral situation of vehicle including status data, to situation number
Judged according to the usual condition data for meeting rated condition or the unusual condition data for being unsatisfactory for rated condition, in vehicle
During in the automatic Pilot state that should inhibit notice, in the case where status data is unusual condition data, allow to perform and
It is asked from the notice of driving assistance system, and in the case where status data is usual condition data, inhibit to perform notice request.
Therefore, it is possible to only usually be notified to be non-in situation, driven because that without driver is made to be fed up with, can prevent
Member is for driving the over reliance assisted.
The purpose of the present invention, feature, embodiment and advantage will become apparent by following detailed description and attached drawing.
Description of the drawings
Fig. 1 is the block diagram for the structure for representing notice control device and its peripheral devices involved by embodiment 1.
Fig. 2 is the figure for the hardware configuration for representing the notice control device involved by embodiment 1.
Fig. 3 is the figure for the action example for illustrating the notice control device involved by embodiment 1.
Fig. 4 is the flow chart for the action for representing the notice control device entirety involved by embodiment 1.
Fig. 5 is the flow chart for the action for representing notice acquisition request portion.
Fig. 6 is the figure illustrated to the surrounding enviroment acquired in ambient enviroment acquisition unit.
Fig. 7 is the flow chart for the action for representing ambient enviroment acquisition unit.
Fig. 8 is the figure illustrated to the auxiliary situation of the driving assistance system acquired in auxiliary situation acquisition unit.
Fig. 9 is the block diagram for the structure for representing notice control device and its peripheral devices involved by embodiment 2.
Figure 10 is the flow chart for the action for representing the notice control device entirety involved by embodiment 2.
Figure 11 is to represent the flow chart of specific factor extraction process that specific factor extraction unit is carried out.
Figure 12 is to represent the flow chart of notifier processes that notice control unit is carried out based on specific factor.
Figure 13 is the notice involved by the variation of embodiment 2 for representing the combination by car-mounted device and server to realize
The block diagram of the structure of control device.
Figure 14 is the block diagram for the structure for representing notice control device and its peripheral devices involved by embodiment 3.
Figure 15 is the figure of the summary for the action for illustrating the notice control device involved by embodiment 3.
Figure 16 is to represent that the surrounding vehicles state that surrounding vehicles state acquisition unit is carried out obtains the flow chart handled.
Figure 17 is the block diagram for the structure for representing notice control device and its peripheral devices involved by embodiment 4.
Figure 18 is the figure of the summary for the action for illustrating the notice control device involved by embodiment 4.
Figure 19 is to represent that the driver status that driver status acquisition unit is carried out obtains the flow chart handled.
Figure 20 is the block diagram for the structure for representing notice control device and its peripheral devices involved by embodiment 5.
Figure 21 is the figure of the summary for the action for illustrating the notice control device involved by embodiment 5.
Figure 22 is the flow chart for the manual drive handoff predictions processing for representing handoff predictions portion.
Figure 23 is the block diagram for the structure for representing notice control device and its peripheral devices involved by embodiment 6.
Figure 24 is the figure for the action example for illustrating the notice control device involved by embodiment 6.
Figure 25 is the flow chart that the pressure notice for representing that notice judging part is forced to be carried out judges processing.
Specific embodiment
1 ＞ of ＜ A. embodiments
＜ A-1. structures ＞
Fig. 1 is the block diagram for the structure for representing notice control device 101 and its peripheral devices involved by embodiment 1.Notice control
Device 101 processed is the device for the notice control for carrying out vehicle.The vehicle of control object as notice control device 101 can utilize
The driving of driving assistance system 2 assists carrying out automatic Pilot.Notice control device 101 from driving assistance system 2 receive for
The notice request of the vehicle, and judge whether to perform the notice, in the case where performing notice, content of announcement is exported to output
Equipment 3.
In addition, in this specification, " automatic Pilot " word carries out all driver behaviors in addition to being used for driving assistance system 2
Except full-automatic driving, someone intervenes but under the particular conditions such as super expressway in principle by driving when being additionally operable to be included in urgent
Auxiliary system 2 carries out a part of driver behavior to carry out the quasi- automatic Pilot of all driver behaviors and driving assistance system 2
Situation including semi-automatic driving.In addition, in this specification, in the case of using only " vehicle " word, it is set as being denoted as
Notify the vehicle of the control object of control device 101.
In the following, it is illustrated using notice control device 101 as the device for being equipped on vehicle.In Fig. 1, notice control dress
It puts 101 and includes situation acquisition unit 11, notice acquisition request portion 15, situation judging portion 16 and notice control unit 17.
Situation acquisition unit 11 obtains status data from onboard sensor 1 and driving assistance system 2 and exports to situation judging
Portion 16.
Notice acquisition request portion 15 obtains the notice request for vehicle from driving assistance system 2, and exports to notice control
Portion 17 processed.
Situation judging portion 16 from situation acquisition unit 11 obtain status data, judgement status data be usual condition data or
Unusual condition data, and the result is exported to notice control unit 17.That is, be to the present situation it is usual or it is abnormal into
Judgement is gone.
Control unit 17 is notified to obtain notice request from notice acquisition request portion 15, and according to the judgement knot in situation judging portion 16
Fruit is to determine whether perform notice request.Then, in the case where performing notice request, content of announcement is exported to output and is set
Standby 3.
Fig. 2 is the figure for the hardware configuration for representing notice control device 101.As shown in Fig. 2, notice control device 101 by
CPU31, memory 32 and receiving part 33 are realized.Situation acquisition unit 11, notice acquisition request portion 15, situation judging portion 16 and
Notify control unit 17 by performing RAM (Random Access Memory by CPU31：Random access memory) etc. memories 32
Middle stored program, to realize the function as the CPU31.Wherein, it is above-mentioned for example can also be by being cooperateed with by multiple CPU31
It works to realize.
＜ A-2. act ＞
Fig. 3 is the figure for illustrating to notify the action example of control device 101.It is usual when vehicle is parked in oneself parking lot that Fig. 3 is shown
In the case of the bicycle that is not present be positioned over state near path of navigation.Driving assistance system 2 vehicle stop it is auxiliary
When helping, the image of rear view of vehicle is shown on rear-view monitor, and control device 101 is extremely notified to remind notice request output
Pay attention to barrier of rear view of vehicle etc..In the past, if performing above-mentioned notice is controlled according to automatic Pilot grade of vehicle etc.
