JP2019075073A - Automatic drive time information transmission method and information presentation device for vehicle - Google Patents

Abstract

To smoothly switch a first state in which drive control is automatically executed to a second state in which a degree of driver's involvement into the drive control is larger than that in the first state, and to suppress the comfortability of the automatic drive from being damaged.SOLUTION: Information is transmitted to a driver in an expression form where stimulation gradually changes from an initial state according as a handover scheduled spot is approaching from a position much closer than the handover scheduled spot. Image display irrelevant to drive is gradually darkened, or the size is adjusted. A state in which the scheduled spot is gradually approaching is expressed in display expressing the scheduled spot. An output volume of content such as music is gradually reduced. The output of specific music or the like suggesting an end is added, and the volume is gradually increased. Thus, it is possible to enable the driver to notice the schedule of handover from an early time point without giving large stimulation.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a method of transmitting information at the time of automatic driving that can be used in a vehicle capable of automatic driving, and a device for presenting information for a vehicle.

  In the automobile manufacturing industry, technologies for automating part of driving operations and automatic driving technologies in which a system including a computer automatically performs almost all driving operations on behalf of a passenger are being developed (for example, patents Document 1, Patent Document 2).

  The driving support system of Patent Document 1 shows a technique for enabling the driver to immediately grasp surrounding traffic conditions when canceling automatic driving. Specifically, when a notice of switching from automatic driving to manual driving or switching from automatic driving to manual driving is received, the display in the meter cluster displays the vehicle speed of the vehicle, the rear image, and the front. It is shown that an image representing a road shape, an image representing the arrangement of other surrounding vehicles, and an image representing the distance to the leading vehicle and the situation around the leading vehicle are displayed.

  Moreover, the information presentation system of patent document 2 has shown the technique for showing the recognition information of an automatic driving system to a passenger | crew based on a passenger | crew's instruction | indication. Specifically, the display mode of the display unit is switched based on the display switching instruction of the occupant. In addition, it has a display mode for displaying setting information of automatic driving, a display mode for displaying traveling information at the time of operation of the automatic driving system, and a display mode for displaying recognition result information of the automatic driving system.

JP, 2016-182906, A Unexamined-Japanese-Patent No. 2017-26417

  By the way, when a vehicle equipped with an automatic driving system is traveling by automatic driving, there are cases where the system can not sufficiently cope with it, that is, a unique situation may be encountered in which the accuracy for recognition and judgment of the situation decreases. . Therefore, in such a situation, for example, it is necessary to switch from the automatic operation mode to the manual operation mode (system to driver transfer: handover) and continue or not to drive the vehicle by the driver's judgment and operation. For example, it is assumed that the vehicle is automatically stopped. In addition, there may be a case where switching from an automatic driving mode requiring no driver's assistance at all to an automatic driving mode requiring driver's assistance may be performed.

  Here, in order to smoothly carry out the handover from the automatic operation mode to the manual operation mode, the system warns the driver in some way before the handover actually occurs, and the driver prepares for the handover. It is necessary to prompt them to keep

  However, the various handover situations that the system predicts in a vehicle may actually lead to such situations, or may not occur in practice. That is, after the system predicts the possibility of the situation where the automatic operation mode can not be continued, the case where the situation actually requires a handover and the actual operation without the handover request from the system actually occur. May continue.

  As one of the specific driving situations, it is assumed that the traveling point of the host vehicle reaches an area where map data necessary for automatic driving does not exist. In such a case, a handover occurs because it is difficult to continue the automatic operation.

  On the other hand, for example, in the vicinity of the interchange on the expressway, due to the merging or branching of a plurality of lanes on the road, the number of vehicles implementing course change increases, and the forward path is blocked due to congestion. It is easy to generate difficult driving conditions. In such a situation, the system may generate a handover request, as it is difficult to respond safely with automatic operation alone. However, even in the vicinity of the interchange, for example, when the traffic volume is relatively small, there is a high probability that the system will not generate a handover request.

  In addition, even if the occurrence of a handover has been determined, if a warning for anticipating the notice is carried out at an early stage, it will take a long section from the warning until the actual occurrence of the handover. As a result, the driver becomes more obtrusive than desired and the comfort of automatic driving is lost. In other words, despite being in the automatic operation state, the driver will be alerted as in the case of the manual operation for a long time from the output of the alert information to the actual occurrence of the handover. The driver will find the alert to be bothersome.

  However, if a warning notice is not given in advance, a message such as “switch to manual operation” will be suddenly output immediately before the point where driving is difficult (eg 10 seconds before). At this point, the driver may not be ready, and the driver may be upset and the handover may not be performed smoothly.

  For example, the driver usually does not have to monitor the driving situation or the surrounding situation unless the system can not handle the level 3 automatic driving described later and a handover request occurs. Status is included. Therefore, in the state of automatic driving, the driver can gaze at a screen of an IVI (In-Vehicle Infotainment system) unrelated to driving to view a moving image or search information using a browser.

  However, when the driver suddenly looks at the IVI screen and a request for handover occurs suddenly, the driver can not grasp the situation at that point, and it is possible to start manual driving or assist automatic driving. It is not in a psychological state that can be started, so it may panic. On the other hand, when the driver's action such as watching a movie is interrupted due to the early stage of alerting, if the waiting time until the actual occurrence of the handover is long, the driver complains that it is bothersome for alerting There is a high possibility of feeling.

  The present invention has been made in view of the above-described circumstances, and an object of the present invention is to increase the degree of involvement of the driver in the drive control from the first state in which the drive control is automatically performed. An object of the present invention is to provide an automatic driving time information transmission method and a vehicular information presentation device capable of facilitating switching when switching to the two states is required and suppressing loss of comfort of automatic driving.

