JP2004093354A - Driving information output device and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a driving information output device capable of safe and proper navigation by outputting driving information properly corresponding to the driver's state. <P>SOLUTION: A driver's action is detected by a camera, and the detection result is inputted from a car navigation communication part 51 into a CPU 50 as driver's action information. The CPU 50 retrieves voice information and a movement content of a robot from a driver's action information table 617 based on the driver's action information, outputs a driving signal to a driving part 60 following the retrieved movement content of the robot, and outputs simultaneously a voice signal to a voice output part 59. When detected by the camera that the driver watches the robot, the CPU 50 stops driving of the robot. Similarly, when detected that the driver watches a car navigation screen, the CPU 50 outputs an instruction signal for stopping display on the car navigation screen to the car navigation. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a driving information output device that warns a driver of a danger and performs car navigation.
[0002]
[Prior art]
With the spread of car navigation systems (hereinafter abbreviated as "car navigation systems"), the route from the current location to the destination has been guided by a map display or voice, so that the driver can easily reach the destination even on unfamiliar roads. You can now run. However, on the other hand, there are many cases in which the driver gazes at the map or character information displayed on the car navigation system, causing a collision accident with an oncoming vehicle or a pedestrian. For this reason, an accident prevention function such as disabling the car navigation operation during driving has been devised.
[0003]
[Problems to be solved by the invention]
However, with the Internet connection of car navigation systems and the sophistication of value-added functions of maps, various information such as store information and traffic congestion information can be displayed. Therefore, the information displayed on the car navigation system tends to increase, and accordingly, the driver's gaze on the information display of the car navigation system tends to increase.
[0004]
An object of the present invention is to provide a driving information output device that outputs driving information appropriately in accordance with the situation of a driver and enables safe and appropriate navigation.
[0005]
[Means for Solving the Problems]
In order to solve the above problems, the driver information output device according to the invention described in claim 1 is
A driving information output device mounted on the vehicle, a storage means (for example, ROM 61 in FIG. 4; FIGS. 24 and 25) for storing the notification control information in association with the in-vehicle or out-of-vehicle situation information;
Acquiring means for acquiring status information (for example, the car navigation communication unit 51 in FIG. 4, step B1 in FIG. 17);
A notification unit (for example, the audio output unit 59 and the driving unit 60 in FIG. 4) capable of performing notification in a plurality of output modes;
Detecting means for detecting the driver state (for example, a camera included in the robot 10, step B2 in FIG. 17);
The notification control information stored in association with the storage unit is read based on the status information acquired by the acquisition unit, and the notification control information is output based on the read notification control information in an output form corresponding to a detection result by the detection unit. Control means for controlling the notification means (for example, CPU 50 in FIG. 4: robot operation control processing in FIG. 18);
It is characterized by having.
[0006]
The program according to the ninth aspect of the present invention is directed to a driving information output device equipped with a computer, which is mounted on a car.
A storage function of storing notification control information in association with the in-vehicle or out-of-vehicle situation information;
An acquisition function for acquiring status information (for example, steps B1 and B2 in FIG. 17);
A notification function (step D4 in FIG. 20) capable of notification in a plurality of output modes;
A detection function for detecting the driver state (for example, step B1 in FIG. 17);
The notification control information stored in association with the storage function is read based on the status information acquired by the acquisition function, and the notification based on the read notification control information is output in an output form corresponding to a detection result by the detection function. A control function for controlling functions (for example, a robot operation control process in FIG. 18);
Is realized by the computer.
[0007]
According to the first and ninth aspects of the present invention, the notification control information stored in association with the storage unit is read out based on the situation information acquired by the acquisition unit, and the notification control information is read in accordance with the detection result by the detection unit. In the output mode, the notification function is controlled based on the read notification control information. Therefore, for example, when a dangerous situation outside the vehicle is acquired, or according to the detected driver state, for example, when the driver is gazing at the display, a loud alarm (one of output forms) ), It is possible to output situation information, etc., and it is possible to output driving information appropriately according to the situation of the driver and perform safe and appropriate navigation.
[0008]
The invention according to claim 2 is the driving information output device according to claim 1, wherein the control unit outputs in an output form according to a detection result by the detection unit and status information acquired by the acquisition unit. And a notification control means for controlling the notification means based on the read notification control information (for example, CPU 50 in FIG. 4: robot operation control processing in FIG. 18).
[0009]
According to the second aspect of the present invention, the control of the notifying means is performed in an output form corresponding to the state and situation information of the driver. Therefore, for example, it is possible for the driver to take dangerous actions while the vehicle is running and to output situation information with a loud alarm when the situation is such that there is an obstacle in front of the car, and so on. It is possible to output driving information appropriately according to the situation of the driver, and to perform safe and appropriate navigation.
[0010]
The invention according to claim 3 is the driving information output device according to claim 1 or 2,
The acquisition unit has a communication unit (for example, the car navigation communication unit 51 in FIG. 4, step A14 in FIG. 16) for communicating with the car navigation device, and acquires route information as the status information by communication by the communication unit.
The notification means includes a sound output means (for example, the sound output unit 59 in FIG. 4, step D5 and step D6 in FIG. 20) and a drive means (for example, the drive unit 60 in FIG. Step D5),
It is a doll (for example, the robot 10 in FIG. 1) in which a voice output from the voice output unit or a drive control of the driving unit is performed by the control unit.
[0011]
According to the third aspect of the invention, the voice information and the driving content of the doll are determined according to the driver's state and status information, and the driver is notified of the status information by voice output and driving of the doll. For this reason, it is possible to cause the navigation of the car, which has been performed by the car navigation, to be performed by driving the doll and outputting the voice. Further, for example, when the driver takes a dangerous action while the vehicle is running, it is possible to output situation information by a doll action or a loud alarm. Then, since the warning is output by the operation of the doll and the voice, the driver can easily understand and understand the visual recognition. Therefore, it is possible to output driving information appropriately according to the situation of the driver, and to perform safe and appropriate navigation.
[0012]
The invention according to claim 4 is the driving information output device according to claim 1 or 2,
The acquisition unit has a communication unit (for example, the communication unit 72 in FIG. 23, step A14 in FIG. 16) for communicating with the GPS, and acquires the course information as the status information by communication by the communication unit.
The notifying unit includes an image output unit (for example, the display unit 75 in FIG. 23, step G2 in FIG. 32) and an audio output unit (for example, the audio output unit 76 in FIG. 23, and step G2 in FIG. 32) as the plurality of output forms. , Step G3),
The image output unit or the audio output unit is switched according to a detection result by the detection unit.
[0013]
According to the fourth aspect of the present invention, by switching between the notification of the situation information by the image and the voice and the notification of the status information by the voice only in accordance with the driver's state, the driver can output the image while the vehicle is running. The notification of the status information by the image output means can be stopped when the means is watched, and the notification can be made only by sound. Thus, it is possible to prevent a traffic accident or the like caused by the driver's carelessness in front of the vehicle.
[0014]
The invention according to claim 5 is the driving information output device according to claim 4,
The detection unit includes a line-of-sight direction detection unit that detects the line-of-sight direction of the driver (for example, a camera included in the PDA 900, step E12 in FIG. 29),
If the control unit is controlling the image output unit and the line-of-sight direction detection unit detects that the line-of-sight direction is a predetermined direction, the control unit stops the control of the image output unit. And controlling the audio output means.
[0015]
According to the invention described in claim 5, for example, by setting the predetermined line of sight direction to the direction when the driver looks at the image output means, the image is displayed while the driver is driving the car. When the user gazes at the image output unit, the image output by the image output unit is stopped, and the status information can be output only by sound. Thus, it is possible to prevent a traffic accident or the like caused by the driver's carelessness in front of the vehicle.
[0016]
The invention according to claim 6 is the driving information output device according to claim 3,
The detection unit includes a line-of-sight direction detection unit that detects the line-of-sight direction of the driver (for example, a camera included in the robot 10, step E12 in FIG. 29),
When the control unit is controlling the driving unit, and when the line-of-sight direction detecting unit detects that the line-of-sight direction is a predetermined direction, the control unit stops controlling the driving unit, It is characterized by controlling the audio output means.
[0017]
According to the invention described in claim 6, for example, by setting the predetermined line-of-sight direction to the direction when the driver looks at the doll, the driver gazes at the driven doll while driving the car. At this time, the driving of the driving means can be stopped, and the status information can be output only by sound. Thus, it is possible to prevent a traffic accident or the like caused by the driver's carelessness in front of the vehicle.
[0018]
The invention according to claim 7 is the driving information output device according to any one of claims 1 to 6,
The storage unit further stores warning notification control information (for example, the car sensor information table 616 in FIG. 4).
When the situation information obtained by the obtaining means satisfies a predetermined condition, the control means controls the notification means based on the warning notification control information.
[0019]
According to the invention described in claim 7, it is possible to output a warning to the driver. As a criterion for outputting an alarm, for example, there is a case where status information indicating that an obstacle is within a predetermined range in front of the vehicle is acquired. Thereby, a traffic accident or the like can be prevented beforehand.