's.For example, in the case where vehicle is in manual drive state, since the necessity that driver holds peripheral situation is higher therefore
Implement notice, on the other hand, in the case where vehicle be in full-automatic driving, due to driver without carry out especially operate thus
Without notice.However, in control device 101 is notified, the bicycle quilt that is not present always as shown in Figure 3 is being detected
Path of navigation is positioned over nearby in the case of this " unusual condition ", even the automatic Pilot state of vehicle in principle not into
The grade of row notice, still provides for above-mentioned notice, driver to be reminded to pay attention to rear view of vehicle.
Fig. 4 is the flow chart for representing the 101 whole action of notice control device.Hereinafter, by taking the situation of Fig. 3 as an example, according to
Fig. 4 shows the action summary of notice control device 101.First, when vehicle is wanted to stop into oneself parking lot, acquisition request is notified
Portion 15 obtains notice request to point out rear view of vehicle (step S11) from driving assistance system 2.Then, situation acquisition unit 11
Status data (step S12) is obtained according to the information got from onboard sensor 1 and driving assistance system 2.It will be in step
The status data got in S12 is sent to situation judging portion 16.Situation judging portion 16 judges vehicle according to status data
Whether automatic Pilot state is the automatic Pilot state (step S13) for inhibiting notice.If the automatic Pilot state of vehicle is inhibits
The automatic Pilot state of notice, then situation judging portion 16 judge whether the present situation is usual state (step S14).Herein, if
Status data is to meet the usual condition data of rated condition, then is judged as the present situation as usual condition, otherwise is abnormal shape
During condition data, it is judged as the present situation exception.In the case where the present situation is usual condition, notice control unit 17 inhibits notice
(step S15), and terminate to handle.
On the other hand, (the step in the case of the automatic Pilot state of the automatic Pilot state of vehicle and non-inhibited notice
S13：It is no) or the present situation be (step S14 in the case of exception：It is no), notice control unit 17 is carried out according to notice request with carrying
It wakes up and pays attention to the relevant notice (step S16) of rear view of vehicle, and terminate to handle.Notice herein is for example by defeated from vehicle-mounted loudspeaker
Go out voice to carry out.
Fig. 5 is the flow for the action (notice acquisition request is handled, the step S11 of Fig. 4) for representing notice acquisition request portion 15
Figure illustrates the action in notice acquisition request portion 15 below according to Fig. 5.First, notice acquisition request portion 15 judges to drive
During whether auxiliary system 2 is currently carrying out (step S111).It is waited during vehicle is manual drive and does not utilize driving auxiliary
System 2 is come (step S111 in the case of carrying out driving auxiliary：It is no), turn again to step S111 carry out it is standby, until being driven
Until sailing auxiliary.(step S111 in the case of during driving assistance system 2 is currently executing：It is), notice request obtains
Portion 15 is taken to obtain notice request (step S112) from driving assistance system 2.Then, accessed notice request is sent to shape
Condition determination unit 16 (step S113).
Next, situation acquisition unit 11 is illustrated.Situation acquisition unit 11 includes ambient enviroment acquisition unit 12, auxiliary shape
Condition acquisition unit 13 and driving condition acquisition unit 14.
Ambient enviroment acquisition unit 12 generates ambient condition information according to the sensing data of onboard sensor 1.Herein, it is vehicle-mounted
Sensor 1 is mounted in the mechanics sensor of vehicle, electromagnetic sensor, optical sensor, temperature sensor or electrochemically passes
Sensor etc., it is assumed for example that be 11 No.1 of Denso Technical Review " technology trend of automobile sensor " VOL
The sensor shown in 2006 table 2.
Fig. 6 illustrates the ambient condition information acquired in ambient enviroment acquisition unit 12.Around ambient condition information has
Vehicle, pedestrian, other moving bodys, barrier etc..About these, position, movement speed, moving direction are also contained in ring around
Border information.For example, when the particular vehicles such as vehicle and emergency vehicle pass each other so close that they almost rubbed each other, around the particular vehicle is contained in
In the case of vehicle, situation judging portion 16 can also be determined as that the present situation is not usual condition.In addition, traffic white line also includes
In ambient enviroment.This can for example be detected by image procossing or radar.In addition, weather, pavement state, time, mark, signal
Construction informations such as information, obstruction, construction etc. are also contained in ambient enviroment.Weather can be obtained from internet.In addition, pass through detection wheel
The idle running of tire can recognize that icy on road.In addition, the time can obtain from GPS signal.In addition, traffic information can pass through VICS (notes
Volume trade mark) (Vehicle Information and Communication System：Vehicle telematics system) information, road
Face inter-vehicular communication or vehicle inter-vehicle communication obtain.
Fig. 7 is the flow for the action step S12 of Fig. 4 (ambient enviroment acquisition processing) for representing ambient enviroment acquisition unit 12
Figure, illustrates the action of ambient enviroment acquisition unit 12 below according to Fig. 7.Ambient enviroment acquisition unit 12 is first from vehicle-mounted sensing
Device 1 obtains sensing data (step S121).Then, ambient condition information (step is generated according to accessed sensing data
S122).Then, the ambient condition information generated is sent to situation judging portion 16 (step S123).
Fig. 8 illustrates the auxiliary situation of the driving assistance system 2 acquired in auxiliary situation acquisition unit 13.Auxiliary situation
In include the mobile desired trajectory of vehicle, the movable situation of miscellaneous function, pattern information of each miscellaneous function etc..Driving assistance system
2 miscellaneous function has driving auxiliary, automatic parking auxiliary and lane change auxiliary etc..Have in the pattern of drive assistance function accurate automatic
Pattern and fully automated pattern.There is auxiliary to start in the pattern of automatic parking miscellaneous function, advance, retreat, complete.Lane change function
Pattern in have beginning, perform in, successfully.
The speed comprising vehicle, acceleration, direction and position are sat in driving condition acquired in driving condition acquisition unit 14
Mark etc..These information are obtained from onboard sensor 1 or driving assistance system 2.
Above-mentioned condition data can independently be sent to situation judging portion 16 from situation acquisition unit 11, can also be when will be identical
Ambient enviroment, auxiliary situation and driving condition under countershaft are combined into a data to be sent to situation judging portion 16.
In situation judging portion 16, judge whether the present situation is usual condition according to status data.Situation judging portion 16
In, determine the definition (condition) of usual state, in the case where status data meets the condition, it is usual to be determined as the present situation
Situation.The definition (condition) of usual state is that driving assistance system 2 carries out the condition of notice request or related to automatic Pilot
Vehicle the different condition of driving condition, abstractively say, situation judging portion 16 judges " whether be and usually identical situation ".