In order to achieve the above-mentioned object, the method for transmitting information at the time of automatic driving and the information presentation apparatus for a vehicle according to the present invention are characterized by the following (1) to (8).
(1) An automatic driving time information transmission method for presenting information to the driver in a vehicle having two or more states in which the degree of involvement of the driver in driving control is different as the traveling state.
The traveling state includes a first state in which the driving control is automatically executed, and a second state in which the degree of involvement of the driver is larger than the first state.
When the occurrence of an event that may switch from the first state to the second state is predicted:
Implementing explicit communication at a point near the planned switching point where the event is encountered and a switch from the first state to the second state occurs;
The magnitude of the stimulus from the initial state changes in a stepwise manner or continuously between the switching forecast start point and the switching scheduled point which are farther from the switching scheduled point than the near point. Communicating the information using an output device that stimulates at least one of the driver's five senses
An automatic driving time information transmission method characterized in that

  According to the method of transmitting information at the time of automatic driving of the configuration of the above (1), the information is transmitted to the driver by controlling so as to gradually increase the stimulation between the switching advance notice starting point and the switching planned point. For example, in a state where there is sufficient time until the occurrence of a handover, a strong stimulus that the driver feels troublesome or a state in which a change in the stimulus is large do not occur. In addition, when the time of occurrence of handover approaches, the driver recognizes or the change thereof becomes large, so that the driver prepares for the occurrence of handover or spontaneously performs manual operation before a request from the system occurs. It also becomes possible to switch. Therefore, it is possible to realize smooth handover and secure safety without impairing the comfort of automatic driving.

(2) Transitioning the screen display unrelated to driving between the switching advance notice start point and the switching scheduled point to a state where it is difficult to visually recognize in stages or continuously.
The automatic driving time information transmission method according to the above (1), characterized in that

  According to the method of transmitting information at the time of automatic driving of the configuration of the above (2), when the host vehicle is traveling by automatic driving, for example, watching a moving image or searching information by the screen display unrelated to the driver. Even when the user is concentrating on work, the driver's awareness can be reliably pulled back to the driving environment of the host vehicle by weakening the concentration. Moreover, since the screen display is gradually shifted to a state in which it is difficult to visually recognize, it is possible to continue watching a moving image for a while, and the driver's discomfort can be alleviated.

(3) The display size of the visible information related to the event is gradually or continuously increased between the switching advance notice start point and the switching planned point,
The automatic driving time information transmission method according to the above (1), characterized in that

  According to the method of transmitting information at the time of automatic driving of the configuration of the above (3), the display size of the visible information gradually increases, so that the driver is approaching the point where the handover or the like occurs based on the visible information. It can be recognized intuitively.

(4) The volume of the content not related to driving is gradually or continuously reduced between the switching advance notification start point and the switching planned point,
The automatic driving time information transmission method according to the above (1), characterized in that

  According to the method of transmitting information at the time of automatic driving of the above configuration (4), the volume of the content such as music that the driver is listening becomes gradually smaller, so the driver's concentration on the content becomes gradually weaker. Consciousness can be directed to interrupt the listening of

(5) Between the switching advance notice start point and the switching planned point, an output of a predetermined music reminding the end of the automatic driving is added, and the volume of the music is gradually or continuously Gradually increase,
The automatic driving time information transmission method according to the above (1), characterized in that

  According to the method of transmitting information at the time of automatic driving of the configuration of (5), the volume of music (for example, light of fireflies) having high possibility of being reminded of termination gradually increases, so the driver stops viewing content etc. Intuitively recognize what you need.

(6) An on-vehicle information presentation device for presenting information to the driver in a vehicle having two or more states in which the degree of involvement of the driver in driving control is different as the traveling state.
The traveling state includes a first state in which the driving control is automatically executed, and a second state in which the degree of involvement of the driver is larger than the first state.
And an information output control unit that outputs information related to the switching upon switching from the first state to the second state,
The information output control unit
When the occurrence of an event that may switch from the first state to the second state is predicted:
Implementing explicit communication at a point near the planned switching point where the event is encountered and a switch from the first state to the second state occurs;
The magnitude of the stimulus from the initial state changes in a stepwise manner or continuously between the switching forecast start point and the switching scheduled point which are farther from the switching scheduled point than the near point. Communicating the information using an output device that stimulates at least one of the driver's five senses
An information presentation apparatus for a vehicle, characterized in that

  According to the information presentation apparatus for vehicles of the above-mentioned (6), since it controls so that stimulus may become large gradually between a change notice start point and a change plan point, information is transmitted to a driver, for example In a state where there is sufficient time until the occurrence of a handover, a strong stimulus that the driver feels troublesome or a state in which a change in the stimulus is large do not occur. In addition, when the time of occurrence of handover approaches, the driver recognizes or the change thereof becomes large, so that the driver prepares for the occurrence of handover or spontaneously performs manual operation before a request from the system occurs. It also becomes possible to switch. Therefore, it is possible to realize smooth handover and secure safety without impairing the comfort of automatic driving.

(7) At the same time as transmitting the information using the output device by stimulus control which switches the magnitude of the stimulus stepwise between the switching preview start point and the switching scheduled point,
In the stimulation control, the change amount before and after switching of the stimulation amount is made variable so as to change according to the magnitude of the stimulation amount before switching.
The method according to any one of the above (1) to (5).

  According to the automatic driving time information transfer method of the above (7), since the magnitude of the stimulation is switched in stages, it is easy to make the driver notice that there is a change for the information transfer. In addition, since the amount of change before and after switching the amount of stimulation changes to reflect the magnitude of the amount of stimulation before switching, it can be adapted to human perception characteristics. That is, it is possible to control so that the change is too small and the driver can not feel the change, and the change is too large and the driver does not feel uncomfortable.

(8) In the stimulus control, an environmental stimulus amount other than the output of the output device is detected,
The amount of change is automatically determined while reflecting the detected amount of environmental stimulation,
The information transmission method at the time of the automatic operation as described in said (7).

  According to the automatic driving time information transfer method of (8), the change is determined to reflect the detected amount of environmental stimulation, so that the driver is appropriately stimulated according to the change of the environment. Becomes possible. For example, even when it is affected by changes in the brightness of the external environment or external noise generated inside or around the vehicle, the driver always gives a stimulus of an appropriate magnitude that causes the change to be noticed be able to.

