JP2004126888A - Information presentation device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To inform the occupant of a vehicle that the vehicle enters into an automatic control-suspension region before the vehicle enters into the automatic control-suspension region. <P>SOLUTION: In providing information on the automatic control of the vehicle to the occupant thereof, a control history recording section 21 stores control history information corresponded control state information showing control inability to driving support outputted from an automatic controller 2 to a control inability point. Thus, the control history recording section 21 stores the history of the control inability point corresponding to the control state information or the history of a controllable point. An information presentation control section 22 compares the present vehicle position in driving the vehicle with the control inability point registered as the control history information and presents the control inability point when determination is made that the control inability point is present at the periphery of the vehicle. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vehicle information presentation device that presents information relating to automatic control of a vehicle.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a vehicle information presentation device that presents information about an automatic driving support control device such as lane keeping control and ACC control has been known. The vehicle information presentation device notifies the occupant of the host vehicle of the driving support state, for example, by displaying an image or outputting a sound indicating that lane keeping control is currently being performed.
[0003]
[Patent Document 1]
JP-A-11-189071
[0004]
[Problems to be solved by the invention]
By the way, depending on the environment around the own vehicle, the driving support by the automatic control may not be possible. In this case, the conventional vehicle information presentation device indicates that the driving is currently performed without the driving support. It is necessary to prompt the occupants of the vehicle.
[0005]
However, since the conventional vehicle information presentation device presented information to that effect after the automatic control was disabled, it is necessary to perform a driving operation without automatic control (manual driving). The driver is required to always pay attention to the information presentation in order to know the information, and there is a problem that the driving burden may increase.
[0006]
Therefore, the present invention has been proposed in view of the above-described circumstances, and is intended for a vehicle capable of presenting that fact to an occupant of the own vehicle before the own vehicle enters an area where automatic control is impossible. It is an object to provide an information presentation device.
[0007]
[Means for Solving the Problems]
According to the present invention, the vehicle is provided with an automatic control unit for assisting driving and a vehicle position detecting unit for detecting the position of the own vehicle, and is output from the automatic control unit when presenting information related to automatic control of the vehicle. Control in which a control state indicating that control of the driving assistance is not possible or controllable is associated with an uncontrollable point or a controllable point indicating the vehicle position detected by the vehicle position detection unit when the control state information is acquired. The history information is stored in the storage unit. Thereby, the history of the uncontrollable point or the controllable point corresponding to the control state information is accumulated in the storage unit. In the vehicle information presenting device, the current vehicle position detected by the vehicle position detection means is compared with the uncontrollable point or controllable point registered as control history information to determine the vicinity of the vehicle. When it is determined that there is an uncontrollable point, the presenting unit presents the uncontrollable point.
[0008]
【The invention's effect】
ADVANTAGE OF THE INVENTION According to the vehicle information presentation apparatus which concerns on this invention, the history of the uncontrollable point or controllable point corresponding to control state information is accumulated, and the present vehicle position and the control registered as control history information are stored. When comparing with the impossible point or the controllable point and determining that the uncontrollable point exists around the own vehicle, the controllable point is presented, so that the driver is notified in advance that he / she travels in the uncontrollable point. be able to.
[0009]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0010]
The present invention is applied to, for example, a vehicle information presentation device configured as shown in FIG.
[0011]
[Configuration of vehicle information presentation device]
This vehicle information presentation device is mounted on a vehicle, and a control unit 1 includes an automatic control device 2, a peripheral road condition search unit 3, a lateral wind anemometer 4, a clock unit 5, a wiper switch 6, a display device 7, and a speaker device 8. Are connected and configured.
[0012]
The automatic control device 2 and the surrounding road condition search unit 3 output information according to the running condition of the vehicle to the control unit 1 during running of the vehicle. The automatic control device 2 performs automatic control for automating a part of speed control and steering control in a vehicle running state. In this example, the automatic control device 2 includes a lane keeping control device (lane tracking assist device) 11, an ACC control device (auto-vehicle automatic tracking control device) 12, and a vehicle behavior control unit 13. The lane keeping control device 11 and the ACC control device Twelve control state information is output to the control unit 1.
[0013]
The lane keeping control device 11 includes an imaging device and an image processing device (not shown). The imaging device captures an image of the front of the own vehicle and performs image processing on the captured image to recognize the position of the own vehicle with respect to the position of the white line on the road. I do. The lane keeping control device 11 uses a steering steering device, a position sensor for detecting a position near the own vehicle, and a position sensor for a lane formed by a white line on the road. A signal from the two position sensors, a vehicle speed signal, A steering control device is controlled based on vehicle information such as a winker signal, a shift signal, and a brake signal so as to maintain the own vehicle position in the lane. Therefore, the lane keeping control device 11 outputs the steering control state during the running of the vehicle to the control unit 1 as control state information.
[0014]
The ACC control device 12 includes a vehicle speed sensor, a distance sensor such as a laser radar or a millimeter wave radar, and forwardly moves at a target inter-vehicle distance set based on the vehicle speed sensor and a vehicle speed signal captured by the distance sensor and an inter-vehicle distance with a preceding vehicle. The vehicle speed is controlled to follow the vehicle. Therefore, the ACC control device 12 outputs the vehicle speed adjustment state during the running of the vehicle to the control unit 1 as control state information.