For example, in the case where vehicle is located at the particular place that oneself etc. is registered by passenger, it is determined as usual state.Alternatively, root
According to the running history of vehicle, vehicle is located in the case that so far access times is places more than certain number, is determined as usually
State.Alternatively, the admission velocity into a certain intersection can also be recorded repeatedly, and its average value or median are defined as
Usual state.The status data of vehicle at the time of alternatively, it is also possible to specified by the passenger by vehicle is defined as usual condition.
Thereby, it is possible to there will be the situation for the barrier being usually not present or to run over same place than usually fast speed
The situation judging of situation " different from usual " in this way is " not usual condition ".
<A-3. variation>
In above description, the situation that onboard sensor 1 is equipped on to vehicle is illustrated, but it is not limited to this, surrounding ring
Border acquisition unit 12 can also obtain ambient condition information from the onboard sensor or server of surrounding vehicles.
In addition, in the above description, situation acquisition unit 11, notice acquisition request portion 15, situation judging portion 16 and notice
Control unit 17 is acted according to the software program stored in 32 grade of memory come real by the CPU31 (processor) by Fig. 2
It is existing.However, it is also possible to replace, realize that situation obtains by the circuit by hardware to realize the signal processing circuit of the action
Take portion 11, notice acquisition request portion 15, situation judging portion 16 and notice control unit 17.As by the situation acquisition unit of software
11st, notice acquisition request portion 15, situation judging portion 16 and notice control unit 17 and situation acquisition unit 11, the notice of hardware are asked
Acquisition unit 15, situation judging portion 16 and the concept for notifying control unit 17 combined, can also use " processing circuit " this table
It states to replace " portion " this statement.
＜ A-4. effects ＞
Notice control device 101 involved by embodiment 1 includes：Situation acquisition unit 11, the situation acquisition unit 11 is according to carrying
Obtain status data in the determination data of the sensor of vehicle, the vehicle can by the auxiliary of driving assistance system 2 come into
Row automatic Pilot, the status data include at least and the ambient enviroment of vehicle, the auxiliary situation of driving assistance system and vehicle
Driving condition in any one or more relevant data；Situation judging portion 16, the situation judging portion 16 is to status data
The usual condition data for meeting rated condition or the unusual condition data for being unsatisfactory for rated condition are judged；And notice
Control unit 17, the notice control unit 17 are different in status data when vehicle is in the automatic Pilot state that should inhibit notice
In the case of normal status data, allow to perform the notice request from driving assistance system 2, and be usual condition in status data
In the case of data, inhibit to perform notice request.Therefore, it is possible to only usually be notified to be non-in situation, thus
Driver will not be made to be fed up with, driver can be prevented for driving the over reliance assisted.
In addition, in notification control method involved by embodiment 1, according to being equipped on through the auxiliary of driving assistance system 2
The determination data of the sensor for the vehicle that can carry out automatic Pilot is helped to exist to obtain comprising the data related with peripheral situation of vehicle
Interior status data meets status data the usual condition data of rated condition or is unsatisfactory for the abnormal shape of rated condition
Condition data are judged, are unusual condition number in status data when vehicle is in the automatic Pilot state that should inhibit notice
In the case of, allow to perform the notice request from driving assistance system, and in the feelings that status data is usual condition data
Under condition, inhibit to perform notice request.Therefore, it is possible to only usually be notified to be non-in situation, because without making to drive
The person of sailing is fed up with, and can prevent driver for driving the over reliance assisted.
2 ＞ of ＜ B. embodiments
＜ B-1. structures ＞
Fig. 9 is the block diagram for the structure for representing notice control device 102 and its peripheral devices involved by embodiment 2.Notice control
Device 102 processed further includes situation storage part other than including the structure of the notice control device 101 involved by embodiment 1
18 and specific factor extraction unit 19.
Situation storage part 18 is realized by storage mediums such as HDD, SD cards, and is stored in status data by situation judging
Portion 16 be determined as be usual condition data data.
Specific factor extraction unit 19 from be determined as by situation judging portion 16 be unusual condition data status data in extract
Go out specific factor, and export to notice control unit 17.
Control unit 17 is notified based on specific factor to determine the unit of notice and content, and content of announcement is exported to output
Equipment 3.
Other structures are identical with the notice control device 101 involved by embodiment 1.
＜ B-2. act ＞
Figure 10 is the flow chart for representing the 102 whole action of notice control device.Hereinafter, by taking the situation of Fig. 3 as an example, according to Figure 10
The action summary of notice control device 102 is shown.Due to step S21~24 of Figure 10,29 respectively with step S11~14 of Fig. 3,
16 is identical, thus omits the description herein.If the present situation is determined as usual condition (step S24 by situation judging portion 16：It is), then
Status data (usual condition data) (step S25) at this time is stored in situation storage part 18.Then, notice control unit 17 is right
Notice is inhibited (step S26).
On the other hand, if the present situation is determined as non-usual condition (unusual condition) (step S24 by situation judging portion 16：
It is no), then the extraction process (step S27) of specific factor is carried out by specific factor extraction unit 19.The specific of taking-up mentioned herein will
Element is sent to notice control unit 17, and notice control unit 17 is notified (step S28) based on specific factor.
Figure 11 is to represent the stream of specific factor extraction process (the step S27 of Figure 10) that specific factor extraction unit 19 is carried out
Cheng Tu.In the following, illustrate the extraction process of specific factor.First, specific factor extraction unit 19 is to being stored in situation storage part 18
Usual condition data in geographically close usual condition data are retrieved (step with current unusual condition data
ST271).If for example, current unusual condition data for vehicle enter specific intersection when status data, deposited from situation
Retrieve usual condition data when vehicle enters same specific intersection in the past in storage portion 18.Then, by current unusual condition
Data are compared with the past usual condition data retrieved in step S271, and are extracted according to its difference specific
Element (step S272).Herein, the conducts such as the barrier different from usual state, time, weather, driver behavior, traffic
Specific factor is extracted.For example, in the case where the position different from usual state is there are barrier, using the barrier as
Specific factor extracts.Alternatively, drive go to work when all travel on identical path in the case of, if always 19 points leave work
It place but leaves, is then extracted using i.e. 21 points of " than the usually late time " as specific factor at 21 points.