[0020]
The invention according to claim 8 is the driving information output device according to any one of claims 1 to 6,
The storage unit further stores warning notification control information (for example, the driver action information table 617 in FIG. 4),
When the driver state detected by the detection means satisfies a predetermined condition, the control means controls the notification means based on the warning notification control information.
[0021]
According to the eighth aspect of the invention, it is possible to output a warning to the driver. As a criterion for outputting an alarm, for example, there is a case where the detection unit detects inattentiveness, dozing, and the like. Thereby, a traffic accident or the like can be prevented beforehand.
[0022]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0023]
[First Embodiment]
In the present embodiment, a navigation robot (hereinafter, simply referred to as “robot”) having a navigation function for running a vehicle, various warning functions, and the like will be described as a driving information output device.
[0024]
FIG. 1 is a block diagram for explaining a connection configuration between a robot 10 as a driving information output device and peripheral devices. The vehicle 100 includes a robot 10, a car navigation system 11, a GPS (Global Positioning System) 12, a beacon receiver 13, a camera 14, an inter-vehicle distance sensor 20, a front obstacle sensor 21, side obstacle sensors 22 and 23, The vehicle includes a rear obstacle sensor 24, an obstacle detection circuit 25, window opening / closing sensors 30 and 31, door opening / closing sensors 32 and 33, seat belt wearing sensors 34 and 35, and a safety confirmation circuit 36.
[0025]
The robot 10 is, for example, a doll imitating a human, an animal, or an imaginary creature, and can perform various postures and actions by driving motors at joints such as a neck, both arms, a waist, and both feet. FIG. 2 is an external view illustrating an example of the robot 10. FIG. 3 is a diagram illustrating an example of installation of the robot 10 on the vehicle 100. The robot 10 is installed in a place such as the upper surface of the instrument panel 3 of the vehicle 100 that does not hinder the driver's view. The robot 10 is connected to the car navigation 11 via the wiring 40.
[0026]
Further, the robot 10 has built-in sensors for detecting various environments inside the vehicle 100, such as a temperature sensor, a humidity sensor, an illuminance sensor, a smoke sensor, an air sensor, an ultraviolet sensor, and a microphone. The temperature sensor detects the temperature inside the vehicle 100, and the humidity sensor detects the humidity inside the vehicle 100. The illuminance sensor detects the illuminance in the vehicle 100, and the smoke sensor detects the amount of smoke in the vehicle 100. The air sensor detects the concentration of carbon monoxide and impurities in the air in the vehicle 100, and the ultraviolet sensor detects the amount of ultraviolet rays emitted from sunlight. The microphone detects the volume by inputting the sound in the vehicle 100.
[0027]
In addition, the robot 10 is connected to the car navigation system 11 via the wiring 40 and transmits and receives data. However, the robot 10 may transmit and receive data by wireless communication using Bluetooth or the like without using the wiring 40.
[0028]
The car navigation system 11 inputs the current position of the vehicle 100 from the GPS unit 12 and performs a route search from the current position to the destination. Then, the route is displayed on the map output on the screen, and the navigation of the traveling is performed using images, sounds, and the like. The car navigation system 11 may be a computer such as a personal computer, a mobile phone, and a PDA (Personal Digital Assistant).
[0029]
The GPS unit 12 receives a radio wave from a GPS satellite in the sky and detects the current position of the vehicle 100. The detection result is transmitted to the car navigation system 11 via the wiring 41, and the car navigation system 11 displays the current position of the vehicle 100 on a map output on the screen based on the detection result.
[0030]
The beacon receiver 13 includes a beacon antenna or the like, receives light or radio waves transmitted from a beacon installed on a road, and receives necessary road traffic information such as traffic congestion information.
[0031]
The camera 14 is a CCD (Charge Coupled Device) camera or the like, and captures an image of a driver's face and the like, and detects a dangerous behavior such as a driver's falling asleep or looking aside. is there. The method of detecting a drowsiness or inattentiveness is a known technique, and therefore, the description is omitted. The camera 14 is, for example, “normal” when the driver's line of sight is directed to the front suitable for driving the car, “robot” when the user watches the robot 10 for several seconds, and displays the screen of the car navigation system 11 for several seconds. If the user is gazing, data of "screen" is output as driver behavior information if the driver looks aside for a few seconds, and whether or not the driver is dozing is output. The driver action information is output to the car navigation 11 via the wiring 41.
[0032]
The inter-vehicle distance sensor 20 detects the inter-vehicle distance between a vehicle traveling ahead and the vehicle 100, and the front obstacle sensor 21 detects an obstacle approaching ahead of the vehicle 100. The side obstacle sensors 22 and 23 detect an obstacle approaching left and right of the vehicle 100, and the rear obstacle sensor 24 detects an obstacle approaching backward. Radio waves are transmitted from these sensors, and the distance between the vehicle 100 and the obstacle is measured by a time lag between the reflection of the radio waves on the obstacle and the reception of the radio waves by the sensor again.
[0033]
The measurement results of the inter-vehicle distance sensor 20, the front obstacle sensor 21, the side obstacle sensors 22 and 23, and the rear obstacle sensor 24 (hereinafter, collectively referred to as "outside vehicle sensor") are used as an obstacle detection circuit. 25. The obstacle detection circuit 25 inputs the measurement result of the inter-vehicle distance and the distance to the obstacle from the outside sensor and outputs the result to the car navigation system 11 via the wiring 41.
[0034]
Window open / close sensors 30 and 31 detect the open / close state of left and right windows of vehicle 100, and door open / close sensors 32 and 33 detect the open / close state of left and right doors of vehicle 100. The seat belt wearing sensors 34 and 35 detect the wearing state of the seat belts in the driver's seat and the passenger's seat.
[0035]
The detection results of the window opening / closing sensors 30 and 31, the door opening / closing sensors 32 and 33, and the seat belt wearing sensors 34 and 35 (hereinafter, collectively referred to as "in-vehicle sensors") are output to the safety confirmation circuit 36. . The safety confirmation circuit 36 inputs a detection result of opening / closing of a window and a door and wearing of a seat belt from an in-vehicle sensor, and outputs the detection result to the car navigation system 11 via a wiring 41. Hereinafter, the measurement result output from the obstacle detection circuit 25 and the detection result output from the safety confirmation circuit 36 are referred to as “vehicle sensor information”.
[0036]
Here, the GPS unit 12, the beacon unit 13, the camera 14, the obstacle detection circuit 25, and the safety confirmation circuit 36 are connected to the car navigation system 11 via the wiring 41 to transmit and receive data, but do not use the wiring 41. , Bluetooth or the like may be used to transmit and receive data. Further, for convenience, the robot 10 and the camera 14 are separate bodies. However, for example, a camera may be built in the face 2g of the robot 10 to detect the behavior of the driver.
[0037]
FIG. 4 is a block diagram illustrating a circuit configuration of the robot 10. The robot 10 includes a CPU (Central Processing Unit) 50, a car navigation communication unit 51, a temperature detection unit 52, a humidity detection unit 53, an illuminance detection unit 54, a smoke detection unit 55, an air detection unit 56, an ultraviolet detection unit 57, and a voice input unit. 58, an audio output unit 59, a drive unit 60, a ROM (Read Only Memory) 61, a RAM (Random Access Memory) 62, and a bus 63.
[0038]
The CPU 50 receives data from the car navigation communication unit 51, processes the data in accordance with instructions of various programs stored in the ROM 61 in advance, and stores the processed data in the RAM 62, or stores the processed data in the voice output unit 59 and the drive unit 60. It controls the operation of each part of the circuit such as outputting. The CPU 50 includes a car navigation communication unit 51, a temperature detection unit 52, a humidity detection unit 53, an illuminance detection unit 54, a smoke detection unit 55, an air detection unit 56, an ultraviolet detection unit 57, a voice input unit 58, a voice output unit 59, The drive unit 60, the ROM 61 and the RAM 62 are connected via the bus 63. Further, the CPU 50 has a function as a control unit.
[0039]
The car navigation communication unit 51 transmits and receives data to and from an external device such as the car navigation 11 connected via the wiring 40 under the control of the CPU 50. When data is transmitted and received to and from the car navigation system 11 by wireless such as Bluetooth, a wireless transmitting and receiving module is provided. Further, the car navigation communication unit 51 has a function as an acquisition unit and a communication unit.
[0040]
Temperature detecting section 52 detects the temperature inside vehicle 100 and outputs the detected temperature data to CPU 50. The humidity detecting section 53 detects the humidity in the vehicle 100 and outputs the detected humidity data to the CPU 50.
[0041]
Illuminance detector 54 detects the illuminance in vehicle 100 and outputs a signal of the detected illuminance data to CPU 50. Smoke detector 55 detects the amount of smoke in vehicle 100 and outputs detected smoke amount data to CPU 50. The smoke is, for example, cigarette smoke.