[0015]
The vehicle behavior control unit 13 performs, for example, a process of predicting the behavior of the vehicle and notifying the driver of the speed limit in advance, a process of controlling the steering operation, and a process of controlling the actual steering angle and the vehicle speed prior to the steering operation. Thus, stabilization control of the vehicle behavior is performed. The vehicle behavior control unit 13 recognizes an acceleration / deceleration control state or a steering control state by the lane keep control device 11 or the ACC control device 12 in accordance with a control signal from the information presentation control unit 22 of the control unit 1, and performs acceleration / deceleration change. And control the behavior of the vehicle according to changes in the steering force.
[0016]
The peripheral road condition search unit 3 sends, to the control unit 1, peripheral road condition information on a map where the vehicle is present, for example, according to a control signal from the control unit 1. At this time, the surrounding road condition search unit 3 reads the vehicle position information from the vehicle position detection unit 31 and reads the map data around the vehicle position from the map data storage unit 32 with reference to the vehicle position information. . Then, the peripheral road condition search unit 3 searches for peripheral road condition information near the own vehicle position from the map data and sends it to the control unit 1.
[0017]
Further, the control unit 1 receives a horizontal wind speed signal from the horizontal wind anemometer 4, time information from the clock unit 5, and a wiper switch signal from the wiper switch 6.
[0018]
The display device 7 and the speaker device 8 are, for example, devices that constitute a navigation system (not shown), function as a presentation device that presents various information to a driver, and display or emit various information in accordance with information from the control unit 1. Or make a sound.
[0019]
As shown in FIG. 1, the control unit 1 receives control state information from the lane keeping control device 11 and the ACC control device 12, and outputs a cross wind speed signal from the cross wind anemometer 4 and a surrounding road condition search unit 3. A control history recording unit 21 for inputting surrounding road condition information, time information from the clock unit 5, and a wiper switch signal from the wiper switch 6 is provided.
[0020]
The control history recording unit 21 reads various information and signals, for example, every predetermined period, and records and accumulates a cross wind speed signal, peripheral road condition information, time information, and a wiper switch signal in association with the control state information. By accumulating various kinds of information and signals in this way, the cross wind speed signal, the surrounding road condition information, the time information, and the wiper switch signal corresponding to each control state information are controlled by the lane keeping control device 11 and the ACC control device 12. Is registered as the control history information expressing the history of.
[0021]
This control history information indicates a point where the lane keeping control device 11 and the ACC control device 12 can automatically control under conditions specified by the crosswind wind speed, the surrounding road conditions, the time, and the weather according to the on / off state of the wiper switch (control Possible points) and points where automatic control is not possible (points where control is impossible). The details of the controllable / impossible registration processing for registering the control history information will be described later.
[0022]
In addition, the control unit 1 refers to the control history information registered in the control history recording unit 21 to present the control contents of the lane keeping control device 11 and the ACC control device 12 on the display device 7 and the speaker device 8. The control unit 22 is provided. The information presentation control unit 22 mainly presents information indicating that an uncontrollable point exists, and notifies the driver. As a result, the vehicle information presentation device urges the driver to perform manual driving without relying on the automatic control by the lane keeping control device 11 and the ACC control device 12.
[0023]
When presenting the fact that an uncontrollable point exists, the information presentation control unit 22 acquires the map data of the current surrounding road condition information from the surrounding road condition searching unit 3, and further obtains the cross wind speed from the cross wind anemometer 4. A signal, time information from the clock unit 5, and a wiper switch signal from the wiper switch 6 are acquired.
[0024]
As a result, the information presentation control unit 22 compares the position of the vehicle surroundings recognized from the surrounding road condition information acquired from the surrounding road condition searching unit 3 with the position of the uncontrollable point registered in the control history recording unit 21. I do. Further, the information presentation control unit 22 controls the current cross wind speed, time, and weather obtained from the cross wind anemometer 4, the clock unit 5, and the wiper switch 6, and the cross wind speed, time, and weather registered corresponding to the uncontrollable point. Compare with
[0025]
As described above, the information presentation control unit 22 compares the current position around the own vehicle with the uncontrollable point, the current crosswind speed, time, and weather and the registered crosswind speed, time, and weather, and sets the result in advance. When the degree of coincidence is reached, it is notified that an uncontrollable point exists.
[0026]
[Information presentation processing by vehicle information presentation device]
Next, a description will be given of a processing procedure of an information presenting process of registering a controllable point and an uncontrollable point and presenting the uncontrollable point in the above-described vehicle information presentation apparatus with reference to FIG.
[0027]
In the vehicle information presentation device, the processing after step S1 is started, for example, at predetermined time intervals while the vehicle is running. In step S1, the position of the host vehicle is detected by the host vehicle position detection unit 31, and the map data around the host vehicle position is read from the host vehicle position by the surrounding road condition search unit 3 from the map data storage unit 32, and the control history The data is sent to the recording unit 21 and the process proceeds to the controllable / impossible registration processing of steps S2 to S4. In step S1, the control history recording unit 21 reads the horizontal wind speed signal, the time information, and the wiper switch signal.
[0028]
In step S1, the information presentation control unit 22 may read map data around the own vehicle position, a cross wind speed signal, time information, and a wiper switch signal used in the processing of step S5 described later.