Then, the specific factor extracted in step S272 is sent to notice control unit 17 by specific factor extraction unit 19
(step S273), and terminate specific factor extraction process.
Figure 12 is to represent that notice control unit 17 is based on the flow that specific factor carries out notifier processes (the step S28 of Figure 10)
Figure.Hereinafter, notice control unit 17 is illustrated based on the notifier processes that specific factor carries out.First, control unit 17 is notified
Notification unit (output equipment 3 for being equivalent to Fig. 9) (step S281) is determined according to specific factor.Next, decision and notification unit
Corresponding content of announcement (step S282).Then, using the notification unit determined in step S281, determine in step S282 it is logical
Content is known to be notified (step S283), and terminates to handle.As the example of notification unit and content of announcement, having makes vehicle-mounted show
Show device pop-up notification picture or export notice voice from vehicle-mounted loudspeaker or steering wheel, brake pedal or gas pedal is made to shake
It moves.In addition, in the case of there are multiple output equipments 3, can also be combined to use.Alternatively, it is also possible to make pop-up
Content, notice voice, method for oscillating are according to content of announcement and different.
<B-3. variation>
So far, control device 102 to be notified to be illustrated for car-mounted device, however, notice control device 102 can be by its institute
There is structure to be equipped on vehicle, can not also be car-mounted device, and the mobile terminals such as smart mobile phone, PDA, server etc. is combined
To form.Figure 13 is represented by the combined block diagram of the structure of notice control device 102 formed of car-mounted device and server.Figure
In 13, notify situation acquisition unit 11, notice acquisition request portion 15 and the notice control unit 17 of control device 102 by car-mounted device
It forms, situation judging portion 16, situation storage part 18 and specific factor extraction unit 19 are made of server.Notice control as a result,
Each structure of device 102 can properly be shared by car-mounted device, mobile terminal, server etc..
＜ B-4. effects ＞
Notice control device 102 involved by embodiment 2 is in the structure for notifying control device 101 involved by embodiment 1
On the basis of further include：Situation storage part 18, the situation storage part 18 storage usual condition data；And specific factor extraction unit
19, the specific factor extraction unit 19 is in the case where current status data is unusual condition data, by the unusual condition data
It is compared, and using their difference as specific factor with the past usual condition data stored in situation storage part
It extracts.Then, notice control unit 17 is carried when vehicle is in the automatic Pilot state that should inhibit notice in specific factor
It takes in the case that portion 19 extracts specific factor, determines and the corresponding notification unit of specific factor or content of announcement.Therefore, energy
It is enough to carry out and the corresponding appropriate notice of specific factor.
In addition, notice control unit 17 is carried when vehicle is in the automatic Pilot state that should inhibit notice in specific factor
It takes in the case that portion 19 do not extract specific factor, inhibits to perform notice request.Therefore, only in the situation for extracting specific factor
It is lower to perform notice request, it is thus possible to reduce because frequently executing the boredom brought during notice request to driver.
<C. embodiment 3>
＜ C-1. structures ＞
Figure 14 is the block diagram for the structure for representing notice control device 103 and its peripheral devices.Notify control device 103 in addition to including
Other than the structure of notice control device 102 involved by embodiment 2, also has surrounding vehicles state in situation acquisition unit 11
Acquisition unit 20.Surrounding vehicles state acquisition unit 20 is obtained from using the surrounding vehicles network 4 of vehicle inter-vehicle communication or information server etc.
Surrounding vehicles state is taken, using as status data.Surrounding vehicles state refers to the driving related with the automatic Pilot of surrounding vehicles
State.Structure in addition to this is identical with the notice control device 102 involved by embodiment 2, and and the description is omitted.
＜ C-2. act ＞
Figure 15 is the figure of the summary for the action for illustrating the notice control device 103 involved by embodiment 3.It is shown in Figure 15
Vehicle front has the situation that three trolleys are travelling, this three trolley is surrounding vehicles.On notifying that control device 103 obtains
State the automatic Pilot state of three surrounding vehicles.Assuming that as a result, a surrounding vehicles are manual drive.In view of driving manually
It is different from automatic driving vehicle to sail the most of actions of vehicle, therefore considers in the case where manual drive vehicle travels around,
Need to be important to note that the situation of surrounding.Therefore, notice control device 103 is in the automatic Pilot shape that should inhibit notice in vehicle
In the case of state, still restore to notify.That is, in control device 103 is notified, for determining whether usual condition
The automatic Pilot state of surrounding vehicles is included in status data.
The action for notifying control device 103 whole is identical with the action of notice control device 102 shown in Fig. 10.However,
In the acquisition processing of status data in the step S22 of Figure 10, around being carried out by surrounding vehicles state acquisition unit 20
Vehicle-state acquisition is handled.
Figure 16 is to represent that the surrounding vehicles state that surrounding vehicles state acquisition unit 20 is carried out obtains the flow chart handled.With
Under, surrounding vehicles state acquisition processing is illustrated according to Figure 16.First, surrounding vehicles state acquisition unit 20 judges vehicle week
It encloses with the presence or absence of unregistered vehicle (step S31).In the case of there is no unregistered vehicle, end processing.If in the presence of not stepping on
Can caravan then judge be communicated (step S32) with unregistered vehicle, in the case where that can not be communicated, will not step on
The automatic Pilot state of caravan is generated as " unknown " (step S34).If can communicate with unregistered vehicle, do not stepped on from this
Caravan obtains automatic driving condition (step S33).
Then, the automatic Pilot state for generating or being got in step S33 in step S34 is sent to situation judging
Portion 16 (step S35).
It, will be " not comprising the vehicle that manual drive vehicle or automatic Pilot state are unknown in surrounding vehicles in situation judging portion 16
" it is defined as the condition of usual condition.Therefore, if the automatic of surrounding vehicles got from surrounding vehicles state acquisition unit 20 is driven
It sails in state and there is " manual " or " unknown ", be then judged as the present situation as unusual condition, and status data at this time is judged
For unusual condition data.
Identically with embodiment 2, specific factor extraction unit 19 by unusual condition data and is stored in situation storage part 18
In past usual condition data be compared, and specific factor is extracted according to difference.In the example of Figure 15, " surrounding
There are manual drive vehicles in vehicle " it is extracted as specific factor.
Other actions for notifying control device 103 are identical with the notice control device 102 involved by embodiment 2, therefore
It omits the description.