  According to the method of transmitting information at the time of automatic driving and the information presentation apparatus for a vehicle of the present invention, from the first state in which the driving control is automatically executed, the second state in which the driver is more involved in the driving control than the first state As well as facilitating switching when switching to the state is required, it is possible to suppress loss of comfort in automatic driving. For example, in a state where there is sufficient time until the occurrence of a handover, a strong stimulus that the driver feels troublesome or a state in which a change in the stimulus is large do not occur. In addition, when the time of occurrence of handover approaches, the driver recognizes or the change thereof becomes large, so that the driver prepares for the occurrence of handover or spontaneously performs manual operation before a request from the system occurs. It also becomes possible to switch. Therefore, it is possible to realize smooth handover and secure safety without impairing the comfort of automatic driving.

  The present invention has been briefly described above. Furthermore, the details of the present invention will be further clarified by reading the modes for carrying out the invention described below (hereinafter referred to as "embodiments") with reference to the attached drawings. .

FIG. 1 is a plan view showing an example of the positional relationship between each point on the road and the vehicle. FIG. 2 is a block diagram showing an example of the configuration of the main part of an on-vehicle system embodying the present invention. FIG. 3 is a flowchart showing an operation example of characteristic information presentation control according to the embodiment of the present invention. FIG. 4 is a schematic view showing an example of a state change of the IVI screen display when the characteristic information presentation control is performed. FIG. 5: is a schematic diagram which shows the example of the state change of course forward display at the time of implementing characteristic information presentation control. FIG. 6 is a block diagram showing an example of the configuration of the in-vehicle system according to the embodiment of the modification. FIGS. 7 (a) and 7 (b) are time charts showing examples of time-series changes in stimulation amount when the stimulation amount is switched stepwise. FIG. 8 is a flow chart showing an example of handover announcement control in the modified embodiment. FIG. 9 is a graph showing the relationship between the amount of stimulation and the amount of change in stimulation. FIG. 10 is a time chart showing an example of a time-series change in stimulation amount.

  Specific embodiments of the present invention are described below with reference to the figures.

<Overview of information transfer method during automatic operation>
<Overview of Automated Driving Control Assumption>
When performing automatic driving in a car, for example, automatic driving of Level 2 (LV2) or Level 3 (LV3) of automation level specified by the Japanese government or the Road Traffic Safety Administration (NHTSA) of the United States of America, for example It is assumed that the function corresponding to is installed in the vehicle.

  At level 2, the system automatically performs a plurality of operations among acceleration, steering and braking of the vehicle. However, at level 2, the driver must constantly monitor the driving situation and carry out the driving operation as necessary.

  On the other hand, at level 3, since the system implements all control of acceleration, steering and braking of the vehicle, the driver usually only needs to monitor the driving situation. Also, the driver does not necessarily have to monitor. However, even in the case of level 3, when the system makes a request in the event of an emergency or when the accuracy of the system decreases, the driver needs to respond to the request. In other words, it is necessary to hand over (H / O) the driving responsibility from the system to the driver's manual operation and shift from level 3 to level 2 or the like, which has a lower automation rate. In addition, even within the same level, during automatic driving of the vehicle, hand over the steering wheel, the driver is obliged to monitor, start of the lane change starting from the blinker operation, the driver's approval for the judgment of the system, etc. There is also a case where the vehicle travels to a driving state requiring any one of these assistances from a driving state in which the driver's assistance is unnecessary. That is, the first state in which the driving control is automatically performed may be shifted to the second state in which the degree of the driver's involvement in the driving control is higher than that in the first state.

<Example of the positional relationship between each point on the road and the vehicle>
The example of the state which looked at the positional relationship of each point on a road and an own vehicle from the upper direction is shown in FIG.
In the example shown in FIG. 1, it is assumed that there is a handover planned point P0 ahead of the traveling direction 43 of the vehicle 42 traveling in the level 3 automatic operation mode.

  For example, in a situation where there is no road ahead of the planned handover point P0 in a road map for automatic driving, automatic driving at level 3 is impossible after this point P0. Therefore, at such time, the system reliably generates a handover request to hand over the responsibility of driving from the system to the driver and shift to level 2 or manual operation mode.

  Further, for example, at a point where the frequency of occurrence of a route change or congestion of each vehicle increases with the branching or merging of roads, such as an interchange on an expressway, a unique situation is likely to occur, and potentially a planned handover point. There is a possibility of becoming P0.

  On the other hand, when the host vehicle 42 is traveling in the level 3 automatic driving mode, the driver does not usually have to perform work such as monitoring of the driving situation, so work unrelated to driving is performed. You can also focus on watching music and videos. Therefore, if the system suddenly generates a handover request, for example, 10 seconds before reaching the corresponding point while the driver is not preparing anything, the driver may panic and smooth handover can not be performed. Sex occurs.

<General information transmission method>
Therefore, as general control, for example, as shown in FIG. 1, it is assumed that the message guidance is output at the switching notification planned point P1 and the switching notice start point P2 before the handover planned point P0. That is, the switching guidance start point P2 outputs a message guidance of "3 minutes to be a handover point" and the switching notification planned point P1 outputs a message guidance of "hand over".

  When the driver recognizes these message guidances, it is possible to prepare for the handover before the vehicle 42 actually reaches the handover planned point P0 and the handover occurs. Therefore, smooth handover can be performed at the handover planned point P0.

  On the other hand, when the planned handover point P0 is a potential point with a high degree of danger, a handover may not occur at this point P0, and the level 3 automatic operation mode may continue as it is.

  Also, even though the system outputs the message guidance at the switching advance start point P2, if no handover actually occurs at the handover planned point P0, the transition from the switching advance start point P2 to the handover expected point P0 The driver's preparation in between is wasted. In particular, when the driver is clearly notified that there is a handover schedule at the switching advance notice start point P2, if the distance between the switch advance notice start point P2 and the handover planned point P0 is large, the possibility of the handover is increased. The section where the driver prepares more than necessary becomes longer.

  Therefore, in the method of information transmission as shown in FIG. 1, the comfort of automatic driving is greatly impaired, and the driver feels that the message guidance of the switching preview start point P2 and the switching notification planned point P1 is bothersome. Become. However, if the distance between the switching advance notice start point P2 and the handover scheduled point P0 is relatively small, the driver has less time to prepare for the handover, so that handover is actually performed at the handover scheduled point P0. A smooth handover may not be possible when it occurs.

<Overview of Information Transmission Method in Embodiment>
Therefore, in the embodiment of the present invention, for example, there is a possibility of handover between the switching advance notification start point P2 and the switching notification planned point P1 shown in FIG. Control to communicate to the In addition, in order to prevent the driver from being prepared for the possibility of handover more than necessary, the explicit message is controlled so as not to be output until it approaches the switching notification planned point P1. Further, the information transmission between the switching advance notice start point P2 and the switching notification planned point P1 is carried out in an expression form in which the driver is less excited than the information transmission at the switching notification planned point P1.

<Example of configuration of in-vehicle system>
An example of the configuration of the main part of an in-vehicle system embodying the present invention is shown in FIG.
The on-vehicle system shown in FIG. 2 includes an automatic driving control unit 11 for performing automatic driving control of the host vehicle, and an on-vehicle information presentation control device 100. Further, the in-vehicle information presentation control device 100 includes a state management unit 10, an event management unit 15, and an output control unit 20.

  The automatic driving control unit 11 is an electronic control unit (ECU) for controlling automatic driving of a vehicle, and has a level of automation defined by, for example, the Japanese government or the United States Department of Transportation Road Traffic Safety Administration (NHTSA). It has a function that supports 2 (LV2) and level 3 (LV3) automatic operation.

  That is, the automatic driving control unit 11 can automatically execute acceleration control, deceleration control, steering control, and the like of the host vehicle according to the situation. In addition, it has functions such as self-vehicle position detection using GPS (Global Positioning System), distance detection using radar, grasping of traveling condition based on video of on-vehicle camera, grasping planned traveling route based on road map data, etc. doing.

  Further, in the level 3 automatic operation mode, when the system detects a specific situation that can not be handled, the automatic operation control unit 11 generates a request for handing over the driving responsibility from the system to the driver. When the driver makes a predetermined input operation in response to this request and accepts the handover, the automatic driving mode shifts from level 3 to level 2 or manual driving.

  Also, for example, areas where automatic driving is not possible due to lack of necessary road map data, and points near potential interchanges such as interchanges on expressways are shown in FIG. The automatic driving control unit 11 can detect in advance the handover planned point P0.

  The state management unit 10 shown in FIG. 2 grasps and manages various states in the automatic driving control unit 11. For example, whether the current driving mode is automatic driving or manual driving, or in the case of automatic driving, which level the driving mode is, or the presence or absence of assistance by the driver is grasped. Further, the presence or absence of a handover schedule and the handover scheduled point P0 are grasped. In addition, the status of the handover request from the system to the driver is grasped.

  The event management unit 15 detects the presence or absence of various events for presenting information to the driver, the types of events, and the occurrence timing of each event, information on the state managed by the state management unit 10, and map information It grasps and manages based on etc. For example, when the state management unit 10 grasps the handover scheduled point P0, various timings set in advance corresponding to the switching notification scheduled point P1 before the handover scheduled point P0, the switching notification start point P2, etc. For example, an event signal of an appropriate type is generated and given to the output control unit 20 30 seconds ago, 1 minute ago, 2 minutes ago, etc.).

  The output control unit 20 generates an information presentation control signal SG1 based on the state managed by the state management unit 10 and the event signal output from the event management unit 15, and controls an appropriate output device 25. For example, a backlight for illuminating a display of an IVI (In-Vehicle Infotainment system: next-generation in-vehicle information communication system), a HUD (head-up display), a volume control unit, an audio output device, etc. It can be used as the output device 25.

  The output control unit 20 of this embodiment applies the information transmission method during automatic driving of the present invention, and implements special control as described later. For example, control is made to gradually change the presentation form of the information presentation between the switching advance notice start point P2 and the switching notification planned point P1 as it approaches the handover planned point P0.

<Operation Example of Characteristic Information Presentation Control>
An operation example of characteristic information presentation control in the embodiment of the present invention is shown in FIG. For example, any one of the automatic operation control unit 11, the state management unit 10, the event management unit 15, and the output control unit 20 shown in FIG. 2 carries out the information presentation control shown in FIG. The output device 25 is controlled by the information presentation control signal SG1. Thereby, necessary information can be transmitted to the driver. The operation example shown in FIG. 3 will be described below.

  When the own vehicle is traveling in the automatic driving mode (level 3), the automatic driving control unit 11 or the state management unit 10 grasps the traveling route based on the current position of the own vehicle and the map information. At the same time, the data of each point within a predetermined range ahead of this route is searched, and the planned handover point P0 is managed (S11, S12).

  For example, a handover is made to a point where the continuation of automatic driving is impossible because detailed map data required when performing automatic driving does not exist, or a point where the possibility of handover is high due to the condition of the road. It detects as planned point P0.

  In addition, the event management unit 15 reaches the handover planned point P0 to which the vehicle corresponds, based on the information on the handover planned point P0 known by the state management unit 10, the current position, the map information, the vehicle speed, etc. The required time Tr up to is calculated and managed (S13).

  Then, the event management unit 15 compares the latest required time Tr with a predetermined threshold (S14), and when the required time Tr decreases to, for example, a time corresponding to the switching notification start point P2 shown in FIG. Generate an event signal representing a minute ahead event. In response to this event signal, the output control unit 20 starts handover notification control (S15). This handover advance notice control is repeatedly executed until the host vehicle reaches the handover scheduled point P0 or the switching notification scheduled point P1 (S16).

  In the handover advance notice control in step S15, the output control unit 20, for example, performs control combining one or more of the following (1) to (4) with the passage of time, or approaches the planned handover point P0. Repeat as you go.

(1) Make the illumination brightness of the IVI screen display darker gradually.
(2) When displaying the handover planned point P0 on a screen such as a HUD, the driver can recognize that the size of the display representing the corresponding point is gradually enlarged or that the point is approaching. Gradually update the displayed content.
(3) Decrease the volume of the music the driver is listening to gradually.
(4) A specific music content that reminds the driver of the end, for example, "light of fireflies" is reproduced to additionally output the sound, and the volume is gradually increased.

  When the vehicle reaches the handover scheduled point P0 or the switching notification scheduled point P1 slightly ahead of the handover scheduled point P0, the process of the output control unit 20 proceeds from S16 to S17. Then, for example, a message such as "Soon will be handed over" or a voice message is output by the information presentation control signal SG1 output by the output control unit 20 (S17).