[0029]
In step S2, control state information is read from the lane keeping control device 11 and the ACC control device 12 by the control history recording unit 21 and the control history information is automatically stored in the vehicle position on the map data around the vehicle acquired in step S1. It is determined whether control is possible. If it is determined that automatic control by the lane keeping control device 11 and the ACC control device 12 is possible, the process proceeds to step S3, and the control history recording unit 21 determines the position of the own vehicle read in step S1 by using the cross wind speed. Is registered as control history information by storing as a controllable point in the weather according to the time and the wiper switch.
[0030]
On the other hand, when it is determined that the automatic control by the lane keeping control device 11 and the ACC control device 12 is not possible, the process proceeds to step S4, and the control history recording unit 21 determines the position of the own vehicle read in step S1 by the crosswind. It is registered as control history information by storing it as an uncontrollable point in the weather according to the wind speed, time and wiper switch.
[0031]
In the next step S5, the information presentation control unit 22 compares the own vehicle position recognized from the map data around the own vehicle position with the uncontrollable point registered in the control history recording unit 21, and specifies the own vehicle. It is determined whether an uncontrollable point is registered within the distance. When it is determined that the uncontrollable point has not been registered within the specified distance of the vehicle, the process returns to step S1 without presenting the uncontrollable point by the display device 7 and the speaker device 8, and the steps after step S1 are performed again. Is repeated. Here, at the time of designing the vehicle information presentation device, the specified distance is set in advance to a distance at which an uncontrollable point is presented and recognized by the driver, and the driver can respond to the driving operation.
[0032]
On the other hand, when it is determined that the uncontrollable point is registered within the specified distance of the vehicle, the cross wind speed signal, the time information and the wiper switch signal corresponding to the uncontrollable point, the current cross wind speed signal, and the time The information and the wiper switch signal are compared, and if the current crosswind speed, time and weather match or are similar to the registered crosswind speed, time and weather conditions, the process proceeds to step S6.
[0033]
In step S6, the display device 7 and the speaker device 8 are controlled by the control history recording unit 21 to present the uncontrollable point determined in step S5, and the process ends. Here, as a method of presenting the uncontrollable point, a method of displaying the own vehicle position, the traveling road, and the uncontrollable point on the map, and a description of the distance from the own vehicle position to the uncontrollable point and the cause of the uncontrollable character. There is a method of displaying or reading aloud aloud, and a method of changing the acceleration / deceleration of the vehicle, the swinging of the vehicle left and right, and the steering force by the vehicle behavior control unit 13.
[0034]
Thereby, the vehicle information presentation device notifies the driver that there is a point where the lane keeping control device 11 and the ACC control device 12 do not function around the own vehicle, and the lane keeping control device 11 and the ACC control device 12 Driving that does not depend on the vehicle.
[0035]
In the above-described information presentation processing, the case where the uncontrollable point is presented has been described. However, the controllable point may be presented instead of the uncontrollable point. It may be presented separately.
[0036]
In the above-described information presentation process, for example, the control history recording unit 21 is once executed by repeatedly performing the controllable / impossible registration process in steps S2 to S4 by repeating the process from step S1 for every predetermined period. The point registered as an uncontrollable point or a controllable point is changed to a controllable point or an uncontrollable point and registered.
[0037]
[Controllable / impossible registration processing by vehicle information presentation device]
Next, specific processing of the controllable / impossible registration processing in steps S2 to S4 in the information presentation processing described above will be described with reference to FIGS. In the following description, the controllable / impossible registration processing that is different depending on the condition that the control of the lane keep control device 11 or the ACC control device 12 is disabled will be described as first to fourth controllable / impossible registration processing.
[0038]
"First controllable / impossible registration processing"
The first controllable / impossible registration process is a process of registering a point where the lane keeping control device 11 cannot be controlled due to fading or dirt of a white line on a road on which the host vehicle runs, and refer to the flowchart of FIG. Will be explained.
[0039]
First, in step S11, the control state information is read from the lane keep control device 11 by the automatic control device 21, and it is determined whether or not the white line is recognized by the white line recognition unit (not shown) of the lane keep control device 11. I do. When the white line is recognized, the process is terminated because the control by the lane keeping control device 11 is possible, and when the white line is not recognized, the process proceeds to step S12 and thereafter.
[0040]
In step S12, step S13, and step S14, the control history recording unit 21 determines whether the left lane and the right lane of the traveling lane exist based on the control state information, and the lane keeping control device 11 determines the left lane. And whether or not the right lane is recognized. When the lane keeping control device 11 determines that both the left lane and the right lane are not recognized, the process proceeds to step S15, and when it is determined that the left lane is not recognized but the right lane is recognized. In step S16, if it is determined that the left lane is recognized but the right lane is not recognized, the process proceeds to step S17, where both the left lane and the right lane are recognized. If it is determined, the process proceeds to step S18.
[0041]
In step S15, the control history recording unit 21 disables lane keeping control by the lane keeping control device 11 due to poor white line recognition on a one-lane road. The registered own vehicle position is registered, and the process ends.
[0042]
In step S16, the control history recording unit 21 registers the own vehicle position detected in step S1 as an uncontrollable point due to the fact that lane keeping control is impossible due to fading or dirt in the left lane. To end the processing.
[0043]
In step S17, the control history recording unit 21 registers the own vehicle position detected in step S1 as an uncontrollable point due to the fact that lane keeping control is impossible due to fading or dirt in the right lane. To end the processing.