＜ C-3. effects ＞
In the notice control device 103 involved by embodiment 3, in the status data acquired in situation acquisition unit 11 include with
In the relevant information of the related driving condition of the automatic Pilot of the vehicle of vehicle periphery traveling.Therefore, can surrounding vehicles from
In the case that dynamic driving condition is different from usual, restore repressed notice.
4 ＞ of ＜ D. embodiments
＜ D-1. structures ＞
Figure 17 is the block diagram for the structure for representing notice control device 104 and its peripheral devices.Notify control device 104 in addition to including
Other than the structure of notice control device 102 involved by embodiment 2, also have driver status in situation acquisition unit 11 and obtain
Take portion 21.Driver status acquisition unit 21 obtains physical condition, cognitive Status or operating conditions etc. of vehicle driver, using as
Driver status.Structure in addition to this is identical with the notice control device 102 involved by embodiment 2, and and the description is omitted.
＜ D-2. act ＞
Figure 18 is the figure of the summary for the action for illustrating the notice control device 104 involved by embodiment 4.Figure 18 is shown in fire
The sight of the driver of vehicle stopped in front of vehicle fork.Under the state, usual driver will confirm that crossing gate, confirm left
Side, right, and confirm reflective mirror.In the case where reflective mirror is confirmed in driver, the state for being judged as driver is not logical
Normal state in the case that notice control device 104 is in the automatic Pilot state that should inhibit notice in vehicle, is still restored logical
Know.That is, in control device 104 is notified, driving is included in the status data for determining whether usual condition
The state of member.
The action for notifying control device 104 whole is identical with the action of notice control device 102 shown in Fig. 10.However,
In the acquisition processing of status data in the step S22 of Figure 10, the driver carried out by driver status acquisition unit 21 is included
State acquisition is handled.
Figure 19 is to represent that the driver status that driver status acquisition unit 21 is carried out obtains the flow chart handled.First,
Driver status acquisition unit 21 obtains sensing data (step S41) from driver sensor 5.It for example, can be from shooting driver
Camera or infrared pick-up head shooting image in obtain and relevant information, the intelligent hand such as sight of driver or expression
The behaviour in service of the equipment such as machine.In addition, it can obtain whether driver has held steering wheel from the electrode for being equipped on steering wheel
Information, in addition, in the case where driver has held steering wheel, can also obtain the biological informations such as the heartbeat of driver.In addition, also
Interior dialogue can be obtained using microphone.
Then, driver status acquisition unit 21 generates driver status (step according to accessed sensing data
S42).For example, it can be dozed off or the driver of distraction etc according to the sight or expression of driver to determine whether
Cognitive Status judges the operating conditions of driver according to the assurance situation of steering wheel, and is sentenced according to the behaviour in service of equipment
Disconnected equipment is in operating process.In addition, the body of the driver such as having drunk wine can be judged according to biological information
Situation.Any one in driver's physical condition, cognitive Status or operating conditions is also included at least in driver status as a result,
It is or multiple.
Then, the driver status generated is sent to situation judging portion 16 (step S43).
Identically with embodiment 2, situation judging portion 16 obtains status data from situation acquisition unit 11 and judges current shape
Whether condition is usual condition.Particularly, it in embodiment 3, is included in status data from driver status acquisition unit 21
Driver status, therefore situation judging portion 16 has definition data with the relevant usual state of driver status.To scheme
For 18 example come in the case of illustrating, situation judging portion 16 obtains " confirmed crossing gate ", " confirmed left and right ", " not
Information as confirmation reflective mirror " is used as the driver status at railway side road." confirm since situation judging portion 16 has
Crossing gate ", " confirming left and right ", " confirming reflective mirror " are used as usual state, therefore be judged as driver not to usually carrying out
The reflective mirror of confirmation is confirmed, and is determined as that the present situation is not usual condition.In other examples, in the heartbeat of driver
In the case that number etc. has relatively big difference with general value, it is not usual condition to be determined as the present situation.
Identically with embodiment 2, specific factor extraction unit 19 by unusual condition data and is stored in situation storage part 18
In past usual condition data be compared, and specific factor is extracted according to difference.In the example of Figure 18, " not really
Recognize reflective mirror " it is extracted as specific factor.
The other actions for notifying control device 103 are identical with the notice control device 102 involved by embodiment 2, therefore
It omits the description.
＜ D-3. effects ＞
In the notice control device 104 involved by embodiment 4, in the status data acquired in situation acquisition unit 11 include with
At least any one or more related data in the physical condition of the driver of vehicle, cognitive Status or operating conditions.Cause
This, in the case where driver status is different from usual, can restore repressed notice.
5 ＞ of ＜ E. embodiments
In embodiment 1 to 4, in the case where vehicle is in the automatic Pilot state that should inhibit notice, if the present situation
Not usual condition then allows notice to ask.In the case of embodiment 5, on the basis of above-mentioned, cut predicting vehicle
In the case of being changed to manual drive, notice is also allowed to ask.
＜ E-1. structures ＞
Figure 20 is the block diagram for the structure for representing notice control device 105 and its peripheral devices.Notify control device 105 in addition to including
Other than the structure of notice control device 102 involved by embodiment 2, handoff predictions portion 22 is further included, the handoff predictions portion 22
The situation that manual drive is switched to from automatic Pilot to vehicle is predicted.Notice control device other than handoff predictions portion 22
105 structure is identical with notice control device 102.
＜ E-2. act ＞
Figure 21 is the figure of the summary for the action for illustrating the notice control device 105 involved by embodiment 5.As shown in figure 21, exist
Caused due to dense fog vehicle be possible to from should inhibit notice automatic Pilot state return to manual drive in the case of, notice
Control device 105 restores repressed notice.
Figure 22 is the flow chart for the manual drive handoff predictions processing for representing handoff predictions portion 22.Hereinafter, 2 pairs according to fig. 2
The processing of manual drive handoff predictions illustrates.Handoff predictions portion 22 obtains current status data from situation acquisition unit 11, and
Past status data (step S51) is obtained from situation storage part 18.Then, the shape in future is predicted according to above-mentioned condition data
Condition data (step S52).Linear prediction or rote learning etc. can be used in the Forecasting Methodology.It is cut in the status data signal in future
(step S53 in the case of shifting to manual drive：It is), it may be switched to this case that manual drive to the notice notice of control unit 17
(step S54), and terminate to handle.On the other hand, in the case where the status data in future is not illustrated to switch to manual drive, directly
The processing of binding beam.