[0042]
The air detection unit 56 detects the concentration of carbon monoxide, the concentration of impurities, and the like in the air in the vehicle 100, and outputs the detected concentration data to the CPU 50. The ultraviolet ray detector 57 detects the amount of ultraviolet rays in sunlight, and outputs the detected ultraviolet ray data to the CPU 50.
[0043]
The voice input unit 58 inputs voice in the vehicle 100 and outputs volume data to the CPU 50. Hereinafter, the temperature detecting section 52, the humidity detecting section 53, the illuminance detecting section 54, the smoke detecting section 55, the air detecting section 56, the ultraviolet ray detecting section 57, and the voice input section 58 are collectively referred to as a robot sensor 500.
[0044]
The audio output section 59 includes a speaker or the like, converts an audio signal input from the CPU 50 into audio, and outputs the audio from the speaker or the like. The audio output unit 59 has a function as a notification unit and an audio output unit.
[0045]
The drive unit 60 outputs a signal for controlling the neck motor 601, the right hand motor 602, the left hand motor 603, the waist motor 604, the right foot motor 605, and the left foot motor 606 according to a signal input from the CPU 50. The neck motor 601 moves the neck 2a of the robot 10, the right hand motor 602 moves the right arm 2b, the left hand motor 603 moves the left arm 2c, the waist motor 604 moves the waist 2d, the right leg motor 605 moves the right leg 2e, and the left leg motor 606 moves the left leg 2f. Motor. In addition, for example, a motor for moving the left and right elbows, the left and right wrists, the left and right knees, the left and right ankles, and the like may be provided. Hereinafter, the neck motor 601, the right hand motor 602, the left hand motor 603, the waist motor 604, the right foot motor 605, and the left foot motor 606 are collectively referred to as a motor 600. Further, the driving unit 60 has a function as a notification unit and a driving unit.
[0046]
The ROM 61 stores various programs and data for operating the robot 10. In the present embodiment, a robot operation program 610, a robot operation control program 611, a robot drive program 612, a driving information table 614, a robot sensor information table 615, a car sensor information table 616, a driver action information table 617, and a robot operation table 618 is stored. The ROM 61 has a function as a storage unit.
[0047]
The robot operation program 610 is a program for operating the robot 10. The robot operation control program 611 is a sub-program of the robot operation program 610, and is a program for driving the robot 10 according to the driver's action, the traveling state of the vehicle 100, and information on the inside and outside of the vehicle. The robot driving program 612 is a sub-program of the robot operation control program 611, and is a program for outputting an instruction signal for screen output to the car navigation system 11 and starting driving of the robot 10.
[0048]
The driving information table 614 stores voice information to be output from the voice output unit 59 and a robot operation number corresponding to the driving information input from the car navigation 11 by the CPU 50 via the car navigation communication unit 51. The driving information refers to a route from the current position searched by the car navigation system 11 to the destination, traffic congestion information input from the beacon receiver 13, and the like. FIG. 5 is a diagram showing an example of a data configuration of the operation information table 614. For example, in the driving information that "there is an intersection that turns right ahead", voice information that "it is a right-turn intersection soon" is stored. The audio information is output from the CPU 50 to the audio output unit 59 as an audio signal. The robot operation number will be described later in a robot operation table 618.
[0049]
The robot sensor information table 615 stores voice information output to the voice output unit 59 and a robot operation number in accordance with various detection signals input from the robot sensor 500 by the CPU 50. FIG. 6 is a diagram showing an example of the data configuration of the robot sensor information table 615. For example, in the robot sensor information “Temperature less than 10 ° C.”, voice information “Cold.
[0050]
In the robot sensor information table 615, for example, when the temperature inside the vehicle is high, when the inside of the vehicle is humid, when the inside of the vehicle is dark when the engine is ignited, when the illuminance suddenly changes due to tunnel passage, etc., the sound of the audio inside the vehicle is generated. Voice information and robot corresponding to when the volume is too large, when a mobile phone arrives, when the interior of the car is filled with smoke, when the concentration of impurities such as carbon monoxide in the interior of the car is high, or when the amount of ultraviolet light from sunlight is large. The operation number is stored.
[0051]
The car sensor information table 616 stores voice information to be output to the voice output unit 59 and a robot operation number corresponding to the car sensor information input from the car navigation 11 by the CPU 50 via the car navigation communication unit 51. FIG. 7 is a diagram showing an example of the data configuration of the vehicle sensor information table 616. For example, in the vehicle sensor information “more than or equal to x km / h and less than the reflection distance ym”, voice information that “the inter-vehicle distance is short!” Is stored.
[0052]
In the car sensor information table 616, for example, when the reflection distance of the rear obstacle sensor 24 is less than zcm during backing, when the reflection distance of the side obstacle sensor 22 or 23 is less than zcm during traveling, the seat Voice information and robot operation numbers corresponding to when the belt is not worn, when the window is opened when the engine is stopped, when the light is lit when the engine is stopped, when the door is opened when the security alarm is set, etc. are stored. .
[0053]
The driver action information table 617 stores voice information to be output to the voice output unit 59 and a robot operation number corresponding to the driver action information input by the CPU 50 via the car navigation communication unit 51. FIG. 9 is a diagram showing an example of a data configuration of the driver action information table 617. For example, in the driver behavior information “Dozing off”, voice information “Do not fall asleep!” Is stored. In addition, for example, voice information and a robot operation number corresponding to when the driver is gazing at the screen of the car navigation system 11, gazing at the robot 10, or looking aside are stored.
[0054]
The robot operation table 618 stores the operation content of the robot 10 in association with the robot operation number. The robot operation numbers stored in the operation information table 614, the robot sensor information table 615, the vehicle information table 616, and the driver action information table 617 indicate the operation contents of the robot indicated by the robot operation number in the robot operation table 618.
[0055]
FIG. 9 is a diagram showing an example of the data configuration of the robot operation table 618. For example, for the robot operation number 500, the operation content of the robot “raising the left hand” is stored. In other words, if the driving information input by the CPU 50 is “there is an intersection that turns right ahead”, the CPU 50 instructs the audio output unit 59 to output a voice message “It is a right-turn intersection soon” based on the driving information table 614. Then, since the robot operation number is “500”, a drive signal of “raise your left hand” is output to the drive unit 60. Then, the left hand motor 603 is driven by the drive unit 60, and the left arm 2c of the robot 10 moves, and the robot 10 assumes a posture in which the left hand is raised.
[0056]
The RAM 62 temporarily stores programs and data as a work area for the CPU 50. In the present embodiment, robot side driving information data 620, robot side driver behavior information data 621, robot side robot sensor information data 622, and robot side vehicle sensor information data 623 are stored.
[0057]
The robot-side operation information data 620 stores course information, traffic congestion information, and the like input by the CPU 50. The route information is information on a route to be followed by the vehicle 100 in order to travel based on the route searched by the car navigation system 11, and the traffic jam information is information on traffic jam occurring on the route. FIG. 10 is a diagram showing an example of the data structure of the robot-side operation information data 620. For example, when the CPU 50 inputs the route information “there is an intersection that turns right forward”, the CPU 50 stores “there is an intersection that turns right forward” as the route information of the robot-side operation information data 620.
[0058]
The robot-side driver behavior information data 621 stores the driver behavior information input by the CPU 50. The driver behavior information is information indicating the driver's gaze direction and whether or not the driver is dozing. FIG. 11 is a diagram illustrating an example of a data structure of the robot-side driver behavior information data 621. For example, when the CPU 50 inputs the information “screen” as the direction of the driver's line of sight, the CPU 50 stores “screen” as the line of sight of the robot-side driver information data 621. When the CPU 50 inputs the driver's dozing as the driver's behavior information, “H” is stored in the item of dozing of the robot-side driver's behavior information data 621, and it is determined that the driver is not falling asleep. When input, "L" is stored.
[0059]
In the robot-side robot sensor information data 622, “H” is stored for each of various detection results output from the robot sensor 500 if predetermined conditions are satisfied, and “L” otherwise. FIG. 12 is a diagram showing an example of the data structure of the robot-side robot sensor information data 622. For example, when the CPU 50 inputs a detection signal of “in-vehicle temperature = 5 ° C.” from the temperature detection unit 52, “L” is set for the in-vehicle temperature condition “30 ° C. or more” in the robot-side robot sensor information data 622, and the condition is “10 ° C. “H” is stored in “less than”. When the CPU 50 receives the detection signal “30% in-vehicle humidity” from the humidity detection unit 53, the CPU 50 stores “L” in the condition “50% or more” in the vehicle.
[0060]
The car navigation system 11 determines whether each detection result of the vehicle sensor information output from the obstacle detection circuit 25 and the safety confirmation circuit 36 satisfies a predetermined condition. Then, the determination result is output to the robot 10 and stored in the robot-side vehicle sensor information data 623. The robot-side vehicle sensor information data 623 stores “H” if each detection item of the vehicle sensor information satisfies a predetermined condition, and stores “L” otherwise.