  When the driver's input operation (for example, an operation of grasping the steering wheel) representing acceptance of the handover request output from the automatic operation control unit 11 is detected at the handover planned point P0, the automatic operation control unit 11 and The output control unit 20 considers that the handover is completed (S18). Then, the output control unit 20 controls the information presentation control signal SG1 to restore the screen display and the volume of the output device 25 to the normal state before the change in S15 (S19).

<Specific example of information presentation form>
<Example of status change of IVI screen display>
An example of the state change of the IVI screen display when the characteristic information presentation control is performed is shown in FIG.

  When the host vehicle travels in the automatic driving mode (level 3), the driver can perform work and the like unrelated to the driving unless the system generates a request for the driver's assistance. Therefore, the driver can view a moving image on the display of the IVI device installed in the vehicle using application software of a predetermined moving image player or browser, or on the Internet like the screen shown in FIG. It is possible to search information etc.

  However, when the driver concentrates on watching a moving image or the like, it is difficult for the driver to immediately respond to the handover request of the system. Therefore, the output control unit 20 performs control as shown in, for example, FIG. 4 as a part of the handover announcement control in step S15 of FIG.

  In the example shown in FIG. 4, the screen display form of the display of the IVI device transitions from the initial state of IVI screen display 31A to the state of IVI screen display 31B, and further shows a state of transition to the state of IVI screen display 31C. There is. Specifically, the brightness of the screen display is controlled to be gradually darkened by adjusting the brightness of the backlight illumination.

  In practice, it is assumed that control is performed so as to gradually become dark as shown in FIG. In addition, in the case of such adjustment of brightness, it may be adjusted stepwise in steps for every fixed time so that a driver can recognize a change, or even if brightness is changed continuously. Good. In the case of continuously changing the brightness, the driver notices the change when a certain time passes.

  In any case, when the driver is using the display of the IVI device to perform work unrelated to driving, the driver gradually notices a gradual change as shown in FIG. Become. However, even if the change is gradual and the screen is in a state of being somewhat difficult to see, the driver can continue work and the like for a while. However, since it becomes difficult to see the screen little by little, the driver's concentration on the screen display also decreases gradually. Then, after a certain amount of time passes, the driver naturally interrupts the work, and can prepare for the handover. In addition, there is also a possibility that the driver spontaneously switches to the manual operation mode before reaching the handover planned point P0.

  Although the brightness of the screen is adjusted in the example shown in FIG. 4, the display mode may be changed by another method. For example, automatic adjustment may be made so that the window size of the application being operated by the driver becomes gradually smaller.

  Also, the screen display of not only the IVI device but also the audio device and the navigation device not related to driving may be controlled in the same manner as in FIG. However, when a screen related to driving is displayed as in the case of a road map, exclusion from the control target is also assumed according to the situation.

<Example of status change of display in front of the route>
An example of the state change of the route forward display when the characteristic information presentation control is performed is shown in FIG.
In the example shown in FIG. 5, visible information representing the travel lane of the host vehicle and visible information representing the planned handover point P0 are displayed as route forward displays 32A, 32B, 32C on the windshield using the display function of the HUD device. It is assumed that the image is displayed superimposed on the scene of

  In the example shown in FIG. 5, with the movement (forward movement) of the host vehicle, the state of the track forward display 32A (initial state) transitions to the state of the track forward display 32B, and further transitions to the state of the track forward display 32C. It represents the situation. In this case, since the route ahead displays 32A, 32B, and 32C are displayed in a three-dimensional state with a sense of perspective, the situation where the vehicle gradually approaches the planned handover point P0 indicates the planned handover point P0. It is expressed by the display size of the visible information and the change of the display position.

  Therefore, the driver can know the approach of the planned handover point P0 by the change in the viewing condition of the superimposed on the route ahead display 32A, 32B, 32C, and can gradually prepare for the handover.

<When adjusting the volume>
Although not shown, when the driver is listening to sounds such as music, radio, and television programs in an automatic driving state, the output control unit 20 outputs the volume of the car audio device that outputs those sounds, as shown in FIG. Adjust automatically at S15. That is, the volume of music or the like is gradually reduced from the initial state over time.

  As a result, the driver recognizes that it is difficult to listen to music and the like little by little, and the ability to concentrate on music decreases. Then, the driver can prepare for the handover little by little.

<When reminding the end>
Although not shown, when the driver is performing some work unrelated to driving in an automatic driving state, for example, the driver can reproduce the music content such as "light of fireflies" and output it. Can be reminded of some sort of termination. Therefore, in step S15 of FIG. 3, the output control unit 20 additionally reproduces and outputs the music of "light of fireflies" and controls so that the volume gradually increases from the initial state.

  As a result, the driver can gradually associate the situation in which work etc. is interrupted to prepare for the handover as the planned handover point P0 approaches, and the driver can gradually prepare for the handover.

<Advantage of Automatic Driving Information Transmission Method and Information Presentation Device for Vehicle>
In the case of adopting the automatic driving time information transmission method such as the operation shown in FIG. 3, when the host vehicle approaches the handover scheduled point P0 to a certain extent, the driver is gradually approached with a relatively weak expression form. I can tell. Therefore, the driver can prepare for the handover with room.

  In addition, since the driver can know the schedule of the handover at an early stage, and the change of the situation such as the screen display is gradual, the driver himself / herself can decide at what timing to stop the work etc. It can be decided voluntarily by the judgment of This makes it possible for the driver to prepare for handover without compromising the comfort of automatic driving.

<Description of Outline of Modified Example>
For example, in the information presentation control shown in FIG. 3, the handover advance notice control is performed in S15, but the amount of stimulation generated by this is gradually or gradually in a stepwise manner so that the driver can sense a change. It is automatically adjusted to change.

  However, when the amount of stimulation is changed continuously and smoothly, it may be difficult for the driver to notice this change, or the driver may be bothered by the continuous change. In addition, even when the amount of stimulation is switched stepwise, the amount of change in the amount of stimulation is too small to make it difficult for the driver to notice the change, or the change in amount of stimulation is too large and the driver may feel discomfort. is there. Furthermore, it is difficult to properly determine the amount of stimulation, because the driver may not be able to notice the change in stimulation under the influence of the brightness of the surrounding environment and the change of environmental noise.