Notice control unit 17 is receiving the notice that may switch to manual drive this content from handoff predictions portion 22
In the case of, no matter whether the present situation is usual condition, allows to perform notice request.
<E-3. variation>
In above description, by handoff predictions portion 22, manual drive will be switched to by being predicted in itself by notice control device 105.
However, notice control device 105 itself can not also be predicted, and received from driving assistance system 2 and represent to predict switching
Into the notice of this meaning of manual drive.That is, notice control unit 17 is receiving expression prediction from driving assistance system 2
To vehicle driving condition switch to the notice of this meaning of manual drive in the case of, allow perform notice request.
＜ E-4. effects ＞
In notice control device 105 involved by embodiment 5, notice control unit 17 the driving condition for predicting vehicle from should
Allow to perform notice request in the case that the automatic Pilot state for inhibiting notice switches to manual drive.Therefore, driver's energy
Enough before vehicle switches to manual drive, receive and notify simultaneously to pay attention to peripheral situation, therefore can successfully cut from automatic Pilot
Change manual drive into.
In addition, notice control device 105 in addition to include involved by embodiment 2 notice control device 102 structure with
Outside, handoff predictions portion 22 (condition predicting portion) is further included, the handoff predictions portion 22 is according to past status data and current shape
Condition data predict the status data in future.Then, notice control unit 17 predicts vehicle in the status data according to future
Driving condition allows to perform notice request in the case of switching to manual drive from the automatic Pilot state that should inhibit to notify.Cause
This, driver can receive before vehicle switches to manual drive and notify simultaneously to pay attention to peripheral situation, therefore can successfully from
Automatic Pilot switches to manual drive.
6 ＞ of ＜ F. embodiments
＜ F-1. structures ＞
Figure 23 is the block diagram for the structure for representing notice control device 106 and its peripheral devices involved by embodiment 6.Notice control
Device 106 processed further includes pressure notice and sentences other than including the structure of the notice control device 102 involved by embodiment 2
Disconnected portion 23.Force notice judging part 23 taking human as or non-artificial specified conditions come force to allow notice ask.
＜ F-2. act ＞
In embodiment 1 to 4, in the case where vehicle is in the automatic Pilot state that should inhibit notice, as shown in Figure 3
The bicycle being not present under normal conditions like that is configured in path of navigation and nearby waits the situation that the present situations are not usual condition
Under, notice is allowed to ask.It is different from Fig. 3 in Figure 24, bicycle is not configured and shows usual state.In embodiment 6,
Under the above situation, still taking human as or non-artificial specified conditions come force to allow notice ask.As a result, sometimes no matter the present situation
Whether usual condition is notified, therefore can prevent driver from excessively trusting automatic Pilot and it is urged to pay attention to surrounding shape
Condition.
Figure 25 is the flow chart that the pressure notice for representing that notice judging part 23 is forced to be carried out judges processing.In the following, to strong
The pressure notice judgement processing that system notice judging part 23 is carried out illustrates.Notice judging part 23 is forced to judge whether mandatory
Ground is notified (step S61).As the mandatory condition notified, consider to be, for example, every certain number, according to uniformly
Distribution or the specific distributions such as exponential distribution random or be specific date, week, season etc..It is being unsatisfactory for above-mentioned condition
In the case of, notice judging part 23 is forced to be judged as, without enforceable notice, directly terminating to handle.On the other hand, meeting
In the case of the mandatory condition notified, force notice judging part 23 be judged as it is mandatory notified, to notice control
Portion 17 notifies this content (step S62), and will determine that result is sent to situation storage part 18 (step S63), end processing.
Judging part 23 being notified to receive from pressure, expression progress is compulsory to notify the logical of this meaning to notice control unit 17
In the case of knowing, no matter whether the present situation is usual condition, allows to perform notice request.
＜ F-3. effects ＞
In notice control device 106 involved by embodiment 6, notice control unit 17 vehicle be in should inhibit notice from
During dynamic driving condition, in the case where meeting artificial or non-artificial specified conditions, no matter status data is unusual condition data
Or usual condition data allow to perform notice request.Therefore, no matter the present situation, which is usual condition, sometimes carries out
Notice, therefore can prevent driver from excessively trusting automatic Pilot and it is urged to pay attention to peripheral situation.
In addition, the present invention can freely be combined each embodiment or in its invention scope to each embodiment party
Formula carries out appropriate deformation, omits.
The present invention is described in detail, but in the above description, all embodiments are example, and the present invention is not
It is limited to this.It is believed that non-illustrated countless variations are not depart from the scope of the invention and thinkable.
Label declaration
1 onboard sensor, 2 driving assistance systems, 3 output equipments, 4 surrounding vehicles networks, 5 driver sensors,
11 situation acquisition units, 12 ambient enviroment acquisition units, 13 auxiliary situation acquisition units, 14 driving condition acquisition units, 15 notices please
Seek acquisition unit, 16 situation judging portions, 17 notice control units, 18 situation storage parts, 19 specific factor extraction units, around 20
Vehicle condition acquisition unit, 21 driver status acquisition units, 22 handoff predictions portions, 23 pressure notice judging parts, 31 CPU, 32
Memory, 33 receiving parts, 101,102,103,104,105,106 notice control devices.
Claims (9)
1. a kind of notice control device, which is characterized in that including：
Situation acquisition unit, the situation acquisition unit obtain status data according to the determination data for the sensor for being equipped on vehicle, institute
Automatic Pilot can be carried out by the auxiliary of driving assistance system by stating vehicle, and the status data includes at least and the vehicle
Any one or more correlations in the driving condition of ambient enviroment, the auxiliary situation of the driving assistance system and the vehicle
Data；
Situation judging portion, the situation judging portion meet the status data usual condition data of rated condition or are discontented with
The unusual condition data of the foot rated condition are judged；And
Notify control unit, the notice control unit is when the vehicle is in the automatic Pilot state that should inhibit notice, described
In the case that status data is the unusual condition data, allow to perform the notice request from the driving assistance system, and
In the case where the status data is the usual condition data, inhibit to perform the notice request.
2. notice control device as described in claim 1, which is characterized in that further include：
Situation storage part, the situation storage part store the usual condition data；And
Specific factor extraction unit, the specific factor extraction unit is in the feelings that the current status data is the unusual condition data
Under condition, which is compared with the past usual condition data being stored in the situation storage part
Compared with, and the difference extracted between the two is used as specific factor,
In the case that the notice control unit is in the automatic Pilot state that should inhibit notice in the vehicle, described specific
In the case that elements recognition portion extracts the specific factor, determine and the corresponding notification unit of the specific factor or notice
Content.