[0061]
FIG. 13 is a diagram showing an example of the data structure of the robot-side vehicle sensor information data 623. For example, when the car navigation system 11 inputs a detection result of “not less than xkm / h” and “less than the reflection distance ym” from the obstacle detection circuit 25, the car navigation device 11 sets the inter-vehicle distance condition “not less than xkm / h” of the vehicle sensor information. “H” and the condition “less than the reflection distance ym” are output to the robot 10 as “H”. The CPU 50 inputs the information as vehicle sensor information, and stores “H” in the inter-vehicle distance condition “at least x km / h” and “H” in the condition “reflection distance ym” of the robot side vehicle sensor information 623.
[0062]
FIG. 14 is a block diagram showing a circuit configuration of the car navigation system 11. The car navigation system 11 includes a CPU 80, a communication unit 81, a robot communication unit 82, an input unit 83, a display unit 84, a ROM 87, a RAM 88, and a bus 86.
[0063]
The CPU 80 inputs data from the input unit 83, performs data processing according to instructions of various programs stored in the ROM 87 in advance, stores the processed data in the RAM 88, and outputs the processed data to the display unit 84 on the screen. Is controlled. A communication unit 81, a robot communication unit 82, an input unit 83, a display unit 84, a ROM 87, and a RAM 88 are connected to the CPU 80 via a bus 86.
[0064]
The communication unit 81 transmits and receives data to and from external devices such as the GPS unit 12, the beacon receiver 13, the obstacle detection circuit 25, and the safety confirmation circuit 36, which are connected via the wiring 41 under the control of the CPU 80. In the case where data is transmitted and received to and from the external device by wireless such as Bluetooth, a wireless transmitting and receiving module and the like are provided.
[0065]
The robot communication unit 82 transmits and receives data to and from the robot 10 connected via the wiring 40 under the control of the CPU 80. Further, when data is transmitted and received to and from the robot 10 by wireless such as Bluetooth, a wireless transmitting and receiving module and the like are provided.
[0066]
The input unit 83 is used to input data necessary for the operation of the car navigation system 11 such as a destination, and the input data is output to the CPU 80. The input unit 83 has a touch panel type and is integrated with the display unit 84. The input unit 83 is not limited to this, and may be configured by a pointing device such as a keyboard and a mouse.
[0067]
The display unit 84 is constituted by an LCD (Liquid Crystal Display: liquid crystal display), a CRT (Cathode Ray Tube: cathode ray tube), or the like, and is input from the CPU 80 such as characters, codes, various mode screens, maps, and the like inputted in the input unit 83. Display data to be displayed.
[0068]
The ROM 87 stores various programs and data for operating the car navigation system 11. In the present embodiment, a basic program 870, a navigation program 871, and a GPS map file 872 are stored.
[0069]
The basic program 870 includes a program for executing basic processing such as activation of the car navigation system 11 when the power is turned on. The navigation program 871 inputs a current position from the GPS unit 12 to search for a route to a destination, obtains road traffic information and driver behavior information, and outputs the information to the robot 10. The GPS map file 872 stores map data used for displaying navigation on the display unit 84, and various symbol data such as roads, facilities, seas, and rivers.
[0070]
The RAM 88 temporarily stores programs and data as a work area for the CPU 80. In the present embodiment, navigation-side driving information data 880, navigation-side driver action information data 881, and navigation-side vehicle sensor information data 882 are stored.
[0071]
The navigation-side operation information data 880 stores route information, traffic congestion information, and the like input by the CPU 80 from the GPS unit 12 and the beacon receiver 13 via the communication unit 81. The navigation-side driver behavior information data 881 stores driver behavior information in which the driver's gaze direction and whether or not he or she is dozing are determined. The navigation-side vehicle sensor information data 882 includes “H” when the vehicle sensor information input from the obstacle detection circuit 25 and the vehicle sensor information input from the safety confirmation circuit 36 satisfies predetermined conditions, and “H” when the predetermined conditions are not satisfied. L ”is stored.
[0072]
The navigation-side driving information data 880 is the robot-side driving information data 620, the navigation-side driver action information data 881 is the robot-side driver action information data 621, and the navigation-side vehicle sensor information data 882 is the robot-side vehicle sensor information data. Since the data configuration is the same as 623, the description is omitted.
[0073]
Next, operations of the robot 10 and the car navigation system 11 will be described. First, the operation of the car navigation 11 will be described. FIGS. 15 and 16 are flowcharts showing the operation of the navigation processing executed by the CPU 80. First, the CPU 80 of the car navigation system 11 inputs a destination from the input unit 83 (step A1), inputs a current position from the GPS unit 12, and searches for a route from the current position to the destination (step A2). Then, the map and the route are output to the display unit 84 (step A3). Next, the current position is input from the GPS unit 12 (step A4), and it is determined whether the current position is out of the route searched in step A2 (step A5). If the route is not deviated (step A5: No), the CPU 80 proceeds to step A7. If the route is out of the route (step A5: Yes), the CPU 80 searches the route from the current position to the destination again, and outputs the map and the route to the display unit 84 (step A6).
[0074]
Subsequently, the CPU 80 inputs road traffic information from the beacon receiver 13 (step A7), and determines whether or not there is a traffic jam on the route (step A8). When there is no congestion on the route (step A8: No), the CPU 80 deletes the data of the congestion information of the navigation-side driving information data 880 (step A9). If there is a traffic jam on the route (Step A8: Yes), the CPU 80 stores the road traffic information input in Step A7 as traffic jam information in the navigation-side driving information data 880 (Step A10).
[0075]
Next, the CPU 80 stores, in the navigation-side driving information data 880, route information indicating a route to which the vehicle 100 should proceed next based on the searched route (step A11). Further, the CPU 80 inputs the driver's behavior information from the camera 14, determines the driver's gaze direction and whether or not he / she is dozing, and stores the determination result in the navigation-side driver's behavior information data 881 (step A12). ). Further, the CPU 80 inputs the vehicle sensor information from the obstacle detection circuit 25 and the safety confirmation circuit 36, determines whether each detection result satisfies a predetermined condition, and sets “H” or “L”. It is stored in the navigation-side vehicle sensor information data 882 (step A13).
[0076]
Subsequently, the CPU 80 outputs the navigation-side driving information data 880, the navigation-side driver action information data 881, and the navigation-side vehicle sensor information data 882 to the robot 10 via the robot communication unit 82 (step A14). Then, the CPU 80 determines whether or not an instruction signal indicating a display instruction on the display unit 84 has been input from the robot communication unit 82 (step A15). When an instruction signal for displaying on the display unit 84 is input (Step A15: No), the CPU 80 displays a normal screen for displaying a map, a route, and the like on the display unit 84 (Step A16). When the instruction signal to stop the display is input (Step A15: Yes), the CPU 80 stops the screen display of the display unit 84 (Step A17). Then, the CPU 80 shifts the processing to Step A4.
[0077]
By executing the navigation processing by the CPU 80 in this manner, a route from the current position to the destination is searched. Then, road traffic information is input from the beacon receiver 13, and the presence or absence of traffic congestion on the route is stored in the navigation-side driving information data 880. Then, the route information of the route to be followed by the vehicle 100, the driver behavior information, and the vehicle sensor information are stored in the navigation-side driving information data 880, the navigation-side driver behavior information data 881, and the navigation-side vehicle sensor information data 882, respectively. Then, the stored data is output to the robot 10. Further, the display unit 84 is turned on / off in accordance with an instruction signal for stopping the screen display or starting the screen display of the display unit 84 input from the robot 10.
[0078]
Next, the operation of the robot 10 will be described. FIG. 17 is a flowchart showing the operation of the robot operation process executed by the CPU 50. First, the CPU 50 inputs driving information, driver behavior information, and vehicle sensor information from the car navigation system 11 via the car navigation communication unit 51, and converts the driving information into robot-side driving information data 620 and the driver behavior information into robot-side driver behavior information. The data 621 and the vehicle sensor information are stored in the robot-side vehicle sensor information data 623 (step B1).
[0079]
Subsequently, the CPU 50 inputs detection results from various sensors of the robot sensor 500, determines whether or not each detection result satisfies a predetermined condition, and stores it in the robot-side robot sensor information data 622 (step B2). ). Then, the CPU 50 shifts the processing to the robot operation control processing (step B3), and after the robot operation control processing ends, returns to step B1 again and repeats the processing.
[0080]
As described above, by the execution of the robot operation process by the CPU 50, the driving information, the driver action information and the vehicle sensor information input via the car navigation communication unit 51, and various detection results output from the robot sensor 500 are stored in the RAM 62. Then, a robot operation control process is executed.
[0081]
18 and 19 are flowcharts showing the operation of the robot operation control process executed by the CPU 50. First, the CPU 50 determines whether “normal” is stored in the item of the line of sight direction of the robot-side driver behavior information data 621 and “L” is stored in the item of dozing (step C1). If “normal” and “L” are stored (step C1: Yes), the CPU 50 sets the volume of the audio output unit 59 to the normal volume (step C2). When “normal” and “L” are not stored, that is, when the driver's line of sight is gazing at the screen or the robot, or looking aside or falling asleep (No at step C1 :), the CPU 50 outputs the voice output unit. The volume of 59 is set to "high" (step C3).
[0082]
Next, the CPU 50 determines whether “H” or “L” is stored in the dozing item of the robot-side driver behavior information data 621 (step C4). If “L” is stored (Step C4: No), the CPU 50 proceeds to Step C7. If “H” is stored (step C4: Yes), the CPU 50 searches the driver action information table 617 for voice information and a robot operation number corresponding to the driver action information corresponding to “sleeping” (step C5), The process is shifted to the robot driving process (Step C6).
[0083]
Subsequently, the CPU 50 determines whether or not “screen” is stored in the line-of-sight direction item of the robot-side driver behavior information data 621 (Step C7). If "screen" is not stored (step C7: No), the CPU 50 outputs an instruction signal for instructing display on the display unit 84 from the car navigation communication unit 51 (step C8). On the other hand, when the “screen” is stored (step C7: Yes), the CPU 50 searches the driver action information table 617 for voice information and a robot operation number corresponding to the “screen” in the driver action information (step C9). ), The process proceeds to a robot driving process (step C10). Then, the CPU 50 outputs an instruction signal to stop the display on the display unit 84 from the car navigation communication unit 51 (step C11).
[0084]
Next, the CPU 50 determines whether or not “robot” is stored in the line-of-sight direction item of the robot-side driver behavior information data 621 (step C12). If "robot" is not stored (step C12: No), the CPU 50 outputs a signal for setting the driving of the motor 600 to a standby state to the driving unit 60 (step C13). On the other hand, when “robot” is stored (step C12: Yes), the CPU 50 searches the driver action information table 617 for voice information and a robot operation number corresponding to the driver action information corresponding to “robot” (step C14). ), The process proceeds to a robot driving process (step C15). Then, the CPU 50 outputs a signal to the driving section 60 to put the motor 600 in the neutral state and stop driving (step C16).
[0085]
Next, the CPU 50 determines whether or not the route information to be advanced next is stored in the route information item of the robot-side operation information data 620 (step C17). When the route information is not stored (Step C17: No), the CPU 50 shifts the processing to Step C20. When the route information is stored (step C17: Yes), the CPU 50 searches the driving information table 614 for voice information and a robot operation number based on the route information stored in the robot-side driving information data 620 (step C17). C18), the processing shifts to the robot driving processing (step C19).
[0086]
Subsequently, the CPU 50 determines whether or not “H” is stored for each detection item of the robot-side robot sensor information data 622 (Step C20). When there is no detected item in which “H” is stored (Step C20: No), the CPU 50 shifts the processing to Step C23. If there is a detection item in which “H” is stored (step C20: Yes), the CPU 50 searches the robot sensor information table 615 for voice information and a robot operation number based on the detection item in which “H” is stored. Then, the process proceeds to the robot driving process (step C22).
[0087]
Then, the CPU 50 determines whether or not “H” is stored for each detection item of the robot-side vehicle sensor information data 623 (Step C23). When there is no detected item in which “H” is stored (step C23: No), the CPU 50 ends the robot operation control process. If there is a detection item in which “H” is stored (step C23: Yes), the CPU 50 searches the vehicle sensor information table 616 for voice information and a robot operation number based on the detection item in which “H” is stored. Then, the process proceeds to the robot driving process (step C25).
[0088]
Here, for example, in the item of the inter-vehicle distance in the robot-side vehicle sensor information data 623, when both the condition “greater than or equal to xkm / h” and the condition “less than the reflection distance ym” are “H”, the process proceeds from step C23 to step C24. For example, conditions for executing the robot driving process may be included. In this case, if either one is “L”, the robot work control processing ends. As described above, the warning by the robot 10 may be performed only when both of the two detection items are in the “H” state.
[0089]
As described above, by the execution of the robot operation control process by the CPU 50, when the driver is taking a dangerous action during driving, the volume of the sound output is set to “high”. Further, when the driver is gazing at the display unit 84, the screen display of the display unit 84 is stopped, and when the driver is gazing at the robot 10, the motor 600 of the robot 10 is set to the driving stop state. Then, based on the data stored in the robot-side operation information data 620, the robot-side robot sensor information data 622, and the robot-side vehicle sensor information data 623, the voice information and the operation contents of the robot are searched, and the robot driving process is executed. You.
[0090]
FIG. 20 is a flowchart showing the operation of the robot driving process executed by the CPU 50. First, the CPU 50 determines whether or not the display unit 84 of the car navigation system 11 is in a display state (step D1). When the display unit 84 is in the display stop state (Step D1: No), the CPU 50 shifts the processing to Step D3. When the display unit 84 is in the display state (step D1: Yes), the CPU 50 outputs an instruction signal for causing the display unit 84 to output the route information stored in the navigation-side driving information data 880 (step D2).
[0091]
Next, the CPU 50 determines whether or not the motor 600 is in a drive standby state (step D3). If the driving of the motor 600 is in the standby state (step D3: Yes), the CPU 50 reads the robot operation table 618 based on the robot operation number searched in step C5, C9, C14, C18, C21 or C24 of the robot operation control process. The operation content of the robot is searched, and a drive signal is output to the drive unit 60 to drive the motor 600 according to the searched operation content of the robot (step D4). At the same time, an audio signal is output to the audio output unit 59 in order to output an audio according to the audio information retrieved in steps C5, C9, C14, C18, C21 or C24 of the robot operation control process (step D5). Then, the CPU 50 ends the robot driving process.
[0092]
On the other hand, when the driving of the motor 600 is stopped (Step D3: No), the CPU 50 reads the voice information read from the driver action information table 617 in Step C5, C9, C14, C18, C21 or C24 of the robot operation control processing. Is output to the audio output unit 59 in accordance with (step D6), and the robot driving process ends.
[0093]
As described above, when the screen of the display unit 84 is displayed by the execution of the robot driving process by the CPU 50, the route information is output to the display unit 84, and when the motor 600 is in the drive standby state, the driving unit 60 , A drive signal is output, and the motor 600 is operated. At the same time, an audio signal is output to the audio output unit 59, and an audio is output. When the motor 600 is in the driving stop state, only sound is output.
[0094]
As described above, the robot 10 moves the limbs and the like based on the driving information input from the car navigation system 11 by executing various processes of the CPU 50, and outputs a voice to the driver from the current position to the destination. Navigate the route to. Further, when the driver takes a dangerous action such as looking aside or falling asleep, a warning is issued by the movement of the limbs and the loud sound. This can prevent a traffic accident due to the driver's inattentiveness, falling asleep, and the like. When the driver is gazing at the robot 10, the operation of the robot 10 is stopped. When the driver is gazing at the display unit 84, the screen display of the display unit 84 is stopped. For this reason, it is possible to prevent a contact accident or the like that occurs due to the driver's inattention when the driver gazes at the robot 10 or the car navigation system 11. In addition, even when the various environments in the vehicle do not satisfy the predetermined conditions, the robot 10 notifies the driver by operation and voice, so that the interior of the vehicle can be maintained in a comfortable state.
[0095]
In this embodiment, regardless of the traveling speed of the vehicle 100, it has been described that the gaze is determined when the driver's line of sight is directed to the robot 10 or the display unit 84 for several seconds. Not done. That is, when the vehicle 100 travels at 100 km / h and when it travels at 50 km / h, the traveling distance of the vehicle 100 per second is different. In the above case, if the driver's line of sight is directed toward the robot 10 or the display unit 84 for, for example, 2 seconds, it is determined that the driver gazes. If the traveling speed is equal to or lower than a predetermined speed, the driver's line of sight is If the user faces the display unit 84 for, for example, three seconds, it may be determined that the user gazes. Accordingly, when the traveling speed of the vehicle 100 is high, it is possible to quickly determine whether or not the driver gazes at the robot 10 or the display unit 84, and thus it is possible to further prevent a traffic accident due to carelessness ahead.
[0096]
[Second embodiment]
In the first embodiment, the robot 10 is operated based on driving information output from the car navigation 11, driver action information, vehicle sensor information, and various detection signals output from the robot sensor 600, and further outputs audio. As a result, the driver is provided with a navigation on a route or a warning is issued for dangerous behavior during driving. However, in the present embodiment, the driving information output device is connected to a PDA with a car navigation function (hereinafter simply referred to as a PDA). A case in which a similar function is realized as “PDA” will be described.
[0097]
FIG. 21 is a block diagram for describing a connection configuration between a PDA 900, which is a driving information output device mounted on vehicle 200, and peripheral devices. The vehicle 200 includes a GPS 12, a beacon receiver 13, a camera 14, an in-vehicle sensor circuit 15, an inter-vehicle distance sensor 20, a front obstacle sensor 21, side obstacle sensors 22 and 23, a rear obstacle sensor 24, an obstacle detection circuit 25, It includes window opening / closing sensors 30 and 31, door opening / closing sensors 32 and 33, seat belt wearing sensors 34 and 35, a safety confirmation circuit 36, and a PDA 900. In the figure, portions denoted by the same reference numerals as those in FIG. 1 represent the same components, and detailed description thereof will be omitted.