[0044]
In step S18, the control history recording unit 21 disables the lane keeping control because the center lane of the road having three or more lanes has faintness or dirt. The detected vehicle position is registered, and the process ends.
[0045]
By performing such controllable / impossible registration processing, the vehicle information presentation device performs the processing of step S16 to register a control impossible point where lane keeping control is impossible due to fading or dirt on the left lane. When the vehicle travels again at the uncontrollable point, the uncontrollable point can be displayed as shown in FIG. In FIG. 4, for example, the own vehicle position 42 is displayed on the traveling road 41, and an uncontrollable point 43 is displayed because the left lane of the road on which the own vehicle is expected to travel cannot be recognized.
[0046]
"Second controllable / impossible registration processing"
The second controllable / impossible registration processing is processing for registering a point at which control of the lane keep control device 11 becomes impossible due to water clogging in rainy weather, and will be described with reference to a flowchart of FIG.
[0047]
First, in step S21, the control history recording unit 21 reads a wiper switch signal to determine whether or not the wiper switch is in an on state. If the wiper switch is in an off state, the process ends. It is determined that it is rainy, and the process proceeds to step S22.
[0048]
In step S22, the control history recording unit 21 determines whether or not white line recognition is performed by performing the same processing as in step S11 described above. If white line recognition is normal, the process ends. If it is determined that white line recognition has not been performed, the process proceeds to step S23.
[0049]
In step S23, the control history recording unit 21 stores control history information in which the wiper switch is in the off state when the host vehicle travels ahead of the host vehicle position detected in step S1, that is, white line recognition is normally performed in weather other than rainy weather. Determine whether it exists. If it is determined that there is control history information that normally recognizes the white line in the weather other than rainy weather, the process proceeds to step S24. On the other hand, when it is determined that there is no control history information that normally recognizes a white line in weather other than rainy weather, it is determined that lane keeping control due to rainy weather is not impossible, and new control history information is registered. The processing ends without executing.
[0050]
In step S24, the control history recording unit 21 disables the lane keeping control because the white line cannot be recognized due to the accumulation of water in rainy weather, and the lane keeping control is disabled due to this. The vehicle position is registered, and the process ends. Here, the control history recording unit 21 registers information indicating that the wiper switch is in the ON state, that is, rainy weather, as well as control impossible information together with the control impossible point.
[0051]
"Third controllable / impossible registration processing"
The third controllable / impossible registration processing is processing for registering a point at which control of the lane keep control device 11 becomes impossible due to a strong wind at a specific condition point such as on a bridge or a coastline, and refer to a flowchart of FIG. Will be explained.
[0052]
First, in step S31, control state information is read by the control history recording section 21, and it is determined whether or not a lane keep control switch for operating the lane keep control device 11 (not shown) is on. The determination in step S31 is made when the lane keeping control is disabled due to a strong wind and the lane keeping control is interrupted, as in the case where the vehicle departs from the lane to the outside due to a small curve radius of the traveling road. If it is not inside, it cannot be determined that the lane keep control has been disabled. If the lane keep control switch is not on, the process ends. If the switch is on, the process proceeds to step S32.
[0053]
In step S32, the control history recording unit 21 reads the control state information from the lane keeping control device 11, and detects whether or not a lane departure is detected by the lane keeping control device 11, or whether or not a lane departure warning is issued. Is determined. When the detection of the lane departure or the generation of the lane departure warning is recognized, the process proceeds to step S33, and when the detection of the lane departure and the generation of the lane departure warning are not recognized, the process ends.
[0054]
In step S33, the control history recording unit 21 determines whether the white line is recognized by performing the same processing as in step S11 described above. If it is determined that the white line is recognized normally, the process proceeds to step S34. The process proceeds to, and if it is determined that white line recognition has not been performed, the process ends. The determination in step S33 is performed so that the lane keeping control failure due to the incorrect recognition of the white line is erroneously recognized as the lane keeping control failure due to the strong wind and is not registered.
[0055]
In step S34, the control history recording unit 21 recognizes the curve radius at the current vehicle position from the current peripheral road condition information from the peripheral road condition search unit 3 and reads a vehicle speed signal from a vehicle speed indicator (not shown). Then, the process proceeds to step S35.
[0056]
In step S35, the control history recording unit 21 determines whether or not the current vehicle speed with respect to the curve radius is equal to or lower than the controllable vehicle speed, that is, whether or not the lane keeping control cannot be performed due to an excessive speed at the time of the curve. I do. Here, the controllable vehicle speed with respect to the curve radius is prepared in advance using a map or the like when designing the vehicle information presentation device. When it is determined that the speed excess at the curve point is the cause of the lane keeping control being disabled, the process is terminated. When it is determined that the speed excess for the curve radius is not the cause of the lane keeping control being disabled, the process proceeds to step S36. Advance.
[0057]
In step S36, the control history recording unit 21 determines whether or not the own vehicle position detected in step S1 is a previously registered strong wind point. If the own vehicle position is determined to be a strong wind point, step S36 is performed. The process proceeds to S36. Here, information indicating that a certain point is a strong wind point may be registered in the control history recording unit 21 in advance, and may be recognized by the control history recording unit 21 from map data in the map data storage unit 32. Well, there are bridges, coastlines, tunnel exits, etc.
[0058]
In step S37, the control history recording unit 21 reads a cross wind speed signal from the cross wind anemometer 4 and determines whether or not the current cross wind speed is equal to or higher than a predetermined specified value. The process proceeds to step S38. This specified value is set to a value that may make lane keeping control impossible due to strong wind when designing a vehicle equipped with the vehicle information presentation device.
[0059]
In step S38, the control history recording unit 21 adds "1" to the number of departure experiences for counting that the own vehicle position has deviated from the lane due to the strong wind, and proceeds to step S39. Here, the number of deviation experiences is managed and stored in the control history recording unit 21 for each point on the map, for example. In addition, the processing of step S38 is performed because the strong wind is a weather phenomenon and the reproducibility is low. This is to register as an uncontrollable point only when the control has been disabled a plurality of times.
[0060]
In step S39, the control history recording unit 21 compares the number of departure experiences obtained as a result of adding “1” in step S38 with the specified number of times, and determines whether the number of departure experiences is equal to or more than the specified number of times. If the number is equal to or more than the number, the process proceeds to step S40, and if not, the process ends.
[0061]
In step S40, the control history recording unit 21 disables lane keeping control due to strong wind, and the vehicle position detected in step S1 is registered as an uncontrollable point due to this, and the process ends. Here, the control history recording unit 21 registers the cross-control wind information and the like together with the uncontrollable points as control history information.
[0062]
Note that, in the first to third controllable / impossible registration processing, the case where the white line cannot be recognized due to the fading or dirt of the white line, the white line cannot be recognized due to the puddle due to rainy weather, and the lane keeping control cannot be performed due to the strong wind has been described. The lane keeping control may be registered based on the gravity value applied to the host vehicle in the vertical direction (height) of the vehicle.
[0063]
Specifically, the vehicle information presentation device is provided with a G sensor for detecting a gravity value in the vertical direction of the vehicle, and a point when the vehicle keeps lane departure due to the lane keeping control being disabled and a value of the G sensor. Register the associated uncontrollable point. A point where a large vehicle gravity value is generated is, for example, an irregular road surface.
[0064]
"Fourth controllable / impossible registration processing"
The fourth controllable / impossible registration process is a process of registering a point at which control of the ACC control device 12 becomes impossible due to, for example, an interrupted vehicle ahead of the own vehicle. Referring to the flowchart of FIG. explain.
[0065]
First, in step S51, control status information is read by the control history recording unit 21, and it is determined whether or not an ACC control switch for operating the ACC control device 12 (not shown) is on. If the ACC control switch is not on, the process ends. If the ACC control switch is on, the process proceeds to step S52.
[0066]
In step S52, the control history recording unit 21 determines from the control state information from the ACC control device 12 whether or not the ACC control has been disabled by the interrupted vehicle and interrupted. At this time, the control history recording unit 21 determines, based on the control state information from the ACC control device 12, that the required deceleration acceleration of the own vehicle is reduced by the discontinuous decrease in the distance from the preceding vehicle. It is determined whether or not the driver has urged the driver to perform the brake operation by the approach warning beyond the control range of the above. If it is determined that the ACC control has not been interrupted, the process ends, and if it is determined that the ACC control has been interrupted, the process proceeds to step S53.
[0067]
In step S53, the control history recording unit 21 adds "1" to the number of departure experiences for counting that the ACC control has been interrupted by the interrupted vehicle, and proceeds to step S54. Here, the number of deviation experiences is managed and stored in the control history recording unit 21 for each point on the map, for example. In addition, it is often the case that the interruption of the ACC control by the interrupting vehicle is accidental because the process of step S53 is performed, and it is possible to avoid registering as an uncontrollable point by interrupting the ACC control only once. This is to register as an out-of-control point only if the user has experienced the event twice.
[0068]
In step S54, the control history recording unit 21 compares the number of departure experiences as a result of adding “1” in step S53 with the specified number of times, and determines whether the number of departure experiences is equal to or more than the specified number of times. If the number is equal to or more than the specified number, the process proceeds to step S55; otherwise, the process ends.
[0069]
In step S55, the control history recording unit 21 disables the ACC control due to the interrupted vehicle, and registers the own vehicle position detected in step S1 as a control impossible point due to this, and ends the processing.
[0070]
[Display control processing by vehicle information presentation device]
Next, the processing procedure of the display control processing when displaying the uncontrollable point in step S6 of the information presentation processing described above will be described with reference to FIG.
[0071]
First, in step S61, the information presentation control unit 22 reads the own vehicle surrounding situation information from the surrounding road situation search unit 3 to detect the own vehicle position. In step S62, the lane keeping control device 11 and the ACC control device 12 It is determined whether or not the vehicle is running. If it is determined that automatic driving is being performed, the process proceeds to step S63. If it is determined that automatic driving is not being performed, the process proceeds to step S64. In this display control process, the own vehicle position acquired in step S1 may be used.
[0072]
In step S63, the information presentation control unit 22 searches the controllable point where the current vehicle position is a controllable point and exists in the travel route of the vehicle based on the determination result in step S62. That is, the information presentation control unit 22 compares the own vehicle position acquired in step S61 with the control history information registered in the control history recording unit 21, and determines the registered uncontrollable point from the own vehicle position. It is determined whether it is within the distance. If it is determined that the uncontrollable point is not within the specified distance from the own vehicle position, the process returns to step S61 without displaying information relating to the automatic control, and that the uncontrollable point is within the specified distance from the own vehicle position. If it is determined, the process proceeds to step S65.
[0073]
In step S65, the information presentation control unit 22 controls the display device 7 to display an uncontrollable point within a specified distance from the host vehicle position in step S63, and the process proceeds to step S67. At this time, the information presentation control unit 22 uses the map data of the reduced scale currently set in the display device 7 and sends display data for displaying the own vehicle position and the uncontrollable point on the map to the display device 7.
[0074]
On the other hand, in step S64 after determining in step S62 that the vehicle is not under the control operation, the information presentation control unit 22 may determine that the current own vehicle position is an uncontrollable point based on the determination result in step S62. Search for the start point of the controllable point existing on the traveling route of the vehicle. That is, the information presentation control unit 22 compares the own vehicle position acquired in step S61 with the control history information registered in the control history recording unit 21, and determines the registered controllable point from the own vehicle position. It is determined whether it is within the distance. If it is determined that the controllable point is not within the specified distance from the own vehicle position, the process returns to step S61 without displaying information related to the automatic control, and that the controllable point is within the specified distance from the own vehicle position. If it is determined, the process proceeds to step S66.
[0075]
In step S66, the information presentation control unit 22 controls the display device 7 to display a controllable point within a specified distance from the host vehicle position in step S64, and the process proceeds to step S67. At this time, the information presentation control unit 22 uses the map data of the scale currently set on the display device 7 and sends display data for displaying the position of the vehicle and the controllable point on the map to the display device 7.
[0076]
In step S67, the information presentation control unit 22 determines whether the uncontrollable point or the controllable point displayed in step S65 or step S66 is displayed on the display screen of the display device 7. If it is determined that the uncontrollable point or the controllable point is displayed on the display screen, the process ends, and if it is determined that the point is not displayed, the process proceeds to step S68.
[0077]
In step S68, the information presentation control unit 22 changes the scale displayed at step S65 or step S66 to a scale for wide-area display, displays an uncontrollable point or a controllable point, and ends the process. . At this time, the information presentation control unit 22 reads, from the peripheral road condition search unit 3, peripheral road condition information that is displayed in a wider area than the current scale, and re-displays the own vehicle position, the uncontrollable point, or the controllable point on the map. Create the display data to be displayed.
[0078]
In the display control process, the process of determining whether the vehicle is being controlled or not and displaying either the uncontrollable point or the controllable point is described. However, the present invention is not limited to this. May be displayed on a map.
[0079]
[Effects of Embodiment]
As described in detail above, according to the vehicle information presentation device according to the present embodiment, the uncontrollable point is registered, and when the uncontrollable point exists within a specified distance from the own vehicle position, Since the uncontrollable point is presented to the driver, it is possible to notify the driver in advance that the vehicle is traveling at the uncontrollable point. Therefore, according to the vehicle information presentation device, it is possible to reduce the driving operation burden when the own vehicle travels at the uncontrollable point. That is, by notifying the uncontrollable point in advance, the transition reaction speed to the manual operation that is not based on the automatic control of the lane keep control device 11 or the ACC control device 12 is increased.
[0080]
Further, according to the vehicle information presentation device, when the current own vehicle position is at an uncontrollable point, the controllable point can be notified in advance, the timing for switching to the automatic control is clarified, and the control is performed. It is possible to eliminate a situation in which manual driving is forced without knowing a possible point.
[0081]
Furthermore, according to this vehicle information presentation device, controllability or noncontrollability of the lane keeping control device 11 is registered based on the result of actually traveling on the road, and therefore cannot be predicted from map data including information such as curves and branches. The uncontrollable point and the controllable point of the lane keeping control device 11 due to the cause can be notified in advance on a map around the own vehicle. Therefore, according to the vehicle information presentation device, during the control of the lane keep control device 11, it is possible to increase the response speed to the manual driving when the lane keep control is interrupted. In addition, since the uncontrollable point of the lane keep control can be displayed on a map, when the driver desires the control driving by the lane keep control, the uncontrollable point of the plurality of routes is simultaneously presented to the driver. It is possible to select a route where a point where lane keeping control is possible is wide.
[0082]
Furthermore, according to this information display device for a vehicle, since a local uncontrollable point due to a faint white line or dirt when actually driving on a road is registered, a point where lane keeping control due to a faint white line or the like becomes impossible. May be notified in advance to urge manual driving.
[0083]
Furthermore, according to the vehicle information presentation device, even when lane keeping control is disabled on a multi-lane road due to fading or dirt of a white line, a central lane having a left lane, a right lane, or a left and right lane. Since the lane type of the section lane is classified and registered as an uncontrollable point, each lane type can be classified and notified in advance.
[0084]
Furthermore, according to this vehicle information presentation device, the white line is covered by rain when the vehicle actually travels on the road, and a local uncontrollable point is registered. The point at which the keep control becomes impossible can be notified in advance.
[0085]
Furthermore, according to this vehicle information presentation device, when the gravity value applied to the own vehicle in the vertical direction of the vehicle is large, the lane keeping control is registered as incapable of lane keeping control. The point of interruption can be notified in advance.
[0086]
Furthermore, according to this vehicle information presentation device, a point where lane keeping control is disabled many times due to a strong wind is registered as an uncontrollable point, so that an event with a strong cross wind speed frequently occurs. A point where lane keeping control becomes impossible as a cause can be notified in advance.
[0087]
Furthermore, according to this vehicle information presentation device, controllability or uncontrollability of the ACC control device 12 is registered based on the result of actually traveling on the road. The point and the controllable point can be notified in advance on a map around the own vehicle. Therefore, according to this vehicle information presentation device, the reaction time of the accelerator and brake operations when control is disabled during the control of the ACC control device 12 can be shortened. In addition, since the ACC control uncontrollable points can be displayed on the map, when the driver desires the control driving by the ACC control, the multiple control uncontrollable points are simultaneously presented to the driver to perform the ACC control. It is possible to select a route with a wide range of possible points.
[0088]
Furthermore, according to this vehicle information presentation device, a point where the ACC control by the interrupting vehicle is often disabled is registered as an uncontrollable point in association with the time information, so that the fact can be notified in advance. it can.
[0089]
Furthermore, according to this vehicle information presentation device, the number of times that the automatic control of the lane keep control device 11 and the ACC control device 12 is normally performed when the vehicle travels through the uncontrollable point registered in the control history recording unit 21 When the number reaches a predetermined number, the registered uncontrollable point can be changed to the controllable point and registered, and when the cause of the uncontrollable point is removed, it is corrected to new control history information. Can be presented. For example, when repairs such as faint white lines or irregular road surfaces are made, new information can always be presented without presenting an uncontrollable point.
[0090]
Furthermore, according to the vehicle information presentation device, when presenting the uncontrollable point, the distance from the own vehicle position to the uncontrollable point and the cause of the uncontrollability can be displayed in characters. Even if the vehicle does not have a map display function such as the F.32 or the map data editing function, it is possible to notify the uncontrollable point. Further, according to the vehicle information presentation device, the distance from the own vehicle position to the uncontrollable point and the cause of the uncontrollability can be notified by voice reading out, so that the driver does not need to visually check the display screen. Therefore, it is possible to eliminate the need to force the driver to move his / her gaze.
[0091]
Furthermore, according to the vehicle information presentation device, when the own vehicle reaches within a specified distance from the uncontrollable point, the vehicle behavior control unit 13 changes the acceleration / deceleration of the vehicle to control the traveling destination. It is possible to present that the impossible point exists, prevent the driver's line of sight from moving, and increase the arousal of the manual driving operation by distinguishing it from other information presentation.
[0092]
Furthermore, according to this vehicle information presentation device, when the own vehicle reaches within a specified distance from the uncontrollable point, the vehicle behavior control unit 13 changes the steering steering force so that the uncontrollable point is set at the destination. The presence of the vehicle can be indicated, the driver's line of sight can be prevented from moving, and the distinction from the other information can be increased, so that the prompting of the manual driving operation can be enhanced. In particular, at a point where lane keeping control becomes impossible, manual steering can be promoted by reducing the steering force.
[0093]
Furthermore, according to this vehicle information presentation device, when displaying the uncontrollable point, even if the map display is a detailed screen and the uncontrollable point is not displayed, the map is automatically switched to the wide area display. Thus, an uncontrollable point can be presented, so that an oversight of the uncontrollable point can be prevented.
[0094]
Note that the above embodiment is an example of the present invention. For this reason, the present invention is not limited to the above-described embodiment, and other than the present embodiment, various modifications may be made according to the design and the like within a range not departing from the technical idea according to the present invention. Can be changed.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a vehicle information presentation device to which the present invention is applied.
FIG. 2 is a flowchart showing a procedure of an information presenting process by a vehicle information presenting apparatus to which the present invention is applied.
FIG. 3 is a flowchart showing a processing procedure of a first controllable / impossible registration processing by a control history recording unit of the vehicle information presentation device to which the present invention is applied.
FIG. 4 is a diagram illustrating an example of displaying a host vehicle position, a driving road of the host vehicle, and an uncontrollable point;
FIG. 5 is a flowchart showing a processing procedure of a second controllable / impossible registration processing by a control history recording unit of the vehicle information presentation device to which the present invention is applied.
FIG. 6 is a flowchart illustrating a processing procedure of a third controllable / impossible registration processing by a control history recording unit of the vehicle information presentation device to which the present invention is applied.
FIG. 7 is a flowchart showing a processing procedure of a fourth controllable / impossible registration processing by the control history recording unit of the vehicle information presentation device to which the present invention is applied.
FIG. 8 is a flowchart showing a processing procedure of a display control process by an information presentation control unit of the vehicle information presentation device to which the present invention is applied.