3. notice control device as claimed in claim 2, which is characterized in that
In the case that the notice control unit is in the automatic Pilot state that should inhibit notice in the vehicle, described specific
In the case that elements recognition portion does not extract the specific factor, inhibit to perform the notice request.
4. notice control device as described in claim 1, which is characterized in that
The status data includes the phase of the driving condition related with the automatic Pilot of vehicle travelled around the vehicle
Close information.
5. notice control device as described in claim 1, which is characterized in that
The status data includes and at least appointing in the physical condition of the driver of the vehicle, cognitive Status or operating conditions
The one or more relevant data of meaning.
6. notice control device as described in claim 1, which is characterized in that
The notice control unit switches in the driving condition for predicting the vehicle from the automatic Pilot state that should inhibit to notify
In the case of manual drive, allow to perform the notice request.
7. notice control device as claimed in claim 6, which is characterized in that
Further include condition predicting portion, the condition predicting portion according to the past status data and the current status data come
Predict the status data in future,
The notice control unit is in the driving condition that the vehicle is predicted according to the status data in the future from should inhibit
In the case that the automatic Pilot state of notice switches to manual drive, allow to perform the notice request.
8. notice control device as described in claim 1, which is characterized in that
It is artificial meeting in the case that the notice control unit is in the automatic Pilot state that should inhibit notice in the vehicle
Or in the case of non-artificial specified conditions, the status data is the unusual condition data or the usual condition
Data allow to perform the notice request.
9. a kind of notification control method, which is characterized in that
Auxiliary energy according to being equipped on through driving assistance system carries out the determination data of the sensor of the vehicle of automatic Pilot, comes
It obtains comprising the status data including the data related with the peripheral situation of the vehicle,
Meet the usual condition data of rated condition to the status data or be unsatisfactory for the abnormal shape of the rated condition
Condition data are judged,
It is the unusual condition number in the status data when the vehicle is in the automatic Pilot state that should inhibit notice
In the case of, allow to perform the notice request from the driving assistance system, and be described usual in the status data
In the case of status data, inhibit to perform the notice request.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2015/080684 WO2017072942A1 (en) | 2015-10-30 | 2015-10-30 | Notification control device and notification control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108140320A true CN108140320A (en) | 2018-06-08 |
| CN108140320B CN108140320B (en) | 2021-11-05 |
Family
ID=58629952
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580084027.6A Active CN108140320B (en) | 2015-10-30 | 2015-10-30 | Notification control device and notification control method |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6494782B2 (en) |
| CN (1) | CN108140320B (en) |
| WO (1) | WO2017072942A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111415520A (en) * | 2018-12-18 | 2020-07-14 | 北京航迹科技有限公司 | System and method for processing traffic target |
| CN113168768A (en) * | 2019-02-25 | 2021-07-23 | Jvc建伍株式会社 | Driving support device, driving support system, driving support method, and program |
| CN113815637A (en) * | 2021-08-28 | 2021-12-21 | 济南臻真技术研究所 | Method, apparatus and storage medium for scheduling notification based on driving assistance function |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6624158B2 (en) * | 2017-05-22 | 2019-12-25 | 株式会社デンソー | Electronic control unit |
| JP2019091254A (en) * | 2017-11-15 | 2019-06-13 | オムロン株式会社 | Alarm control device, alarm control method, and program for alarm control |
| DE112018007201T5 (en) * | 2018-03-01 | 2020-11-26 | Honda Motor Co., Ltd. | DRIVE CONTROL DEVICE, DRIVE CONTROL PROCEDURE AND PROGRAM |
| JP6969451B2 (en) * | 2018-03-08 | 2021-11-24 | 株式会社オートネットワーク技術研究所 | In-vehicle control device, control program and device control method |
| JP7151495B2 (en) * | 2019-01-16 | 2022-10-12 | トヨタ自動車株式会社 | Autonomous driving system |
| KR20200128474A (en) * | 2019-04-24 | 2020-11-13 | 현대자동차주식회사 | Apparatus and method for notifying manual drive changing of vehicle and vehicle including the same |
| JP7138133B2 (en) * | 2020-03-16 | 2022-09-15 | 本田技研工業株式会社 | VEHICLE CONTROL DEVICE, VEHICLE, OPERATING METHOD AND PROGRAM OF VEHICLE CONTROL DEVICE |
| JP7264121B2 (en) * | 2020-07-01 | 2023-04-25 | トヨタ自動車株式会社 | Vehicle display/audio output control system |
| JP2022139446A (en) * | 2021-03-12 | 2022-09-26 | ソニーグループ株式会社 | Information processor, information processing method, and program |
| WO2023012313A1 (en) | 2021-08-04 | 2023-02-09 | Genethon | Hybrid promoters for gene expression in muscles and in the cns |
Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3094834B2 (en) * | 1995-03-30 | 2000-10-03 | 三菱自動車工業株式会社 | Low alertness device |
| JP2001101599A (en) * | 1999-09-30 | 2001-04-13 | Toyota Motor Corp | On-vehicle device for assisting traveling and method for assisting traveling |
| JP2006318446A (en) * | 2005-04-15 | 2006-11-24 | Denso Corp | Driving support device |
| JP2008065529A (en) * | 2006-09-06 | 2008-03-21 | Denso Corp | Congestion factor determination system |
| JP2009529187A (en) * | 2006-03-03 | 2009-08-13 | インリックス インコーポレイテッド | Assessment of road traffic conditions using data from mobile data sources |
| CN101516707A (en) * | 2006-09-14 | 2009-08-26 | 丰田自动车株式会社 | Hybrid vehicle, method of controlling hybrid vehicle, and computer readable recording medium having recorded thereon program for causing computer to execute control of hybrid vehicle |
| JP2010111275A (en) * | 2008-11-06 | 2010-05-20 | Alpine Electronics Inc | On-vehicle alarm device, alarm method and alarm program |