For example, Weber and Fechner's law are basic laws of psychophysics regarding human senses (five senses).
In Weber's law, the relationship between the stimulus amount X and the minimum stimulus change amount ΔX that can be perceived by a person is expressed by the following equation (1).
ΔX / X = C (1)
C: Constant (constant)

In Fechner's law, the perceptual strength Y is proportional to the logarithm of the stimulation amount X. That is, it is expressed by the following equation (2).
Y = k · log (X) + C (2)
k, C: arbitrary constant

  That is, when a person is receiving a strong stimulus, the person does not notice the change unless the amount of change in the stimulus is large, and when the stimulus is weak, he can notice even a little change. Therefore, in this modification, in consideration of the above matters, the amount of stimulation is switched in a step-like manner by the information presentation control shown in FIG. 3, and the amount of change in stimulation is appropriately changed in accordance with human perception characteristics.

<Configuration Example of In-Vehicle System in Modification>
A configuration example of the in-vehicle system according to the embodiment of the modification is shown in FIG.
The on-vehicle information presentation control device 100B shown in FIG. 6 includes, for example, a sensor 51 for detecting the brightness of the ambient environment in the vehicle interior and the volume of environmental noise. An environment detection signal SG3 output from the sensor 51 is input to the output control unit 20. Further, a part of the output of the output device 25 is input to the output control unit 20 as the feedback signal SG2.

Further, the output control unit 20 illustrated in FIG. 6 generates the information presentation control signal SG1 so as to reflect the states of the feedback signal SG2 and the environment detection signal SG3. The specific operation of the output control unit 20 for reflecting the states of the feedback signal SG2 and the environment detection signal SG3 in the information presentation control signal SG1 will be described in detail later.
The configuration and operation other than the above are the same as those of the on-vehicle information presentation control device 100 shown in FIG.

<Example of time series change of stimulation amount>
The example of the time-sequential change of the stimulation amount in the case of switching stimulation amount in steps is each shown in FIG. 7 (a) and FIG.7 (b). In FIGS. 7A and 7B, the horizontal axis represents time t, and the vertical axis represents the brightness B of the screen display corresponding to the stimulation amount.

  In the time-series change shown in FIG. 7A, it is assumed that the brightness B is controlled to be switched in a stepwise manner so as to change by a fixed stimulus change amount ΔBr every time a fixed time elapses. There is.

  That is, in the example of FIG. 7A, the stimulation amount B00 is switched to the stimulation amount B01 at time t01, the stimulation amount B01 is switched to the stimulation amount B02 at time t02, and the stimulation amount B02 is switched to the stimulation amount B03 at time t03. The difference between the stimulation amount B00 and the stimulation amount B01, the difference between the stimulation amount B01 and the stimulation amount B02, and the difference between the stimulation amount B02 and the stimulation amount B03 all become a constant stimulation change amount ΔBr.

  When switching in a step-like manner as shown in FIG. 7A, if the stimulus change amount ΔBr is relatively small, the change at time t01 may be too small to make it difficult for the driver to notice the change. Further, if the stimulus change amount ΔBr is relatively large, the change at time t03 is too large, and the driver is likely to feel uncomfortable.

  Therefore, the output control unit 20 of the modified example shown in FIG. 6 controls the stimulus change amount as shown in FIG. 7B, for example. That is, in FIG. 7B, the stimulation amount B10 is switched to the stimulation amount B11 at time t01, the stimulation amount B11 is switched to the stimulation amount B12 at time t02, and the stimulation amount B12 is switched to the stimulation amount B13 at time t03.

  The difference between the stimulation amount B10 and the stimulation amount B11 is the stimulation change amount ΔB1, the difference between the stimulation amount B11 and the stimulation amount B12 is the stimulation change amount ΔB2, and the difference between the stimulation amount B12 and the stimulation amount B13 is the stimulation The amount of change ΔB3. The stimulation change amount ΔB1 is determined to reflect the magnitude of the stimulation amount B10 before switching, and the stimulation change amount ΔB2 is determined to reflect the magnitude of the stimulation amount B11 before switching, and the stimulation change amount ΔB3 Are respectively determined to reflect the magnitude of the stimulus amount B12 before switching.

  When controlling the stimulation change amounts ΔB1, ΔB2 and ΔB3 as shown in FIG. 7 (b), the equations (1) and (2) are taken into consideration at each switching timing t01, t02 and t03. It is possible to generate a moderate stimulus change that causes the driver to notice the change. In the example shown in FIG. 7 (b), it is assumed that the brightness B of the screen display is controlled as the amount of stimulation, but the same control may be applied to stimulation of any of the five senses of humans other than this. It is possible.

<Example of handover advance notice control in modified example>
An example of handover announcement control in the modified embodiment is shown in FIG. That is, when the output control unit 20 shown in FIG. 6 carries out the “handover advance notice control” in S15 shown in FIG. 3, the control of the contents shown in FIG. 8 is carried out. This enables automatic adjustment of the stimulation change amounts ΔB1 to ΔB3 as shown in FIG. 7 (b), for example. The operation shown in FIG. 8 will be described below.

  The output control unit 20 executes the processes from S21 to S22 each time a predetermined time elapses. The output control unit 20 detects the current stimulation amount Bc in S22. Specifically, the current stimulation amount Bc for each of the brightness of the screen display for reproducing the moving image content and the like, the display size on the screen for displaying the handover planned point, the volume of the music being reproduced, etc. A feedback signal SG2 is input from the output of the output device 25. Furthermore, an environment detection signal SG3 is input from the sensor 51 in order to grasp the current magnitude of the environmental stimulation.

  The output control unit 20 calculates the stimulation change amount ΔBn in S23 based on the current stimulation amount Bc detected in S22. Of course, the stimulation change amount ΔBn is individually calculated for each of the brightness of the screen display, the display size of the planned point, the volume of music and the like.

  Further, since the stimulation received by the driver includes not only the output of the output device 25 but also the brightness of the external environment and environmental noise, the output control unit 20 calculates the stimulation change amount ΔBn in S23. The contents are automatically switched according to the environment detection signal SG3.