[0098]
The in-vehicle sensor circuit 15 includes sensors for detecting various in-vehicle environments of the vehicle 200, such as a temperature sensor, a humidity sensor, an illuminance sensor, a smoke sensor, an air sensor, an ultraviolet sensor, and a microphone. The temperature sensor detects the temperature inside the vehicle 200, and the humidity sensor detects the humidity inside the vehicle 200. The illuminance sensor detects the illuminance in the vehicle 200, and the smoke sensor detects the amount of smoke in the vehicle 200. The air sensor detects the concentration of carbon monoxide and impurities in the air in the vehicle 200, and the ultraviolet sensor detects the amount of ultraviolet light emitted from sunlight. The microphone inputs the sound in the vehicle 200 and detects the volume. The detection result output from the in-vehicle sensor circuit 15 is referred to as “in-vehicle sensor information”.
[0099]
FIG. 22 is a diagram illustrating an example of the external appearance of the PDA 900. In the present embodiment, a case where a general PDA is applied as the PDA 900 is described as an example, but the present invention is not limited to a personal computer or a mobile phone (computer) having a car navigation function. In the figure, a PDA 900 includes an antenna (not shown) for transmitting and receiving data to and from a communication network, input keys 90 for moving a cursor, fixing input characters, scrolling a screen, and the like; And a power supply (not shown) such as a built-in battery or a solar battery.
[0100]
The input key 90 can be realized by, for example, a key switch, a touch panel, or the like. The display screen 91 is a portion on which various data necessary for using the PDA 900 are displayed, such as displaying characters such as a map and characters or codes corresponding to pressing of the input keys 90. The display screen 91 is configured by an LCD, an ELD (Electro Luminescence Display: EL display), or the like.
[0101]
The PDA 900 also includes a storage medium slot 92 and a connection terminal 93 for connecting to a signal cable capable of transmitting and receiving data to and from a communication line or peripheral device.
[0102]
The storage medium used by inserting it into the slot 92 is a storage medium for storing personal data and the like, and is, for example, a memory card, a hard disk, or the like. The slot 92 is a device in which a storage medium can be removably mounted and data can be read from and written to the storage medium, and is appropriately selected according to the type of the storage medium. Further, a digital camera card may be inserted into the slot 92 so that the digital camera has the same function as the camera 14.
[0103]
The connection terminal 93 is a terminal that can be connected to a signal cable for connecting to a communication line or a peripheral device, and a control unit thereof. The transmission and reception of data may be realized not only by a wired connection such as a signal cable but also by wireless such as Bluetooth. In this case, the connection terminal 93 corresponds to a wireless transmitting / receiving module and a wireless transmitting / receiving terminal.
[0104]
FIG. 23 is a block diagram showing a circuit configuration of the PDA 900. The PDA 900 includes a CPU 70, a transmission control unit 71, a communication unit 72, an input unit 74, a display unit 75, an audio output unit 76, a storage medium reading unit 77, a ROM 78, a RAM 79, and a bus 73.
[0105]
The CPU 70 receives data from the input unit 74, processes the data in accordance with the instructions of various programs stored in the ROM 78 in advance, stores the processed data in the RAM 79, outputs the screen to the display unit 75, or outputs the data to the display unit 75 or the audio output unit 76. It controls the operation of each part of the circuit such as outputting sound to the circuit. The CPU 70 is connected with a transmission control unit 71, a communication unit 72, an input unit 74, a display unit 75, a sound output unit 76, a storage medium reading unit 77, a ROM 78, and a RAM 79 via a bus 73. Further, the CPU 70 has a function as a control unit.
[0106]
The transmission control unit 71 includes an antenna, a modem, and a terminal adapter for transmitting and receiving data to and from various communication networks such as a telephone line network, an ISDN line network, a dedicated line, a mobile communication network and a communication satellite line network. Is transmitted and received under the control of.
[0107]
The communication unit 72 communicates with external devices such as the GPS unit 12, the beacon receiver 13, the camera 14, the in-vehicle sensor circuit 15, the obstacle detection circuit 25, and the safety confirmation circuit 36 which are connected via the wiring 41 under the control of the CPU 70. Send and receive. In FIG. 22, it corresponds to the connection terminal 93. When data is transmitted and received to and from the external device by wireless such as Bluetooth, a wireless transmitting and receiving module is provided. The communication unit 72 has a function as an acquisition unit and a communication unit.
[0108]
The input unit 74 is used to input data necessary for the operation of the car navigation system 11 such as a destination, and the input data is output to the CPU 70. The input unit 74 corresponds to the input key 90 in the example of FIG. 22. Alternatively, for example, the display unit 75 may be in a touch panel format and characters and codes may be input.
[0109]
The display unit 75 is configured by an LCD, a CRT, or the like, and displays characters, codes, various mode screens, maps, and other display data input from the CPU 70, input from the input unit 74. In FIG. 22, it corresponds to the display screen 91. The display unit 75 has a function as a notification unit and an image output unit.
[0110]
The sound output unit 76 includes a speaker or the like, converts a sound signal input from the CPU 70 into sound, and outputs the sound from the speaker or the like. The audio output unit 76 has a function as a notification unit and an audio output unit.
[0111]
The storage medium reading unit 77 reads and writes data from and to a storage medium such as a memory card and a hard disk. In FIG. 22, it corresponds to the slot 92.
[0112]
The ROM 78 stores various programs and data for operating the PDA 900. In the present embodiment, the basic program 780, the navigation program 781, the information screen program 782, the information output program 783, the driving information table 784, the in-vehicle sensor information table 785, the car sensor information table 786, the driver action information table 787, the GPS A map file 788 for use and a robot image file 789 are stored. The ROM 78 has a function as a storage unit.
[0113]
Basic program 780 includes a program for executing basic processing such as activation of PDA 900 at power-on. The navigation program 781 is a program for inputting the current position from the GPS unit 12, searching for a route to a destination, acquiring road traffic information and driver behavior information, and outputting the information to the display unit 75.
[0114]
The information screen program 782 is a sub-program of the navigation program 781 and is a program for outputting display data to the display unit 75 in accordance with the driver's action, the traveling state of the vehicle 200, and information on the inside and outside of the vehicle. The information output program 783 is a subprogram of the information screen program 782, and is a program for displaying a screen on the display unit 75 and simultaneously outputting sound.
[0115]
The driving information table 784 stores voice information output from the voice output unit 76 and a robot image number corresponding to the driving information input by the CPU 70. FIG. 24 is a diagram showing an example of the data configuration of the operation information table 784. The driving information and the voice information of the driving information table 784 have the same data configuration as the driving information and the voice information of the driving information table 614 of FIG. The robot image number will be described later in a robot image file 789.
[0116]
The in-vehicle sensor information table 785 stores voice information and a robot image number output from the voice output unit 76 in accordance with the in-vehicle sensor information input by the CPU 70. FIG. 25 is a diagram showing an example of the data configuration of the in-vehicle sensor information table 785. The in-vehicle sensor information and the voice information in the in-vehicle sensor information table 785 have the same data configuration as the robot sensor information and the voice information in the robot sensor information table 615 in FIG.
[0117]
The vehicle sensor information table 786 stores voice information output from the voice output unit 76 and a robot image number in accordance with the detection signal input by the CPU 70. FIG. 26 is a diagram showing an example of the data configuration of the car sensor information table 786. The vehicle sensor information and the voice information of the vehicle sensor information table 786 have the same data configuration as the vehicle sensor information and the voice information of the vehicle sensor information table 616 of FIG.
[0118]
The driver action information table 787 stores voice information and a robot image number to be output from the voice output unit 76 in correspondence with the driver action information input by the CPU 70. FIG. 27 is a diagram showing an example of the data configuration of the driver action information table 787. The driver action information and the voice information in the driver action information table 787 have the same data configuration as the driver action information table 617 in FIG.
[0119]
The GPS map file 788 stores map data used for displaying navigation on the display unit 75, and various symbol data such as roads, facilities, seas, and rivers.
[0120]
The robot image file 789 stores the robot image data to be displayed on the display unit 75 in association with the robot image number. The robot image numbers stored in the driving information table 784, the in-vehicle sensor information table 785, the vehicle sensor information table 786, and the driver action information table 787 indicate the robot image numbers in the robot image file 789.
[0121]
FIG. 28 is a diagram showing an example of the data configuration of the robot image file 789. For example, assuming that the robot image data 788a is stored for the robot image number 1500, if the driving information input by the CPU 70 is “there is an intersection that turns right forward”, the CPU 70 based on the driving information table 784 Outputs a voice signal to the voice output unit 76 saying "It is about to be a right turn intersection." Since the robot image number is "1500", the robot image data 788a is output to the display unit 75 as image data. .
[0122]
The RAM 79 temporarily stores programs and data as a work area of the CPU 70. In the present embodiment, driving information data 790, driver behavior information data 791, vehicle sensor information data 792, and in-vehicle sensor information data 793 are stored.
