JP2017004470A - Notification processor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a notification processor for enabling a driver to always grasp the state of travel control while hardly generating an influence on driver's visual recognition of the front of a vehicle.SOLUTION: A notification processor (10) to be used for a vehicle which can travel in a driving assist mode for performing travel control for assisting a driving operation on the basis of a recognition object includes: a recognition result specification parts (10, S101 to S103, S401 to S403, S501 to S502) for specifying the recognition result of the recognition object; and notification processing parts (10, S104 to S107, S203) for performing processing to always notify a driver of the recognition result specified by the recognition result specification part in the driving assist mode. The notification processing part performs processing to notify the driver of the recognition result by stimulating at least one of a sense of hearing and a sense of touching of the driver.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a notification processing device that performs processing for notifying a driver.

  In order to reduce the burden of driving operation by a driver of a vehicle, an inter-vehicle distance control device that performs traveling control for tracking a preceding vehicle as a recognition target is known (see Patent Document 1). A vehicle equipped with this type of inter-vehicle distance control device detects, for example, the inter-vehicle distance from a preceding vehicle when a set switch is pressed, and controls engine output and brakes so that the detected inter-vehicle distance becomes the set inter-vehicle distance. To track the preceding vehicle. The state of such traveling control is notified to the driver by being displayed on a display device that can be visually recognized by the driver.

JP-A-8-192663

  However, in the above-described configuration, the driver needs to frequently visually recognize a display device that displays the state of traveling control in addition to the display of, for example, a speedometer and navigation, in order to constantly grasp the state of traveling control. was there. That is, a new visual task is added, and as a result, it takes a long time for the driver to remove his / her line of sight from the front of the vehicle. However, if the driver gives priority to visual recognition in front of the vehicle, the frequency of confirmation of the display device decreases, and recognition when the state of the travel control changes is delayed. For example, when the state of the traveling control changes according to the recognition result of the recognition target, there is a possibility that the time until the driver recognizes the change may be long. Such a problem may occur not only in the traveling control for tracking the preceding vehicle, but also in other traveling controls that assist the driving operation based on the recognition target.

  One aspect of the present disclosure has been made in view of these problems, and is a notification process capable of allowing the driver to constantly grasp the state of travel control while making it difficult for the driver to affect the visual recognition of the front of the vehicle. The object is to provide a device.

  One aspect of the present disclosure is a notification processing device that is used in a vehicle capable of traveling in a driving assistance mode that performs driving control that assists a driving operation based on a recognition target, the recognition result specifying unit, and a notification processing unit And comprising. The recognition result specifying unit specifies the recognition result of the recognition target. The notification processing unit performs a process of constantly notifying the driver of the recognition result specified by the recognition result specifying unit in the driving assistance mode. Further, the notification processing unit performs a process of notifying the driver of the recognition result by stimulating at least one of the driver's hearing and touch.

  According to such a configuration, the driver can always recognize the recognition result of the recognition target (and thus the state of travel control) by at least one of hearing and touch. Therefore, it is possible to make the driver always know the state of the traveling control while making it difficult for the driver to affect the visual recognition of the front of the vehicle.

  In addition, the code | symbol in the parenthesis described in the claim shows the correspondence with the specific means as described in embodiment mentioned later as one aspect, Comprising: The technical scope of this invention is limited is not.

It is a block diagram which shows the structure of an alerting | reporting system. It is a flowchart of a 1st alerting | reporting process. It is the figure which showed the time-dependent change of the pitch of a sound according to a recognition result. It is a flowchart of the 2nd information processing. It is a flowchart of a feature information transmission process. It is a flowchart of the characteristic information specific process by vehicle-to-vehicle communication. It is a figure which shows the icon of the vehicle displayed on the display part. FIG. 8A is a diagram showing that the display color of the vehicle icon is changed according to the paint color of the preceding vehicle, and FIG. 8B is a diagram showing that the vehicle type is changed according to the vehicle type of the preceding vehicle. is there. It is a flowchart of the characteristic information specific process by sensing.

Embodiments to which the present invention is applied will be described below with reference to the drawings.
[1. First Embodiment]
[1-1. Constitution]
The notification system 1 shown in FIG. 1 is mounted on a vehicle 100 capable of traveling in a driving assistance mode in which traveling control for assisting a driving operation is performed based on a recognition target. In the travel control referred to in the present embodiment, accelerator control and brake control are performed based on the preceding vehicle 200 as a recognition target (assuming the accelerator operation and the brake operation among the driving operations), and the following traveling of the preceding vehicle 200 is realized. Include at least adaptive cruise control.

  The notification system 1 includes an ECU (Electronic Control Unit) 10, a communication unit 21, a sensor 22, a GPS receiver 23, a display unit 31, a vibration device 32, and a speaker 33. In the following description, the vehicle 100 on which the notification system 1 is mounted is referred to as “own vehicle 100”. The preceding vehicle 200 is a vehicle that travels in the same lane as the host vehicle 100 and travels in front of the host vehicle 100.

  The ECU 10 is an electronic control device including a CPU 11, a ROM 12, and a RAM 13, and performs overall control of the notification system 1 when the CPU 11 executes a process according to a program recorded on a recording medium such as the ROM 12.

  The communication unit 21 is a device that performs inter-vehicle communication with other vehicles (peripheral vehicles) existing around the host vehicle 100. Other vehicles (peripheral vehicles) mentioned here include a vehicle (following vehicle) that travels in the same lane as the host vehicle 100 and travels behind the host vehicle 100 in addition to the preceding vehicle 200, and the host vehicle. A vehicle (parallel vehicle) traveling in a lane different from 100 may be included.

  The sensor 22 is a device that detects the presence / absence of the preceding vehicle 200 and the relative position of the preceding vehicle 200 with respect to the host vehicle 100. The sensor 22 may be one or more selected from a laser radar, a millimeter wave radar, a camera, and an image sensor. In the present embodiment, at least a camera is provided as the sensor 22.

  The GPS receiver 23 is a device that receives a transmission signal from an artificial satellite for GPS (Global Positioning System) and detects the position coordinates of the host vehicle 100.

  The display unit 31 is a display device and is an output device that stimulates the driver's vision. Stimulating the driver's vision here means that the driver can visually recognize. The display unit 31 is disposed on the meter panel. Note that a display of a car navigation device may be used instead of the meter panel or in addition to the meter panel.

  The vibration device 32 is an output device that stimulates the driver's tactile sense by vibration. The vibration device 32 vibrates, for example, a handle, a brake pedal, and a seat. A plurality of haptic output devices may be used to generate different haptic effects.

  The speaker 33 is an output device that stimulates the auditory sense of sound to the occupant (at least the driver) of the host vehicle 100. For example, music reproduced by the audio function, route guidance sound by the car navigation function, and the like are output from the speaker 33.

By the way, the preceding vehicle 200 illustrated in the present embodiment includes an ECU 50, a communication unit 61, and a GPS receiver 62, as shown in FIG.
The ECU 50 is an electronic control device that includes a CPU 51, a ROM 52, and a RAM 53, and the CPU 51 executes processing according to a program recorded on a recording medium such as the ROM 52.

The communication unit 61 is a device that performs inter-vehicle communication with other vehicles (peripheral vehicles) existing around the preceding vehicle 200.
The GPS receiver 62 is a device that receives a transmission signal from a GPS artificial satellite and detects the position coordinates of the preceding vehicle 200.

[1-2. processing]
[1-2 (Part 1). First notification process]
Next, the first notification process executed by the ECU 10 at predetermined time intervals (for example, every 100 ms) according to the program in the driving assistance mode in which adaptive cruise control is executed will be described with reference to the flowchart of FIG. The first notification process is started when the operation mode of the host vehicle 100 shifts from the normal mode in which adaptive cruise control is not executed to the driving assistance mode in which adaptive cruise control is executed.

  First, ECU10 performs the process which acquires a captured image from the camera of the sensor 22 (S101). ECU10 determines whether the preceding vehicle 200 exists in the acquired captured image (S102). When it is determined that the preceding vehicle 200 exists (S102: YES), the ECU 10 performs a process of determining whether the type of the preceding vehicle 200 is classified as a large vehicle, a normal vehicle, or a light vehicle ( S103). Specifically, pattern matching for analyzing the captured image is performed using a template of each vehicle type recorded in advance in the ROM 12, and the vehicle type is determined.

  Subsequently, the ECU 10 performs processing for notifying the driver of the determined vehicle type by sound and vibration (S105 to S107), and ends the first notification processing. The notification by sound and vibration is performed by changing the sound pitch and the strength of vibration over time according to different patterns depending on the vehicle type of the preceding vehicle 200. Specifically, as shown in FIG. 3, the pitch of the sound is changed over time according to the vehicle type determination result. When the first frequency, the second frequency, the third frequency, and the fourth frequency are referred to as the first to highest sounds, respectively, when the determined vehicle type is a light vehicle, the first frequency is given to the driver. Inform intermittently. When the determined vehicle type is changed to a normal vehicle, notification is intermittently performed at the second frequency, and when the vehicle type is changed to a large vehicle, notification is intermittently performed at the third frequency.

  On the other hand, when it is determined in S102 that the preceding vehicle 200 does not exist (S102: NO), the ECU 10 performs a process of intermittently informing at the fourth frequency (S104), and ends the first informing process.

Similarly, the vibration is intermittently notified, and the strength of the vibration is changed over time according to the determination result of the vehicle type.
[1-2 (Part 2). Second notification process]
Next, in the driving assistance mode in which adaptive cruise control is executed, the second notification process executed by the ECU 10 at predetermined time intervals (for example, every 100 ms) according to the program will be described with reference to the flowcharts of FIGS. 4 and 6. explain. The second notification process is started when the operation mode of the host vehicle 100 shifts from the normal mode in which adaptive cruise control is not performed to the driving assistance mode in which adaptive cruise control is performed. That is, the second notification process is executed in parallel with the first notification process.

  As shown in FIG. 4, first, the ECU 10 executes a feature information specifying process (S201). The specific contents of the feature information specifying process are shown in the flowchart of FIG. Here, before describing the content of the feature information specifying process, the feature information transmission process executed by the preceding vehicle 200 will be described with reference to the flowchart of FIG. The feature information transmission process is executed by the ECU 50 at predetermined time intervals (for example, every second) while the ignition switch of the preceding vehicle 200 is on.

  First, the ECU 50 acquires feature information of the preceding vehicle 200 (S301). The characteristic information is information representing the appearance characteristics of the vehicle, and includes, for example, the paint color of the vehicle, the color of the license plate, the vehicle type, the shape of the tail lamp, and the like. In the present embodiment, feature information representing the paint color of the preceding vehicle 200 recorded in advance in the ROM 52 is read out. Next, the ECU 50 detects position information of the preceding vehicle 200 (S302). Specifically, the current position information (absolute position) of the preceding vehicle 200 is detected by the GPS receiver 62. Next, the ECU 50 broadcasts the feature information acquired in S301 and the position information detected in S302 via the communication unit 61 (S303), and ends the feature information transmission process. In the present embodiment, it is assumed that such feature information transmission processing is similarly executed in surrounding vehicles other than the preceding vehicle 200. That is, the feature information (paint color) and the current position information about the surrounding vehicle are periodically transmitted from the surrounding vehicles existing around the host vehicle 100.

Next, specific contents of the above-described feature information specifying process (S201) will be described with reference to the flowchart of FIG.
First, the ECU 10 receives feature information and position information, which are information broadcast from surrounding vehicles (S401). Next, the ECU 10 determines whether or not the position information received from the surrounding vehicle includes the position information of the preceding vehicle 200 (S402). Specifically, the position information (absolute position) of the preceding vehicle 200 calculated based on the relative position of the preceding vehicle 200 detected by the sensor 22 and the absolute position of the host vehicle 100 detected by the GPS receiver 23. ) And the position information (absolute position) received from the surrounding vehicle, it is determined whether or not the position information of the preceding vehicle 200 is included in the one or more position information received from the surrounding vehicle. When the ECU 10 determines that the position information received from the surrounding vehicle includes the position information of the preceding vehicle 200 (S402: YES), the ECU 10 identifies the feature information received together with the position information as the feature information of the preceding vehicle 200. (S403). The ECU 10 ends the feature information specifying process after the process of S403. On the other hand, if it is determined that the position information received from the surrounding vehicle does not include the position information of the preceding vehicle 200 (S402: NO), the ECU 10 ends the feature information specifying process without performing the process of S403. Note that the ECU 10 ends the feature information specifying process without performing the process of S403 even when no position information is received, for example, because there is no surrounding vehicle.

  Now, the above-described feature information specifying process is executed in S201 of FIG. 4, and when the process of S201 is completed, the process proceeds to S202. The ECU 10 selects display information to be displayed on the display unit 31 according to the feature information of the preceding vehicle 200 (S202). Specifically, when the paint color represented by the feature information is, for example, red, a red vehicle icon recorded in advance in the ROM 12 is selected as display information. For example, as shown in FIG. 8A, the ROM 12 stores in advance icons of a plurality of types of vehicles having different colors, and an icon corresponding to the paint color represented by the feature information is selected. Subsequently, the ECU 10 displays the selected display information on the display unit 31 (S203). For example, as shown in FIG. 7, a red vehicle icon is displayed on the display unit 31.

[1-3. effect]
According to the embodiment detailed above, the following effects can be obtained.
[1a]
In the driving assistance mode in which adaptive cruise control is executed, the ECU 10 determines whether there is a preceding vehicle 200 (S102). When it determines with the preceding vehicle 200 not existing (S102: NO), ECU10 performs the process which always alert | reports the recognition result in a driving assistance mode to a driver | operator (S104). On the other hand, when it is determined that the preceding vehicle 200 exists (S102: YES), the ECU 10 identifies the vehicle type of the preceding vehicle 200 (S103), and always operates in the driving assistance mode using the identified vehicle type as the recognition result of the preceding vehicle 200. A process of notifying the person is performed (S105 to S107). The notification of the recognition result (S104 to S107) is performed by stimulating the driver's hearing and touch.

  Therefore, according to the present embodiment, the driver can always grasp the recognition result of the preceding vehicle 200 (and thus the state of adaptive cruise control) by hearing and touch. Therefore, it is possible to make the driver always know the state of adaptive cruise control while making it difficult for the driver to affect the visual recognition of the front of the vehicle.

[1b]
The ECU 10 changes the pitch of the sound and the strength of vibration over time according to different patterns depending on the presence or absence of the preceding vehicle 200 and the vehicle type of the preceding vehicle 200 (S104 to S107). Therefore, according to this embodiment, not only when the preceding vehicle 200 exists but also when the preceding vehicle 200 does not exist, the driver always uses different patterns of sound and vibration according to the pattern. Can grasp. Furthermore, when the preceding vehicle 200 is present, the type of the preceding vehicle 200 is selected from a large vehicle, a normal vehicle, and a light vehicle, according to different patterns of sound and vibration according to each vehicle type. The driver can always grasp. In addition, when adaptive cruise control is not being performed, the driver is not notified by sound and vibration, so the driver can perform adaptive cruise control depending on the presence or absence of sound and vibration. It is possible to always grasp whether or not it is being executed. Therefore, the driver can drive with peace of mind while keeping his / her line of sight ahead of the vehicle without having to move his / her line of sight to the display unit 31 regardless of whether or not adaptive cruise control is being executed. be able to.

[1c]
ECU10 performs the 1st alerting | reporting process which makes a driver alert | report a vehicle model to be recognized by sound and vibration (S104-S107). In parallel with the first notification process, the ECU 10 performs a second notification process for displaying the recognition target paint color on the display unit 31 (S203). That is, in the present embodiment, the ECU 10 notifies the driver of the vehicle type of the preceding vehicle 200 with a sound and vibration pattern, and notifies the driver of the paint color of the preceding vehicle 200 with the vehicle icon. For example, when the host vehicle 100 is traveling on a road having a plurality of lanes, the preceding vehicle A is detected and the following vehicle is traveling. Think about the situation where has interrupted. Assuming a configuration in which the vehicle type to be recognized is notified by displaying it on the display unit 31 instead of sound or vibration, the driver performs traveling control with the vehicle A or vehicle B as the recognition target. In order to grasp whether the vehicle is driving, it is necessary to divert the line of sight from the front of the vehicle and move the line of sight to the display unit 31 during driving. On the other hand, according to the present embodiment, since the notification is performed with different patterns of sound and vibration according to the vehicle type to be recognized, the driver can recognize the recognition target without moving the line of sight to the display unit 31. The vehicle type can be grasped. In particular, according to the present embodiment, in order to display the paint color to be recognized, even if a vehicle C of the same vehicle type as the preceding vehicle A is interrupted between the preceding vehicle A and the host vehicle 100, the vehicle If the paint color of C is different from that of the vehicle A, the driver can grasp which of the vehicle A and the vehicle B is being subjected to travel control.

[1d]
The ECU 10 specifies the paint color that is the feature information of the preceding vehicle 200 from the feature information broadcasted from the surrounding vehicles (S401 to S403). Therefore, according to the present embodiment, by specifying the paint color of the preceding vehicle 200 by broadcast transmission, even if it is difficult to specify the paint color of the preceding vehicle 200 with sensors such as nighttime, fog, rain, etc. The driver can be notified of the paint color.

  In the first embodiment, the preceding vehicle 200 corresponds to an example of a recognition target, and the ECU 10 corresponds to an example of a notification processing device. S101 to S103 and S401 to S403 correspond to an example of processing as a recognition result specifying unit, and S104 to S107 and S203 correspond to an example of processing as a notification processing unit.

[2. Second Embodiment]
[2-1. Difference from the first embodiment]
Since the basic configuration of the second embodiment is the same as that of the first embodiment, the description of the common configuration will be omitted by using the same reference numerals, and differences will be mainly described.

  In the first embodiment described above, in the feature information specifying process, the feature information of the preceding vehicle 200 is specified by inter-vehicle communication. On the other hand, the second embodiment is different from the first embodiment in that processing for specifying the feature information of the preceding vehicle 200 by sensing is performed.

[2-2. processing]
Next, the feature information specifying process of the second embodiment executed by the ECU 10 instead of the feature information specifying process (FIG. 6) of the first embodiment will be described with reference to the flowchart of FIG.

  First, the ECU 10 senses the preceding vehicle 200 with the sensor 22 (S501). Specifically, a process of acquiring a captured image from the camera of the sensor 22 is performed. Next, the ECU 10 specifies the paint color of the preceding vehicle 200 obtained by analyzing the acquired captured image as characteristic information of the preceding vehicle 200 (S502). The ECU 10 ends the feature information specifying process after the process of S502.

[2-3. effect]
According to the second embodiment described in detail above, in addition to the effects [1a] to [1c] of the first embodiment described above, the following effects can be obtained.

[2a] According to the second embodiment, the feature information of the preceding vehicle 200 can be specified even if the host vehicle 100 and the preceding vehicle 200 do not perform inter-vehicle communication.
In the second embodiment, S101 to S103 and S501 to S502 correspond to an example of processing as a recognition result specifying unit.

[3. Other Embodiments]
As mentioned above, although embodiment of this invention was described, it cannot be overemphasized that this invention can take a various form, without being limited to the said embodiment.

[3a]
In the said embodiment, although the example which alert | reports a recognition result to a driver | operator by stimulating both a driver | operator's auditory sense and a tactile sense was shown as a method of alert | reporting a recognition result to a driver (S104-S107), a recognition result is shown. The method of notifying the driver is not limited to this. As an example of the method of notifying the driver of the recognition result, for example, informing the driver of the recognition result by stimulating any one of the auditory sense and tactile sense of the driver may be mentioned. Specifically, the vehicle type of the recognition result may be notified to the driver by sound stimulation. According to such a configuration, it is possible to notify the driver of the recognition result by stimulating only the auditory sense or the tactile sense without stimulating both the auditory sense and the tactile sense.

[3b]
In the said embodiment, although the example of the pattern from which a pitch differs as an auditory stimulus pattern which changes according to a recognition result (S104-S107, FIG. 3), the pattern of an auditory stimulus is limited to this. Instead, any pattern that can appeal to the driver's hearing is acceptable. Examples of different patterns that can appeal to the auditory sense include, for example, sound rhythm. In the above-described embodiment, an example of a pattern having different vibration strengths as a tactile stimulus pattern that varies depending on the recognition result is shown. However, the tactile stimulus pattern is not limited to this, and the driver's pattern is not limited to this. Any pattern that can appeal to the sense of touch is acceptable. Examples of different patterns that can appeal to the sense of touch include vibration rhythms. Furthermore, when notifying a plurality of different types of recognition results, a plurality of types of patterns that can appeal to the auditory sense may be combined, or a plurality of types of patterns that may be appealed to the tactile sense may be combined, or A pattern that can be appealed and a pattern that can be appealed to the sense of touch may be combined. Specifically, when the recognition result to be notified is the vehicle type and the inter-vehicle distance, for example, the vehicle type may be notified by the pitch of the sound, and the inter-vehicle distance may be notified by the sound rhythm. Further, for example, the vehicle type may be notified by the vibration intensity, and the inter-vehicle distance may be notified by the vibration rhythm. Further, for example, the vehicle type may be notified by the pitch of the sound, and the inter-vehicle distance may be notified by the strength of vibration. According to such a configuration, it is possible to notify the driver of different patterns rich in variations.

[3c]
In the above embodiment, an example of intermittent notification in which continuous generation of sound is interrupted in the middle (for example, beeping) is shown as notification by sound. However, notification by sound is not limited to this. . For example, it may be a continuous notification in which the generation of a beep-like sound is not interrupted in the middle. Moreover, in the said embodiment, although the example which alert | reports a sound low in order of the light vehicle, the normal vehicle, the large vehicle, and the preceding vehicle is shown (FIG. 3), it is not limited to this. For example, a high sound may be notified in the order of a light car, a normal car, a large car, and no preceding vehicle, and it is only necessary that the sound pitch be different depending on the recognition result. Moreover, in the said embodiment, although the example of the intermittent alerting | reporting by which the continuous generation | occurrence | production of a vibration is interrupted on the way was shown as alerting | reporting by a vibration, the alerting | reporting by a vibration is not limited to this. For example, it may be a continuous notification in which the generation of vibration is not interrupted in the middle. When the sound or vibration is interrupted for a long time, the driver feels anxiety that the driving control may not be performed, but according to such a structure of continuous notification, The anxiety is resolved.

[3d]
In the above embodiment, an example of adaptive cruise control is shown as the travel control. However, the travel control is not limited to this, and at least a part of the driving operation that the driver should perform based on the recognition target is performed. Any assisting travel control may be used. Examples of travel control other than adaptive cruise control include, for example, lane keep assist that detects a deviation from the travel lane and controls the steering operation so as to return the vehicle to the travel lane.

  In the driving assistance mode in which lane keeping assist is executed based on a lane line as a recognition target (for example, a white line), the driver recognizes the lane line recognition result by stimulating at least one of the driver's hearing and touch. The process of always informing is performed. For example, in the driving assistance mode in which lane keep assist is executed, the ECU 10 performs a process of acquiring a captured image from the camera of the sensor 22 and determining whether a white line exists in the acquired captured image. When it is determined that there is no white line, the ECU 10 performs a process of constantly notifying the driver of the recognition result in the driving assistance mode. On the other hand, when the ECU 10 determines that a white line exists, the ECU 10 identifies the external shape (solid line, broken line, etc.) of the white line, and always notifies the driver of the identified external shape as a recognition result of the white line in the driving assistance mode. Process. When the white line is a solid line, a high sound may be notified, when the white line is a broken line, a sound lower than the sound of the solid line may be notified, and when the white line does not exist, a lower sound may be notified to the driver. When the white line recognition result is a broken line, the driver may be notified of the rhythm of sound and the rhythm of vibration in accordance with the shape of the broken line. According to such a configuration, the recognition result of the white line (and thus the lane keep assist state) can always be grasped by hearing and touch.

[3e]
In the above embodiment, an example of displaying a paint color icon of a vehicle is shown as an external feature notification by stimulating vision (FIG. 8A). The present invention is not limited, and feature information on the back side of the preceding vehicle 200 may be displayed. Examples of the feature information on the back surface of the preceding vehicle 200 include the color of the license plate, the vehicle type, the shape of the tail lamp, and the like. Specifically, when the vehicle type is a large vehicle, an icon of the large vehicle is displayed on the display unit 31 as shown in FIG. According to such a configuration, the recognition of the driver and the recognition result of the preceding vehicle 200 can be matched, and the driver can easily grasp the recognition result of the preceding vehicle 200. Further, the visual appearance feature notification may be performed by deforming a vehicle icon or the like. According to such a configuration, the driver can instantly see the characteristic information of the preceding vehicle 200. Note that the display mode of the display unit 31 may be anything as long as it can finally appeal to the driver's vision.

[3f]
In the above-described embodiment, the configuration in which the peripheral vehicle periodically transmits the broadcast regardless of the state of the host vehicle is exemplified as the configuration for specifying the external feature (S303, S401). However, the present invention is not limited to this, and the own vehicle broadcasts the request to the surrounding vehicles as necessary, and when the surrounding vehicle receives the request, the location information and the feature information may be broadcast. Good. For example, the ECU 10 may broadcast the request to the surrounding vehicle via the communication unit 21, and when the surrounding vehicle receives the request, the location information and the feature information may be broadcast. According to such a configuration, the surrounding vehicles can reduce unnecessary transmissions.

[3g]
In the above embodiment, as an example of the configuration for identifying the recognition result in the first notification process, the captured image is acquired from the camera of the sensor 22 and the vehicle type of the preceding vehicle 200 is determined (S101 to S103). However, the configuration for specifying is not limited to this. The configuration for specifying the recognition result may be a configuration for specifying the feature information of the preceding vehicle 200 by inter-vehicle communication or sensing other than the camera, for example. According to such a configuration, the recognition result can be specified without using a camera.

[3h]
In the said embodiment, although the display part 31 has shown the example arrange | positioned on the display of a meter panel or a car navigation apparatus as arrangement | positioning of the display part 31, arrangement | positioning of the display part 31 is not limited to this, The display part 31 should just be arrange | positioned in the place which a driver | operator can visually recognize. As an example of the place where the driver can visually recognize, for example, a head-up display or the like can be cited.

[3i]
The functions of one component in the above embodiment may be distributed as a plurality of components, or the functions of a plurality of components may be integrated into one component. Further, at least a part of the configuration of the above embodiment may be replaced with a known configuration having the same function. Moreover, you may abbreviate | omit a part of structure of the said embodiment. In addition, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment. In addition, all the aspects included in the technical idea specified only by the wording described in the claim are embodiment of this invention.

[3j]
In addition to the ECU 10 described above, the present invention can also be realized in various forms such as a system including the ECU 10 as a constituent element, a program for causing a computer to function as the ECU 10, a medium storing the program, and the notification system 1. .

DESCRIPTION OF SYMBOLS 1 ... Notification system, 10 ... ECU, 21 ... Communication part, 22 ... Sensor, 23 ... GPS receiver, 31 ... Display part, 32 ... Vibration apparatus, 33 ... Speaker, 50 ... ECU, 61 ... Communication part, 62 ... GPS Receiver, 100 ... own vehicle, 200 ... preceding vehicle

Claims (7)

A notification processing device used for a vehicle capable of traveling in a driving assistance mode for performing driving control for assisting a driving operation based on a recognition target,
A recognition result specifying unit (10, S101 to S103, S401 to S403, S501 to S502) for specifying a recognition result of the recognition target;
A notification processing unit (10, S104 to S107, S203) for performing processing to always notify the driver of the recognition result specified by the recognition result specifying unit in the driving assistance mode;
With
The notification processing device (10), wherein the notification processing unit performs a process of notifying the driver of the recognition result by stimulating at least one of the driver's hearing and touch. The notification processing device according to claim 1,
The notification processing unit performs a process of notifying at least an external feature of the recognition target as the recognition result. The notification processing device according to claim 1 or 2, wherein
The notification processing unit is a notification processing device that changes the mode of stimulation for at least one of the auditory sense and tactile sense of the driver over time according to a different pattern according to the recognition result. A notification processing apparatus according to any one of claims 1 to 3, wherein
The notification processing unit performs a process of notifying the driver of at least an external characteristic of the recognition target as the recognition result by stimulating the driver's vision (10, S203). The notification processing device according to claim 4,
The driving assistance mode is an operation mode for assisting a driving operation based on a preceding vehicle as the recognition target,
The notification processing unit is a notification processing device that performs a process of notifying an appearance characteristic of the preceding vehicle. The notification processing device according to claim 5,
The notification processing device, wherein the appearance feature is specified by inter-vehicle communication with the preceding vehicle. The notification processing device according to claim 5 or 6,
The notification processing device, wherein the appearance feature is specified by sensing the preceding vehicle.

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