  The output control unit 20 switches the brightness of the screen display for reproducing the moving image content or the like in S24 so as to be dark by the stimulus change amount ΔBn calculated in S23. For example, at time t01 in FIG. 7B, the brightness of the screen display is reduced from B10 by the stimulation change amount ΔB1 and switched to step shape to B11.

  Similarly to the above, the output control unit 20 switches the display size on the screen when displaying the handover planned point in S25 so as to be larger by the stimulation change amount ΔBn calculated in S23. Further, the output control unit 20 switches the volume of the music being played back at S26 so as to be smaller by the stimulus change amount ΔBn calculated at S23.

  In addition, in the handover advance notice control shown in FIG. 8, the driver visually grasps the contents of the image of the contents such as the moving picture even in the state where the stimulation is finally minimized before the end of the control. The brightness of the display screen is automatically adjusted so that the user can enjoy the video.

<Relationship between stimulus amount and stimulus change amount>
The relationship between the amount of stimulation and the amount of change in stimulation is shown in FIG.
Based on the above-mentioned equation (1), the perceptual boundary line L1 indicating the boundary of whether or not the driver can perceive the output stimulus is determined according to the stimulus amount and the stimulus change amount as shown in FIG. Also, in an actual on-vehicle environment, the luminance L of the driver fluctuates due to the brightness of the environment and the influence of environmental noises, so the boundary L1 of perception for the driver is the boundary of other perceptions. It changes according to the condition of external environment like L2, L3.

  The characteristic L0 in the case where the amount of change in stimulation shown in FIG. 9 is constant corresponds to, for example, step-like control with a constant amount of change in stimulation ΔBr at each timing as shown in FIG. In the case of such control, when the amount of stimulation is large, since it is below the perceptual boundary line L1, it enters in or around the area A1 where the change is not noticed. Also, when the amount of stimulation is small, it is above the perceptual boundary line L1, so it enters or is in the area A2 where the change is excessive.

  That is, excess or deficiency of the stimulus change amount occurs by the difference Z with the perceptual boundary. As a result, when the amount of change in stimulation is insufficient, the driver can not recognize the change in stimulation, and when the amount of change in stimulation is excessive, the driver may feel discomfort only by the difference Z with the perceptual boundary. is there.

  Since the output control unit 20 shown in FIG. 6 implements the handover announcement control as shown in FIGS. 7B and 8, the stimulus change amount .DELTA.Bn is set in accordance with the characteristics of the perceptual boundary L1 shown in FIG. It can be adjusted automatically. In addition, when the driver's stimulus is affected by the external environment, the stimulus change amount ΔBn can be automatically adjusted appropriately in accordance with the perceptual boundary lines L2 and L3 shown in FIG.

<Example of realistic change in stimulation amount>
An example of a time-series change of a realistic stimulation amount is shown in FIG. In the example of FIG. 10, changes in stimulation (corresponding to brightness and volume) in a section from 3 minutes before handover to 10 seconds before handover are shown.

  When the output control unit 20 shown in FIG. 6 implements the handover advance notice control as shown in FIG. 7B and FIG. 8, the actual amount of stimulation is, for example, time-series change as shown in FIG. Show. That is, the stimulation amount changes stepwise by an appropriate stimulation change amount ΔBn at each timing of time t11, t12, t13, and t14 shown in FIG. Since the change and the change in brightness and volume due to the influence of the external environment are added, the stimulation amount changes somewhat at timings other than the times t11, t12, t13 and t14. In any case, the driver can notice a change in stimulation at the timings of time t11, t12, t13 and t14.

<Possibility of modification other than the above>
In the above embodiment, it is assumed that the driver's stimulus is controlled for handover notice, but such stimulus control can be used for purposes other than handover notice. That is, not only in the case of handover but also when any target point is determined, it is appropriate at each timing before it is calculated retrospectively in time or distance from the target point, for example, as in FIG. It is possible to calculate the amount of change in stimulation ΔB 1, ΔB 2, ΔB 3,..., Change the amount of stimulation stepwise, and transmit information to the driver.

  Also, in the above embodiment, it is assumed that the output device 25 that generates visual and auditory stimuli is controlled, but an output device that stimulates one or more of the five senses may be used. . For example, it is possible to employ a device that generates an odor or a device that stimulates a sense of touch.

Here, the features of the information transmission method for automatic driving and the information presentation device for a vehicle according to the embodiment of the present invention described above will be briefly summarized and listed in the following [1] to [12].
[1] An automatic driving time information transmission method for presenting information to the driver in a vehicle having two or more states in which the degree of involvement of the driver in driving control is different as the traveling state.
The traveling state includes a first state in which the driving control is automatically executed, and a second state in which the degree of involvement of the driver is larger than the first state.
When the occurrence of an event that may switch from the first state to the second state is predicted:
Explicit communication is performed in the vicinity of the planned switching point (the planned handover point P0 or the planned switching notification point P1) where the switching from the first state to the second state occurs when the event is encountered (S17) Together with
The size of the stimulus from the initial state changes stepwise or continuously between the switching preview start point (P2) farther from the switching scheduled point than the nearby point and the switching scheduled point As described above, the information is transmitted using an output device 25 for stimulating at least one of the driver's five senses (S15).
An automatic driving time information transmission method characterized in that

[2] It is difficult to gradually and continuously visually recognize screen displays (IVI screen displays 31A, 31B, 31C) unrelated to driving between the switching advance notice start point and the switching planned point. Transition to the state (S15, see FIG. 4),
The automatic driving time information transmission method according to the above [1], characterized in that

[3] The display size of the visible information related to the event is gradually or continuously increased gradually between the switching advance notification start point and the switching planned point (S15, see FIG. 5) ),
The automatic driving time information transmission method according to the above [1], characterized in that

[4] The volume of the content not related to driving is gradually decreased in a stepwise or continuous manner between the switching advance notification start point and the switching planned point (S15).
The automatic driving time information transmission method according to the above [1], characterized in that

[5] Between the switching preview start point and the switching scheduled point, an output of a predetermined music reminding the end of automatic driving is added, and the volume of the music is gradually or continuously Gradually increase (S15),
The automatic driving time information transmission method according to the above [1], characterized in that

[6] The first state is a state in which the traveling direction and speed of the vehicle are automatically controlled, and the driver's assistance for the driving control is not required.
The second state is a state in which the traveling direction and speed of the vehicle are automatically controlled, and the driver's assistance for the driving control is requested.
The automatic driving time information transmission method according to the above [1], characterized in that

[7] The first state is a state in which the traveling direction and the speed of the vehicle are automatically controlled,
The second state is a state in which at least one of the traveling direction and the speed of the vehicle is controlled by the driver.
The automatic driving time information transmission method according to the above [1], characterized in that

[8] An on-vehicle information presentation device (on-vehicle information presentation control device 100) which presents information to the driver in a vehicle having two or more states in which the degree of involvement of the driver in driving control is different as the traveling state. ,
The traveling state includes a first state in which the driving control is automatically executed, and a second state in which the degree of involvement of the driver is larger than the first state.
An information output control unit (output control unit 20) for outputting information related to the switching upon switching from the first state to the second state,
The information output control unit
When predicting the occurrence of a specific event that may switch from the first state to the second state,
Implementing explicit communication at a point near the planned switching point where the event is encountered and a switch from the first state to the second state occurs;
The magnitude of the stimulus from the initial state changes in a stepwise manner or continuously between the switching forecast start point and the switching scheduled point which are farther from the switching scheduled point than the near point. Communicating the information using an output device that stimulates at least one of the driver's five senses
An information presentation apparatus for a vehicle, characterized in that

[9] The first state is a state in which the traveling direction and speed of the vehicle are automatically controlled, and the driver's assistance for the driving control is not required.
The second state is a state in which the traveling direction and speed of the vehicle are automatically controlled, and the driver's assistance for the driving control is requested.
The on-vehicle information presentation device according to the above [8], characterized in that

[10] The first state is a state in which the traveling direction and the speed of the vehicle are automatically controlled,
The second state is a state in which at least one of the traveling direction and the speed of the vehicle is controlled by the driver.
The on-vehicle information presentation device according to the above [8], characterized in that

[11] While transmitting the information using the output device, by stimulus control that switches the magnitude of the stimulus stepwise between the switching advance notification start point and the switching scheduled point,
In the stimulation control, the change amount (ΔBn) before and after switching of the stimulation amount is made variable to reflect the size of the stimulation amount before switching (feedback signal SG2, stimulation amount Bc) (S23).
6. The method according to any one of the above [1] to [5], wherein

[12] In the stimulation control, an environmental stimulation amount (environment detection signal SG3) other than the output of the output device is detected,
The amount of change is automatically determined in a state in which the detected amount of environmental stimulation is reflected (S23).
[12] The method according to the above-mentioned [11], wherein:

DESCRIPTION OF SYMBOLS 10 state management part 11 automatic driving | operation control part 15 event management part 20 output control part 25 output device 31A, 31B, 31C IVI screen display 32A, 32B, 32C course forward display 41 road 42 own vehicle 43 advancing direction 100 vehicle information presentation control apparatus P0 handover scheduled point P1 switching scheduled point P2 switching notification start point SG1 information presentation control signal 51 sensor 100B in-vehicle information presentation control device SG2 feedback signal SG3 environment detection signal Bc, B00, B01, B02, B10, B11, B12, B13 stimulation Amount ΔBn, ΔBr, ΔB1, ΔB2, ΔB3 Stimulus variation A1 Not aware of the variation A2 variation is excessive L0 Stimulus variation is constant L1, L2, L3 Perceptual border Z Difference with perceptual border t01, t02, t03, t 1, t12, t13 hours

Claims (8)

An automatic driving time information transmission method for presenting information to the driver in a vehicle having two or more states in which the degree of involvement of the driver in driving control is different as the driving state.
The traveling state includes a first state in which the driving control is automatically executed, and a second state in which the degree of involvement of the driver is larger than the first state.
When the occurrence of an event that may switch from the first state to the second state is predicted:
Implementing explicit communication at a point near the planned switching point where the event is encountered and a switch from the first state to the second state occurs;
The magnitude of the stimulus from the initial state changes in a stepwise manner or continuously between the switching forecast start point and the switching scheduled point which are farther from the switching scheduled point than the near point. Communicating the information using an output device that stimulates at least one of the driver's five senses
An automatic driving time information transmission method characterized in that Between the switching advance notice start point and the planned switching point, the screen display unrelated to driving is transitioned to a state in which it is difficult to visually recognize in stages or continuously.
The method according to claim 1, characterized in that: The display size of the visible information related to the event is gradually or continuously increased between the switching advance notification start point and the switching planned point,
The method according to claim 1, characterized in that: The volume of the content not related to driving is gradually decreased in a stepwise or continuous manner between the switching advance notification start point and the switching scheduled point.
The method according to claim 1, characterized in that: Between the switching advance notice start point and the switching planned point, an output of a predetermined music reminding the end of automatic driving is added, and the volume of the music is gradually or continuously gradually Enlarge,
The method according to claim 1, characterized in that: An on-vehicle information presentation device that presents information to the driver in a vehicle having two or more states in which the degree of involvement of the driver in driving control is different as the traveling state.
The traveling state includes a first state in which the driving control is automatically executed, and a second state in which the degree of involvement of the driver is larger than the first state.
And an information output control unit that outputs information related to the switching upon switching from the first state to the second state,
The information output control unit
When the occurrence of an event that may switch from the first state to the second state is predicted:
Implementing explicit communication at a point near the planned switching point where the event is encountered and a switch from the first state to the second state occurs;
The magnitude of the stimulus from the initial state changes in a stepwise manner or continuously between the switching forecast start point and the switching scheduled point which are farther from the switching scheduled point than the near point. Communicating the information using an output device that stimulates at least one of the driver's five senses
An information presentation apparatus for a vehicle, characterized in that The information is transmitted using the output device by stimulus control that switches the magnitude of the stimulus stepwise between the switching advance notification start point and the planned switching point.
In the stimulation control, the change amount before and after switching of the stimulation amount is made variable so as to change according to the magnitude of the stimulation amount before switching.
The method according to any one of claims 1 to 5, wherein: In the stimulation control, an environmental stimulation amount other than the output of the output device is detected,
The amount of change is automatically determined while reflecting the detected amount of environmental stimulation,
The information transmission method at the time of automatic driving according to claim 7.

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