[0123]
The driving information data 790 stores the route information and the traffic congestion information input by the CPU 70. The driver behavior information data 791 stores the driver's gaze direction and whether or not he or she is dozing, based on the driver behavior information input by the CPU 70. In the vehicle sensor information data 792, “H” is stored when the vehicle sensor information input by the CPU 70 satisfies a predetermined condition, and “L” when the predetermined condition is not satisfied. The in-vehicle sensor information data 793 stores “H” when the predetermined conditions are satisfied and “L” when the predetermined conditions are not satisfied with respect to the in-vehicle sensor information input by the CPU 70.
[0124]
Note that the driving information data 790 is the robot-side driving information data 620, the driver action information data 791 is the robot-side driver action information data 621, the car sensor information data 792 is the robot side car sensor information data 623, and the in-vehicle sensor information. Since the data configuration of the table 793 is the same as that of the robot-side robot sensor information data 622, the description thereof is omitted.
[0125]
Next, the operation of the PDA 900 will be described. FIG. 29 is a flowchart showing the operation of the navigation processing executed by the CPU 70. First, the CPU 70 inputs a destination from the input unit 74 (step E1), inputs a current position from the GPS unit 12, and searches for a route from the current position to the destination (step E2). Then, the map and the route are output to the display unit 75 (step E3). Next, the current position is input from the GPS unit 12 (step E4), and it is determined whether the current position is out of the route searched in step E2 (step E5). If the route is not out of the route (step E5: No), the CPU 70 proceeds to step E7. If the route is out of the route (step E5: Yes), the CPU 70 searches the route from the current position to the destination again, and outputs the map and the route to the display unit 75 (step E6).
[0126]
Subsequently, the CPU 70 inputs road traffic information from the beacon receiver 13 (step E7), and determines whether or not there is a traffic jam on the route (step E8). When there is no traffic congestion on the route (step E8: No), the CPU 70 deletes the data of the traffic congestion information of the driving information data 790 (step E9). If there is a traffic jam on the route (step E8: Yes), the CPU 70 stores the road traffic information input in step E7 as traffic jam information in the driving information data 790 (step E10).
[0127]
Next, the CPU 70 stores, in the driving information data 790, route information indicating a route to which the vehicle 200 should proceed next based on the searched route (step E11). Further, the CPU 70 inputs the driver action information from the camera 14 and stores it in the driver action information data 791 (step E12). Further, the CPU 70 inputs the in-vehicle sensor information from the in-vehicle sensor circuit 15, determines whether each detection result satisfies a predetermined condition, and sets “H” or “L” to the in-vehicle sensor information data 793. Remember. Further, the CPU 70 inputs the vehicle sensor information from the obstacle detection circuit 25 and the safety confirmation circuit 36, determines whether each detection result satisfies a predetermined condition, and sets “H” or “L”. It is stored in the vehicle sensor information data 792 (step E13).
[0128]
Subsequently, the CPU 70 shifts the processing to an information screen process (Step E14). Upon completion of the information screen process, the CPU 70 shifts the processing to Step E4.
[0129]
By executing the navigation processing by the CPU 70 in this manner, a route from the current position to the destination is searched. Then, road traffic information is input from the beacon receiver 13, and the presence or absence of traffic congestion on the route is stored in the driving information data 790. Then, the route information of the route to be followed by the vehicle 200, the driver's behavior information, the in-vehicle sensor information and the vehicle sensor information are the driving information data 790, the driver's behavior information data 791, the vehicle sensor information data 792, and the in-vehicle sensor information 793. And an information screen process is executed.
[0130]
30 and 29 are flowcharts showing the operation of the information screen processing executed by the CPU 70. First, the CPU 70 determines whether or not “normal” is stored in the item of the line-of-sight direction of the driver action information data 791 and “L” is stored in the item of dozing (step F1). When "normal" and "L" are stored (step F1: Yes), the CPU 70 sets the volume of the audio output unit 76 to the normal volume (step F2). If "normal" and "L" are not stored (step F1: No), the CPU 70 sets the volume of the audio output unit 76 to "high" (step F3).
[0131]
Next, the CPU 70 determines whether “H” or “L” is stored as the dozing item in the driver action information data 791 (step F4). If “L” is stored (step F4: No), the CPU 70 proceeds to step F7. If "H" is stored (step F4: Yes), the CPU 70 searches the driver action information table 787 for voice information and a robot image number (step F5), and shifts the processing to information output processing (step F6). ).
[0132]
Subsequently, the CPU 70 determines whether or not “screen” is stored in the line-of-sight direction item of the driver action information data 791 (step F7). If "screen" is not stored (step F7: No), the CPU 70 displays a map, a route, and the like on the display unit 75 (step F8). On the other hand, when the “screen” is stored (step F7: Yes), the CPU 70 retrieves the voice information and the robot image number from the driver action information table 787 (step F9), and shifts the processing to the information output processing (step F9). Step F10). Then, the CPU 70 stops displaying the screen on the display unit 75 (step F11).
[0133]
Next, the CPU 70 determines whether or not the route information to be advanced to next is stored in the item of the route information of the driving information data 790 (step F12). When the route information is not stored (step F12: No), the CPU 70 shifts the processing to step F15. When the route information is stored (step F12: Yes), the CPU 70 searches the driving information table 784 for voice information and a robot image number based on the route information stored in the driving information data 790 (step F13). Then, the process proceeds to an information output process (step F14).
[0134]
Subsequently, the CPU 70 determines whether or not “H” is stored for each detection item of the in-vehicle sensor information data 793 (step F15). When there is no detection item in which “H” is stored (step F15: No), the CPU 70 shifts the processing to step F18. If there is a detection item in which “H” is stored (step F15: Yes), the CPU 70 searches the in-vehicle sensor information table 785 for voice information and a robot image number based on the detection item in which “H” is stored. Then, the process proceeds to the information output process (step F17).
[0135]
Then, the CPU 70 determines whether or not “H” is stored for each detection item of the vehicle sensor information data 792 (step F18). When there is no detected item in which “H” is stored (step F18: No), the CPU 70 ends the information screen processing. If there is a detection item in which “H” is stored (step F18: Yes), the CPU 70 searches the car sensor information table 786 for voice information and a robot image number based on the detection item in which “H” is stored. Then, the process proceeds to an information output process (step F20). Then, the CPU 70 ends the information screen processing.
[0136]
As described above, when the driver performs a dangerous action during driving by executing the information screen processing by the CPU 70, the volume of the sound output is set to “high”. Further, when the driver is watching the display unit 75, the screen display of the display unit 75 is stopped. Then, the voice information and the robot image number are searched based on the data stored in the driving information data 790, the vehicle sensor information data 792, and the in-vehicle sensor information data 793, and an information output process is executed.
[0137]
FIG. 32 is a flowchart showing the operation of the information output process executed by the CPU 70. First, the CPU 70 determines whether or not the display unit 75 is in a display state (step G1). When the display unit 75 is in the display state (step G1: Yes), the CPU 70 displays the image data of the robot image file 789 on the display unit according to the robot image number searched in step F5, F9, F13, F16 or F19 of the information screen process. Output to 75. At the same time, an audio signal is output to the audio output unit 76 according to the audio information (step G2), and the information output process ends.
[0138]
On the other hand, when the display unit 75 is in the display stop state (step G1: No), the CPU 70 outputs an audio signal to the audio output unit 76 according to the audio information searched in step F5, F9, F13, F16 or F19 of the information screen process. (Step G3), and terminates the information output process.
[0139]
When the display unit 75 is in the display state by the execution of the information output process by the CPU 70 in this manner, the route information, the traffic congestion information, the vehicle sensor information, the in-vehicle sensor information, and the like are provided by the robot image and the voice displayed on the display unit 75. Is output. On the other hand, when the display unit 75 is in the display stop state, each information is output only by voice.
[0140]
FIG. 33 is a diagram illustrating a case where the robot image data 788a is displayed on the display screen 91 of the PDA 900 as an example. Further, when the route information is "there is an intersection that turns right ahead", a voice saying "You are about to make a right turn intersection" is output from the voice output unit 76 (not shown), and navigation of the traveling route is performed.
[0141]
As described above, the PDA 900 navigates the driver from the current position to the destination by the output image and sound, and furthermore, when the driver takes a dangerous action such as looking aside or falling asleep. Gives a warning by a loud sound. This can prevent a traffic accident due to the driver's inattentiveness, falling asleep, and the like. When the driver is watching the display screen 91, the display on the display unit 75 is stopped. Thereby, it is possible to prevent a contact accident or the like caused by the carelessness of the driver in front. Further, even when the various environments in the vehicle do not satisfy the predetermined conditions, the driver is notified by the image and the sound output from the PDA 900, so that the vehicle can be kept in a comfortable state.
[0142]
It should be noted that the driving information output device of the present invention is not limited to the illustrated example described above, and it is needless to say that various changes can be made without departing from the gist of the present invention.
[0143]
【The invention's effect】
According to the first and ninth aspects of the present invention, the notification control information stored in association with the storage unit is read based on the status information acquired by the acquisition unit, and an output corresponding to a detection result by the detection unit is output. In the embodiment, the notification function is controlled based on the read notification control information. Therefore, for example, when a dangerous situation outside the vehicle is acquired, or according to the detected driver state, for example, when the driver is gazing at the display, a loud alarm (one of output forms) ), It is possible to output situation information, etc., and it is possible to output driving information appropriately according to the situation of the driver and perform safe and appropriate navigation.
[0144]
According to the second aspect of the present invention, the control of the notifying means is performed in an output form according to the driver's state and situation information. Therefore, for example, it is possible for the driver to take dangerous actions while the vehicle is running and to output situation information with a loud alarm when the situation is such that there is an obstacle in front of the car, and so on. It is possible to output driving information appropriately according to the situation of the driver, and to perform safe and appropriate navigation.
[0145]
According to the third aspect of the present invention, the voice information and the driving content of the doll are determined in accordance with the driver's state and status information, and the driver is notified of the status information by voice output and driving of the doll. For this reason, it is possible to cause the navigation of the car, which has been performed by the car navigation, to be performed by driving the doll and outputting the voice. Further, for example, when the driver takes a dangerous action while the vehicle is running, it is possible to output situation information by a doll action or a loud alarm. Then, since the warning is output by the operation of the doll and the voice, the driver can easily understand and understand the visual recognition. Therefore, it is possible to output driving information appropriately according to the situation of the driver, and to perform safe and appropriate navigation.
[0146]
According to the invention described in claim 4, by switching between the notification of the situation information by the image and the voice and the notification of the status information by the voice only in accordance with the state of the driver, the image output means during the driving of the vehicle by the driver When the user gazes at, the notification of the status information by the image output means can be stopped and the notification can be made only by voice. Thus, it is possible to prevent a traffic accident or the like caused by the driver's carelessness in front of the vehicle.
[0147]
According to the invention described in claim 5, for example, the image is displayed while the driver is driving the car by setting the predetermined line-of-sight direction to the direction when the driver looks at the image output means. When gazing at the image output means, the image output by the image output means can be stopped and the status information can be output only by sound. Thus, it is possible to prevent a traffic accident or the like caused by the driver's carelessness in front of the vehicle.
[0148]
According to the invention described in claim 6, for example, by setting the predetermined line-of-sight direction to the direction when the driver looks at the doll, when the driver gazes at the driven doll while driving the car In addition, the driving of the driving means can be stopped, and the status information can be output only by voice. Thus, it is possible to prevent a traffic accident or the like caused by the driver's carelessness in front of the vehicle.
[0149]
According to the invention described in claim 7, it is possible to output an alarm to the driver. As a criterion for outputting an alarm, for example, there is a case where status information indicating that an obstacle is within a predetermined range in front of the vehicle is acquired. Thereby, a traffic accident or the like can be prevented beforehand.
[0150]
According to the invention described in claim 8, an alarm can be output to the driver. As a criterion for outputting an alarm, for example, there is a case where the detection unit detects inattentiveness, dozing, and the like. Thereby, a traffic accident or the like can be prevented beforehand.
[Brief description of the drawings]
FIG. 1 is a block diagram for explaining a connection configuration between a robot and peripheral devices.
FIG. 2 is an external view showing an example of a robot.
FIG. 3 is a diagram showing an example of installation of a robot on a vehicle.
FIG. 4 is a block diagram showing a circuit configuration of the robot.
FIG. 5 is a diagram showing an example of a data configuration of a driving information table.
FIG. 6 is a diagram showing an example of a data configuration of a robot sensor information table.
FIG. 7 is a diagram showing an example of a data configuration of a vehicle sensor information table.
FIG. 8 is a diagram showing an example of a data configuration of a driver action information table.
FIG. 9 is a diagram illustrating an example of a data configuration of a robot operation table.
FIG. 10 is a diagram showing an example of a data structure of robot-side operation information data.
FIG. 11 is a diagram showing an example of a data structure of robot-side driver action information data.
FIG. 12 is a diagram showing an example of a data structure of robot-side robot sensor information data.
FIG. 13 is a diagram showing an example of the data structure of robot-side vehicle sensor information data.
FIG. 14 is a block diagram showing a circuit configuration of a car navigation system.
FIG. 15 is a flowchart illustrating an operation of a navigation process according to the first embodiment.
FIG. 16 is a flowchart showing the operation of the navigation process following FIG. 15;
FIG. 17 is a flowchart illustrating an operation of a robot operation process.
FIG. 18 is a flowchart illustrating an operation of a robot operation control process.
FIG. 19 is a flowchart showing the operation of the robot operation control process following FIG. 18;
FIG. 20 is a flowchart illustrating an operation of a robot driving process.
FIG. 21 is a block diagram for explaining a connection configuration between a PDA, which is an operation information output device, and peripheral devices.
FIG. 22 is a diagram showing an example of the appearance of a PDA.
FIG. 23 is a block diagram showing a circuit configuration of a PDA.
FIG. 24 is a diagram showing an example of a data configuration of a driving information table.
FIG. 25 is a diagram showing an example of a data configuration of an in-vehicle sensor information table.
FIG. 26 is a diagram showing an example of a data configuration of a vehicle sensor information table.
FIG. 27 is a diagram showing an example of a data configuration of a driver action information table.
FIG. 28 is a diagram showing an example of a data configuration of a robot image table.
FIG. 29 is a flowchart illustrating an operation of a navigation process according to the second embodiment.
FIG. 30 is a flowchart showing the operation of an information screen process.
FIG. 31 is a flowchart showing the operation of the information screen process following FIG. 30;
FIG. 32 is a flowchart showing an operation of an information output process.
FIG. 33 is a diagram when a robot image is displayed on the display screen of the PDA.
[Explanation of symbols]
10 Navigation robot
50 CPU
51 Car Navigation Communication Department
52 Temperature detector
53 Humidity detector
54 Illuminance detector
55 Smoke detector
56 Air detector
57 UV detector
58 Voice input section
59 Audio output unit
60 drive unit
61 ROM
62 RAM
900 PDA with car navigation function
70 CPU
71 Transmission control unit
72 Communication unit
74 Input section
75 Display
76 Audio output section
77 Storage medium reading unit
78 ROM
79 RAM

Claims (9)

In the driving information output device installed in the car,
Storage means for storing notification control information in association with in-vehicle or out-of-vehicle situation information;
Acquisition means for acquiring status information;
An informing means capable of informing by a plurality of output forms;
Detecting means for detecting a driver state;
The notification control information stored in association with the storage unit is read based on the status information obtained by the obtaining unit, and the notification control information is output based on the read notification control information in an output form corresponding to a detection result by the detection unit. Control means for controlling the notification means;
A driving information output device comprising: The control unit includes a notification control unit that controls the notification unit based on the read notification control information in an output form according to a detection result of the detection unit and status information acquired by the acquisition unit. The driving information output device according to claim 1, wherein: The acquisition means has communication means for communicating with a car navigation device, and acquires route information as the status information by communication by the communication means,
The notifying unit has an audio output unit and a driving unit as the plurality of types of output forms,
3. The driving information output device according to claim 1, wherein the driving information output device is a doll in which a voice output from the voice output unit or a drive control of the driving unit is performed by the control unit. 4. The acquisition means has communication means for communicating with GPS, and acquires route information as the status information by communication by the communication means,
The notification means has an image output means and a sound output means as the plurality of types of output forms,
The driving information output device according to claim 1, wherein the image output unit or the audio output unit is switched according to a detection result by the detection unit. The detection unit has a line-of-sight direction detection unit that detects the line-of-sight direction of the driver,
If the control unit is controlling the image output unit and the gaze direction detection unit detects that the line of sight is in a predetermined direction, the control unit stops controlling the image output unit. 5. The driving information output device according to claim 4, wherein the driving information output device is controlled. The detection unit has a line-of-sight direction detection unit that detects the line-of-sight direction of the driver,
When the control unit is controlling the driving unit, and when the line-of-sight direction detecting unit detects that the line-of-sight direction is a predetermined direction, the control unit stops controlling the driving unit, 4. The driving information output device according to claim 3, wherein the driving information output device controls the voice output means. The storage means further stores warning notification control information,
7. The method according to claim 1, wherein when the status information acquired by the acquisition unit satisfies a predetermined condition, the control unit controls the notification unit based on the warning notification control information. The driving information output device according to claim 1. The storage means further stores warning notification control information,
7. The control device according to claim 1, wherein when the driver state detected by the detection device satisfies a predetermined condition, the control device controls the notification device based on the warning notification control information. 8. The driving information output device according to claim 1. For a driving information output device equipped with a computer, which is equipped on a car,
A storage function of storing notification control information in association with the in-vehicle or out-of-vehicle situation information;
An acquisition function for acquiring status information;
A notification function capable of notification in a plurality of output forms;
A detection function for detecting a driver state;
The notification control information stored in association with the storage function is read based on the status information acquired by the acquisition function, and the output form is based on the read notification control information in an output form corresponding to a detection result by the detection function. A control function for controlling the notification function;
For realizing the above by the computer.

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