[Explanation of symbols]
1 control unit
2 Automatic control device
3 Neighboring road situation search department
4 Cross wind anemometer
5 Clock section
6 Wiper switch
7 Display device
8 Speaker device
11 Lane keep control device
12 ACC controller
13 Vehicle behavior control unit
21 Control history recording unit
22 Information presentation control unit
31 Own vehicle position detector
32 Map data storage
41 Road
42 Own vehicle position
43 Out of Control

Claims (14)

Automatic control means for assisting driving, mounted on a vehicle equipped with a vehicle position detection means for detecting the position of the vehicle, a vehicle information presentation device for presenting information related to automatic control of the vehicle,
Control state information indicating that control of driving assistance is impossible or controllable output from the automatic control means, and a control disable point indicating the own vehicle position detected by the own vehicle position detecting means when the control state information is obtained or Storage means for accumulating control history information corresponding to controllable points;
When it is determined that there is an uncontrollable point around the own vehicle by comparing the own vehicle position detected by the own vehicle position detecting means with the uncontrollable point or the controllable point registered as the control history information. And a presentation means for presenting an uncontrollable point. The automatic control means is a lane keep control device that performs control to maintain the vehicle in a lane laid on the traveling path,
2. The vehicle information presentation according to claim 1, wherein the storage unit stores control history information in which control state information that disables the control of the lane keeping control device is associated with an uncontrollable point. apparatus. The lane keeping control device includes a white line recognition unit that recognizes a white line on a road on which the own vehicle runs,
The storage means accumulates control history information in which control state information that white line recognition is not possible due to white line blurring or white line contamination from the white line recognition means is associated with a control impossible point. Item 3. The vehicle information presentation device according to Item 2. The white line recognition means recognizes and distinguishes the lane type of the road on which the vehicle runs,
4. The storage unit according to claim 3, wherein the storage unit stores control history information in which white line recognition from the white line recognition unit is classified as a lane type and the control state information indicating that white line recognition is not possible is associated with an uncontrollable point. A vehicle information presentation device according to claim 1. The lane keeping control device includes a white line recognition unit that recognizes a white line on a road on which the own vehicle runs,
The storage means, when it has been determined that rainy weather from the sensor signal from the wiper state detection sensor that detects the state of the wiper mounted on the vehicle, and from the white line recognition means information that white line recognition is not possible, 3. The vehicle information presentation device according to claim 2, wherein control history information in which control state information indicating that the white line cannot be recognized due to rainy weather and control uncontrollable points are stored. The storage means determines the occurrence of gravity in the vehicle vertical direction from a sensor signal from a gravity sensor that detects gravity in the vertical direction of the vehicle, and when acquiring information that disables the control of the lane keep control device, 3. The vehicle information according to claim 2, wherein control history information that associates control state information indicating that lane keeping control cannot be performed due to the occurrence of gravity in the vertical direction of the vehicle and a control impossible point is stored. Presentation device. The storage means determines from the sensor signal from the wind speed sensor that a strong wind has been applied to the vehicle and obtains information that disables the control of the lane keeping control device at a predetermined number of times at the same vehicle position. When the number of times is equal to or more than the number of times, the control state information that the lane keeping control is impossible due to the application of the strong wind and the control history information that associates the uncontrollable point with the control state information are accumulated. Item 3. The vehicle information presentation device according to Item 2. The automatic control means is an inter-vehicle tracking control device that adjusts the speed of the own vehicle based on the distance from the own vehicle to the preceding vehicle,
2. The vehicle information presentation according to claim 1, wherein the storage unit stores control history information in which control state information in which control of the inter-vehicle follow-up control device is disabled and control uncontrollable points are associated with each other. apparatus. The storage means inputs the time information, and when the number of times that the information of the control of the inter-vehicle follow-up control device is interrupted and disabled by the vehicle becomes equal to or greater than the predetermined number at substantially the same time and the own vehicle position. 9. The vehicle information presentation apparatus according to claim 8, wherein control history information in which control state information indicating that inter-vehicle follow-up control by the interrupting vehicle is not possible is associated with a control impossible point. The storage means can control the uncontrollable point when the control state information indicating the controllability is obtained from the automatic control means a predetermined number of times or more when traveling at the uncontrollable point stored as the control history information. The vehicle information presentation device according to any one of claims 1 to 9, wherein the control history information is changed to a point. The presenting means compares the own vehicle position with an uncontrollable point or a controllable point stored in the storage means, and the distance from the own vehicle position to the uncontrollable point in the vehicle traveling direction is longer than a specified distance. 11. The method according to claim 1, wherein when it is determined that the vehicle is close to the vehicle, the distance from the vehicle position to the uncontrollable point and the cause of the automatic control disabling corresponding to the uncontrollable point are output by voice or displayed in characters. A vehicle information presentation device according to any one of claims 1 to 3. The automatic control means includes a vehicle behavior control device that controls acceleration / deceleration of the vehicle or shaking of the vehicle,
The presenting means compares the own vehicle position with an uncontrollable point or a controllable point stored in the storage means, and the distance from the own vehicle position to the uncontrollable point in the vehicle traveling direction is longer than a specified distance. The vehicle information presentation device according to any one of claims 1 to 10, wherein when it is determined that the vehicle is near, the vehicle behavior control device is controlled to change the acceleration / deceleration of the vehicle or the shaking of the vehicle. . The automatic control means includes a vehicle behavior control device that controls a steering force of the vehicle,
The presenting means compares the own vehicle position with an uncontrollable point or a controllable point stored in the storage means, and the distance from the own vehicle position to the uncontrollable point in the vehicle traveling direction is longer than a specified distance. The vehicle information presentation device according to any one of claims 1 to 10, wherein when it is determined that the vehicle is close to the vehicle, the vehicle behavior control device is controlled to change the steering force of the vehicle. The presenting means compares the own vehicle position with an uncontrollable point or a controllable point stored in the storage means, and the distance from the own vehicle position to the uncontrollable point in the vehicle traveling direction is longer than a specified distance. When it is determined that it is close, the display data for displaying the own vehicle position and the uncontrollable position on the map is created, and when the uncontrollable position is not displayed on the display screen, the display scale is changed to a wide area. The vehicle information presentation device according to any one of claims 1 to 10.

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