| CN101778741A (en) * | 2007-07-24 | 2010-07-14 | 日产自动车株式会社 | Drive assistance system and method for vehicle and vehicle equipped with the system |
| US20100222960A1 (en) * | 2009-02-27 | 2010-09-02 | Nissan Motor Co., Ltd. | Vehicle driving operation support apparatus/process and cooperation control |
| JP2010195224A (en) * | 2009-02-25 | 2010-09-09 | Aisin Seiki Co Ltd | Parking support device |
| CN102054365A (en) * | 2009-10-29 | 2011-05-11 | 富士重工业株式会社 | Intersection driving support apparatus |
| US20130154854A1 (en) * | 2011-12-14 | 2013-06-20 | Industrial Technology Research Institute | Exceptional road-condition warning device, system and method for a vehicle |
| CN103813140A (en) * | 2012-10-17 | 2014-05-21 | 株式会社电装 | Vehicle driving assistance system using image information |
| JP2015044432A (en) * | 2013-08-27 | 2015-03-12 | 株式会社デンソー | Drive support apparatus and drive support method |
| JP2015141476A (en) * | 2014-01-27 | 2015-08-03 | アイシン・エィ・ダブリュ株式会社 | Automatic driving support system, automatic driving support method, and computer program |
| WO2015162764A1 (en) * | 2014-04-24 | 2015-10-29 | 三菱電機株式会社 | Vehicle-mounted information device and function limiting method for vehicle-mounted information device |
-
2015
- 2015-10-30 JP JP2017547304A patent/JP6494782B2/en active Active
- 2015-10-30 CN CN201580084027.6A patent/CN108140320B/en active Active
- 2015-10-30 WO PCT/JP2015/080684 patent/WO2017072942A1/en active Application Filing
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3094834B2 (en) * | 1995-03-30 | 2000-10-03 | 三菱自動車工業株式会社 | Low alertness device |
| JP2001101599A (en) * | 1999-09-30 | 2001-04-13 | Toyota Motor Corp | On-vehicle device for assisting traveling and method for assisting traveling |
| JP2006318446A (en) * | 2005-04-15 | 2006-11-24 | Denso Corp | Driving support device |
| JP2009529187A (en) * | 2006-03-03 | 2009-08-13 | インリックス インコーポレイテッド | Assessment of road traffic conditions using data from mobile data sources |
| JP2008065529A (en) * | 2006-09-06 | 2008-03-21 | Denso Corp | Congestion factor determination system |
| CN101516707A (en) * | 2006-09-14 | 2009-08-26 | 丰田自动车株式会社 | Hybrid vehicle, method of controlling hybrid vehicle, and computer readable recording medium having recorded thereon program for causing computer to execute control of hybrid vehicle |
| CN101778741A (en) * | 2007-07-24 | 2010-07-14 | 日产自动车株式会社 | Drive assistance system and method for vehicle and vehicle equipped with the system |
| JP2010111275A (en) * | 2008-11-06 | 2010-05-20 | Alpine Electronics Inc | On-vehicle alarm device, alarm method and alarm program |
| JP2010195224A (en) * | 2009-02-25 | 2010-09-09 | Aisin Seiki Co Ltd | Parking support device |
| US20100222960A1 (en) * | 2009-02-27 | 2010-09-02 | Nissan Motor Co., Ltd. | Vehicle driving operation support apparatus/process and cooperation control |
| CN102054365A (en) * | 2009-10-29 | 2011-05-11 | 富士重工业株式会社 | Intersection driving support apparatus |
| US20130154854A1 (en) * | 2011-12-14 | 2013-06-20 | Industrial Technology Research Institute | Exceptional road-condition warning device, system and method for a vehicle |
| CN103813140A (en) * | 2012-10-17 | 2014-05-21 | 株式会社电装 | Vehicle driving assistance system using image information |
| JP2015044432A (en) * | 2013-08-27 | 2015-03-12 | 株式会社デンソー | Drive support apparatus and drive support method |
| JP2015141476A (en) * | 2014-01-27 | 2015-08-03 | アイシン・エィ・ダブリュ株式会社 | Automatic driving support system, automatic driving support method, and computer program |
| WO2015162764A1 (en) * | 2014-04-24 | 2015-10-29 | 三菱電機株式会社 | Vehicle-mounted information device and function limiting method for vehicle-mounted information device |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111415520A (en) * | 2018-12-18 | 2020-07-14 | 北京航迹科技有限公司 | System and method for processing traffic target |
| CN113168768A (en) * | 2019-02-25 | 2021-07-23 | Jvc建伍株式会社 | Driving support device, driving support system, driving support method, and program |
| CN113815637A (en) * | 2021-08-28 | 2021-12-21 | 济南臻真技术研究所 | Method, apparatus and storage medium for scheduling notification based on driving assistance function |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6494782B2 (en) | 2019-04-03 |
| WO2017072942A1 (en) | 2017-05-04 |
| CN108140320B (en) | 2021-11-05 |
| JPWO2017072942A1 (en) | 2018-04-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108140320A (en) | Notify control device and notification control method | |
| CN105313895B (en) | Controller of vehicle and control method for vehicle | |
| CN110070755B (en) | Vehicle control system | |
| US20190329791A1 (en) | Vehicle control apparatus and vehicle control method | |
| CN107111956A (en) | Travel controlling system | |
| CN107444398B (en) | Drive auxiliary device | |
| CN108140314A (en) | Parking assistance method and parking aid | |
| JP2014019301A (en) | Emergency evacuation device | |
| US11731624B2 (en) | Vehicle controller, vehicle, and vehicle control method | |
| JP2023058521A (en) | Vehicle-mounted device | |
| JP2020091790A (en) | Automatic operation system | |
| CN104812647A (en) | Drive assist device, and drive assist method | |
| US11873007B2 (en) | Information processing apparatus, information processing method, and program | |
| JP7158352B2 (en) | DRIVING ASSIST DEVICE, VEHICLE CONTROL METHOD, AND PROGRAM | |
| JP6481484B2 (en) | Vehicle control device | |
| US11567509B2 (en) | Control system, control method, and non-transitory storage medium | |
| CN109963761A (en) | Automatic Pilot control plan making device and the formulating method of automatic Pilot control plan | |
| US20200339194A1 (en) | Vehicle control apparatus, vehicle, and control method | |
| US20210284192A1 (en) | Movable object control device, movable object control method, and storage medium storing program | |
| JP4730833B2 (en) | Driving assistance device | |
| JP2005162189A (en) | Driving assist measure determination method and driving assist device | |
| DE102020205932A1 (en) | Autonomous vehicle for blind people | |
| US20230278584A1 (en) | Autonomous vehicle control apparatus and method thereof | |
| CN107657821A (en) | Electronic-controlled installation and method for vehicle | |
| CN113428148B (en) | Vehicle control device and vehicle control method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |