JP2018081539A - Controller, control method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method for notifying a driver of information with higher reliability.SOLUTION: The present invention provides a controller 10 including a processing unit 11 for processing detection data of an on-vehicle sensor, and a controller 12. The controller selects one or more output device(s) from among a plurality of output devices, based on processing results by the processing unit 11, and makes the selected output device(s) perform output operation in accordance with the processing results.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a control device, a control method, and a program.

  Patent Document 1 discloses a head-up display device mounted on a vehicle. The head-up display device projects a warning image on the screen.

JP2015-74391A

  It is possible to notify the driver of predetermined information by presenting information or giving a warning via an output device such as a display, a speaker, or a lamp. By combining a plurality of output devices, predetermined information can be notified to the driver more reliably. However, some drivers find it annoying to be provided with a lot of information. Such a driver may be insensitive to information output from the output device. As a result, inconveniences such as the driver not being aware of the information to be notified may occur.

  An example of the subject of this invention is providing the method of conveying information reliably by a driver.

The present invention described in claim 1
A processing unit for processing detection data of the in-vehicle sensor;
A control unit that selects one or a plurality of output devices from a plurality of output devices based on the processing results by the processing unit, and causes the selected output devices to perform an output operation according to the processing results;
Is a control device.

The invention according to claim 11
Computer
A process for processing the detection data of the in-vehicle sensor;
A control step of selecting one or a plurality of output devices from a plurality of output devices based on the processing results in the processing step, and causing the selected output devices to perform an output operation according to the processing results;
Is a control method for executing

The invention according to claim 12
Computer
Processing means for processing the detection data of the in-vehicle sensor;
Control means for selecting one or a plurality of output devices from a plurality of output devices based on the processing results by the processing means, and causing the selected output devices to perform an output operation according to the processing results;
It is a program that functions as

It is a figure which shows an example of the functional block diagram of the control apparatus of this embodiment. It is a block diagram which shows an example of the hardware constitutions of the control apparatus of this embodiment. It is a flowchart which shows an example of the flow of a process of the control apparatus of this embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, the same reference numerals are given to the same components, and the description will be omitted as appropriate.

  First, an outline of the present embodiment will be described. The control device of the present embodiment is an on-vehicle device mounted on a vehicle. The vehicle can have an automatic driving function. The control device controls the host vehicle (a vehicle on which the control device is mounted; the same applies hereinafter) and controls an output device mounted on the host vehicle. Examples of the output device include a display device (eg, a stationary display device, a head-up display device, a head-mounted display device, etc.), a speaker, a lamp, a vibration generating device, and the like.

  The control device includes a processing unit and a control unit. The processing unit processes detection data of the in-vehicle sensor. The control unit controls the host vehicle based on the processing result of the processing unit. Moreover, a control part controls an output device based on the process result of a process part, and notifies the control content etc. of the own vehicle.

  The control unit selects one or a plurality of output devices from a plurality of output devices based on the processing result by the processing unit. Then, the control unit causes the selected output device to perform an output operation according to the processing result.

  According to such a control apparatus of the present embodiment, an output device that does not cause the same output device to perform an output operation uniformly regardless of the detection data processing result, but performs an output operation according to the detection data processing result. Can be changed.

  For example, for low-importance information, only the display device performs an output operation, and for high-importance information, a plurality of output devices including the display device and other output devices can perform the output operation. it can. Make the driver recognize that high-priority information has been notified by an output operation (output operation by the display device and another output device) that is different from the normal output operation (output operation only by the display device). Can do. As a result, highly important information can be notified to the driver more reliably.

  Next, the configuration of the control device of the present embodiment will be described in detail. The control device is an in-vehicle device mounted on the vehicle. The control device is, for example, an ECU (Electronic Control Unit).

  In FIG. 1, an example of the functional block diagram of the control apparatus 10 of this embodiment is shown. As illustrated, the control device 10 includes a processing unit 11 and a control unit 12.

  First, an example of a hardware configuration of the control device 10 that realizes these functional units will be described. Each functional unit includes an arbitrary computer CPU (Central Processing Unit), a memory, a program loaded into the memory, a storage unit such as a hard disk for storing the program (in addition to a program stored in advance from the stage of shipping the device) It is also possible to store a program downloaded from a storage medium such as a CD (Compact Disc) and SD, a server on the Internet, etc.), and an arbitrary combination of hardware and software centering on a network connection interface. It will be understood by those skilled in the art that there are various modifications to the implementation method and apparatus.

  FIG. 2 is a block diagram illustrating a hardware configuration of the control device 10 according to this embodiment. As shown in FIG. 2, the control device 10 includes a processor 1A, a memory 2A, an input / output interface 3A, a peripheral circuit 4A, and a bus 5A. The peripheral circuit 4A includes various modules. The peripheral circuit 4A may not be provided.

  The bus 5A is a data transmission path through which the processor 1A, the memory 2A, the peripheral circuit 4A, and the input / output interface 3A transmit / receive data to / from each other. The processor 1A is an arithmetic processing device such as a CPU or a GPU (Graphics Processing Unit). The memory 2A is a memory such as a RAM (Random Access Memory) or a ROM (Read Only Memory). The input / output interface 3A is an interface for acquiring information from an input device (eg, keyboard, mouse, microphone, touch panel display device, touch sensor, gesture interface, etc.), external device, external server, external sensor, etc., or an output device (Example: display device, speaker, lamp, vibration generating device, etc.), an external device, an interface for outputting information to an external server, and the like. The processor 1A can issue a command to each module and perform a calculation based on the calculation result.

  Next, the function of each functional unit shown in FIG. 1 will be described in detail.

  The processing unit 11 processes the detection data of the in-vehicle sensor. The type of in-vehicle sensor is not limited. For example, in-vehicle sensors include a camera that captures the exterior of the vehicle, a camera that captures the interior of the vehicle, and a rider that senses the exterior of the vehicle (LIDAR: Laser Illuminated Detection And Ranging, Laser Imaging Detection And Ranging or LiDAR: Light. Examples include, but are not limited to, sensors such as Detection And Ranging), radar, and a sensor that identifies the position of the vehicle (eg, a GPS (Global Positioning System) sensor).

  The processing unit 11 processes detection data from various on-vehicle sensors as described above, and inputs the processing result to the control unit 12. For example, the processing unit 11 processes the detection data of the rider and the radar, specifies an object located around the host vehicle (eg, forward), specifies the distance to the object, and road conditions (eg: The presence or absence of unevenness, the level of unevenness, etc.). In addition, the processing unit 11 processes an image captured by a camera that captures the outside of the host vehicle, and specifies attributes (eg, a person, a vehicle, a bicycle, a signboard, etc.) of an object located around the host vehicle, It is possible to predict the moving direction of the identified object. In addition, the processing unit 11 can process a captured image by a camera that captures the inside of the host vehicle, and can specify a driver's situation (eg, line-of-sight direction). Further, the processing unit 11 can detect the proximity of the switching position from the automatic driving to the manual driving based on the current position of the host vehicle and the map data, or can detect the proximity of the curve position having a curvature higher than a predetermined level. . In this case, a switching position from automatic operation to manual operation and a curve position with a curvature higher than a predetermined level are registered in advance in the map data.

  The processing unit 11 can employ any technique and calculate the processing result as described above. In addition, the processing content by the process part 11 illustrated here is an example to the last, and is not limited to these.

  The control unit 12 can determine the control content of the host vehicle based on the processing result of the processing unit 11. Further, the control unit 12 can determine the execution timing of the determined control content based on the processing result of the processing unit 11. And the control part 12 can make the own vehicle perform the control content determined at the determined execution timing.

  Examples of the control content of the host vehicle include right / left turn, deceleration, stop at a predetermined position, lane change, acceleration, left / right shift operation, and back, but are not limited thereto. The execution timing is determined, for example, t seconds after the current time. In normal times, it is executed with a certain margin between the notification (preliminary notice) of the control contents and the execution so as not to be a burden on the person in the vehicle. That is, the value of t is a relatively large value. On the other hand, in an emergency, it is executed as soon as possible with priority on avoiding accidents. In other words, the value of t is a relatively small value (for example, 0, that is, immediately executed).

  The algorithm for determining the control content and execution timing as described above from the processing result as described above by the processing unit 11 is a design matter, and any technique can be adopted. Further, the control means of the own vehicle is also a design matter, and any technique can be adopted.

  Further, the control unit 12 selects one or a plurality of output devices from a plurality of output devices based on the processing result by the processing unit 11. Then, the control unit 12 causes the selected output device to perform an output operation according to the processing result.

  The output device is installed in the host vehicle. The output device includes, for example, at least one of a display device, a speaker, a lamp, and a vibration generating device. Examples of the display device include a stationary display device, a head-up display device, and a head-mounted display device. The vibration generator is installed at an arbitrary position where vibration can be transmitted to the driver. For example, the vibration generator may be installed on a seat on which a driver sits, or may be installed on a handle. The configuration of the vibration generator is a design matter.

  When the result of processing by the processing unit 11 indicates a situation requiring a predetermined warning, the control unit 12 selects at least one of a speaker, a lamp, and a vibration generating device to perform a warning operation. The warning operation includes output of a warning sound (eg, beep sound, siren sound, etc.) from a speaker, output of warning information, lighting or blinking of a lamp, generation of vibration by a vibration generating device, and the like.

  When the processing result by the processing unit 11 indicates a situation requiring a predetermined warning, the control unit 12 selects a display device in addition to at least one of a speaker, a lamp, and a vibration generating device. The warning information may be displayed on the display device.

  That is, when the processing result by the processing unit 11 indicates a situation requiring a predetermined warning, the control unit 12 includes a plurality of outputs including a display device and at least one of a speaker, a lamp, and a vibration generating device. The apparatus may perform an output operation. In such a case, the warning content can be notified to the driver more reliably.

  The situation where the processing result by the processing unit 11 requires a predetermined warning is, for example, a situation requiring an emergency operation of the vehicle, a situation requiring a change in the behavior of the vehicle, a situation requiring switching from automatic driving to manual driving, a predetermined level It may include at least one of the above-described curvature approach and a predetermined road condition.

  The situation requiring the emergency operation of the vehicle is determined, for example, based on the processing result of the processing unit 11 to cause the host vehicle to execute a predetermined operation (eg, deceleration, stop, lane change, etc.) within T seconds from the present time. This is the case. The specific value of T is a design matter. In such a case, the display device can output, as warning information, a notification that an emergency operation is to be performed, the details of the operation, the timing for performing the emergency operation, and the like. For example, the display device may output information such as “emergency stop” as warning information. In addition to this, at least one of the speaker, the lamp, and the vibration generator can perform a warning operation.

  The situation requiring the change in the behavior of the vehicle is determined in advance based on the processing result of the processing unit 11 such as right / left turn, lane change, deceleration, acceleration, stop, left / right shift operation, back, etc. This is a case where a predetermined operation is determined. In such a case, the display device can output, as warning information, a notification that there is a change in the behavior of the vehicle, the details of the operation, the timing for performing the operation, and the like. For example, the display device may output information such as “decelerate after XX seconds” as warning information. In addition to this, at least one of the speaker, the lamp, and the vibration generator can perform a warning operation.

  The predetermined road condition is, for example, a case where the unevenness on the road surface ahead of the host vehicle is determined to be equal to or higher than a predetermined level based on the processing result of the processing unit 11. In such a case, the display device can output the detected road condition or the like as warning information. For example, the display device may output information such as “the road ahead is bumpy” as warning information. In addition to this, at least one of the speaker, the lamp, and the vibration generator can perform a warning operation.

  The situation that requires switching from automatic operation to manual operation is, for example, a case where it is determined that switching from automatic operation to manual operation is necessary based on the processing result of the processing unit 11. In such a case, the display device can output the fact as warning information. For example, the display device may output information such as “switching from automatic operation to manual operation is necessary” as warning information. In addition to this, at least one of the speaker, the lamp, and the vibration generator can perform a warning operation.

  A curve approach having a curvature of a predetermined level or higher is specified based on the processing result of the processing unit 11, for example. The processing unit 11 specifies the curve approach in advance based on the current position of the host vehicle, the determined route to the destination, and the map data. In such a case, the display device can output the fact as warning information. For example, the display device may output information such as “entering a large curve” as warning information. In addition to this, at least one of the speaker, the lamp, and the vibration generator can perform a warning operation.

  When the processing result by the processing unit 11 indicates a situation requiring a predetermined warning as described above, the control unit 12 identifies at least one of the driver's situation and the in-vehicle situation of the host vehicle, and the identification result Based on the above, at least one of a speaker, a lamp, and a vibration generator may be selected.

  For example, the control unit 12 may specify the noise level in the vehicle by any means. And the control part 12 may select at least 1 among a lamp | ramp and a vibration generator, when the noise level in a vehicle is more than predetermined level.

  As another example, the control unit 12 may specify the direction in which the driver faces (direction of the driver's line of sight) by any means. The control unit 12 may select at least one of the speaker and the vibration generating device when the driver does not look at the lamp direction.

  In this way, the control unit 12 may select an output device that can more reliably notify the driver of a warning based on the driver's situation and the in-vehicle situation of the host vehicle.

  In addition, when the processing result by the processing unit 11 does not indicate a situation requiring a predetermined warning, the control unit 12 selects a display device without selecting a speaker, a lamp, and a vibration generation device, and performs processing on the display device. Information about the result can be displayed. The information related to the processing result includes, for example, the processing result itself (eg, an object detected in the vicinity of the host vehicle, its attribute, its position, etc.), the control content and execution timing of the host vehicle determined based on the processing result. Etc.

  In addition, when the control unit 12 causes the speaker to perform an output operation according to the processing result, if the speaker outputs another sound, the control unit 12 stops the output of the other sound and performs the output operation according to the processing result. Priority can be given.

  Next, an example of the flow of processing of the control device 10 of this embodiment will be described using the flowchart of FIG.

  In S <b> 10, the processing unit 11 continuously acquires and processes detection data from the vehicle-mounted sensor of the host vehicle. Then, the processing unit 11 inputs the processing result to the control unit 12 in real time. The control unit 12 determines the control content and execution timing of the host vehicle based on the processing result of the processing unit 11. Then, the control part 12 makes the own vehicle perform the content determined at the determined execution timing.

  In S <b> 11, the control unit 12 selects an output device that performs an output operation according to the processing result based on the processing result by the processing unit 11. In S <b> 12, the control unit 12 causes the output device selected in S <b> 11 to perform an output operation according to the processing result by the processing unit 11.

  For example, when the processing result indicates a situation that requires a predetermined warning, at least one of a speaker, a lamp, and a vibration generator and a display device are selected. At least one of the speaker, the lamp, and the vibration generator performs a warning operation. For example, the speaker outputs a warning sound (e.g., beep sound, siren sound, etc.), outputs warning information, and the like. The lamp is lit or flashing. The vibration generator generates vibration. Then, the display device displays warning information.

  On the other hand, when the processing result does not indicate a situation requiring a predetermined warning, the speaker, the lamp, and the vibration generating device are not selected, and the display device is selected. The display device is information related to the processing result, for example, the processing result itself by the processing unit 11 (for example, an object detected in the vicinity of the host vehicle, its attribute, its position, etc.) and the self-determined based on the processing result. The control contents and execution timing of the vehicle are displayed.

  As described above, according to the control device 10 of the present embodiment described above, based on the processing result of the detection data of the in-vehicle sensor, the output device that performs the output operation according to the processing result is selected, and the selected output device performs the output operation. Can be performed.

  According to the control device 10 of the present embodiment as described above, an output that causes an output operation to be performed according to a detection data processing result, instead of causing the same output device to perform an output operation uniformly regardless of the detection data processing result. You can change the device.

  For example, when the detection data processing result indicates a situation that requires a warning, warning information can be displayed by the display device and a warning operation can be performed by at least one of a speaker, a lamp, and a vibration generator. . If the processing result of the detection data does not indicate a situation that requires a warning, the output operation by the speaker, the lamp, and the vibration generator is not performed, and only the information on the processing result by the display device can be displayed. .

  In this way, the normal output is minimized (output operation only for the display device), and the output when the warning is required is increased from the normal time (output operation by the display device and other output devices). It is possible to make the driver sensitive to the output operation when required. As a result, the information to be notified to the driver can be more reliably notified to the driver.

  In addition, by minimizing the normal output, it is possible to reduce the inconvenience that seems to be annoying to the driver due to excessive information to be provided. As a result, the driver can be made sensitive to information output from the output device, and information to be notified to the driver can be more reliably notified to the driver.

  During automatic driving, the driver may be distracted by other things. According to the control device 10 of the present embodiment that can make the driver sensitive to the information output from the output device by the means as described above, the information to be notified to the driver is more reliable even during automatic driving. The driver can be notified.

  Further, according to the control device 10 of the present embodiment, it is possible to select at least one of a speaker, a lamp, and a vibration generating device based on the driver's situation and the in-vehicle situation, and perform an output operation. That is, it is possible to select an output device that can transmit a warning to the driver more reliably under the circumstances, and to perform an output operation. As a result, the information to be notified to the driver can be more reliably notified to the driver.

  Further, according to the control device 10 of the present embodiment, when the speaker outputs another sound according to the processing result, if the speaker outputs another sound, the output of the other sound is stopped, and the processing result It is possible to give priority to the output operation according to the above. As a result, the information to be notified to the driver can be more reliably notified to the driver.

  As mentioned above, although embodiment and the Example were described with reference to drawings, these are illustrations of this invention and can also employ | adopt various structures other than the above.

1A processor 2A memory 3A I / O I / F
4A peripheral circuit 5A bus 10 control device 11 processing unit 12 control unit

Claims (12)

A processing unit for processing detection data of the in-vehicle sensor;
A control unit that selects one or a plurality of output devices from a plurality of output devices based on the processing results by the processing unit, and causes the selected output devices to perform an output operation according to the processing results;
Control device. The control device according to claim 1,
The plurality of output devices are a control device including a display device and at least one of a speaker, a lamp, and a vibration generator. The control device according to claim 2,
When the processing result indicates a situation requiring a predetermined warning, the control unit selects at least one of a speaker, a lamp, and a vibration generation device and performs a warning operation. The control device according to claim 3,
The control unit selects a display device and displays warning information on the display device in addition to at least one of a speaker, a lamp, and a vibration generator when the processing result indicates a situation requiring the warning. Control device to let you. The control device according to claim 3 or 4,
The situation requiring the warning includes a situation requiring an emergency operation of the vehicle, a situation requiring a change in the behavior of the vehicle, a situation requiring switching from automatic driving to manual driving, entering a curve with a curvature exceeding a predetermined level, and a predetermined road A control device including at least one of the situations. The control device according to any one of claims 3 to 5,
The control unit is a control device that specifies at least one of a driver's situation and an in-vehicle situation, and selects at least one of a speaker, a lamp, and a vibration generation device based on the identification result. The control device according to claim 6,
The said control part is a control apparatus which selects at least 1 among a lamp | ramp and a vibration generator, when the noise level in a vehicle is more than predetermined level. The control device according to claim 6 or 7,
The control unit is a control device that selects at least one of a speaker and a vibration generator when the driver does not look at the lamp direction. The control device according to any one of claims 2 to 8,
When the processing result does not indicate a situation requiring the warning, the control unit selects a display device without selecting a speaker, a lamp, and a vibration generation device, and causes the display device to display information about the processing result. apparatus. The control device according to any one of claims 2 to 9,
When the speaker outputs another sound according to the processing result when the speaker outputs another sound, the control unit stops the output of the other sound and performs the output operation according to the processing result. A control device that is given priority. Computer
A process for processing the detection data of the in-vehicle sensor;
A control step of selecting one or a plurality of output devices from a plurality of output devices based on the processing results in the processing step, and causing the selected output devices to perform an output operation according to the processing results;
Control method to execute. Computer
Processing means for processing the detection data of the in-vehicle sensor;
Control means for selecting one or a plurality of output devices from a plurality of output devices based on the processing results by the processing means, and causing the selected output devices to perform an output operation according to the processing results;
Program to function as.

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